Remote sensing and geoinformation technologies in support of nuclear non-proliferation and arms control verification regimes

Energy Technology Data Exchange (ETDEWEB)

Niemeyer, Irmgard [Forschungszentrum Juelich GmbH, Institut fuer Energie- und Klimaforschung, IEK-6: Nukleare Entsorgung und Reaktorsicherheit (Germany)

2013-07-01

A number of international agreements and export control regimes have been concluded in order to reduce the risk and proliferation of weapons of mass destruction. In order to provide confidence that Member States are complying with the agreed commitments, most of the treaties and agreements include verification provisions. Different types of verification measures exist, e.g. cooperative measures; national technical means; technical monitoring or measurement devices placed at or near sites; on-site inspections; intelligence information; open-source information, such as commercial internet data and satellite imagery. The study reviews the technical progress in the field of satellite imaging sensors and explores the recent advances in satellite imagery processing and geoinformation technologies as to the extraction of significant observables and signatures. Moreover, it discusses how satellite data and geoinformation technologies could be used complementary for confirming information gathered from other systems or sources. The study also aims at presenting the legal and political aspects and the cost benefits of using imagery from both national and commercial satellites in the verification procedure. The study concludes that satellite imagery and geoinformation technologies are expected to enhance the verification efficiency and effectiveness.

Regional dialogue and multilateral arms control efforts today

International Nuclear Information System (INIS)

Graham, T. Jr.

1994-01-01

The significance of arms control and non-proliferation tasks is stressed emphasising what has been done, and-more important-what must still be done. Although tangible developments at the regional level may seem at times to be slow in coming, it is important to remember that the United States-Soviet transition from voluntary declarations to detailed arms control agreements with intrusive verification regimes spanned the entire length of cold war. Given the instabilities afflicting these regions, establishing a regional dialogue is itself a confidence-building measure. The experience of the United States and the former Soviet Union amply demonstrates that mere existence of regular dialogue can reduce tension by providing a platform for communication among military and Government participants even when political crisis prevents diplomatic contacts at senior levels. The international community should be encouraged by the progress that has been made to date to address regional instabilities. Such steps are an integral part of the international effort, carried out both at the United Nations and elsewhere, to adopt acceptable levels of conventional military forces and to eliminate weapons of mass destruction. Given the instabilities afflicting these regions, establishing a regional dialogue is itself a confidence-building measure. World changes, while potentially dangerous and certainly challenging, offer the hope of replacing antagonism with cooperation, creating a progressively more democratic global environment, preventing proliferation, and dampening regional conflicts. Continuing to make effective use of the entire mix of arms control and confidence-building tools will help to realize these hopes

Powered manipulator control arm

International Nuclear Information System (INIS)

Le Mouee, Theodore; Vertut, Jean; Marchal, Paul; Germon, J.C.; Petit, Michel

1975-01-01

A remote operated control arm for powered manipulators is described. It includes an assembly allowing several movements with position sensors for each movement. The number of possible arm movements equals the number of possible manipulator movements. The control systems may be interrupted as required. One part of the arm is fitted with a system to lock it with respect to another part of the arm without affecting the other movements, so long as the positions of the manipulator and the arm have not been brought into complete coincidence. With this system the locking can be ended when complete concordance is achieved [fr

Arms control and disarmament

International Nuclear Information System (INIS)

Acton, P.

1992-01-01

Article VI of the Non-Proliferation Treaty commits each party to work towards nuclear disarmament and to negotiations to stop the nuclear arms race. All parties to the Treaty are included and a wide range of arms control and disarmament issues are covered. However the main focus at Treaty review conferences has been on nuclear disarmament by the nuclear weapon states which are party to the Treaty. This has led to bilateral United States - Soviet Union negotiations resulting in the Intermediate-range Nuclear Forces Treaty in December 1987 and the Strategic Arms Reduction Treaty (START) in July followed by unilateral arms control measures in September and October 1991. (UK)

Security and arms control

International Nuclear Information System (INIS)

Kolodziej, E.A.; Morgan, P.M.

1989-01-01

This book attempts to clarify and define selected current issues and problems related to security and arms control from an international perspective. The chapters are organized under the following headings. Conflict and the international system, Nuclear deterrence, Conventional warfare, Subconventional conflict, Arms control and crisis management

Report on the INMM Workshop on preparing for nuclear arms reductions to address technical transparency and verification challenges

International Nuclear Information System (INIS)

Dreicer, M.; Dalnoki-Veress, F.; Lewis, P.

2013-01-01

In May 2011, a workshop was held to develop broader awareness of the technical and operational challenges that could be used to enhance effective transparency and/or verification in the medium to long-term. Building confidence in a broader multi-lateral engagement scenario adds even greater challenges than the traditional bi-lateral approaches. The multi-disciplinary group that attended included decision-makers needing to understand present and possible future technical capabilities, and the technical community needing clearer definition of possible requirements and operational constraints. In additional to traditional presentations, the group conducted an exercise to stimulate new perspectives on verification requirements for a scenario based on nuclear arms reductions at very low numbers of nuclear weapons. The workshop participants were divided into two groups and asked to explore the political and technical requirements needed for States to move towards significant arms reductions. Using a technique called 'back-casting' participants were asked to imagine a world without nuclear weapons and describe what would be needed to achieve levels of one thousand, one hundred, ten, and ultimately zero weapons in the world. Most participants agreed that a strong political commitment will be necessary and that complete disarmament will only be possible if states are convinced that nuclear weapons serve no purpose. Both groups believed that a time period of greater instability would be encountered when moving from 1000 to 100 nuclear weapons and that it would be imperative to accelerate quickly through this period. The group discussed the need to have an international body monitor the disarmament process to maintain legitimacy for the international community. One possibility could be the development of an intergovernmental panel on verification and disarmament to monitor and facilitate disarmament. The groups recognized the problem of fissile material disposition after

A framework for nuclear agreement and verification

International Nuclear Information System (INIS)

Ali, A.

1991-01-01

This chapter assesses the prospects for a nuclear agreement between India and Pakistan. The chapter opens with a review of past and present political environments of the two countries. The discussion proceeds to describe the linkage of global arms control agreements, prospects for verification of a Comprehensive Test Ban Treaty, the role of nuclear power in any agreements, the intrusiveness of verification, and possible post-proliferation agreements. Various monitoring and verification technologies are described (mainly satellite oriented). The chapter concludes with an analysis of the likelihood of persuading India and Pakistan to agree to a nonproliferation arrangement

Borehole tool outrigger arm displacement control mechanism

International Nuclear Information System (INIS)

Lee, A.G.

1985-01-01

As the outrigger arms of a borehole logging tool are flexed inwardly and outwardly according to the diameter of the borehole opening through which they pass, the corresponding axial displacements of the ends of the arms are controlled to determine the axial positions of the arms relative to the tool. Specifically, as the arm ends move, they are caused to rotate by a cam mechanism. The stiffness of the arms causes the arm ends to rotate in unison, and the exact positions of the arms on the tool are then controlled by the differential movements of the arm ends in the cams

International security and arms control

International Nuclear Information System (INIS)

Ekeus, R.

2000-01-01

The end of the cold war also ended the focus on the bilateral approach to arms control and disarmament. Key concepts of security needed to be revisited, along with their implications for the disarmament and arms control agenda. Though there is currently a unipolar global security environment, there remain important tasks on the multilateral arms control agenda. The major task is that of reducing and eliminating weapons of mass destruction, especially nuclear weapons. The author contends that maintaining reliance on the nuclear-weapons option makes little sense in a time when the major Powers are strengthening their partnerships in economics, trade, peacemaking and building. (author)

Technical safety requirements control level verification

International Nuclear Information System (INIS)

STEWART, J.L.

1999-01-01

A Technical Safety Requirement (TSR) control level verification process was developed for the Tank Waste Remediation System (TWRS) TSRs at the Hanford Site in Richland, WA, at the direction of the US. Department of Energy, Richland Operations Office (RL). The objective of the effort was to develop a process to ensure that the TWRS TSR controls are designated and managed at the appropriate levels as Safety Limits (SLs), Limiting Control Settings (LCSs), Limiting Conditions for Operation (LCOs), Administrative Controls (ACs), or Design Features. The TSR control level verification process was developed and implemented by a team of contractor personnel with the participation of Fluor Daniel Hanford, Inc. (FDH), the Project Hanford Management Contract (PHMC) integrating contractor, and RL representatives. The team was composed of individuals with the following experience base: nuclear safety analysis; licensing; nuclear industry and DOE-complex TSR preparation/review experience; tank farm operations; FDH policy and compliance; and RL-TWRS oversight. Each TSR control level designation was completed utilizing TSR control logic diagrams and TSR criteria checklists based on DOE Orders, Standards, Contractor TSR policy, and other guidance. The control logic diagrams and criteria checklists were reviewed and modified by team members during team meetings. The TSR control level verification process was used to systematically evaluate 12 LCOs, 22 AC programs, and approximately 100 program key elements identified in the TWRS TSR document. The verification of each TSR control required a team consensus. Based on the results of the process, refinements were identified and the TWRS TSRs were modified as appropriate. A final report documenting key assumptions and the control level designation for each TSR control was prepared and is maintained on file for future reference. The results of the process were used as a reference in the RL review of the final TWRS TSRs and control suite. RL

Entering the New Millennium: Dilemmas in Arms Control

Energy Technology Data Exchange (ETDEWEB)

BROWN,JAMES

1999-11-01

The end of the Cold War finds the international community no longer divided into two opposing blocks. The concerns that the community now faces are becoming more fluid, less focused, and, in many ways, much less predictable. Issues of religion, ethnicity, and nationalism; the possible proliferation of Weapons of Mass Destruction; and the diffusion of technology and information processing throughout the world community have greatly changed the international security landscape in the last decade. Although our challenges appear formidable, the United Nations, State Parties, nongovernmental organizations, and the arms control community are moving to address and lessen these concerns through both formal and informal efforts. Many of the multilateral agreements (e.g., NPT, BWC, CWC, CTBT, MTCR), as well as the bilateral efforts that are taking place between Washington and Moscow employ confidence-building and transparency measures. These measures along with on-site inspection and other verification procedures lessen suspicion and distrust and reduce uncertainty, thus enhancing stability, confidence, and cooperation.

Design of a multi-arm randomized clinical trial with no control arm.

Science.gov (United States)

Magaret, Amalia; Angus, Derek C; Adhikari, Neill K J; Banura, Patrick; Kissoon, Niranjan; Lawler, James V; Jacob, Shevin T

2016-01-01

Clinical trial designs that include multiple treatments are currently limited to those that perform pairwise comparisons of each investigational treatment to a single control. However, there are settings, such as the recent Ebola outbreak, in which no treatment has been demonstrated to be effective; and therefore, no standard of care exists which would serve as an appropriate control. For illustrative purposes, we focused on the care of patients presenting in austere settings with critically ill 'sepsis-like' syndromes. Our approach involves a novel algorithm for comparing mortality among arms without requiring a single fixed control. The algorithm allows poorly-performing arms to be dropped during interim analyses. Consequently, the study may be completed earlier than planned. We used simulation to determine operating characteristics for the trial and to estimate the required sample size. We present a potential study design targeting a minimal effect size of a 23% relative reduction in mortality between any pair of arms. Using estimated power and spurious significance rates from the simulated scenarios, we show that such a trial would require 2550 participants. Over a range of scenarios, our study has 80 to 99% power to select the optimal treatment. Using a fixed control design, if the control arm is least efficacious, 640 subjects would be enrolled into the least efficacious arm, while our algorithm would enroll between 170 and 430. This simulation method can be easily extended to other settings or other binary outcomes. Early dropping of arms is efficient and ethical when conducting clinical trials with multiple arms. Copyright © 2015 Elsevier Inc. All rights reserved.

Sensory-Feedback Exoskeletal Arm Controller

Science.gov (United States)

An, Bin; Massie, Thomas H.; Vayner, Vladimir

2004-01-01

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment

The arms race control; Le controle de la course aux armements

Energy Technology Data Exchange (ETDEWEB)

Nemo, J.

2010-07-15

Written in 1961, this paper presents the content of a book entitled 'The arms race control' where the author outlined the difference between disarmament and arms control, described the economic and moral role of arms race, the importance of force balance for international security. He wandered whether arms control could ensure this balance and whether nuclear balance meant force balance. Force balance then appears to be a precarious and unsteady component of international security. He commented the challenges of disarmament, recalled some arguments for a nuclear disarmament. Then he discussed what would be an arms control with or without disarmament (either nuclear or conventional)

Societal Verification: Intellectual Game or International Game-Changer

International Nuclear Information System (INIS)

Hartigan, Kelsey; Hinderstein, Corey

2013-01-01

Within the nuclear nonproliferation and arms control field, there is an increasing appreciation for the potential of open source information technologies to supplement existing verification and compliance regimes. While clearly not a substitute for on-site inspections or national technical means, it may be possible to better leverage information gleaned from commercial satellite imagery, international trade records and the vast amount of data being exchanged online and between publics (including social media) so as to develop a more comprehensive set of tools and practices for monitoring and verifying a state’s nuclear activities and helping judge compliance with international obligations. The next generation “toolkit” for monitoring and verifying items, facility operations and activities will likely include a more diverse set of analytical tools and technologies than are currently used internationally. To explore these and other issues, the Nuclear Threat Initiative has launched an effort that examines, in part, the role that emerging technologies and “citizen scientists” might play in future verification regimes. This paper will include an assessment of past proliferation and security “events” and whether emerging tools and technologies would have provided indicators concurrently or in advance of these actions. Such case studies will be instrumental in understanding the reliability of these technologies and practices and in thinking through the requirements of a 21st century verification regime. Keywords: Verification, social media, open-source information, arms control, disarmament.

Experience in verification regimes. United States On-Site Inspection Agency

International Nuclear Information System (INIS)

Reppert, J.

1998-01-01

Experiences are described of the United States On-site Inspection Agency in verification regimes all over the world where it has been applied in the last 30 years. The challenge for the future is to extend the benefits of the applied tools to all states in all regions to enhance stability and to create conditions for peace at lower levels of armaments than currently exist. The USA need to engage states currently caught in cycles of violence and arms escalation. They must examine technologies which together with on-site aspects of verification or transparency regimes can provide a comprehensive picture at affordable costs. They foresee a growth in combined training with new states entering for the first time into regime that include arms control and transparency measure

Technical safety requirements control level verification; TOPICAL

International Nuclear Information System (INIS)

STEWART, J.L.

1999-01-01

A Technical Safety Requirement (TSR) control level verification process was developed for the Tank Waste Remediation System (TWRS) TSRs at the Hanford Site in Richland, WA, at the direction of the US. Department of Energy, Richland Operations Office (RL). The objective of the effort was to develop a process to ensure that the TWRS TSR controls are designated and managed at the appropriate levels as Safety Limits (SLs), Limiting Control Settings (LCSs), Limiting Conditions for Operation (LCOs), Administrative Controls (ACs), or Design Features. The TSR control level verification process was developed and implemented by a team of contractor personnel with the participation of Fluor Daniel Hanford, Inc. (FDH), the Project Hanford Management Contract (PHMC) integrating contractor, and RL representatives. The team was composed of individuals with the following experience base: nuclear safety analysis; licensing; nuclear industry and DOE-complex TSR preparation/review experience; tank farm operations; FDH policy and compliance; and RL-TWRS oversight. Each TSR control level designation was completed utilizing TSR control logic diagrams and TSR criteria checklists based on DOE Orders, Standards, Contractor TSR policy, and other guidance. The control logic diagrams and criteria checklists were reviewed and modified by team members during team meetings. The TSR control level verification process was used to systematically evaluate 12 LCOs, 22 AC programs, and approximately 100 program key elements identified in the TWRS TSR document. The verification of each TSR control required a team consensus. Based on the results of the process, refinements were identified and the TWRS TSRs were modified as appropriate. A final report documenting key assumptions and the control level designation for each TSR control was prepared and is maintained on file for future reference. The results of the process were used as a reference in the RL review of the final TWRS TSRs and control suite. RL

Nuclear Testing: Arms Control Opportunities. Hearing before the Subcommittee on Arms Control, International Security and Science of the Committee on Foreign Affairs, US House of Representatives, One Hundredth Congress, Second Session, June 28, 1988

International Nuclear Information System (INIS)

Anon.

1988-01-01

The results of this hearing before the Subcommittee on Arms Control, International Security and Science that had a three-fold purpose are recorded. The three-fold purpose was: (1) to examine the nuclear testing policy of the USA and how that policy fits into a larger USA arms control and national security strategy; (2) to discuss the status of the USA-Soviet Nuclear Testing Talks in Geneva, i.e. what is the status of the protocols of the Threshold Test Ban Treaty (TTBT) and the Peaceful Nuclear Explosion Treaty (PNET)? and what is the next step in the US negotiating strategy after the protocols are completed?; and (3) to examine the conclusions of a 139 page report completed by the Office of Technology Assessment (OTA) on 'Seismic Verification of Nuclear Testing Treaties'. The OTA report addressed two key questions: (1) down to what size explosion can underground testing be seismically monitored with high confidence; and (2) how accurately can the yields of underground explosions be measured seismically? The answers to these questions are featured in the hearings

Verification and Optimization of a PLC Control Schedule

NARCIS (Netherlands)

Brinksma, Hendrik; Mader, Angelika H.; Havelund, K.; Penix, J.; Visser, W.

We report on the use of the SPIN model checker for both the verification of a process control program and the derivation of optimal control schedules. This work was carried out as part of a case study for the EC VHS project (Verification of Hybrid Systems), in which the program for a Programmable

Verification and quality control of routine hematology analyzers.

Science.gov (United States)

Vis, J Y; Huisman, A

2016-05-01

Verification of hematology analyzers (automated blood cell counters) is mandatory before new hematology analyzers may be used in routine clinical care. The verification process consists of several items which comprise among others: precision, accuracy, comparability, carryover, background and linearity throughout the expected range of results. Yet, which standard should be met or which verification limit be used is at the discretion of the laboratory specialist. This paper offers practical guidance on verification and quality control of automated hematology analyzers and provides an expert opinion on the performance standard that should be met by the contemporary generation of hematology analyzers. Therefore (i) the state-of-the-art performance of hematology analyzers for complete blood count parameters is summarized, (ii) considerations, challenges, and pitfalls concerning the development of a verification plan are discussed, (iii) guidance is given regarding the establishment of reference intervals, and (iv) different methods on quality control of hematology analyzers are reviewed. © 2016 John Wiley & Sons Ltd.

Robust coordinated control of a dual-arm space robot

Science.gov (United States)

Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

2017-09-01

Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

Entering the New Millennium: Dilemmas in Arms Control; TOPICAL

International Nuclear Information System (INIS)

BROWN, JAMES

1999-01-01

The end of the Cold War finds the international community no longer divided into two opposing blocks. The concerns that the community now faces are becoming more fluid, less focused, and, in many ways, much less predictable. Issues of religion, ethnicity, and nationalism; the possible proliferation of Weapons of Mass Destruction; and the diffusion of technology and information processing throughout the world community have greatly changed the international security landscape in the last decade. Although our challenges appear formidable, the United Nations, State Parties, nongovernmental organizations, and the arms control community are moving to address and lessen these concerns through both formal and informal efforts. Many of the multilateral agreements (e.g., NPT, BWC, CWC, CTBT, MTCR), as well as the bilateral efforts that are taking place between Washington and Moscow employ confidence-building and transparency measures. These measures along with on-site inspection and other verification procedures lessen suspicion and distrust and reduce uncertainty, thus enhancing stability, confidence, and cooperation

Synergies across verification regimes: Nuclear safeguards and chemical weapons convention compliance

International Nuclear Information System (INIS)

Kadner, Steven P.; Turpen, Elizabeth

2001-01-01

In the implementation of all arms control agreements, accurate verification is essential. In setting a course for verifying compliance with a given treaty - whether the NPT or the CWC, one must make a technical comparison of existing information-gathering capabilities against the constraints in an agreement. Then it must be decided whether this level of verifiability is good enough. Generally, the policy standard of 'effective verification' includes the ability to detect significant violations, with high confidence, in sufficient time to respond effectively with policy adjustments or other responses, as needed. It is at this juncture where verification approaches have traditionally diverged. Nuclear safeguards requirements have taken one path while chemical verification methods have pursued another. However, recent technological advances have brought a number of changes affecting verification, and lately their pace has been accelerating. First, all verification regimes have more and better information as a result of new kinds of sensors, imagery, and other technologies. Second, the verification provisions in agreements have also advanced, to include on-site inspections, portal monitoring, data exchanges, and a variety of transparency, confidence-building, and other cooperative measures, Together these developments translate into a technological overlap of certain institutional verification measures such as the NPT's safeguards requirements and the IAEA and the CWC's verification visions and the OPCW. Hence, a priority of international treaty-implementing organizations is exploring the development of a synergistic and coordinated approach to WMD policy making that takes into account existing inter-linkages between nuclear, chemical, and biological weapons issues. Specific areas of coordination include harmonizing information systems and information exchanges and the shared application of scientific mechanisms, as well as collaboration on technological developments

US-Russian relations: the arms control agenda

International Nuclear Information System (INIS)

Potter, W.

2001-01-01

At a time when US-Russian relations are widely regarded to be in a state of flux, it is appropriate to examine the degree of continuity and change in the sphere of nuclear arms control. More specifically, this brief essay identifies a number of propositions about nuclear weapons, arms control, and nonproliferation that increasingly reflect the conventional wisdom in Washington, although these propositions may be neither true nor wise; and assesses the prospects for arms control progress in the areas of strategic and non-strategic nuclear weapons and nonproliferation in light of these prevailing views. (author)

US-Russian relations: the arms control agenda

Energy Technology Data Exchange (ETDEWEB)

Potter, W

2001-07-01

At a time when US-Russian relations are widely regarded to be in a state of flux, it is appropriate to examine the degree of continuity and change in the sphere of nuclear arms control. More specifically, this brief essay identifies a number of propositions about nuclear weapons, arms control, and nonproliferation that increasingly reflect the conventional wisdom in Washington, although these propositions may be neither true nor wise; and assesses the prospects for arms control progress in the areas of strategic and non-strategic nuclear weapons and nonproliferation in light of these prevailing views. (author)

Exploring the Possible Use of Information Barriers for future Biological Weapons Verification Regimes

International Nuclear Information System (INIS)

Luke, S.J.

2011-01-01

This report describes a path forward for implementing information barriers in a future generic biological arms-control verification regime. Information barriers have become a staple of discussion in the area of arms control verification approaches for nuclear weapons and components. Information barriers when used with a measurement system allow for the determination that an item has sensitive characteristics without releasing any of the sensitive information. Over the last 15 years the United States (with the Russian Federation) has led on the development of information barriers in the area of the verification of nuclear weapons and nuclear components. The work of the US and the Russian Federation has prompted other states (e.g., UK and Norway) to consider the merits of information barriers for possible verification regimes. In the context of a biological weapons control verification regime, the dual-use nature of the biotechnology will require protection of sensitive information while allowing for the verification of treaty commitments. A major question that has arisen is whether - in a biological weapons verification regime - the presence or absence of a weapon pathogen can be determined without revealing any information about possible sensitive or proprietary information contained in the genetic materials being declared under a verification regime. This study indicates that a verification regime could be constructed using a small number of pathogens that spans the range of known biological weapons agents. Since the number of possible pathogens is small it is possible and prudent to treat these pathogens as analogies to attributes in a nuclear verification regime. This study has determined that there may be some information that needs to be protected in a biological weapons control verification regime. To protect this information, the study concludes that the Lawrence Livermore Microbial Detection Array may be a suitable technology for the detection of the

Exploring the Possible Use of Information Barriers for future Biological Weapons Verification Regimes

Energy Technology Data Exchange (ETDEWEB)

Luke, S J

2011-12-20

This report describes a path forward for implementing information barriers in a future generic biological arms-control verification regime. Information barriers have become a staple of discussion in the area of arms control verification approaches for nuclear weapons and components. Information barriers when used with a measurement system allow for the determination that an item has sensitive characteristics without releasing any of the sensitive information. Over the last 15 years the United States (with the Russian Federation) has led on the development of information barriers in the area of the verification of nuclear weapons and nuclear components. The work of the US and the Russian Federation has prompted other states (e.g., UK and Norway) to consider the merits of information barriers for possible verification regimes. In the context of a biological weapons control verification regime, the dual-use nature of the biotechnology will require protection of sensitive information while allowing for the verification of treaty commitments. A major question that has arisen is whether - in a biological weapons verification regime - the presence or absence of a weapon pathogen can be determined without revealing any information about possible sensitive or proprietary information contained in the genetic materials being declared under a verification regime. This study indicates that a verification regime could be constructed using a small number of pathogens that spans the range of known biological weapons agents. Since the number of possible pathogens is small it is possible and prudent to treat these pathogens as analogies to attributes in a nuclear verification regime. This study has determined that there may be some information that needs to be protected in a biological weapons control verification regime. To protect this information, the study concludes that the Lawrence Livermore Microbial Detection Array may be a suitable technology for the detection of the

SIPRI's new conceptual approach to arms control and disarmament

International Nuclear Information System (INIS)

Rotfeld, Adam Daniel

2000-01-01

The end of the cold war deprioritized arms control and disarmament, and progress in the field was no longer a measure of relations among the major powers. In that context, the future of arms control and disarmament was discussed at the Nobel Symposium in October 1999. Stockholm International Peace Research Institute (SIPRI) views arms control as an instrument for shaping a new inclusive and cooperative security order. The author questions whether arms control challenges today can and should be resolved in the institutions established and the procedures elaborated in the bipolar framework. (author)

Formal verification of industrial control systems

CERN Multimedia

CERN. Geneva

2015-01-01

Verification of critical software is a high priority but a challenging task for industrial control systems. For many kinds of problems, testing is not an efficient method. Formal methods, such as model checking appears to be an appropriate complementary method. However, it is not common to use model checking in industry yet, as this method needs typically formal methods expertise and huge computing power. In the EN-ICE-PLC section, we are working on a [methodology][1] and a tool ([PLCverif][2]) to overcome these challenges and to integrate formal verification in the development process of our PLC-based control systems. [1]: http://cern.ch/project-plc-formalmethods [2]: http://cern.ch/plcverif

Arms control is everyone`s business: The United States and the United Nations at the mid-point of the 1990`s

Energy Technology Data Exchange (ETDEWEB)

Lehman, R.F. II

1993-03-01

This presentation encourages current efforts in arms control, non- proliferation, and peacekeeping. Verification is heralded as a confidence building method to bring about more openness in international relations. It is purported that openness has already enhanced democratic forces around the world. The insistence on strict compliance with the decisions of the United Nations Security Council is a show of support for international law. It is recommended that international norms on human rights, non-proliferation, and non-aggression be strengthened.

Formal Development and Verification of a Distributed Railway Control System

DEFF Research Database (Denmark)

Haxthausen, Anne Elisabeth; Peleska, Jan

1999-01-01

In this article we introduce the concept for a distributed railway control system and present the specification and verification of the main algorithm used for safe distributed control. Our design and verification approach is based on the RAISE method, starting with highly abstract algebraic...

Formal Development and Verification of a Distributed Railway Control System

DEFF Research Database (Denmark)

Haxthausen, Anne Elisabeth; Peleska, Jan

1998-01-01

In this article we introduce the concept for a distributed railway control system and present the specification and verification of the main algorithm used for safe distributed control. Our design and verification approach is based on the RAISE method, starting with highly abstract algebraic spec...

Formal development and verification of a distributed railway control system

DEFF Research Database (Denmark)

Haxthausen, Anne Elisabeth; Peleska, J.

2000-01-01

specifications which are transformed into directly implementable distributed control processes by applying a series of refinement and verification steps. Concrete safety requirements are derived from an abstract version that can be easily validated with respect to soundness and completeness. Complexity......The authors introduce the concept for a distributed railway control system and present the specification and verification of the main algorithm used for safe distributed control. Our design and verification approach is based on the RAISE method, starting with highly abstract algebraic...... is further reduced by separating the system model into a domain model and a controller model. The domain model describes the physical system in absence of control and the controller model introduces the safety-related control mechanisms as a separate entity monitoring observables of the physical system...

Organization of octopus arm movements: a model system for studying the control of flexible arms.

Science.gov (United States)

Gutfreund, Y; Flash, T; Yarom, Y; Fiorito, G; Segev, I; Hochner, B

1996-11-15

Octopus arm movements provide an extreme example of controlled movements of a flexible arm with virtually unlimited degrees of freedom. This study aims to identify general principles in the organization of these movements. Video records of the movements of Octopus vulgaris performing the task of reaching toward a target were studied. The octopus extends its arm toward the target by a wave-like propagation of a bend that travels from the base of the arm toward the tip. Similar bend propagation is seen in other octopus arm movements, such as locomotion and searching. The kinematics (position and velocity) of the midpoint of the bend in three-dimensional space were extracted using the direct linear transformation algorithm. This showed that the bend tends to move within a single linear plane in a simple, slightly curved path connecting the center of the animal's body with the target location. Approximately 70% of the reaching movements demonstrated a stereotyped tangential velocity profile. An invariant profile was observed when movements were normalized for velocity and distance. Two arms, extended together in the same behavioral context, demonstrated identical velocity profiles. The stereotyped features of the movements were also observed in spontaneous arm extensions (not toward an external target). The simple and stereotypic appearance of the bend trajectory suggests that the position of the bend in space and time is the controlled variable. We propose that this strategy reduces the immense redundancy of the octopus arm movements and hence simplifies motor control.

NPP Temelin instrumentation and control system upgrade and verification

International Nuclear Information System (INIS)

Ubra, O.; Petrlik, J.

1998-01-01

Two units of Ver 1000 type of the Czech nuclear power plant Temelin, which are under construction are being upgraded with the latest instrumentation and control system delivered by WEC. To confirm that the functional design of the new Reactor Control and Limitation System, Turbine Control System and Plant Control System are in compliance with the Czech customer requirements and that these requirements are compatible with NPP Temelin upgraded technology, the verification of the control systems has been performed. The method of transient analysis has been applied. Some details of the NPP Temelin Reactor Control and Limitation System verification are presented.(author)

Simulation of neutron multiplicity measurements using Geant4. Open source software for nuclear arms control

Energy Technology Data Exchange (ETDEWEB)

Kuett, Moritz

2016-07-07

Nuclear arms control, including nuclear safeguards and verification technologies for nuclear disarmament typically use software as part of many different technological applications. This thesis proposes to use three open source criteria for such software, allowing users and developers to have free access to a program, have access to the full source code and be able to publish modifications for the program. This proposition is presented and analyzed in detail, together with the description of the development of ''Open Neutron Multiplicity Simulation'', an open source software tool to simulate neutron multiplicity measurements. The description includes physical background of the method, details of the developed program and a comprehensive set of validation calculations.

The purposes, achievements, and priorities of arms control

International Nuclear Information System (INIS)

Brown, P.S.

1987-09-01

Arms control purposes include strengthening the framework of deterrence and reducing the threat of the use of nuclear weapons, reducing the dangers of attack and accidental nuclear war, and allowing more resources for the civilian economy. The paper briefly describes achievements in arms control since World War II. These include the Limited Test Ban Treaty (LTBT), Nonproliferation Treaty (NPT), Anti-Ballistic Missile Treaty (ABMT)-SALT I, SALT II, Threshold Test Ban Treaty (TTBT), Peaceful Nuclear Explosions Treaty (PNET), and Nuclear-Free Zones treaties. The author also discusses his views on what the priorities of arms control activities should be

Beyond arms control? Looking for the lost paradigm.

International Nuclear Information System (INIS)

Dahan, P.

2002-01-01

Since the tragic events of September 11, 2001, the international relations have become more complex and the arms control concept, born during the cold war and implemented during the 3 last decades is today marking time. Disarmament and non-proliferation, which were the keystones of arms control and international negotiations, are today undergoing erosion. This article analyzes the change of situation between the end of the 20. century and the beginning of the 21. century. Three steps are defined by the author: a 'flux' step with the signature of a huge number of international agreements about non-proliferation and arms control, a stagnation step marked by the difficulties of implementing some of the existing treaties and by the violation by some states of some of them, and a 'reflux' step marked by a freezing up of the bilateral US-Russian disarmament process and a general renouncement of the multilateral arms control concept. (J.S.)

Beyond arms control? Looking for the lost paradigm..; Au-dela de l'arms control? A la recherche du paradigme perdu..

Energy Technology Data Exchange (ETDEWEB)

Dahan, P

2002-07-01

Since the tragic events of September 11, 2001, the international relations have become more complex and the arms control concept, born during the cold war and implemented during the 3 last decades is today marking time. Disarmament and non-proliferation, which were the keystones of arms control and international negotiations, are today undergoing erosion. This article analyzes the change of situation between the end of the 20. century and the beginning of the 21. century. Three steps are defined by the author: a 'flux' step with the signature of a huge number of international agreements about non-proliferation and arms control, a stagnation step marked by the difficulties of implementing some of the existing treaties and by the violation by some states of some of them, and a 'reflux' step marked by a freezing up of the bilateral US-Russian disarmament process and a general renouncement of the multilateral arms control concept. (J.S.)

Arms Control and nonproliferation technologies: Technology options and associated measures for monitoring a Comprehensive Test Ban, Second quarter

Energy Technology Data Exchange (ETDEWEB)

Casey, Leslie A.

1994-01-01

This newsletter contains reprinted papers discussing technology options and associated measures for monitoring a Comprehensive Test Ban Treaty (CTBT). These papers were presented to the Conference on Disarmament (CD) in May and June 1994. An interagency Verification Monitoring Task Force developed the papers. The task force included participants from the Arms Control and Disarmament Agency, the Department of Defense, the Department of Energy, the Intelligence Community, the Department of Interior, and the Department of State. The purpose of this edition of Arms Control and Nonproliferation Technologies is to share these papers with the broad base of stakeholders in a CTBT and to facilitate future technology discussions. The papers in the first group discuss possible technology options for monitoring a CTBT in all environments (underground, underwater, atmosphere, and space). These technologies, along with on-site inspections, would facilitate CTBT monitoring by treaty participants. The papers in the second group present possible associated measures, e.g., information exchanges and transparency measures, that would build confidence among states participating in a CTBT.

Kinematic feedback control laws for generating natural arm movements

International Nuclear Information System (INIS)

Kim, Donghyun; Jang, Cheongjae; Park, Frank C

2014-01-01

We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780–4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226–35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear–quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law. (paper)

Control of octopus arm extension by a peripheral motor program.

Science.gov (United States)

Sumbre, G; Gutfreund, Y; Fiorito, G; Flash, T; Hochner, B

2001-09-07

For goal-directed arm movements, the nervous system generates a sequence of motor commands that bring the arm toward the target. Control of the octopus arm is especially complex because the arm can be moved in any direction, with a virtually infinite number of degrees of freedom. Here we show that arm extensions can be evoked mechanically or electrically in arms whose connection with the brain has been severed. These extensions show kinematic features that are almost identical to normal behavior, suggesting that the basic motor program for voluntary movement is embedded within the neural circuitry of the arm itself. Such peripheral motor programs represent considerable simplification in the motor control of this highly redundant appendage.

A self-centering active probing technique for kinematic parameter identification and verification of articulated arm coordinate measuring machines

International Nuclear Information System (INIS)

Santolaria, J; Brau, A; Velázquez, J; Aguilar, J J

2010-01-01

A crucial task in the procedure of identifying the parameters of a kinematic model of an articulated arm coordinate measuring machine (AACMM) or robot arm is the process of capturing data. In this paper a capturing data method is analyzed using a self-centering active probe, which drastically reduces the capture time and the required number of positions of the gauge as compared to the usual standard and manufacturer methods. The mathematical models of the self-centering active probe and AACMM are explained, as well as the mathematical model that links the AACMM global reference system to the probe reference system. We present a self-calibration method that will allow us to determine a homogeneous transformation matrix that relates the probe's reference system to the AACMM last reference system from the probing of a single sphere. In addition, a comparison between a self-centering passive probe and self-centering active probe is carried out to show the advantages of the latter in the procedures of kinematic parameter identification and verification of the AACMM

Some major challenges: Nuclear non-proliferation, nuclear arms control and nuclear terrorism. Vienna, 29 October 2001. Statement to the symposium on international safeguards: Verification and nuclear material security

International Nuclear Information System (INIS)

ElBaradei, M.

2001-01-01

The main topics dealt with the ensuring of an effective, universal and adequately financed system for the verification of nuclear non-proliferation, namely as follows: Effectiveness of the system; Participation in the system ; Financing of the system; Making Progress in Nuclear Arms Control; Protection Against Nuclear Terrorism. In the Safeguards Implementation Report (SIR) for 2000, the Agency was able to conclude that for all 140 states with safeguards agreements in place the nuclear material and other items placed under safeguards remained in peaceful nuclear activities or were otherwise adequately accounted for. The Agency currently safeguards over 900 facilities in 70 countries on a regular safeguards budget of approximately US $80 million per year. Turning to the major recent challenge, protection against nuclear terrorism, the IAEA has long been active in encouraging States to make security an integral part of the management of their nuclear programmes. The recent attacks in the United States were, however, a wake-up call to all that more can and must be done. In the week immediately following the tragedy, the IAEA General Conference adopted a resolution which requested a thorough review of Agency activities and programmes relevant to preventing acts of nuclear terrorism

Arms control, nonproliferation, and US national security

International Nuclear Information System (INIS)

Pilat, J.F.

1985-01-01

The continuation of the arms race and the failure of arms control and disarmament negotiations lend support to the belief that US and Soviet power, prestige, and security depend upon nuclear weapons. Therefore, the argument goes, the non-nuclear-weapon states (particularly those that are not allied with nuclear-weapon states and do not share their nuclear shield) may conclude that they would be well served by possession of these weapons. In this sense, the failure of nuclear arms reductions could create incentives for further proliferation

Kinematics and control of redundant robotic arm based on dielectric elastomer actuators

Science.gov (United States)

Branz, Francesco; Antonello, Andrea; Carron, Andrea; Carli, Ruggero; Francesconi, Alessandro

2015-04-01

Soft robotics is a promising field and its application to space mechanisms could represent a breakthrough in space technologies by enabling new operative scenarios (e.g. soft manipulators, capture systems). Dielectric Elastomers Actuators have been under deep study for a number of years and have shown several advantages that could be of key importance for space applications. Among such advantages the most notable are high conversion efficiency, distributed actuation, self-sensing capability, multi-degree-of-freedom design, light weight and low cost. The big potentialities of double cone actuators have been proven in terms of good performances (i.e. stroke and force/torque), ease of manufacturing and durability. In this work the kinematic, dynamic and control design of a two-joint redundant robotic arm is presented. Two double cone actuators are assembled in series to form a two-link design. Each joint has two degrees of freedom (one rotational and one translational) for a total of four. The arm is designed to move in a 2-D environment (i.e. the horizontal plane) with 4 DoF, consequently having two degrees of redundancy. The redundancy is exploited in order to minimize the joint loads. The kinematic design with redundant Jacobian inversion is presented. The selected control algorithm is described along with the results of a number of dynamic simulations that have been executed for performance verification. Finally, an experimental setup is presented based on a flexible structure that counteracts gravity during testing in order to better emulate future zero-gravity applications.

New Horizons and New Strategies in Arms Control

Energy Technology Data Exchange (ETDEWEB)

Brown, J. editor

1998-12-04

In the last ten years, since the break-up of the Soviet Union, remarkable progress in arms control and disarmament has occurred. The Nuclear Non-Proliferation Treaty (NPT), the completion of the Comprehensive Test Ban Treaty (CTBT), and the Chemical Weapons Treaty (CWC) are indicative of the great strides made in the non- proliferation arena. Simultaneously, the Intermediate Nuclear Forces Treaty (INF), the Conventional Forces Treaty in Europe (CFE), and the Strategic Arms Reduction Treaties (START), all associated with US-Soviet Union (now Russia) relations have assisted in redefining European relations and the security landscape. Finally, it now appears that progress is in the offing in developing enhanced compliance measures for the Biological and Toxin Weapons Convention (BTWC). In sum, all of these achievements have set the stage for the next round of arms control activities, which may lead to a much broader, and perhaps more diffused multilateral agenda. In this new and somewhat unpredictable international setting, arms control and disarmament issues will require solutions that are both more creative and innovative than heretofore.

Working Group 3: Broader Perspectives on Non-proliferation and Nuclear Verification

International Nuclear Information System (INIS)

Dreicer, M.; Pregenzer, A.; Stein, G.

2013-01-01

This working group (WG) focused on the technical topics related to international security and stability in global nonproliferation and arms control regimes and asked how nonproliferation tools and culture might facilitate verification of future nuclear treaties. The review of existing and future nonproliferation and disarmament regimes (Comprehensive Test Ban Treaty - CTBT, UNSC Resolution 1540, UK/Norway/VERTIC exercise, Fissile Material Cut-off Treaty - FMCT) offered a view on challenges, possibilities, and limitations for future initiatives. The concepts that the WG considered, with potential use in implementing future nuclear verification treaties, are: Triple S Culture (Safety, Security, Safeguards), State-Level Approach, Safeguards-by-Design, risk-based approaches, managed access, inspections, and protection of sensitive information. Under these concepts, many existing tools, considered by the WG could be used for nuclear verification. Export control works to control sensitive technology and expertise. Global implementation is complicated and multi-faceted and would benefit from greater consistency and efficiency. In most cases, international cooperation and development international capability would supplement efforts. This document is composed of the slides and the paper of the presentation. (A.C.)

Analysis of hypothetical loss-of-control-arm accidents in HIFAR

International Nuclear Information System (INIS)

Connolly, J.W.; Clark, N.

1986-11-01

The reactor power transient produced in the HIFAR materials testing reactor upon severance of a central coarse control arm connecting rod and the subsequent pivoting of the arm out of the core has been calculated for a range of reactor conditions likely to be encountered in normal operation. It is concluded that as long as the remaining arms of the control arm bank can be relied on to suppress the post power peak oscillations in power, the reactor will withstand the consequences of such an accident

Neurobiology: motor control of flexible octopus arms.

Science.gov (United States)

Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

2005-02-10

Animals with rigid skeletons can rely on several mechanisms to simplify motor control--for example, they have skeletal joints that reduce the number of variables and degrees of freedom that need to be controlled. Here we show that when the octopus uses one of its long and highly flexible arms to transfer an object from one place to another, it employs a vertebrate-like strategy, temporarily reconfiguring its arm into a stiffened, articulated, quasi-jointed structure. This indicates that an articulated limb may provide an optimal solution for achieving precise, point-to-point movements.

Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers

Directory of Open Access Journals (Sweden)

Jian Huang

2011-09-01

Full Text Available In the previous studies, admittance control and impedance control for a finger-arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3-DOF fingers are attached to the end-effector of a 6-DOF arm to configure a multi-finger arm robot. Based on the previous methods, the authors have proposed an admittance control for a multi-finger arm robot using the manipulability of the fingers in this study. Algorithms of the averaging method and the mini-max method were introduced to establish a manipulability criterion of the two fingers in order to generate a cooperative movement of the arm. Comparison of the admittance controls combined with the top search method and local optimization method for the multi-finger arm robot was made and features of the control methods were also discussed. The stiffness control and damping control were experimentally evaluated to demonstrate the effectiveness of the proposed methods.

Arm coordination in octopus crawling involves unique motor control strategies.

Science.gov (United States)

Levy, Guy; Flash, Tamar; Hochner, Binyamin

2015-05-04

To cope with the exceptional computational complexity that is involved in the control of its hyper-redundant arms [1], the octopus has adopted unique motor control strategies in which the central brain activates rather autonomous motor programs in the elaborated peripheral nervous system of the arms [2, 3]. How octopuses coordinate their eight long and flexible arms in locomotion is still unknown. Here, we present the first detailed kinematic analysis of octopus arm coordination in crawling. The results are surprising in several respects: (1) despite its bilaterally symmetrical body, the octopus can crawl in any direction relative to its body orientation; (2) body and crawling orientation are monotonically and independently controlled; and (3) contrasting known animal locomotion, octopus crawling lacks any apparent rhythmical patterns in limb coordination, suggesting a unique non-rhythmical output of the octopus central controller. We show that this uncommon maneuverability is derived from the radial symmetry of the arms around the body and the simple pushing-by-elongation mechanism by which the arms create the crawling thrust. These two together enable a mechanism whereby the central controller chooses in a moment-to-moment fashion which arms to recruit for pushing the body in an instantaneous direction. Our findings suggest that the soft molluscan body has affected in an embodied way [4, 5] the emergence of the adaptive motor behavior of the octopus. Copyright © 2015 Elsevier Ltd. All rights reserved.

Visual Recognition and Its Application to Robot Arm Control

Directory of Open Access Journals (Sweden)

Jih-Gau Juang

2015-10-01

Full Text Available This paper presents an application of optical word recognition and fuzzy control to a smartphone automatic test system. The system consists of a robot arm and two webcams. After the words from the control panel that represent commands are recognized by the robot system, the robot arm performs the corresponding actions to test the smartphone. One of the webcams is utilized to capture commands on the screen of the control panel, the other to recognize the words on the screen of the tested smartphone. The method of image processing is based on the Red-Green-Blue (RGB and Hue-Saturation-Luminance (HSL color spaces to reduce the influence of light. Fuzzy theory is used in the robot arm’s position control. The Optical Character Recognition (OCR technique is applied to the word recognition, and the recognition results are then checked by a dictionary process to increase the recognition accuracy. The camera which is used to recognize the tested smartphone also provides object coordinates to the fuzzy controller, then the robot arm moves to the desired positions and presses the desired buttons. The proposed control scheme allows the robot arm to perform different assigned test functions successfully.

Four Degree Freedom Robot Arm with Fuzzy Neural Network Control

Directory of Open Access Journals (Sweden)

Şinasi Arslan

2013-01-01

Full Text Available In this study, the control of four degree freedom robot arm has been realized with the computed torque control method.. It is usually required that the four jointed robot arm has high precision capability and good maneuverability for using in industrial applications. Besides, high speed working and external applied loads have been acting as important roles. For those purposes, the computed torque control method has been developed in a good manner that the robot arm can track the given trajectory, which has been able to enhance the feedback control together with fuzzy neural network control. The simulation results have proved that the computed torque control with the neural network has been so successful in robot control.

Nuclear physicist, arms control advocate

CERN Multimedia

Chang, K

2002-01-01

Victor F. Weisskopf, a nuclear physicist who worked on the Manhattan Project to build the first atomic bomb in World War II and later became an ardent advocate of arms control, died Monday at his home in Newton, MA, USA. He was 93 (1 page).

Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers

Directory of Open Access Journals (Sweden)

Takayuki Hori

2011-09-01

Full Text Available In the previous studies, admittance control and impedance control for a finger‐arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3‐DOF fingers are attached to the end‐effector of a 6‐DOF arm to configure a multi‐finger arm robot. Based on the previous methods, the authors have proposed an admittance control for a multi‐finger arm robot using the manipulability of the fingers in this study. Algorithms of the averaging method and the mini‐max method were introduced to establish a manipulability criterion of the two fingers in order to generate a cooperative movement of the arm. Comparison of the admittance controls combined with the top search method and local optimization method for the multi‐finger arm robot was made and features of the control methods were also discussed. The stiffness control and damping control were experimentally evaluated to demonstrate the effectiveness of the proposed methods.

Keeping the lid on nuclear arms

International Nuclear Information System (INIS)

Milhollin, G.; Weeks, J.

1991-01-01

In November 1990 Brazil and Argentina agreed not to produce nuclear weapons and to allow mutual inspections of their secret nuclear sites. This exciting move towards nuclear arms control may form the basis of a model of international inspection which other countries may seek to follow. However, neither country will yet unconditionally accept the verification scale proposed by the International Atomic Energy Agency (IAEA). The IAEA seeks to ensure that civilian nuclear materials are not diverted for military use. Military authorities in both countries oppose the plan. It is anticipated that existing difficulties will be overcome. (UK)

The importance of domestic law to international arms control

International Nuclear Information System (INIS)

Lehman, R.F. II.

1993-11-01

Studies of arms control and disarmament tend to focus on political, military, and diplomatic processes. Recently, in the context of the conversion of defense activities to civilian use, the economic aspects of arms control have also received renewed interest. The legal dimension, however, is in need of fresh examination. Both international and domestic law are sailing increasingly in uncharted waters. Recent arms control agreements and related developments in international peacekeeping have expanded the scope of international law and altered how one perceives certain fundamentals, including the principle of national sovereignty. Still, the nation state is largely unchallenged as the primary actor in international affairs. National governments retain near absolute sovereign rights and responsibilities even in an age of trans-national economic integration and codified international norms for human rights, freedom of the press, and the peaceful resolution of disputes. Indeed, the role of domestic law in arms control and disarmament may be more significant now than ever before. A brief review of relationships between arms control and domestic law should illustrate ways in which ones thinking has been underestimating the importance of domestic law. Hopefully, this survey will set the stage properly for the excellent, more detailed case studies by Elinor Hammarskjold and Alan Crawford. Toward that end, this paper will highlight a number of more general, and sometimes provocative, themes. These themes should be kept in mind when those two complementary presentations are considered

The importance of domestic law to international arms control

Energy Technology Data Exchange (ETDEWEB)

Lehman, R.F. II

1993-11-01

Studies of arms control and disarmament tend to focus on political, military, and diplomatic processes. Recently, in the context of the conversion of defense activities to civilian use, the economic aspects of arms control have also received renewed interest. The legal dimension, however, is in need of fresh examination. Both international and domestic law are sailing increasingly in uncharted waters. Recent arms control agreements and related developments in international peacekeeping have expanded the scope of international law and altered how one perceives certain fundamentals, including the principle of national sovereignty. Still, the nation state is largely unchallenged as the primary actor in international affairs. National governments retain near absolute sovereign rights and responsibilities even in an age of trans-national economic integration and codified international norms for human rights, freedom of the press, and the peaceful resolution of disputes. Indeed, the role of domestic law in arms control and disarmament may be more significant now than ever before. A brief review of relationships between arms control and domestic law should illustrate ways in which ones thinking has been underestimating the importance of domestic law. Hopefully, this survey will set the stage properly for the excellent, more detailed case studies by Elinor Hammarskjold and Alan Crawford. Toward that end, this paper will highlight a number of more general, and sometimes provocative, themes. These themes should be kept in mind when those two complementary presentations are considered.

Kinematic equations for resolved-rate control of an industrial robot arm

Science.gov (United States)

Barker, L. K.

1983-01-01

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

Monitoring and Controlling an Underwater Robotic Arm

Science.gov (United States)

Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

2009-01-01

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

Dual arm master controller development

Science.gov (United States)

Kuban, D. P.; Perkins, G. S.

1985-01-01

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape driven manipulators. Studies were performed which addressed to human factor design and performance tradeoffs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented.

Monitoring and verification R and D

International Nuclear Information System (INIS)

Pilat, Joseph F.; Budlong-Sylvester, Kory W.; Fearey, Bryan L.

2011-01-01

The 2010 Nuclear Posture Review (NPR) report outlined the Administration's approach to promoting the agenda put forward by President Obama in Prague on April 5, 2009. The NPR calls for a national monitoring and verification R and D program to meet future challenges arising from the Administration's nonproliferation, arms control and disarmament agenda. Verification of a follow-on to New START could have to address warheads and possibly components along with delivery capabilities. Deeper cuts and disarmament would need to address all of these elements along with nuclear weapon testing, nuclear material and weapon production facilities, virtual capabilities from old weapon and existing energy programs and undeclared capabilities. We only know how to address some elements of these challenges today, and the requirements may be more rigorous in the context of deeper cuts as well as disarmament. Moreover, there is a critical need for multiple options to sensitive problems and to address other challenges. There will be other verification challenges in a world of deeper cuts and disarmament, some of which we are already facing. At some point, if the reductions process is progressing, uncertainties about past nuclear materials and weapons production will have to be addressed. IAEA safeguards will need to continue to evolve to meet current and future challenges, and to take advantage of new technologies and approaches. Transparency/verification of nuclear and dual-use exports will also have to be addressed, and there will be a need to make nonproliferation measures more watertight and transparent. In this context, and recognizing we will face all of these challenges even if disarmament is not achieved, this paper will explore possible agreements and arrangements; verification challenges; gaps in monitoring and verification technologies and approaches; and the R and D required to address these gaps and other monitoring and verification challenges.

Formal verification of reactor process control software using assertion checking environment

International Nuclear Information System (INIS)

Sharma, Babita; Balaji, Sowmya; John, Ajith K.; Bhattacharjee, A.K.; Dhodapkar, S.D.

2005-01-01

Assertion Checking Environment (ACE) was developed in-house for carrying out formal (rigorous/ mathematical) functional verification of embedded software written in MISRA C. MISRA C is an industrially sponsored safe sub-set of C programming language and is well accepted in the automotive and aerospace industries. ACE uses static assertion checking technique for verification of MISRA C programs. First the functional specifications of the program are derived from the specifications in the form of pre- and post-conditions for each C function. These pre- and post-conditions are then introduced as assertions (formal comments) in the program code. The annotated C code is then formally verified using ACE. In this paper we present our experience of using ACE for the formal verification of process control software of a nuclear reactor. The Software Requirements Document (SRD) contained textual specifications of the process control software. The SRD was used by the designers to draw logic diagrams which were given as input to a code generator. The verification of the generated C code was done at 2 levels viz. (i) verification against specifications derived from logic diagrams, and (ii) verification against specifications derived from SRD. In this work we checked approximately 600 functional specifications of the software having roughly 15000 lines of code. (author)

EEG Mind Controlled Smart Prosthetic Arm – A Comprehensive Study

Directory of Open Access Journals (Sweden)

Taha Beyrouthy

2017-06-01

Full Text Available Recently, the field of prosthetics has seen many accomplishments especially with the integration of technological advancements. In this paper, different arm types (robotic, surgical, bionic, prosthetic and static are analyzed in terms of resistance, usage, flexibility, cost and potential. Most of these techniques have some problems; they are extremely expensive, hard to install and maintain and may require surgery. Therefore, our work introduces the initial design of an EEG mind controlled smart prosthetic arm. The arm is controlled by the brain commands, obtained from an electroencephalography (EEG headset, and equipped with a network of smart sensors and actuators that give the patient intelligent feedback about the surrounding environment and the object in contact. This network provides the arm with normal hand functionality, smart reflexes and smooth movements. Various types of sensors are used including temperature, pressure, ultrasonic proximity sensors, accelerometers, potentiometers, strain gauges and gyroscopes. The arm is completely 3D printed built from various lightweight and high strength materials that can handle high impacts and fragile elements as well. Our project requires the use of nine servomotors installed at different places in the arm. Therefore, the static and dynamic modes of servomotors are analyzed. The total cost of the project is estimated to be relatively cheap compared to other previously built arms. Many scenarios are analyzed corresponding to the actions that the prosthetic arm can perform, and an algorithm is created to match these scenarios. Experimental results show that the proposed EEG Mind-controlled Arm is a promising alternative for current solutions that require invasive and expensive surgical procedures.

Automated Formal Verification for PLC Control Systems

CERN Multimedia

Fernández Adiego, Borja

2014-01-01

Programmable Logic Controllers (PLCs) are widely used devices used in industrial control systems. Ensuring that the PLC software is compliant with its specification is a challenging task. Formal verification has become a recommended practice to ensure the correctness of the safety-critical software. However, these techniques are still not widely applied in industry due to the complexity of building formal models, which represent the system and the formalization of requirement specifications. We propose a general methodology to perform automated model checking of complex properties expressed in temporal logics (e.g. CTL, LTL) on PLC programs. This methodology is based on an Intermediate Model (IM), meant to transform PLC programs written in any of the languages described in the IEC 61131-3 standard (ST, IL, etc.) to different modeling languages of verification tools. This approach has been applied to CERN PLC programs validating the methodology.

Photoelectric radar servo control system based on ARM+FPGA

Science.gov (United States)

Wu, Kaixuan; Zhang, Yue; Li, Yeqiu; Dai, Qin; Yao, Jun

2016-01-01

In order to get smaller, faster, and more responsive requirements of the photoelectric radar servo control system. We propose a set of core ARM + FPGA architecture servo controller. Parallel processing capability of FPGA to be used for the encoder feedback data, PWM carrier modulation, A, B code decoding processing and so on; Utilizing the advantage of imaging design in ARM Embedded systems achieves high-speed implementation of the PID algorithm. After the actual experiment, the closed-loop speed of response of the system cycles up to 2000 times/s, in the case of excellent precision turntable shaft, using a PID algorithm to achieve the servo position control with the accuracy of + -1 encoder input code. Firstly, This article carry on in-depth study of the embedded servo control system hardware to determine the ARM and FPGA chip as the main chip with systems based on a pre-measured target required to achieve performance requirements, this article based on ARM chip used Samsung S3C2440 chip of ARM7 architecture , the FPGA chip is chosen xilinx's XC3S400 . ARM and FPGA communicate by using SPI bus, the advantage of using SPI bus is saving a lot of pins for easy system upgrades required thereafter. The system gets the speed datas through the photoelectric-encoder that transports the datas to the FPGA, Then the system transmits the datas through the FPGA to ARM, transforms speed datas into the corresponding position and velocity data in a timely manner, prepares the corresponding PWM wave to control motor rotation by making comparison between the position data and the velocity data setted in advance . According to the system requirements to draw the schematics of the photoelectric radar servo control system and PCB board to produce specially. Secondly, using PID algorithm to control the servo system, the datas of speed obtained from photoelectric-encoder is calculated position data and speed data via high-speed digital PID algorithm and coordinate models. Finally, a

Some possible applications of measurements on mu mesons to nuclear safeguards, nonproliferation, and arms control activities

International Nuclear Information System (INIS)

Kane, W.R.; Vanier, P.E.

1997-01-01

In the nuclear safeguards and arms control areas, well-developed methodologies exist for determining the properties of nuclear materials via measurements of the gamma rays and neutrons emitted from these materials, or in the arms control area, by the use of radiography. In certain favorable instances, it may by feasible to perform comparable measurements with the use of a ubiquitous, naturally-occurring radiation--cosmic ray mu mesons (muons). At the earth's surface these charged particles have a broad energy distribution peaking at about 500 MeV with a flux of approximately 10 -2 /cm 2 -sec-steradian. In traversing matter, muons lose energy at a rate of approximately 2 MeV/gram almost independent of atomic number. Muons can readily be detected by either plastic scintillators or wire planes. While the flux is small, a scintillator of one meter area, for example, will register about 20,000 events/min. these particles should have utility in the detection and imaging of objects with sectional densities of a few hundred grams/cm 2 . The degree of intrusiveness of the imaging can be controlled through the detector configuration. Some possible applications include: (1) mass measurements on large UF 6 cylinders, (2) determination of the size of treaty-limited objects, e.g., missiles, in rail cars or other containment; (3) verification of single or multiple warheads or components; (4) the detection of concealed, underground cavities. Examples will be presented

Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB

OpenAIRE

Luo Haitao; Liu Yuwang; Chen Zhengcang; Leng Yuquan

2013-01-01

The main objective of this study is how to quickly establish the virtual prototyping model of robot arm system and effectively solve trajectory tracking control for a given signal. Taking the 2-DOF robot arm as an example, a co-simulation control method is introduced to research multi-body dynamics. Using Newton-Euler and Lagrange method, respectively establish the dynamics model of robot arm and verify the correctness of equations. Firstly, the physical model of robot arm was built by PROE a...

Functional Verification of Enhanced RISC Processor

OpenAIRE

SHANKER NILANGI; SOWMYA L

2013-01-01

This paper presents design and verification of a 32-bit enhanced RISC processor core having floating point computations integrated within the core, has been designed to reduce the cost and complexity. The designed 3 stage pipelined 32-bit RISC processor is based on the ARM7 processor architecture with single precision floating point multiplier, floating point adder/subtractor for floating point operations and 32 x 32 booths multiplier added to the integer core of ARM7. The binary representati...

Robot-Arm Dynamic Control by Computer

Science.gov (United States)

Bejczy, Antal K.; Tarn, Tzyh J.; Chen, Yilong J.

1987-01-01

Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.

Arms control agency faces uncertain future

International Nuclear Information System (INIS)

Ember, L.

1993-01-01

National security cognoscenti are busy sifting tea leaves trying to puzzle out the fate of arms control and nonproliferation policy in the new Administration. Of special concern to these policy gurus is the future of the semiautonomous Arms Control and Disarmament Agency (ACDA). ACDA's existence as a separate entity on the executive branch's organization chart is precarious. The agency has never functioned as intended since Congress created it in 1961. Its stock over the decades has ebbed and flowed, paralleling the prominence and clout of its director. And except for a few notable successes--the conclusion of the chemical weapons treaty being one--the agency's authority has plummeted in the past 14 years. Today, almost every interested party agrees that something has to be done, that the agency cannot continue as it now functions. Several recent studies have called for its rejuvenation. Still other studies have suggested that ACDA be dismantled, and those activities relevant to national security in a post-Cold War environment be shifted to and integrated into the State Department. Observers expect ACDA to evolve into an agency whose primary focus is on problems of proliferation. In a world in which tighter export controls on dual-use technologies, restraint on arms transfers, and economic assistance conditional on a recipients's security behavior will be the norm for security and stability, a role for ACDA as the U.S.'s nonproliferation nanny is not a bad one

Dynamic model of the octopus arm. II. Control of reaching movements.

Science.gov (United States)

Yekutieli, Yoram; Sagiv-Zohar, Roni; Hochner, Binyamin; Flash, Tamar

2005-08-01

The dynamic model of the octopus arm described in the first paper of this 2-part series was used here to investigate the neural strategies used for controlling the reaching movements of the octopus arm. These are stereotypical extension movements used to reach toward an object. In the dynamic model, sending a simple propagating neural activation signal to contract all muscles along the arm produced an arm extension with kinematic properties similar to those of natural movements. Control of only 2 parameters fully specified the extension movement: the amplitude of the activation signal (leading to the generation of muscle force) and the activation traveling time (the time the activation wave takes to travel along the arm). We found that the same kinematics could be achieved by applying activation signals with different activation amplitudes all exceeding some minimal level. This suggests that the octopus arm could use minimal amplitudes of activation to generate the minimal muscle forces required for the production of the desired kinematics. Larger-amplitude signals would generate larger forces that increase the arm's stability against perturbations without changing the kinematic characteristics. The robustness of this phenomenon was demonstrated by examining activation signals with either a constant or a bell-shaped velocity profile. Our modeling suggests that the octopus arm biomechanics may allow independent control of kinematics and resistance to perturbation during arm extension movements.

Guidance and Control Software Project Data - Volume 3: Verification Documents

Science.gov (United States)

Hayhurst, Kelly J. (Editor)

2008-01-01

The Guidance and Control Software (GCS) project was the last in a series of software reliability studies conducted at Langley Research Center between 1977 and 1994. The technical results of the GCS project were recorded after the experiment was completed. Some of the support documentation produced as part of the experiment, however, is serving an unexpected role far beyond its original project context. Some of the software used as part of the GCS project was developed to conform to the RTCA/DO-178B software standard, "Software Considerations in Airborne Systems and Equipment Certification," used in the civil aviation industry. That standard requires extensive documentation throughout the software development life cycle, including plans, software requirements, design and source code, verification cases and results, and configuration management and quality control data. The project documentation that includes this information is open for public scrutiny without the legal or safety implications associated with comparable data from an avionics manufacturer. This public availability has afforded an opportunity to use the GCS project documents for DO-178B training. This report provides a brief overview of the GCS project, describes the 4-volume set of documents and the role they are playing in training, and includes the verification documents from the GCS project. Volume 3 contains four appendices: A. Software Verification Cases and Procedures for the Guidance and Control Software Project; B. Software Verification Results for the Pluto Implementation of the Guidance and Control Software; C. Review Records for the Pluto Implementation of the Guidance and Control Software; and D. Test Results Logs for the Pluto Implementation of the Guidance and Control Software.

Analyst Tools and Quality Control Software for the ARM Data System

Energy Technology Data Exchange (ETDEWEB)

Moore, S.T.

2004-12-14

ATK Mission Research develops analyst tools and automated quality control software in order to assist the Atmospheric Radiation Measurement (ARM) Data Quality Office with their data inspection tasks. We have developed a web-based data analysis and visualization tool, called NCVweb, that allows for easy viewing of ARM NetCDF files. NCVweb, along with our library of sharable Interactive Data Language procedures and functions, allows even novice ARM researchers to be productive with ARM data with only minimal effort. We also contribute to the ARM Data Quality Office by analyzing ARM data streams, developing new quality control metrics, new diagnostic plots, and integrating this information into DQ HandS - the Data Quality Health and Status web-based explorer. We have developed several ways to detect outliers in ARM data streams and have written software to run in an automated fashion to flag these outliers.

Cold War Arms Control Motivations and Techniques - A Guide for the Future?

National Research Council Canada - National Science Library

White, Elmer

1996-01-01

.... This paper provides a brief historical account of some of the arms control agreements between the U.S. and the Soviet Union, examines their major motivations to enter into negotiations, and illustrates some successful negotiation techniques. The author hypothesizes on the utility of this Cold War arms control experience as a useful guide for arms control in a single superpower world.

Passive detection of nuclear-armed SLCMs

International Nuclear Information System (INIS)

Sagdeev, R.Z.; Prilutsky, O.F.; Frolov, V.A.

1992-01-01

Effective procedures have been developed, using national technical measures (photoreconnaissance satellites, radiointercept stations, etc.), for verification of reductions in land-based intercontinental ballistic missiles, such as marine-based ballistic missiles, and strategic bombers. However, there is agreement on procedures for verifying limitations of numbers of long-range nuclear-armed cruise missiles. The difficulties in developing such procedures are sometimes regarded (by opponents of nuclear disarmament) as a reason why cruise missiles based on ships and submarines ought not to be limited by future arms-reduction treaties. This paper considers the detectability of nuclear-armed cruise missiles through the penetrating radiation emitted spontaneously from their warheads

Dual arm master controller concept

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1984-01-01

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures

Strategic arms limitation

Science.gov (United States)

Allen Greb, G.; Johnson, Gerald W.

1983-10-01

Following World War II, American scientists and politicians proposed in the Baruch plan a radical solution to the problem of nuclear weapons: to eliminate them forever under the auspices of an international nuclear development authority. The Soviets, who as yet did not possess the bomb, rejected this plan. Another approach suggested by Secretary of War Henry Stimson to negotiate directly with the Soviet Union was not accepted by the American leadership. These initial arms limitation failures both reflected and exacerbated the hostile political relationship of the superpowers in the 1950s and 1960s. Since 1969, the more modest focus of the Soviet-American arms control process has been on limiting the numbers and sizes of both defensive and offensive strategic systems. The format for this effort has been the Strategic Arms Limitatins Talks (Salt) and more recently the Strategic Arms Reduction Talks (START). Both sides came to these negotiations convinced that nuclear arsenals had grown so large that some for of mutual restraint was needed. Although the SALT/START process has been slow and ponderous, it has produced several concrete the agreements and collateral benefits. The 1972 ABM Treaty restricts the deployment of ballistic missile defense systems, the 1972 Interim Agreement places a quantitative freeze on each side's land based and sea based strategic launchers, and the as yet unratified 1979 SALT II Treaty sets numerical limits on all offensive strategic systems and sublimits on MIRVed systems. Collateral benefits include improved verification procedures, working definitions and counting rules, and permanent bureaucratic apparatus which enhance stability and increase the chances for achieving additional agreements.

The effect of the development of theatre missile defences on the arms control structure

International Nuclear Information System (INIS)

Liu Min

1998-01-01

Th arms control structure usually refers to current and past results of the efforts by the USA and former Soviet Union to negotiate strategic arms control agreements. The structure is to be represented by the various arms control agreements, such as the Strategic Arms Limitation Talks (SALT) and the strategic Reduction Talks (START). Whatever the motives of the parties to these agreements, today people commonly regard the structure as the best way to achieve strategic stability. The profile od arms control and the impact of the Anti-Ballistic Missile (ABM) Treaty, to understand how the Theatre Missile Defence (TMD) program affects the arms control structure

Study on the role of the United Nations in the field of verification

International Nuclear Information System (INIS)

1991-01-01

The present report has been prepared pursuant to General Assembly resolution 43/81 B. The Group of Governmental Experts, while taking fully into account the mandate of the resolution, that is, to prepare a study that addresses the role of the United Nations in the field of verification of arms limitation and disarmament, has also taken into consideration approaches, methods, procedures and techniques relating to other arrangements in the area of international peace and security which might otherwise be useful to the process of verification of arms limitation and disarmament agreements. A selected bibliography on technical aspects of verification is given. However, materials published in languages other than English are not adequately reflected. Refs

The future of U.S.-Russia nuclear arms control

Science.gov (United States)

Pifer, Steven

2017-11-01

Nuclear arms control has long made contributions to U.S.-Soviet and U.S.-Russian security, but the current regime is at risk. The 1987 Intermediate-range Nuclear Forces Treaty may be headed for collapse. Both the United States and Russia are modernizing their strategic forces, and the fate of the 2010 New Strategic Arms Reduction Treaty is unclear. In the unlikely case that the sides are prepared to go beyond New START, there are ways to address further reductions and related issues. A collapse of the arms control regime, on the other hand, would mean the end of constraints on U.S. and Russian nuclear forces, a significant loss of transparency, and potential costs to U.S. security.

Arms Control, Disarmament, and Peace Newsletters.

Science.gov (United States)

Atkins, Stephen

1986-01-01

Considers the research value of four types of newsletters on arms control, disarmament, and peace: direct-action, informational, scholarly, and single-issue. An annotated list of 58 newsletters includes those considered most significant of their type and recommended for library collections. (EM)

Association of hand and arm disinfection with asthma control in US nurses.

Science.gov (United States)

Dumas, Orianne; Varraso, Raphäelle; Boggs, Krislyn M; Descatha, Alexis; Henneberger, Paul K; Quinot, Catherine; Speizer, Frank E; Zock, Jan-Paul; Le Moual, Nicole; Camargo, Carlos A

2018-05-01

To investigate the association between occupational exposure to disinfectants/antiseptics used for hand hygiene and asthma control in nurses. In 2014, we invited female nurses with asthma drawn from the Nurses' Health Study II to complete two supplemental questionnaires on their occupation and asthma (cross-sectional study, response rate: 80%). Among 4055 nurses (mean age: 59 years) with physician-diagnosed asthma and asthma medication use in the past year, we examined asthma control, as defined by the Asthma Control Test (ACT). Nurses were asked about the daily frequency of hand hygiene tasks: 'wash/scrub hands with disinfectants/hand sanitizers' (hand hygiene) and 'wash/scrub arms with disinfecting products' (surrogate of surgical hand/arm antisepsis). Analyses were adjusted for age, race, ethnicity, smoking status and body mass index. Nurses with partly controlled asthma (ACT: 20-24, 50%) and poorly controlled asthma (ACT ≤19, 18%) were compared with nurses with controlled asthma (ACT=25, 32%). In separate models, both hand and arm hygiene were associated with poorly controlled asthma. After mutual adjustment, only arm hygiene was associated with poorly controlled asthma: OR (95% CI) for arm hygiene tasks (never to >10 times/day) and poor asthma control. Associations persisted after further adjustment for surfaces/instruments disinfection tasks. Frequency of hand/arm hygiene tasks in nurses was associated with poor asthma control. The results suggest an adverse effect of products used for surgical hand/arm antisepsis. This potential new occupational risk factor for asthma warrants further study. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2018. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

Cooperative Mmonitoring Center Occasional Paper/5: Propspects of Conventional Arms Control in South Asia

Energy Technology Data Exchange (ETDEWEB)

Gupta, Amit; Kamal, Nazir

1998-11-01

The intensely adversarial relationship between India and Pakistan is marked by military rivalry, mutual distrust, and suspicion. The most dividing disagreement has been over the Kashmir region. An inability to discuss the Kashmir issue has prevented discussion on other important issues. Since there is little prospect of detente, at least in the near-term, the question is whether this rivalry can be contained by other means, such as arms control approaches. Conventional arms control has been applied flexibly and successfully in some regions to reduce threat-perceptions and achieve reassuring military stability. Some lessons from other international models might be applied to the India/Pakistan context. This paper discusses the status of conventional arms control in South Asia, the dominant Indian and Pakistani perceptions about arms control, the benefits that could be derived from arms control, as well as the problems and prospects of arms control. It also discusses existing conventional arms control agreements at the regional and global levels as well as the potential role of cooperative monitoring technology.

Verification Testing of Air Pollution Control Technology Quality Management Plan Revision 2.3

Science.gov (United States)

The Air Pollution Control Technology Verification Center was established in 1995 as part of the EPA’s Environmental Technology Verification Program to accelerate the development and commercialization of improved environmental technologies’ performance.

U.S. – Russia Relations And Arms Control: Breating The Clinch

Directory of Open Access Journals (Sweden)

N. I. Bubnova

2017-01-01

Full Text Available The article examines the new U.S. administration’s outlook on arms control, analyses the existing problems in this field and possible ways for their resolution, compares Donald Trump’s statements on military and political issues with the president’s first steps in this area, and offers forecasts and recommendations on the prospects for U.S.-Russia cooperation in arms limitations and reductions. The author proceeds from the assumption that arms control is a key component in measures to ensure international security. Even if the current tense U.S.- Russian relations provide little room for maneuver and the internal political struggle in DC sets limits on the possible bilateral measures, Moscow should nevertheless take initiative in putting forward a set of proposals to reduce weapons, especially in the very sensitive and risk-prone nuclear field. This will allow in future negotiations to proceed from options that will take into account Russian interests and the specifics of Russia’s weapons systems, while at the same time showing the resolve of the nuclear superpowers to reduce existing threats through negotiations and leading the way for other countries to join. Taking into account the importance of arms control, all efforts should be made to enforce the existing treaties, consolidate the current international treaty-based legal system, and work further on new arms control and arms reduction agreements.

Mechanical verification of concurrency control and recovery protocols

NARCIS (Netherlands)

Chkliaev, D.

2001-01-01

The thesis concerns the formal specification and mechanized verification of concurrency control and recovery protocols for distributed databases. Such protocols are needed for many modern application such as banking and are often used in safety-critical applications. Therefore it is very important

Research on the man in the loop control system of the robot arm based on gesture control

Science.gov (United States)

Xiao, Lifeng; Peng, Jinbao

2017-03-01

The Man in the loop control system of the robot arm based on gesture control research complex real-world environment, which requires the operator to continuously control and adjust the remote manipulator, as the background, completes the specific mission human in the loop entire system as the research object. This paper puts forward a kind of robot arm control system of Man in the loop based on gesture control, by robot arm control system based on gesture control and Virtual reality scene feedback to enhance immersion and integration of operator, to make operator really become a part of the whole control loop. This paper expounds how to construct a man in the loop control system of the robot arm based on gesture control. The system is a complex system of human computer cooperative control, but also people in the loop control problem areas. The new system solves the problems that the traditional method has no immersion feeling and the operation lever is unnatural, the adjustment time is long, and the data glove mode wears uncomfortable and the price is expensive.

Learning and Control Model of the Arm for Loading

Science.gov (United States)

Kim, Kyoungsik; Kambara, Hiroyuki; Shin, Duk; Koike, Yasuharu

We propose a learning and control model of the arm for a loading task in which an object is loaded onto one hand with the other hand, in the sagittal plane. Postural control during object interactions provides important points to motor control theories in terms of how humans handle dynamics changes and use the information of prediction and sensory feedback. For the learning and control model, we coupled a feedback-error-learning scheme with an Actor-Critic method used as a feedback controller. To overcome sensory delays, a feedforward dynamics model (FDM) was used in the sensory feedback path. We tested the proposed model in simulation using a two-joint arm with six muscles, each with time delays in muscle force generation. By applying the proposed model to the loading task, we showed that motor commands started increasing, before an object was loaded on, to stabilize arm posture. We also found that the FDM contributes to the stabilization by predicting how the hand changes based on contexts of the object and efferent signals. For comparison with other computational models, we present the simulation results of a minimum-variance model.

Interface Based on Electrooculography for Velocity Control of a Robot Arm

Directory of Open Access Journals (Sweden)

Eduardo Iáñez

2010-01-01

Full Text Available This paper describes a technique based on electrooculography to control a robot arm. This technique detects the movement of the eyes, measuring the difference of potential between the cornea and the retina by placing electrodes around the ocular area. The processing algorithm developed to obtain the position of the eye at the blink of the user is explained. The output of the processing algorithm offers, apart from the direction, four different values (zero to three to control the velocity of the robot arm according to how much the user is looking in one direction. This allows controlling two degrees of freedom of a robot arm with the eyes movement. The blink has been used to mark some targets in tests. In this paper, the experimental results obtained with a real robot arm are shown.

JPRS Report Arms Control

National Research Council Canada - National Science Library

1993-01-01

Table of Contents: (1) COMMONWEALTH OF INDEPENDENT STATES - (A) GENERAL Flaws in U.S.-Russian SSD Agreement Viewed, Khariton - Espionage Not Crucial in Soviet Nuclear Arms Development, Further on Espionage Role in Nuclear Arms Projects...

Employing 3D Virtual Reality and the Unity Game Engine to Support Nuclear Verification Research

International Nuclear Information System (INIS)

Patton, T.

2015-01-01

This project centres on the development of a virtual nuclear facility environment to assist non-proliferation and nuclear arms control practitioners - including researchers, negotiators, or inspectors - in developing and refining a verification system and secure chain of custody of material or equipment. The platform for creating the virtual facility environment is the Unity 3D game engine. This advanced platform offers both the robust capability and flexibility necessary to support the design goals of the facility. The project also employs Trimble SketchUp and Blender 3D for constructing the model components. The development goal of this phase of the project was to generate a virtual environment that includes basic physics in which avatars can interact with their environment through actions such as picking up objects, operating vehicles, dismantling a warhead through a spherical representation system, opening/closing doors through a custom security access system, and conducting CCTV surveillance. Initial testing of virtual radiation simulation techniques was also explored in preparation for the next phase of development. Some of the eventual utilities and applications for this platform include: 1. conducting live multi-person exercises of verification activities within a single, shared virtual environment, 2. refining procedures, individual roles, and equipment placement in the contexts of non-proliferation or arms control negotiations 3. hands on training for inspectors, and 4. a portable tool/reference for inspectors to use while carrying out inspections. This project was developed under the Multilateral Verification Project, led by the Verification Research, Training and Information Centre (VERTIC) in the United Kingdom, and financed by the Norwegian Ministry of Foreign Affairs. The environment was constructed at the Vienna Center for Disarmament and Non-Proliferation (VCDNP). (author)

Functional verification of a safety class controller for NPPs using a UVM register Model

Energy Technology Data Exchange (ETDEWEB)

Kim, Kyu Chull [Dept. of Applied Computer Engineering, Dankook University, Cheonan (Korea, Republic of)

2014-06-15

A highly reliable safety class controller for NPPs (Nuclear Power Plants) is mandatory as even a minor malfunction can lead to disastrous consequences for people, the environment or the facility. In order to enhance the reliability of a safety class digital controller for NPPs, we employed a diversity approach, in which a PLC-type controller and a PLD-type controller are to be operated in parallel. We built and used structured testbenches based on the classes supported by UVM for functional verification of the PLD-type controller designed for NPPs. We incorporated a UVM register model into the testbenches in order to increase the controllability and the observability of the DUT(Device Under Test). With the increased testability, we could easily verify the datapaths between I/O ports and the register sets of the DUT, otherwise we had to perform black box tests for the datapaths, which is very cumbersome and time consuming. We were also able to perform constrained random verification very easily and systematically. From the study, we confirmed the various advantages of using the UVM register model in verification such as scalability, reusability and interoperability, and set some design guidelines for verification of the NPP controllers.

Dual arm master controller development

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1985-01-01

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. This work was performed as part of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 5 refs., 7 figs., 1 tab

A biologically inspired neural network controller for ballistic arm movements

Directory of Open Access Journals (Sweden)

Schmid Maurizio

2007-09-01

Full Text Available Abstract Background In humans, the implementation of multijoint tasks of the arm implies a highly complex integration of sensory information, sensorimotor transformations and motor planning. Computational models can be profitably used to better understand the mechanisms sub-serving motor control, thus providing useful perspectives and investigating different control hypotheses. To this purpose, the use of Artificial Neural Networks has been proposed to represent and interpret the movement of upper limb. In this paper, a neural network approach to the modelling of the motor control of a human arm during planar ballistic movements is presented. Methods The developed system is composed of three main computational blocks: 1 a parallel distributed learning scheme that aims at simulating the internal inverse model in the trajectory formation process; 2 a pulse generator, which is responsible for the creation of muscular synergies; and 3 a limb model based on two joints (two degrees of freedom and six muscle-like actuators, that can accommodate for the biomechanical parameters of the arm. The learning paradigm of the neural controller is based on a pure exploration of the working space with no feedback signal. Kinematics provided by the system have been compared with those obtained in literature from experimental data of humans. Results The model reproduces kinematics of arm movements, with bell-shaped wrist velocity profiles and approximately straight trajectories, and gives rise to the generation of synergies for the execution of movements. The model allows achieving amplitude and direction errors of respectively 0.52 cm and 0.2 radians. Curvature values are similar to those encountered in experimental measures with humans. The neural controller also manages environmental modifications such as the insertion of different force fields acting on the end-effector. Conclusion The proposed system has been shown to properly simulate the development of

Measures for regional security and arms control in the South-East Asian area

International Nuclear Information System (INIS)

Uren, R.T.

1992-01-01

The subject of regional security and arms control in the South-East Asia raises some new and difficult issues. No approach to ensuring regional security could be complete without military dimension including the following categories: regional arms control; global arms control measure; confidence building measures that are designed to enhance the transparency of defense policies; confidence building measures that encourage cooperation among the military forces in the region

Consortium for Verification Technology Fellowship Report.

Energy Technology Data Exchange (ETDEWEB)

Sadler, Lorraine E. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2017-06-01

As one recipient of the Consortium for Verification Technology (CVT) Fellowship, I spent eight days as a visiting scientist at the University of Michigan, Department of Nuclear Engineering and Radiological Sciences (NERS). During this time, I participated in multiple department and research group meetings and presentations, met with individual faculty and students, toured multiple laboratories, and taught one-half of a one-unit class on Risk Analysis in Nuclear Arms control (six 1.5 hour lectures). The following report describes some of the interactions that I had during my time as well as a brief discussion of the impact of this fellowship on members of the consortium and on me/my laboratory’s technical knowledge and network.

Defining the questions: a research agenda for nontraditional authentication in arms control

Energy Technology Data Exchange (ETDEWEB)

Hauck, Danielle K [Los Alamos National Laboratory; Mac Arthur, Duncan W [Los Alamos National Laboratory; Smith, Morag K [Los Alamos National Laboratory; Thron, Jonathan L [Los Alamos National Laboratory; Budlong - Sylvester, Kory [Los Alamos National Laboratory

2010-01-01

Many traditional authentication techniques have been based on hardware solutions. Thus authentication of measurement system hardware has been considered in terms of physical inspection and destructive analysis. Software authentication has implied hash function analysis or authentication tools such as Rose. Continuity of knowledge is maintained through TIDs and cameras. Although there is ongoing progress improving all of these authentication methods, there has been little discussion of the human factors involved in authentication. Issues of non-traditional authentication include sleight-of-hand substitutions, monitor perception vs. reality, and visual diversions. Since monitor confidence in a measurement system depends on the product of their confidences in each authentication element, it is important to investigate all authentication techniques, including the human factors. This paper will present an initial effort to identify the most important problems that traditional authentication approaches in safeguards have not addressed and are especially relevant to arms control verification. This will include a survey of the literature and direct engagement with nontraditional experts in areas like psychology and human factors. Based on the identification of problem areas, potential research areas will be identified and a possible research agenda will be developed.

Formal Verification of Effectiveness of Control Activities in Business Processes

Science.gov (United States)

Arimoto, Yasuhito; Iida, Shusaku; Futatsugi, Kokichi

It has been an important issue to deal with risks in business processes for achieving companies' goals. This paper introduces a method for applying a formal method to analysis of risks and control activities in business processes in order to evaluate control activities consistently, exhaustively, and to give us potential to have scientific discussion on the result of the evaluation. We focus on document flows in business activities and control activities and risks related to documents because documents play important roles in business. In our method, document flows including control activities are modeled and it is verified by OTS/CafeOBJ Method that risks about falsification of documents are avoided by control activities in the model. The verification is done by interaction between humans and CafeOBJ system with theorem proving, and it raises potential to discuss the result scientifically because the interaction gives us rigorous reasons why the result is derived from the verification.

Conventional arms control negotiations in Europe (CFE, March 1989-April 1990)

International Nuclear Information System (INIS)

Buerstedde, L.

1992-01-01

This paper reports that for those of us who labored in the salt mines of arms control talks on Mutual and Balanced Force Reductions (MBFR), it is truly an invigorating experience to have been reincarnated as conventional arms controllers at the Negotiations on Conventional Armed Forces in Europe (CFE), in session in Vienna since March 1989, against the background of the breathtaking and unprecedented changes sweeping across Eastern Europe. The negotiations have made remarkable progress, proceeding to a point where a treaty drastically cutting the level of conventional armaments in Europe is not just a possibility but actually in prospect

27 CFR 479.193 - Arms Export Control Act.

Science.gov (United States)

2010-04-01

..., AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating to...

Efficient Development and Verification of Safe Railway Control Software

DEFF Research Database (Denmark)

Haxthausen, Anne Elisabeth; Peleska, Jan

2013-01-01

the monitoring process; hydraulic absorbers as dampers to dissipate the energy of oscillations in railway electric equipment; development of train fare calculation and adjustment systems using VDM++; efficient development and verification of safe railway control software; and evolution of the connectivity...

Arms control in space: workshop proceedings, Washington, DC, January 30-31, 1984

International Nuclear Information System (INIS)

1984-05-01

In late 1982 and early 1983, the Subcommittee on Arms Control, Oceans, International Operations, and Environment of the Senate Committee on Foreign Relations held hearings on space weapons and arms control. To explore these issues further in a discussion format not easily achieved in hearings, Sen. Larry Pressler, Chairman of the Subcommittee, asked OTA to conduct a workshop focusing on antisatellite (ASAT) weapons as one aspect of space arms control. The workshop held in Washington, DC on January 30 and 31, 1984, provided an opportunity for technical, diplomatic, military, and policy-analysis experts to interact, think out loud, and build each other's ideas. The workshop was organized into six sessions, although issues involving anti-satellite weapons and arms control are not easily compartmentalized into distinct subject areas. Each session was introduced by a 10- or 15-minute informal oral presentation which set the stage for further discussion. This workshop proceedings volume is organized along the same divisions as the sessions, with some rearrangement

Developing and modeling of voice control system for prosthetic robot arm in medical systems

Directory of Open Access Journals (Sweden)

Koksal Gundogdu

2018-04-01

Full Text Available In parallel with the development of technology, various control methods are also developed. Voice control system is one of these control methods. In this study, an effective modelling upon mathematical models used in the literature is performed, and a voice control system is developed in order to control prosthetic robot arms. The developed control system has been applied on four-jointed RRRR robot arm. Implementation tests were performed on the designed system. As a result of the tests; it has been observed that the technique utilized in our system achieves about 11% more efficient voice recognition than currently used techniques in the literature. With the improved mathematical modelling, it has been shown that voice commands could be effectively used for controlling the prosthetic robot arm. Keywords: Voice recognition model, Voice control, Prosthetic robot arm, Robotic control, Forward kinematic

Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

Directory of Open Access Journals (Sweden)

Tianliang Liu

2016-05-01

Full Text Available When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we present three types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are, respectively, position-level, velocity-level and acceleration-level resolved motion control methods. The desired pose, velocity and acceleration of each end-effector are then resolved according to the desired motion of the payload and the constraints on the closed-chain system without consideration of the internal force. Corresponding to the three cases above, the joint variables of each arm are then calculated using the inverse kinematic equations, at position-level, velocity-level or acceleration-level. Finally, a dynamic modelling and simulation platform is established based on ADAMS and Matlab software. The proposed methods are verified by typical cases. The simulation results show that the proposed control strategy can realize the dual-arm coordinated operation and the internal force of the closed chain during the operation is controlled in a reasonable range at the same time.

Overview: Mechanism and Control of a Prosthetic Arm.

Science.gov (United States)

Kulkarni, Tushar; Uddanwadiker, Rashmi

2015-09-01

Continuous growth in industrialization and lack of awareness in safety parameters the cases of amputations are growing. The search of safer, simpler and automated prosthetic arms for managing upper limbs is expected. Continuous efforts have been made to design and develop prosthetic arms ranging from simple harness actuated to automated mechanisms with various control options. However due the cost constraints, the automated prosthetic arms are still out of the reach of needy people. Recent data have shown that there is a wide scope to develop a low cost and light weight upper limb prosthesis. This review summarizes the various designs methodologies, mechanisms and control system developed by the researchers and the advances therein. Educating the patient to develop acceptability to prosthesis and using the same for the most basic desired functions of human hand, post amputation care and to improve patient's independent life is equally important. In conclusion it can be interpreted that there is a wide scope in design in an adaptive mechanism for opening and closing of the fingers using other methods of path and position synthesis. Simple mechanisms and less parts may optimize the cost factor. Reduction in the weight of the prosthesis may be achieved using polymers used for engineering applications. Control system will remain never ending challenge for the researchers, but it is essential to maintain the simplicity from the patients perspective.

Fuzzy Logic and PID control of a 3 DOF Robotic Arm

Directory of Open Access Journals (Sweden)

Korhan Kayışlı

2017-12-01

Full Text Available The robotic arms are used in many industrial applications at the present time. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively

Hybrid Control and Verification of a Pulsed Welding Process

DEFF Research Database (Denmark)

Wisniewski, Rafal; Larsen, Jesper Abildgaard; Izadi-Zamanabadi, Roozbeh

Currently systems, which are desired to control, are becoming more and more complex and classical control theory objectives, such as stability or sensitivity, are often not sufficient to cover the control objectives of the systems. In this paper it is shown how the dynamics of a pulsed welding...... process can be reformulated into a timed automaton hybrid setting and subsequently properties such as reachability and deadlock absence is verified by the simulation and verification tool UPPAAL....

A rule-based verification and control framework in ATLAS Trigger-DAQ

CERN Document Server

Kazarov, A; Lehmann-Miotto, G; Sloper, J E; Ryabov, Yu; Computing In High Energy and Nuclear Physics

2007-01-01

In order to meet the requirements of ATLAS data taking, the ATLAS Trigger-DAQ system is composed of O(1000) of applications running on more than 2600 computers in a network. With such system size, s/w and h/w failures are quite often. To minimize system downtime, the Trigger-DAQ control system shall include advanced verification and diagnostics facilities. The operator should use tests and expertise of the TDAQ and detectors developers in order to diagnose and recover from errors, if possible automatically. The TDAQ control system is built as a distributed tree of controllers, where behavior of each controller is defined in a rule-based language allowing easy customization. The control system also includes verification framework which allow users to develop and configure tests for any component in the system with different levels of complexity. It can be used as a stand-alone test facility for a small detector installation, as part of the general TDAQ initialization procedure, and for diagnosing the problems ...

Gorbachev’s Arms Control Strategy.

Science.gov (United States)

1987-01-22

on- site inspection for verifying nuclear tests as well as for dismantling missiles on Soviet territory. Clearlv Gorbachev wants an arms , -4- control...bring its seismological test equipment to what he called the "holy of holies", the area adjoining the Soviet proving ground near Semipalatinsk to offer...prenotification and observation of military exercises including on- site inspection on Soviet territory. But on the big issues--- nuclear testing , strategic weapons

Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

Science.gov (United States)

Meng, Jianjun; Zhang, Shuying; Bekyo, Angeliki; Olsoe, Jaron; Baxter, Bryan; He, Bin

2016-01-01

Brain-computer interface (BCI) technologies aim to provide a bridge between the human brain and external devices. Prior research using non-invasive BCI to control virtual objects, such as computer cursors and virtual helicopters, and real-world objects, such as wheelchairs and quadcopters, has demonstrated the promise of BCI technologies. However, controlling a robotic arm to complete reach-and-grasp tasks efficiently using non-invasive BCI has yet to be shown. In this study, we found that a group of 13 human subjects could willingly modulate brain activity to control a robotic arm with high accuracy for performing tasks requiring multiple degrees of freedom by combination of two sequential low dimensional controls. Subjects were able to effectively control reaching of the robotic arm through modulation of their brain rhythms within the span of only a few training sessions and maintained the ability to control the robotic arm over multiple months. Our results demonstrate the viability of human operation of prosthetic limbs using non-invasive BCI technology. PMID:27966546

Position Control Method For Pick And Place Robot Arm For Object Sorting System

Directory of Open Access Journals (Sweden)

Khin Moe Myint

2015-08-01

Full Text Available The more increase the number of industries in developing countries the more require labourers or workers in that. To reduce the cost of labour force and to increase the manufacturing capacity of industries the advanced robot arms are more needed. The aim of this journal is to eliminate the manual control for object sorting system.Robot arm design in this research uses two joints three links and servo motors to drive. Microcontroller is used to generate required PWM signal for servo motors. In this research the position control of robot arm was designed by using kinematic control methods. There are two types of kinematic control methods which are forward and reverse kinematic methods. In forward kinematic method the input parameters are the joint angles and link length of robot arm and then the output is the position at XYZ coordinate of tool or gripper. In inverse kinematic the input parameters are position at XYZ coordinate of gripper and the link length of robot arm and then the output parameters are the joint angles. So kinematic methods can explain the analytical description of the geometry motion of the manipulator with reference to a robot coordinate system fixed to a frame without consideration of the forces or the moments causing the movements. For sorting system Metal detector is used to detect the metal or non-metal. This position control of pick and place robot arm is fully tested and the result is obtained more precisely.

VERIFICATION TESTING OF AIR POLLUTION CONTROL TECHNOLOGY QUALITY MANAGEMENT PLAN

Science.gov (United States)

This document is the basis for quality assurance for the Air Pollution Control Technology Verification Center (APCT Center) operated under the U.S. Environmental Protection Agency (EPA). It describes the policies, organizational structure, responsibilities, procedures, and qualit...

Verification tests for remote controlled inspection system in nuclear power plants

International Nuclear Information System (INIS)

Kohno, Tadaaki

1986-01-01

Following the increase of nuclear power plants, the total radiation exposure dose accompanying inspection and maintenance works tended to increase. Japan Power Engineering and Inspection Corp. carried out the verification test of a practical power reactor automatic inspection system from November, 1981, to March, 1986, and in this report, the state of having carried out this verification test is described. The objects of the verification test were the equipment which is urgently required for reducing radiation exposure dose, the possibility of realization of which is high, and which is important for ensuring the safety and reliability of plants, that is, an automatic ultrasonic flaw detector for the welded parts of bend pipes, an automatic disassembling and inspection system for control rod driving mechanism, a fuel automatic inspection system, and automatic decontaminating equipments for steam generator water chambers, primary system crud and radioactive gas in coolant. The results of the verification test of these equipments were judged as satisfactory, therefore, the application to actual plants is possible. (Kako, I.)

Costs of disarmament - Rethinking the price tag: A methodological inquiry into the costs and benefits of arms control

International Nuclear Information System (INIS)

Willett, S.

2002-06-01

The growing number of arms control and disarmament treaties agreed on over the past decades as well as rising concerns about harmful environmental and public health effects of weapons disposal, have understandably led to an increase in the cost of implementing arms control agreements. As a result, the expenses associated with treaty compliance have emerged as a contentious issue within the realm of arms control and disarmament discussions. In particular, opponents of arms control and disarmament point to perceived rising costs of meeting current and proposed treaty obligations in an attempt to limit and undermine such activities. Yet determining just how much arms control and disarmament cost remains very much an ambiguous task. In Costs of Disarmament - Rethinking the Price Tag: A Methodological Inquiry into the Costs and Benefits of Arms Control, Susan Willett addresses the question of how the cost of arms control ought to be measured. Emphasizing the proper allocation of costs associated with arms control treaty implementation to the life cycle costs of weapon systems and their correct weighing against the benefits they procure in terms of averted arms races and increased international security, Willett argues for a revised methodology of costing arms control and disarmament that gives a more accurate - and significantly lower - estimate of the latter. Adopting such a revised methodology concludes the author, might dispel considerable misunderstanding and help point decisions over arms control and disarmament in the right direction

A Vibration Control Method for the Flexible Arm Based on Energy Migration

Directory of Open Access Journals (Sweden)

Yushu Bian

2015-01-01

Full Text Available A vibration control method based on energy migration is proposed to decrease vibration response of the flexible arm undergoing rigid motion. A type of vibration absorber is suggested and gives rise to the inertial coupling between the modes of the flexible arm and the absorber. By analyzing 1 : 2 internal resonance, it is proved that the internal resonance can be successfully created and the exchange of vibration energy is existent. Due to the inertial coupling, the damping enhancement effect is revealed. Via the inertial coupling, vibration energy of the flexible arm can be dissipated by not only the damping of the vibration absorber but also its own enhanced damping, thereby effectively decreasing vibration. Through numerical simulations and analyses, it is proven that this method is feasible in controlling nonlinear vibration of the flexible arm undergoing rigid motion.

Formalization of the Access Control on ARM-Android Platform with the B Method

Science.gov (United States)

Ren, Lu; Wang, Wei; Zhu, Xiaodong; Man, Yujia; Yin, Qing

2018-01-01

ARM-Android is a widespread mobile platform with multi-layer access control mechanisms, security-critical in the system. Many access control vulnerabilities still exist due to the course-grained policy and numerous engineering defects, which have been widely studied. However, few researches focus on the mechanism formalization, including the Android permission framework, kernel process management and hardware isolation. This paper first develops a comprehensive formal access control model on the ARM-Android platform using the B method, from the Android middleware to hardware layer. All the model specifications are type checked and proved to be well-defined, with 75%of proof obligations demonstrated automatically. The results show that the proposed B model is feasible to specify and verify access control schemes in the ARM-Android system, and capable of implementing a practical control module.

Verification test of control rod system for HTR-10

International Nuclear Information System (INIS)

Zhou Huizhong; Diao Xingzhong; Huang Zhiyong; Cao Li; Yang Nianzu

2002-01-01

There are 10 sets of control rods and driving devices in 10 MW High Temperature Gas-cooled Test Reactor (HTR-10). The control rod system is the controlling and shutdown system of HTR-10, which is designed for reactor criticality, operation, and shutdown. In order to guarantee technical feasibility, a series of verification tests were performed, including room temperature test, thermal test, test after control rod system installed in HTR-10, and test of control rod system before HTR-10 first criticality. All the tests data showed that driving devices working well, control rods running smoothly up and down, random position settling well, and exactly position indicating

A Remote Controlled Robotic Arm That Reads Barcodes and Handles Products

Directory of Open Access Journals (Sweden)

Zhi-Ying Chen

2018-03-01

Full Text Available In this study, a 6-axis robotic arm, which was controlled by an embedded Raspberry Pi with onboard WiFi, was developed and fabricated. A mobile application (APP, designed for the purpose, was used to operate and monitor a robotic arm by means of a WiFi connection. A computer vision was used to read common one-dimensional barcode (EAN code for the handling and identification of products such as milk tea drinks, sodas and biscuits. The gripper on the end of the arm could sense the clamping force and allowed real-time control of the amount of force used to hold and handle the products. The packages were all made of different material and this control allowed them to be handled without danger of damage or deformation. The maximum handling torque used was ~1.08 Nm and the mechanical design allowed the force of the gripper to be uniformly applied to the sensor to ensure accurate measurement of the force.

Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

Science.gov (United States)

Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

2017-08-01

One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

Robotic arm

Science.gov (United States)

Kwech, Horst

1989-04-18

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller

OpenAIRE

P. Wu; W. Wu

2012-01-01

Based on the stability request of robot’s moving on the ground, the motion planning of dual-arm mobile robot when moving on the ground is studied and the preview control system is applied in the robot walking pattern generation. Direct question of robot kinematics in the extended task space is analyzed according to Degrees of Freedom configuration of the dual-arm mobile robot. It is proved that the preview control system could be used in the generation of robot Center of Mass forward trajecto...

Conventional arms control and the nuclear weapons dilemma in Europe

International Nuclear Information System (INIS)

Hopmann, P.T.

1988-01-01

This paper sets forth some fundamental propositions about the role of conventional arms control in connection with the nuclear weapons dilemma in Europe. A fundamental underlying premise of this analysis is that nuclear and non-nuclear issues in European security are inextricably linked with one another. Therefore, they should not be separated either conceptually or at the level of policy analysis and prescription. An additional basic assumption is that the attainment of an appropriate security regime in Europe is hindered by the security dilemma, in which measures that enhance the security of one side in the East-West conflict are often perceived by the other as detracting from their own security. Therefore, a regime intended to enhance common security throughout the continent must be designed so as to reduce rather than exacerbate this dilemma. The analysis of the requirements for confidence-building measures and arms control rests on several propositions that have been introduced by numerous other authors in this volume. These propositions will be summarized here briefly in order to lay the foundation for the subsequent analysis of confidence-building and arms control initiatives

Designing and evaluating conventional arms control measures: The case of the Korean peninsula

International Nuclear Information System (INIS)

Han Yongsup.

1991-01-01

As a method of designing and evaluating arms control measures, this study takes a combined approach of qualitative analysis and military simulation. Three qualitative criteria derived from the case studies on the Korean and European arms control are used to examine whether these measures are legally binding, verifiable, and negotiable. One quantifiable criterion is used to test against the base case scenario (a one-day surprise attach by North Korea) whether arms control measures will stabilize or destabilize the military status quo on the Peninsula in terms of North Korea's extent of penetration in the actual war situations. Four alternative measures are derived from the analysis: (1) Confidence and Security Building Measures (CSBMs); (2) Establishment of Asymmetric Non-Deployment Zone (NDZ); (3) Reduction of the joint US-South Korean 'Team Spirit' exercises and North Korea's Forward Deployed Forces; and, (4) Reduction of South Korean and US forces and North Korean Forces. Findings indicate that establishment of the NDZ and a North Korean unilateral reduction are estimated to best achieve the goal of South Korean arms control

Robotic arm

International Nuclear Information System (INIS)

Kwech, H.

1989-01-01

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

Space nonweaponization. An urgent task for arms control

International Nuclear Information System (INIS)

Du Xiangwan; Pan Jusheng; Zhang Xinwei; Du Shuhua; Xu Changgen

1990-05-01

The authors attempt to expound the basic points of veiw and put forward a proposal on the space nonweaponization. The authors analyse the nature of space weaponry and its impact on arms race and point out that the space nonweaponization is an urgent task for arms control. The relations between prohibition of space and ASAT weapons, between prohibition of space weapons and reduction of nuclear weapons and between space weapon and nuclear test are all analysed. The inadequacy of the existing space treaties is made clear based on the evaluation. It is hoped that a verifiable treaty on the prohibition of space weapons should be made and international cooperation on peaceful use of outer space is necessary

Design a Fuzzy Logic Controller for a Rotary Flexible Joint Robotic Arm

Directory of Open Access Journals (Sweden)

Jalani Jamaludin

2018-01-01

Full Text Available The purpose of this research is to design a fuzzy logic feedback controller (FLC in order to control a desired tip angle position a rotary flexible joint robotic arm. The FLC is also employed to dampen the vibration emanated from a rotary flexible joint robotic arm when reaching a desired tip angle position. The performance of FLC is tested in simulation and experiment. It is found that the FLC is successfully designed, applied and tested. The results show that fuzzy logic controller performed satisfactorily control a desired tip angle position and reduce the oscillations.

A Formal Approach for the Construction and Verification of Railway Control Systems

DEFF Research Database (Denmark)

Haxthausen, Anne Elisabeth; Peleska, Jan; Kinder, Sebastian

2011-01-01

This paper describes a complete model-based development and verification approach for railway control systems. For each control system to be generated, the user makes a description of the application-specific parameters in a domain-specific language. This description is automatically transformed...

Optimal arm posture control and tendon traction forces of a coupled tendon-driven manipulator

International Nuclear Information System (INIS)

Ma, Shugen

1997-01-01

In this study, the optimum arm posture of a coupled tendon-driven multijoint manipulator arm (or CT Arm) at maximum payload output was derived and the corresponding tendon traction forces were also analyzed, during management of a heavy payload by the manipulator in a gravity environment. The CT Arm is special tendon traction transmission mechanism in which a pair of tendons used to drive a joint is pulled from base actuators via pulleys mounted on the base-side joints. This mechanism enables optimal utilization of the coupled drive function of tendon traction forces and thus enables the lightweight manipulator to exhibit large payload capability. The properties of the CT Arm mechanism are elucidated by the proposed optimal posture control scheme. Computer simulation was also executed to verify the validity of the proposed control scheme. (author)

The Development of Control System Design for 5 DOF Nuclear Malaysia Robot Arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2011-01-01

This paper describes a general design and implementation approach used for programming and controlling robotic systems such as remotely operated robotic manipulator systems. A hierarchical approach to control system design is adopted. The hierarchical design is translated into a component-based software design. A low-cost robotic arm and controller system is presented. The controller is a modular model of the robotic arm with the same degrees of freedom whose joints are equipped with sensors. The system takes advantage of the low cost and wide availability of control components and uses a low-cost, easy-to-program microprocessor. Furthermore, it presents the design and the construction of electronic systems for the control of an articulated robot developed for research and development related with instrumentation and control. The system is simple but it is designed the motor to move the robot arm to proper angular position according to the input controller. Limitations of the micro controller are discussed, and suggestions for further development of the robot arm and control are made. (author)

Reach and grasp by people with tetraplegia using a neurally controlled robotic arm

Science.gov (United States)

Hochberg, Leigh R.; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y.; Simeral, John D.; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S.; van der Smagt, Patrick; Donoghue, John P.

2012-01-01

Paralysis following spinal cord injury (SCI), brainstem stroke, amyotrophic lateral sclerosis (ALS) and other disorders can disconnect the brain from the body, eliminating the ability to carry out volitional movements. A neural interface system (NIS)1–5 could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with longstanding tetraplegia can use an NIS to move and click a computer cursor and to control physical devices6–8. Able-bodied monkeys have used an NIS to control a robotic arm9, but it is unknown whether people with profound upper extremity paralysis or limb loss could use cortical neuronal ensemble signals to direct useful arm actions. Here, we demonstrate the ability of two people with long-standing tetraplegia to use NIS-based control of a robotic arm to perform three-dimensional reach and grasp movements. Participants controlled the arm over a broad space without explicit training, using signals decoded from a small, local population of motor cortex (MI) neurons recorded from a 96-channel microelectrode array. One of the study participants, implanted with the sensor five years earlier, also used a robotic arm to drink coffee from a bottle. While robotic reach and grasp actions were not as fast or accurate as those of an able-bodied person, our results demonstrate the feasibility for people with tetraplegia, years after CNS injury, to recreate useful multidimensional control of complex devices directly from a small sample of neural signals. PMID:22596161

Verification and validation of control system software

International Nuclear Information System (INIS)

Munro, J.K. Jr.; Kisner, R.A.; Bhadtt, S.C.

1991-01-01

The following guidelines are proposed for verification and validation (V ampersand V) of nuclear power plant control system software: (a) use risk management to decide what and how much V ampersand V is needed; (b) classify each software application using a scheme that reflects what type and how much V ampersand V is needed; (c) maintain a set of reference documents with current information about each application; (d) use Program Inspection as the initial basic verification method; and (e) establish a deficiencies log for each software application. The following additional practices are strongly recommended: (a) use a computer-based configuration management system to track all aspects of development and maintenance; (b) establish reference baselines of the software, associated reference documents, and development tools at regular intervals during development; (c) use object-oriented design and programming to promote greater software reliability and reuse; (d) provide a copy of the software development environment as part of the package of deliverables; and (e) initiate an effort to use formal methods for preparation of Technical Specifications. The paper provides background information and reasons for the guidelines and recommendations. 3 figs., 3 tabs

The US National Resources Defense Council/Soviet Academy of Sciences Nuclear Test Ban Verification Project

International Nuclear Information System (INIS)

Cochran, T.B.

1989-01-01

The first week in September 1987 was an extraordinary one for arms control verification. As part of the co-operative Test Ban Verification Project of the Natural Resources Defense Council (NRDC) and the Soviet Academy of Sciences, fourteen American scientists from the Scripps Institution of Oceanography (at the University of California- San Diego), University of Nevada-Reno and the University of Colorado went to the region of the Soviet's principal nuclear test site near Semipalatinsk. Together with their Soviet counterparts from the Institute of Physics of the Earth (IPE) in Moscow, they fired off three large chemical explosions. The purpose of these explosions was to demonstrate the sensitivity of the three seismic stations surrounding the test site, to study the efficiency with which high-frequency seismic waves propagate in the region, and to study differences between chemical explosions, nuclear explosions and earthquakes in order more firmly to establish procedures for verification of a nuclear test ban. This paper presents a review of the results of these experiments, an update on the status of the joint project, and a review of the significance of high frequency seismic data to test ban verification

Who's bound by the former Soviet Union's arms control treaties?

International Nuclear Information System (INIS)

Rhinelander, J.B.; Bunn, G.

1991-01-01

A crucial issue raised by the disintegration of the Soviet central government is what happens to Soviet arms control obligations. As the Soviet government transforms or collapses in the wake of the failed August coup, which of the resulting entities will be bound by the treaties the Soviet Union entered into? Under international law, the obligations of a state are not affected by even such dramatic changes in government. No one yet knows, however, what the end result of the ongoing devolution of power in the erstwhile Soviet Union will be. As illustrations of what could happen to Soviet arms control obligations - not predictions of the future - the authors pose two alternative scenarios. In the first, they assume that most of the current 12 republics, including all of the big four where substantial nuclear forces and the largest conventional forces are located (Russia, Ukraine, Khazakhstan, and Belarus), ultimately form a loose confederation with sufficient central authority to be called a nation-state and to carry out the essence of Soviet obligations under major arms control treaties. In the second, they assume that the union disintegrates further, with these four key republics seceding entirely and recognizing one another as independent states - a step which is apparently one of the US criteria for granting its own recognition. In this scenario, the Russian republic maintains its basic territory and replaces the central government as the power center for military and foreign affairs. In each of these cases, they will describe the general issues affecting the Soviet Union's international obligations, and consider specifically the two most important arms control agreements now in force - the multilateral nuclear Non-proliferation Treaty (NPT) and the bilateral Antiballistic Missile (ABM) Treaty

Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

Directory of Open Access Journals (Sweden)

Changan Jiang

2016-01-01

Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

An Approach to Naval Arms Control

Science.gov (United States)

1989-07-01

commentary pro and con on the control of SLCM’s has 9 I: been uttered by people not known to be expert on maritime strategy and the roles of navies in crisis ... transcultural misunderstanding is indeed deep and widespread (e.g., witness the surprise on the part of America’s leading television pundits that China’s...force on behalf of (U.S definition of) international order in situations short of war; 0 alliance cohesion; 37 i * crisis , arms race, and political

CONTROL SYSTEM FOR UNMANNED AIRCRAFT EQUIPPED WITH ROBOTICS ARM

Directory of Open Access Journals (Sweden)

Alexei A. Margun

2014-11-01

Full Text Available The paper deals with the problem of control system synthesis for multi rotational UAV equipped with robotics arm. Control algorithm is proposed based on the method of feedback linearization and synthesis of proportional-differential controller with the real time computation of the inertia tensor and center of mass changes and compensation of the reactive torque generated by the dynamics of the manipulator. Quadrocopter with attached articulated manipulator is selected as a model of the control object. Systems of equations describing the behavior of considered dynamical system are obtained according to the Newton and Euler-Lagrange laws. Expressions are offered, defining the inertia tensor and the position of the system center of mass depending on the current position of the manipulator, and the torque acting on the quadrocopter from the manipulator. Feedback linearization with arm influence compensation on quadrocopter is applied for the resulting nonlinear coupled system. As a result, robot dynamics equations have been converted to a linear stationary system. Converted system control is achieved by a proportional-differential controller. Examined system simulation is done with control method described in the paper and the classical method based on a proportional-differential controller. Simulation results confirm the effectiveness of the proposed approach and demonstrate that the proposed approach provides higher accuracy of the tracking error, than control method by means of proportional-differential regulator.

Discussion on verification criterion and method of human factors engineering for nuclear power plant controller

International Nuclear Information System (INIS)

Yang Hualong; Liu Yanzi; Jia Ming; Huang Weijun

2014-01-01

In order to prevent or reduce human error and ensure the safe operation of nuclear power plants, control device should be verified from the perspective of human factors engineering (HFE). The domestic and international human factors engineering guidelines about nuclear power plant controller were considered, the verification criterion and method of human factors engineering for nuclear power plant controller were discussed and the application examples were provided for reference in this paper. The results show that the appropriate verification criterion and method should be selected to ensure the objectivity and accuracy of the conclusion. (authors)

An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

Directory of Open Access Journals (Sweden)

A. Notué Kadjie

2017-01-01

Full Text Available The authors numerically investigate the dynamics and control of an electromechanical robot arm consisting of a pendulum coupled to an electrical circuit via an electromagnetic mechanism. The analysis of the dynamical behavior of the electromechanical device powered by a sinusoidal power source is carried out when the effects of the loads on the arm are neglected. It is found that the device exhibits period-n T oscillations and high amplitude oscillations when the electric current is at its smallest value. The specific case which considers the effects of the impulsive contact force caused by an external load mass pushed by the arm is also studied. It is found that the amplitude of the impulse force generates several behaviors such as jump of amplitude and distortions of the mechanical vibration and electrical signal. For more efficient functioning of the device, both piezoelectric and adaptive backstepping controls are applied on the system. It is found that the control strategies are able to mitigate the signal distortion and restore the dynamical behavior to its normal state or reduce the effects of perturbations such as a short time variation of one component or when the robot system is subject to noises.

Production controls (PC) and technical verification testing (TVT). A methodology for the control and tracking of LILW waste package conditioning

International Nuclear Information System (INIS)

Leon, A.M.; Nieto, J.L.L.; Garrido, J.G.

2003-01-01

As part of its low and intermediate level radioactive waste (LILW) characterisation and acceptance activities, ENRESA has set up a quality control programme that covers the different phases of radioactive waste package production and implies different levels of tracking in generation, assessment of activity and control of the documentation associated therewith. Furthermore, ENRESA has made available the mechanisms required for verification, depending on the results of periodic sampling, of the quality of the end product delivered by the waste producers. Both processes are included within the framework of two programmes of complementary activities: production controls (PC) and technical verification testing (TVT). (orig.)

Formal Development and Verification of Railway Control Systems - In the context of ERTMS/ETCS Level 2

DEFF Research Database (Denmark)

Vu, Linh Hong

This dissertation presents a holistic, formal method for efficient modelling and verification of safety-critical railway control systems that have product line characteristics, i.e., each individual system is constructed by instantiating common generic applications with concrete configuration dat...... standardized railway control systems ERTMS/ETCS Level 2. Experiments showed that the method can be used for specification, verification and validation of systems of industrial size....

Cooperative Remote Monitoring, Arms control and nonproliferation technologies: Fourth quarter 1995

Energy Technology Data Exchange (ETDEWEB)

Alonzo, G M [ed.

1995-01-01

The DOE`s Cooperative Remote Monitoring programs integrate elements from research and development and implementation to achieve DOE`s objectives in arms control and nonproliferation. The contents of this issue are: cooperative remote monitoring--trends in arms control and nonproliferation; Modular Integrated Monitoring System (MIMS); Authenticated Tracking and Monitoring Systems (ATMS); Tracking and Nuclear Materials by Wide-Area Nuclear Detection (WAND); Cooperative Monitoring Center; the International Remote Monitoring Project; international US and IAEA remote monitoring field trials; Project Dustcloud: monitoring the test stands in Iraq; bilateral remote monitoring: Kurchatov-Argonne-West Demonstration; INSENS Sensor System Project.

Europe, arms control and American security

International Nuclear Information System (INIS)

Burns, W.F.

1992-01-01

What has come to be called the Revolution of 1989 has swept away longstanding political and economic arrangements in Eastern Europe. Perhaps more important, it has also called into question the fundamental underpinnings of European security created during the nonpeace that followed World War II. In June 1990, the Warsaw Treaty Organization abandoned the notion that NATO was the ideological enemy. At the same time, NATO ministers agreed at Tunberry, Scotland, to consider defining the Atlantic Alliance as more of a partner of the Soviet Union than as an enemy. The Washington summit of May 1990 between president Mikhail Gorbachev and president George Bush further highlighted the recent changes in the Soviet Union and its former satellites. Issues going to the heart of the viability of the Soviet Union and the communist system of political and economic organization competed with German reunification as central themes. Arms control issues, particularly as they pertain in European military stability, became contingent and dependent on the development of a broader political and economic framework for a new Europe. Whether this framework is viable remains an open question as Gorbachev's role is challenged more and more within the Soviet Union. This paper deals with European arms control issues from the point of view of the United States and its own security interests. The United States involved its security inextricably with that of Western Europe as a conscious decision in the turmoil following World War II

Design and verification of controllers for longitudinal oscillations using optimal control theory and numerical simulation: Predictions for PEP-II

International Nuclear Information System (INIS)

Hindi, H.; Prabhakar, S.; Fox, J.; Teytelman, D.

1997-12-01

The authors present a technique for the design and verification of efficient bunch-by-bunch controllers for damping longitudinal multibunch instabilities. The controllers attempt to optimize the use of available feedback amplifier power--one of the most expensive components of a feedback system--and define the limits of closed loop system performance. The design technique alternates between analytic computation of single bunch optimal controllers and verification on a multibunch numerical simulator. The simulator identifies unstable coupled bunch modes and predicts their growth and damping rates. The results from the simulator are shown to be in reasonable agreement with analytical calculations based on the single bunch model. The technique is then used to evaluate the performance of a variety of controllers proposed for PEP-II

Verification of FPGA-Signal using the test board which is applied to Safety-related controller

Energy Technology Data Exchange (ETDEWEB)

Chung, Youn-Hu; Yoo, Kwanwoo; Lee, Myeongkyun; Yun, Donghwa [SOOSAN ENS, Seoul (Korea, Republic of)

2016-10-15

This article aims to provide the verification method for BGA-type FPGA of Programmable Logic Controller (PLC) developed as Safety Class. The logic of FPGA in the control device with Safety Class is the circuit to control overall logic of PLC. Saftety-related PLC must meet the international standard specifications. With this reason, we use V and V according to an international standard in order to secure high reliability and safety. By using this, we are supposed to proceed to a variety of verification courses for extra reliability and safety analysis. In order to have efficient verification of test results, we propose the test using the newly changed BGA socket which can resolve the problems of the conventional socket on this paper. The Verification of processes is divided into verification of Hardware and firmware. That processes are carried out in the unit testing and integration testing. The proposed test method is simple, the effect of cost reductions by batch process. In addition, it is advantageous to measure the signal from the Hi-speed-IC due to its short length of the pins and it was plated with the copper around it. Further, it also to prevent abrasion on the IC ball because it has no direct contact with the PCB. Therefore, it can be actually applied is to the BGA package test and we can easily verify logic as well as easily checking the operation of the designed data.

Development of requirements tracking and verification system for the software design of distributed control system

Energy Technology Data Exchange (ETDEWEB)

Jung, Chul Hwan; Kim, Jang Yeol; Kim, Jung Tack; Lee, Jang Soo; Ham, Chang Shik [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

1999-12-31

In this paper a prototype of Requirement Tracking and Verification System(RTVS) for a Distributed Control System was implemented and tested. The RTVS is a software design and verification tool. The main functions required by the RTVS are managing, tracking and verification of the software requirements listed in the documentation of the DCS. The analysis of DCS software design procedures and interfaces with documents were performed to define the user of the RTVS, and the design requirements for RTVS were developed. 4 refs., 3 figs. (Author)

Development of requirements tracking and verification system for the software design of distributed control system

Energy Technology Data Exchange (ETDEWEB)

Jung, Chul Hwan; Kim, Jang Yeol; Kim, Jung Tack; Lee, Jang Soo; Ham, Chang Shik [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

1998-12-31

In this paper a prototype of Requirement Tracking and Verification System(RTVS) for a Distributed Control System was implemented and tested. The RTVS is a software design and verification tool. The main functions required by the RTVS are managing, tracking and verification of the software requirements listed in the documentation of the DCS. The analysis of DCS software design procedures and interfaces with documents were performed to define the user of the RTVS, and the design requirements for RTVS were developed. 4 refs., 3 figs. (Author)

Controlling robot arm with the mind

National Science Foundation

2017-05-31

Full Text Available Research test subjects at the University of Minnesota who were fitted with a specialized noninvasive brain cap were able to move a robotic arm just by imagining moving their own arms.

Development of a Torque Sensor-Based Test Bed for Attitude Control System Verification and Validation

Science.gov (United States)

2017-12-30

AFRL-RV-PS- AFRL-RV-PS- TR-2018-0008 TR-2018-0008 DEVELOPMENT OF A TORQUE SENSOR- BASED TEST BED FOR ATTITUDE CONTROL SYSTEM VERIFICATION AND...Sensor-Based Test Bed for Attitude Control System Verification & Validation 5a. CONTRACT NUMBER FA9453-15-1-0315 5b. GRANT NUMBER 5c. PROGRAM ELEMENT...NUMBER 62601F 6. AUTHOR(S) Norman Fitz-Coy 5d. PROJECT NUMBER 4846 5e. TASK NUMBER PPM00015968 5f. WORK UNIT NUMBER EF125135 7. PERFORMING

Design of verification platform for wireless vision sensor networks

Science.gov (United States)

Ye, Juanjuan; Shang, Fei; Yu, Chuang

2017-08-01

At present, the majority of research for wireless vision sensor networks (WVSNs) still remains in the software simulation stage, and the verification platforms of WVSNs that available for use are very few. This situation seriously restricts the transformation from theory research of WVSNs to practical application. Therefore, it is necessary to study the construction of verification platform of WVSNs. This paper combines wireless transceiver module, visual information acquisition module and power acquisition module, designs a high-performance wireless vision sensor node whose core is ARM11 microprocessor and selects AODV as the routing protocol to set up a verification platform called AdvanWorks for WVSNs. Experiments show that the AdvanWorks can successfully achieve functions of image acquisition, coding, wireless transmission, and obtain the effective distance parameters between nodes, which lays a good foundation for the follow-up application of WVSNs.

Domestic politics, citizen activism, and U.S. nuclear arms control policy

International Nuclear Information System (INIS)

Knopf, J.W.

1991-01-01

The author seeks to ascertain whether and how citizens' movements concerning nuclear arms control and disarmament affect US arms control policy. The author employs a comparative case study methodology. He examines cases of the Eisenhower and Kennedy Administrations during the period of protest against nuclear testing, and the Reagan Administration during the nuclear weapons freeze campaign and the subsequent campaign for a comprehensive test ban. He hows there are four mechanisms through which public advocacy efforts can influence arms control policy, identifies the conditions under which each can be effective, and details the type of impact each mechanism has. Domestic activism interacts with broader public opinion in a way that creates electoral pressure; with elite-level debates in a way that removes a consensus behind presidential policy or changes the winning coalition in Congress; with bureaucratic politics, by generating ideas that have utility for some agents within the Executive; or with the public diplomacy of foreign governments, especially the Soviet Union. Citizens' movements had an impact on policy in each of the cases studied. The type and extent of impact, and the mechanisms involved in giving activism influence, are different for each case

Passivity-Based Control of Rotational and Translational Timoshenko Arms

Directory of Open Access Journals (Sweden)

Minoru Sasaki

2012-01-01

Full Text Available It is shown that the alternate passivity-based control schemes can be designed which explicitly exploit the passivity properties of the Timoshenko model. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system's partial differential equations without resorting to approximations. Numerical results for the tracking control of a translational and rotational flexible Timoshenko arm are presented and compared. They verify that the proposed control schemes are effective at controlling flexible dynamical systems.

Verification and quality control of routine hematology analyzers

NARCIS (Netherlands)

Vis, J Y; Huisman, A

2016-01-01

Verification of hematology analyzers (automated blood cell counters) is mandatory before new hematology analyzers may be used in routine clinical care. The verification process consists of several items which comprise among others: precision, accuracy, comparability, carryover, background and

Unilateral versus bilateral robot-assisted rehabilitation on arm-trunk control and functions post stroke: a randomized controlled trial.

Science.gov (United States)

Wu, Ching-Yi; Yang, Chieh-Ling; Chen, Ming-de; Lin, Keh-Chung; Wu, Li-Ling

2013-04-12

Although the effects of robot-assisted arm training after stroke are promising, the relative effects of unilateral (URT) vs. bilateral (BRT) robot-assisted arm training remain uncertain. This study compared the effects of URT vs. BRT on upper extremity (UE) control, trunk compensation, and function in patients with chronic stroke. This was a single-blinded, randomized controlled trial. The intervention was implemented at 4 hospitals. Fifty-three patients with stroke were randomly assigned to URT, BRT, or control treatment (CT). Each group received UE training for 90 to 105 min/day, 5 days/week, for 4 weeks. The kinematic variables for arm motor control and trunk compensation included normalized movement time, normalized movement units, and the arm-trunk contribution slope in unilateral and bilateral tasks. Motor function and daily function were measured by the Wolf Motor Function Test (WMFT), Motor Activity Log (MAL), and ABILHAND Questionnaire. The BRT and CT groups elicited significantly larger slope values (i.e., less trunk compensation) at the start of bilateral reaching than the URT group. URT led to significantly better effects on WMFT-Time than BRT. Differences in arm control kinematics and performance on the MAL and ABILHAND among the 3 groups were not significant. BRT and URT resulted in differential improvements in specific UE/trunk performance in patients with stroke. BRT elicited larger benefits than URT on reducing compensatory trunk movements at the beginning of reaching. In contrast, URT produced better improvements in UE temporal efficiency. These relative effects on movement kinematics, however, did not translate into differential benefits in daily functions. ClinicalTrials.gov: NCT00917605.

Filtering sensory information with XCSF: improving learning robustness and robot arm control performance.

Science.gov (United States)

Kneissler, Jan; Stalph, Patrick O; Drugowitsch, Jan; Butz, Martin V

2014-01-01

It has been shown previously that the control of a robot arm can be efficiently learned using the XCSF learning classifier system, which is a nonlinear regression system based on evolutionary computation. So far, however, the predictive knowledge about how actual motor activity changes the state of the arm system has not been exploited. In this paper, we utilize the forward velocity kinematics knowledge of XCSF to alleviate the negative effect of noisy sensors for successful learning and control. We incorporate Kalman filtering for estimating successive arm positions, iteratively combining sensory readings with XCSF-based predictions of hand position changes over time. The filtered arm position is used to improve both trajectory planning and further learning of the forward velocity kinematics. We test the approach on a simulated kinematic robot arm model. The results show that the combination can improve learning and control performance significantly. However, it also shows that variance estimates of XCSF prediction may be underestimated, in which case self-delusional spiraling effects can hinder effective learning. Thus, we introduce a heuristic parameter, which can be motivated by theory, and which limits the influence of XCSF's predictions on its own further learning input. As a result, we obtain drastic improvements in noise tolerance, allowing the system to cope with more than 10 times higher noise levels.

A MYOELECTRIC PROSTHETIC ARM CONTROLLED BY A SENSOR-ACTUATOR LOOP

Directory of Open Access Journals (Sweden)

Patrik Kutílek

2014-06-01

Full Text Available This paper describes new methods and systems designed for application in upper extremity prostheses. An artificial upper limb with this system is a robot arm controlled by EMG signals and a set of sensors. The new multi-sensor system is based on ultrasonic sensors, infrared sensors, Hall-effect sensors, a CO2 sensor and a relative humidity sensor. The multi-sensor system is used to update a 3D map of objects in the robot’s environment, or it directly sends information about the environment to the control system of the myoelectric arm. Occupancy grid mapping is used to build a 3D map of the robot’s environment. The multi-sensor system can identify the distance of objects in 3D space, and the information from the system is used in a 3D map to identify potential collisions or a potentially dangerous environment, which could damage the prosthesis or the user. Information from the sensors and from the 3D map is evaluated using a fuzzy expert system. The control system of the myoelectric prosthetic arm can choose an adequate reaction on the basis of information from the fuzzy expert system. The systems and methods were designed and verified using MatLab/Simulink. They are aimed for use as assistive technology for disabled people.

JACoW A dual arms robotic platform control for navigation, inspection and telemanipulation

CERN Document Server

Di Castro, Mario; Ferre, Manuel; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

2018-01-01

High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system comm...

Fuzzy-Genetic Optimal Control for Four Degreeof Freedom Robotic Arm Movement

OpenAIRE

V. K. Banga; R. Kumar; Y. Singh

2009-01-01

In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuzzy logic and Genetic Algorithms. The development of a fuzzy genetic optimizatio...

Verification and validation of software related to nuclear power plant instrumentation and control

International Nuclear Information System (INIS)

1999-01-01

This report is produced in response to a recommendation of the IAEA International Working Group on Nuclear Power Plant Control and Instrumentation. The report has objectives of providing practical guidance on the methods available for verification of the software and validation of computer based systems, and on how and when these methods can be effectively applied. It is meant for those who are in any way involved with the development, implementation, maintenance and use of software and computer based instrumentation and control systems in nuclear power plants. The report is intended to be used by designers, software producers, reviewers, verification and validation teams, assessors, plant operators and licensers of computer based systems

A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

Directory of Open Access Journals (Sweden)

Giovanni Gerardo Muscolo

2013-01-01

Full Text Available The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD closed-loop for the position control. The force control of the two systems is composed of an external proportional (P closed-loop for one system (P system and an external proportional-integrative (PI closed-loop for the other system (PI system. The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN.

Content and structure of knowledge base used for virtual control of android arm motion in specified environment

Science.gov (United States)

Pritykin, F. N.; Nebritov, V. I.

2018-01-01

The paper presents the configuration of knowledge base necessary for intelligent control of android arm mechanism motion with different positions of certain forbidden regions taken into account. The present structure of the knowledge base characterizes the past experience of arm motion synthesis in the vector of velocities with due regard for the known obstacles. This structure also specifies its intrinsic properties. Knowledge base generation is based on the study of the arm mechanism instantaneous states implementations. Computational experiments connected with the virtual control of android arm motion with known forbidden regions using the developed knowledge base are introduced. Using the developed knowledge base to control virtually the arm motion reduces the time of test assignments calculation. The results of the research can be used in developing control systems of autonomous android robots in the known in advance environment.

On nonlinear dynamics and control of a robotic arm with chaos

Directory of Open Access Journals (Sweden)

Felix J. L. P.

2014-01-01

Full Text Available In this paper a robotic arm is modelled by a double pendulum excited in its base by a DC motor of limited power via crank mechanism and elastic connector. In the mathematical model, a chaotic motion was identified, for a wide range of parameters. Controlling of the chaotic behaviour of the system, were implemented using, two control techniques, the nonlinear saturation control (NSC and the optimal linear feedback control (OLFC. The actuator and sensor of the device are allowed in the pivot and joints of the double pendulum. The nonlinear saturation control (NSC is based in the order second differential equations and its action in the pivot/joint of the robotic arm is through of quadratic nonlinearities feedback signals. The optimal linear feedback control (OLFC involves the application of two control signals, a nonlinear feedforward control to maintain the controlled system to a desired periodic orbit, and control a feedback control to bring the trajectory of the system to the desired orbit. Simulation results, including of uncertainties show the feasibility of the both methods, for chaos control of the considered system.

Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

Directory of Open Access Journals (Sweden)

Ammar Al-Jodah

2018-01-01

Full Text Available In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs. A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.

A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements.

Science.gov (United States)

Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

2017-02-01

Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  exoskeleton, successfully carried a ball to a goal in all 10 trials. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of daily actions.

A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements

Science.gov (United States)

Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

2017-02-01

Objective. Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Approach. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Main results. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  exoskeleton, successfully carried a ball to a goal in all 10 trials. Significance. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of daily actions.

Verification and Validation of Digitally Upgraded Control Rooms

International Nuclear Information System (INIS)

Boring, Ronald; Lau, Nathan

2015-01-01

As nuclear power plants undertake main control room modernization, a challenge is the lack of a clearly defined human factors process to follow. Verification and validation (V&V) as applied in the nuclear power community has tended to involve efforts such as integrated system validation, which comes at the tail end of the design stage. To fill in guidance gaps and create a step-by-step process for control room modernization, we have developed the Guideline for Operational Nuclear Usability and Knowledge Elicitation (GONUKE). This approach builds on best practices in the software industry, which prescribe an iterative user-centered approach featuring multiple cycles of design and evaluation. Nuclear regulatory guidance for control room design emphasizes summative evaluation - which occurs after the design is complete. In the GONUKE approach, evaluation is also performed at the formative stage of design - early in the design cycle using mockups and prototypes for evaluation. The evaluation may involve expert review (e.g., software heuristic evaluation at the formative stage and design verification against human factors standards like NUREG-0700 at the summative stage). The evaluation may also involve user testing (e.g., usability testing at the formative stage and integrated system validation at the summative stage). An additional, often overlooked component of evaluation is knowledge elicitation, which captures operator insights into the system. In this report we outline these evaluation types across design phases that support the overall modernization process. The objective is to provide industry-suitable guidance for steps to be taken in support of the design and evaluation of a new human-machine interface (HMI) in the control room. We suggest the value of early-stage V&V and highlight how this early-stage V&V can help improve the design process for control room modernization. We argue that there is a need to overcome two shortcomings of V&V in current practice

Verification and Validation of Digitally Upgraded Control Rooms

Energy Technology Data Exchange (ETDEWEB)

Boring, Ronald [Idaho National Lab. (INL), Idaho Falls, ID (United States); Lau, Nathan [Idaho National Lab. (INL), Idaho Falls, ID (United States)

2015-09-01

As nuclear power plants undertake main control room modernization, a challenge is the lack of a clearly defined human factors process to follow. Verification and validation (V&V) as applied in the nuclear power community has tended to involve efforts such as integrated system validation, which comes at the tail end of the design stage. To fill in guidance gaps and create a step-by-step process for control room modernization, we have developed the Guideline for Operational Nuclear Usability and Knowledge Elicitation (GONUKE). This approach builds on best practices in the software industry, which prescribe an iterative user-centered approach featuring multiple cycles of design and evaluation. Nuclear regulatory guidance for control room design emphasizes summative evaluation—which occurs after the design is complete. In the GONUKE approach, evaluation is also performed at the formative stage of design—early in the design cycle using mockups and prototypes for evaluation. The evaluation may involve expert review (e.g., software heuristic evaluation at the formative stage and design verification against human factors standards like NUREG-0700 at the summative stage). The evaluation may also involve user testing (e.g., usability testing at the formative stage and integrated system validation at the summative stage). An additional, often overlooked component of evaluation is knowledge elicitation, which captures operator insights into the system. In this report we outline these evaluation types across design phases that support the overall modernization process. The objective is to provide industry-suitable guidance for steps to be taken in support of the design and evaluation of a new human-machine interface (HMI) in the control room. We suggest the value of early-stage V&V and highlight how this early-stage V&V can help improve the design process for control room modernization. We argue that there is a need to overcome two shortcomings of V&V in current practice�

Research on ARM Numerical Control System

Science.gov (United States)

Wei, Xu; JiHong, Chen

Computerized Numerical Control (CNC) machine tools is the foundation of modern manufacturing systems, whose advanced digital technology is the key to solve the problem of sustainable development of machine tool manufacturing industry. The paper is to design CNC system embedded on ARM and indicates the hardware design and the software systems supported. On the hardware side: the driving chip of the motor control unit, as the core of components, is MCX314AL of DSP motion control which is developed by NOVA Electronics Co., Ltd. of Japan. It make convenient to control machine because of its excellent performance, simple interface, easy programming. On the Software side, the uC/OS-2 is selected as the embedded operating system of the open source, which makes a detailed breakdown of the modules of the CNC system. Those priorities are designed according to their actual requirements. The ways of communication between the module and the interrupt response are so different that it guarantees real-time property and reliability of the numerical control system. Therefore, it not only meets the requirements of the current social precision machining, but has good man-machine interface and network support to facilitate a variety of craftsmen use.

Arms Control and Disarmament, Volume 8, Number 2, Spring 1972. A Quarterly Bibliography with Abstracts and Annotations

Science.gov (United States)

Contents: Preface; The international political environment; The strategic environment; Institutions and means for the maintenance of peace; Arms control--general discussion; Arms control--specific problems and measures; Author index ; Subject index.

Dual arm master controller concept: consolidated fuel reprocessing program

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1984-04-01

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features result in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures

Verification of the safety communication protocol in train control system using colored Petri net

International Nuclear Information System (INIS)

Chen Lijie; Tang Tao; Zhao Xianqiong; Schnieder, Eckehard

2012-01-01

This paper deals with formal and simulation-based verification of the safety communication protocol in ETCS (European Train Control System). The safety communication protocol controls the establishment of safety connection between train and trackside. Because of its graphical user interface and modeling flexibility upon the changes in the system conditions, this paper proposes a composition Colored Petri Net (CPN) representation for both the logic and the timed model. The logic of the protocol is proved to be safe by means of state space analysis: the dead markings are correct; there are no dead transitions; being fair. Further analysis results have been obtained using formal and simulation-based verification approach. The timed models for the open transmit system and the application process are created for the purpose of performance analysis of the safety communication protocol. The models describe the procedure of data transmission and processing, and also provide relevant timed and stochastic factors, as well as time delay and lost packet, which may influence the time for establishment of safety connection of the protocol. Time for establishment of safety connection of the protocol in normal state is verified by formal verification, and then time for establishment of safety connection with different probability of lost packet is simulated. After verification it is found that the time for establishment of safety connection of the safety communication protocol satisfies the safety requirements.

Octopuses use a human-like strategy to control precise point-to-point arm movements.

Science.gov (United States)

Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

2006-04-18

One of the key problems in motor control is mastering or reducing the number of degrees of freedom (DOFs) through coordination. This problem is especially prominent with hyper-redundant limbs such as the extremely flexible arm of the octopus. Several strategies for simplifying these control problems have been suggested for human point-to-point arm movements. Despite the evolutionary gap and morphological differences, humans and octopuses evolved similar strategies when fetching food to the mouth. To achieve this precise point-to-point-task, octopus arms generate a quasi-articulated structure based on three dynamic joints. A rotational movement around these joints brings the object to the mouth . Here, we describe a peripheral neural mechanism-two waves of muscle activation propagate toward each other, and their collision point sets the medial-joint location. This is a remarkably simple mechanism for adjusting the length of the segments according to where the object is grasped. Furthermore, similar to certain human arm movements, kinematic invariants were observed at the joint level rather than at the end-effector level, suggesting intrinsic control coordination. The evolutionary convergence to similar geometrical and kinematic features suggests that a kinematically constrained articulated limb controlled at the level of joint space is the optimal solution for precise point-to-point movements.

Results of verifications of the control automatic exposure in equipment of RX with CR systems

International Nuclear Information System (INIS)

Ruiz Manzano, P.; Rivas Ballarin, M. A.; Ortega Pardina, P.; Villa Gazulla, D.; Calvo Carrillo, S.; Canellas Anoz, M.; Millan Cebrian, E.

2013-01-01

After the entry into force in 2012, the new Spanish Radiology quality control protocol lists and discusses the results obtained after verification of the automatic control of exposure in computed radiography systems. (Author)

9 CFR 381.94 - Contamination with Microorganisms; process control verification criteria and testing; pathogen...

Science.gov (United States)

2010-01-01

... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Contamination with Microorganisms... § 381.94 Contamination with Microorganisms; process control verification criteria and testing; pathogen... maintaining process controls sufficient to prevent fecal contamination. FSIS shall take further action as...

Virtual reality verification of workplace design guidelines for the process plant control room

International Nuclear Information System (INIS)

Droeivoldsmo, Asgeir; Nystad, Espen; Helgar, Stein

2001-02-01

Early identification of potential human factors guideline-violations and corrective input into the design process is desired for efficient and cost-effective control room design. Virtual reality (VR) technology makes it possible to perform evaluation of the design of the control room at an early stage of the design process, but can we trust the results from such evaluations? This paper describes an experimental validation of a VR model against the real world in five different guideline verification tasks. Results indicate that guideline verification in the VR model can be done with satisfactory accuracy for a number of evaluations. However, some guideline categories require further development of measurement tools and use of a model with higher resolution than the model used in this study. (Author). 30 refs., 4 figs., 1 tab

Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

Directory of Open Access Journals (Sweden)

Hong Zeng

2017-10-01

Full Text Available Brain-machine interface (BMI can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback over the open-loop system (with visual inspection only have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes.

Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

Science.gov (United States)

Zeng, Hong; Wang, Yanxin; Wu, Changcheng; Song, Aiguo; Liu, Jia; Ji, Peng; Xu, Baoguo; Zhu, Lifeng; Li, Huijun; Wen, Pengcheng

2017-01-01

Brain-machine interface (BMI) can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR) guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG) signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback) over the open-loop system (with visual inspection only) have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes. PMID:29163123

A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups.

Science.gov (United States)

Lilly, John H; Quesada, Peter M

2004-09-01

Multiple-input sliding-mode techniques are applied to a planar arm actuated by four groups of pneumatic muscle (PM) actuators in opposing pair configuration. The control objective is end-effector tracking of a desired path in Cartesian space. The inputs to the system are commanded input pressure differentials for the two opposing PM groups. An existing model for the muscle is incorporated into the arm equations of motion to arrive at a two-input, two-output nonlinear model of the planar arm that is affine in the input and, therefore, suitable for sliding-mode techniques. Relationships between static input pressures are derived for suitable arm behavior in the absence of a control signal. Simulation studies are reported.

Self-Tuning Vibration Control of a Rotational Flexible Timoshenko Arm Using Neural Networks

Directory of Open Access Journals (Sweden)

Minoru Sasaki

2012-01-01

Full Text Available A self-tuning vibration control of a rotational flexible arm using neural networks is presented. To the self-tuning control system, the control scheme consists of gain tuning neural networks and a variable-gain feedback controller. The neural networks are trained so as to make the root moment zero. In the process, the neural networks learn the optimal gain of the feedback controller. The feedback controller is designed based on Lyapunov's direct method. The feedback control of the vibration of the flexible system is derived by considering the time rate of change of the total energy of the system. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system's partial differential equations without resorting to approximations. Numerical and experimental results for the vibration control of a rotational flexible arm are discussed. It verifies that the proposed control system is effective at controlling flexible dynamical systems.

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

A New Approach to Nuclear Warhead Verification Using a Zero-Knowledge Protocol

Energy Technology Data Exchange (ETDEWEB)

Glaser,; Alexander, [Princeton University

2012-05-16

Warhead verification systems proposed to date fundamentally rely on the use of information barriers to prevent the release of classified design information. Measurements with information carriers significantly increase the complexity of inspection systems, make their certification and authentication difficult, and may reduce the overall confidence in the verifiability of future arms- control agreements. This talk presents a proof-of-concept of a new approach to nuclear warhead verification that minimizes the role of information barriers from the outset and envisions instead an inspection system that a priori avoids leakage of sensitive information using a so-called zero-knowledge protocol. The proposed inspection system is based on the template-matching approach and relies on active interrogation of a test object with 14-MeV neutrons. The viability of the method is examined with MCNP Monte Carlo neutron transport calculations modeling the experimental setup, an investigation of different diversion scenarios, and an analysis of the simulated data showing that it does not contain information about the properties of the inspected object.

Real-time statistical quality control and ARM

International Nuclear Information System (INIS)

Blough, D.K.

1992-05-01

An important component of the Atmospheric Radiation Measurement (ARM) Program is real-time quality control of data obtained from meteorological instruments. It is the goal of the ARM program to enhance the predictive capabilities of global circulation models by incorporating in them more detailed information on the radiative characteristics of the earth's atmosphere. To this end, a number of Cloud and Radiation Testbeds (CART's) will be built at various locations worldwide. Each CART will consist of an array of instruments designed to collect radiative data. The large amount of data obtained from these instruments necessitates real-time processing in order to flag outliers and possible instrument malfunction. The Bayesian dynamic linear model (DLM) proves to be an effective way of monitoring the time series data which each instrument generates. It provides a flexible yet powerful approach to detecting in real-time sudden shifts in a non-stationary multivariate time series. An application of these techniques to data arising from a remote sensing instrument to be used in the CART is provided. Using real data from a wind profiler, the ability of the DLM to detect outliers is studied. 5 refs

Trends in International Persuasion: Persuasion in the Arms Control Negotiations.

Science.gov (United States)

Hopmann, P. Terrence; Walcott, Charles

An analysis of the bargaining process in international arms control negotiations is possible by developing a framework of interrelated hypotheses, by delineating and practicing interactions study called "Bargaining Process Analysis," and by formulating procedural steps that bridge the gap between laboratory studies and "real world" situations. In…

Model-based sensorimotor integration for multi-joint control: development of a virtual arm model.

Science.gov (United States)

Song, D; Lan, N; Loeb, G E; Gordon, J

2008-06-01

An integrated, sensorimotor virtual arm (VA) model has been developed and validated for simulation studies of control of human arm movements. Realistic anatomical features of shoulder, elbow and forearm joints were captured with a graphic modeling environment, SIMM. The model included 15 musculotendon elements acting at the shoulder, elbow and forearm. Muscle actions on joints were evaluated by SIMM generated moment arms that were matched to experimentally measured profiles. The Virtual Muscle (VM) model contained appropriate admixture of slow and fast twitch fibers with realistic physiological properties for force production. A realistic spindle model was embedded in each VM with inputs of fascicle length, gamma static (gamma(stat)) and dynamic (gamma(dyn)) controls and outputs of primary (I(a)) and secondary (II) afferents. A piecewise linear model of Golgi Tendon Organ (GTO) represented the ensemble sampling (I(b)) of the total muscle force at the tendon. All model components were integrated into a Simulink block using a special software tool. The complete VA model was validated with open-loop simulation at discrete hand positions within the full range of alpha and gamma drives to extrafusal and intrafusal muscle fibers. The model behaviors were consistent with a wide variety of physiological phenomena. Spindle afferents were effectively modulated by fusimotor drives and hand positions of the arm. These simulations validated the VA model as a computational tool for studying arm movement control. The VA model is available to researchers at website http://pt.usc.edu/cel .

Advanced control and instrumentation systems in nuclear power plants. Design, verification and validation

International Nuclear Information System (INIS)

Haapanen, P.

1995-01-01

The Technical Committee Meeting on design, verification and validation of advanced control and instrumentation systems in nuclear power plants was held in Espoo, Finland on 20 - 23 June 1994. The meeting was organized by the International Atomic Energy Agency's (IAEA) International Working Group's (IWG) on Nuclear Power Plant Control and Instrumentation (NPPCI) and on Advanced Technologies for Water Cooled Reactors (ATWR). VTT Automation together with Imatran Voima Oy and Teollisuuden Voima Oy responded about the practical arrangements of the meeting. In total 96 participants from 21 countries and the Agency took part in the meeting and 34 full papers and 8 posters were presented. Following topics were covered in the papers: (1) experience with advanced and digital systems, (2) safety and reliability analysis, (3) advanced digital systems under development and implementation, (4) verification and validation methods and practices, (5) future development trends. (orig.)

Design and verification of distributed logic controllers with application of Petri nets

Energy Technology Data Exchange (ETDEWEB)

Wiśniewski, Remigiusz; Grobelna, Iwona; Grobelny, Michał; Wiśniewska, Monika [University of Zielona Góra, Licealna 9, 65-417 Zielona Góra (Poland)

2015-12-31

The paper deals with the designing and verification of distributed logic controllers. The control system is initially modelled with Petri nets and formally verified against structural and behavioral properties with the application of the temporal logic and model checking technique. After that it is decomposed into separate sequential automata that are working concurrently. Each of them is re-verified and if the validation is successful, the system can be finally implemented.

Worldwide Report, Arms Control.

Science.gov (United States)

1986-02-04

8217Unpredictable Consequences’ of SDI (Moscow PRAVDA, 7 Dec 85) 22 Moscow TV on ASTEC Meeting, Military Monopolies, SDI (Tomas Kolesnichenko; Moscow...planet. /8309 CSO: 5200/1228 22 JPRS-TAO86*014 4 February 1986 SDI AND SPACE ARMS MOSCOW TV ON ASTEC MEETING, MILITARY MONOPOLIES, SDI

European Train Control System: A Case Study in Formal Verification

Science.gov (United States)

Platzer, André; Quesel, Jan-David

Complex physical systems have several degrees of freedom. They only work correctly when their control parameters obey corresponding constraints. Based on the informal specification of the European Train Control System (ETCS), we design a controller for its cooperation protocol. For its free parameters, we successively identify constraints that are required to ensure collision freedom. We formally prove the parameter constraints to be sharp by characterizing them equivalently in terms of reachability properties of the hybrid system dynamics. Using our deductive verification tool KeYmaera, we formally verify controllability, safety, liveness, and reactivity properties of the ETCS protocol that entail collision freedom. We prove that the ETCS protocol remains correct even in the presence of perturbation by disturbances in the dynamics. We verify that safety is preserved when a PI controlled speed supervision is used.

State Control over Private Military and Security Companies in Armed ...

African Journals Online (AJOL)

NWUuser

State Control over Private Military and Security Companies in Armed Conflict by H Tonkin ... (US) in the Iraqi theatre by 2007 exceeded the number of US troops, and in 2010 .... due diligence to promote PMSC compliance therewith. ... relying on existing accountability frameworks of international law, new domestic and.

Imaging for dismantlement verification: Information management and analysis algorithms

International Nuclear Information System (INIS)

Robinson, S.M.; Jarman, K.D.; Pitts, W.K.; Seifert, A.; Misner, A.C.; Woodring, M.L.; Myjak, M.J.

2012-01-01

The level of detail discernible in imaging techniques has generally excluded them from consideration as verification tools in inspection regimes. An image will almost certainly contain highly sensitive information, and storing a comparison image will almost certainly violate a cardinal principle of information barriers: that no sensitive information be stored in the system. To overcome this problem, some features of the image might be reduced to a few parameters suitable for definition as an attribute, which must be non-sensitive to be acceptable in an Information Barrier regime. However, this process must be performed with care. Features like the perimeter, area, and intensity of an object, for example, might reveal sensitive information. Any data-reduction technique must provide sufficient information to discriminate a real object from a spoofed or incorrect one, while avoiding disclosure (or storage) of any sensitive object qualities. Ultimately, algorithms are intended to provide only a yes/no response verifying the presence of features in the image. We discuss the utility of imaging for arms control applications and present three image-based verification algorithms in this context. The algorithms reduce full image information to non-sensitive feature information, in a process that is intended to enable verification while eliminating the possibility of image reconstruction. The underlying images can be highly detailed, since they are dynamically generated behind an information barrier. We consider the use of active (conventional) radiography alone and in tandem with passive (auto) radiography. We study these algorithms in terms of technical performance in image analysis and application to an information barrier scheme.

Symposium on International Safeguards: Preparing for Future Verification Challenges

International Nuclear Information System (INIS)

2010-01-01

The purpose of the symposium is to foster dialogue and information exchange involving Member States, the nuclear industry and members of the broader nuclear non-proliferation community to prepare for future verification challenges. Topics addressed during the 2010 symposium include the following: - Supporting the global nuclear non-proliferation regime: Building support for strengthening international safeguards; Enhancing confidence in compliance with safeguards obligations; Legal authority as a means to enhance effectiveness and efficiency; Verification roles in support of arms control and disarmament. - Building collaboration and partnerships with other international forums: Other verification and non-proliferation regimes; Synergies between safety, security and safeguards regimes. - Improving cooperation between IAEA and States for safeguards implementation: Strengthening State systems for meeting safeguards obligations; Enhancing safeguards effectiveness and efficiency through greater cooperation; Lessons learned: recommendations for enhancing integrated safeguards implementation. - Addressing safeguards challenges in an increasingly interconnected world: Non-State actors and covert trade networks; Globalization of nuclear information and technology. - Preparing for the global nuclear expansion and increasing safeguards workload: Furthering implementation of the State-level concept and integrated safeguards; Information-driven safeguards; Remote data-driven safeguards inspections; Safeguards in States without comprehensive safeguards agreements. - Safeguarding advanced nuclear facilities and innovative fuel cycles: Proliferation resistance; Safeguards by design; Safeguards approaches for advanced facilities. - Advanced technologies and methodologies: For verifying nuclear material and activities; For detecting undeclared nuclear material and activities; For information collection, analysis and integration. - Enhancing the development and use of safeguards

Methods of Verification, Accountability and Control of Special Nuclear Material

International Nuclear Information System (INIS)

Stewart, J.E.

1999-01-01

This session demonstrates nondestructive assay (NDA) measurement, surveillance and analysis technology required to protect, control and account (MPC and A) for special nuclear materials (SNM) in sealed containers. These measurements, observations and analyses comprise state-of-the art, strengthened, SNM safeguards systems. Staff member specialists, actively involved in research, development, training and implementation worldwide, will present six NDA verification systems and two software tools for integration and analysis of facility MPC and A data

Disarmament verification and its contribution to the theory of international control: A legal study

International Nuclear Information System (INIS)

Sayed Anwar Abou Ali.

1991-01-01

In this paper, the Deputy Director of the Department of International Organizations in the Ministry of Foreign Affairs, Egypt, discusses the legal aspects related to the international control for verification of disarmament

Simultaneous Authentication and Certification of Arms-Control Measurement Systems

International Nuclear Information System (INIS)

MacArthur, Duncan W.; Hauck, Danielle K.; Thron, Jonathan L.

2012-01-01

Most arms-control-treaty-monitoring scenarios involve a host party that makes a declaration regarding its nuclear material or items and a monitoring party that verifies that declaration. A verification system developed for such a use needs to be trusted by both parties. The first concern, primarily from the host party's point of view, is that any sensitive information that is collected must be protected without interfering in the efficient operation of the facility being monitored. This concern is addressed in what can be termed a 'certification' process. The second concern, of particular interest to the monitoring party, is that it must be possible to confirm the veracity of both the measurement system and the data produced by this measurement system. The monitoring party addresses these issues during an 'authentication' process. Addressing either one of these concerns independently is relatively straightforward. However, it is more difficult to simultaneously satisfy host party certification concerns and monitoring party authentication concerns. Typically, both parties will want the final access to the measurement system. We will describe an alternative approach that allows both parties to gain confidence simultaneously. This approach starts with (1) joint development of the measurement system followed by (2) host certification of several copies of the system and (3) random selection by the inspecting party of one copy to be use during the monitoring visit and one (or more) copy(s) to be returned to the inspecting party's facilities for (4) further hardware authentication; any remaining copies are stored under joint seal for use as spares. Following this process, the parties will jointly (5) perform functional testing on the selected measurement system and then (6) use this system during the monitoring visit. Steps (1) and (2) assure the host party as to the certification of whichever system is eventually used in the monitoring visit. Steps (1), (3), (4), and (5

Simultaneous Authentication and Certification of Arms-Control Measurement Systems

Energy Technology Data Exchange (ETDEWEB)

MacArthur, Duncan W. [Los Alamos National Laboratory; Hauck, Danielle K. [Los Alamos National Laboratory; Thron, Jonathan L. [Los Alamos National Laboratory

2012-07-09

Most arms-control-treaty-monitoring scenarios involve a host party that makes a declaration regarding its nuclear material or items and a monitoring party that verifies that declaration. A verification system developed for such a use needs to be trusted by both parties. The first concern, primarily from the host party's point of view, is that any sensitive information that is collected must be protected without interfering in the efficient operation of the facility being monitored. This concern is addressed in what can be termed a 'certification' process. The second concern, of particular interest to the monitoring party, is that it must be possible to confirm the veracity of both the measurement system and the data produced by this measurement system. The monitoring party addresses these issues during an 'authentication' process. Addressing either one of these concerns independently is relatively straightforward. However, it is more difficult to simultaneously satisfy host party certification concerns and monitoring party authentication concerns. Typically, both parties will want the final access to the measurement system. We will describe an alternative approach that allows both parties to gain confidence simultaneously. This approach starts with (1) joint development of the measurement system followed by (2) host certification of several copies of the system and (3) random selection by the inspecting party of one copy to be use during the monitoring visit and one (or more) copy(s) to be returned to the inspecting party's facilities for (4) further hardware authentication; any remaining copies are stored under joint seal for use as spares. Following this process, the parties will jointly (5) perform functional testing on the selected measurement system and then (6) use this system during the monitoring visit. Steps (1) and (2) assure the host party as to the certification of whichever system is eventually used in the monitoring visit

SpaceWire- Based Control System Architecture for the Lightweight Advanced Robotic Arm Demonstrator [LARAD

Science.gov (United States)

Rucinski, Marek; Coates, Adam; Montano, Giuseppe; Allouis, Elie; Jameux, David

2015-09-01

The Lightweight Advanced Robotic Arm Demonstrator (LARAD) is a state-of-the-art, two-meter long robotic arm for planetary surface exploration currently being developed by a UK consortium led by Airbus Defence and Space Ltd under contract to the UK Space Agency (CREST-2 programme). LARAD has a modular design, which allows for experimentation with different electronics and control software. The control system architecture includes the on-board computer, control software and firmware, and the communication infrastructure (e.g. data links, switches) connecting on-board computer(s), sensors, actuators and the end-effector. The purpose of the control system is to operate the arm according to pre-defined performance requirements, monitoring its behaviour in real-time and performing safing/recovery actions in case of faults. This paper reports on the results of a recent study about the feasibility of the development and integration of a novel control system architecture for LARAD fully based on the SpaceWire protocol. The current control system architecture is based on the combination of two communication protocols, Ethernet and CAN. The new SpaceWire-based control system will allow for improved monitoring and telecommanding performance thanks to higher communication data rate, allowing for the adoption of advanced control schemes, potentially based on multiple vision sensors, and for the handling of sophisticated end-effectors that require fine control, such as science payloads or robotic hands.

ARM-based control system for terry rapier loom

Science.gov (United States)

Shi, Weimin; Gu, Yeqing; Wu, Zhenyu; Wang, Fan

2007-12-01

In this paper, a novel ARM-based mechatronics control technique applied in terry rapier loom was presented. Electronic weft selection, electronic fluff, electronic let-off and take-up motions system, which consists of position and speedcontrolled servomechanisms, were studied. The control system configuration, operation principle, and mathematical models of electronic drives system were analyzed. The synchronism among all mechanical motions and an improved intelligent control algorithm for the warp let-off tension control was discussed. The result indict that, by applying electronic and embedded control techniques and the individual servomechanisms, the electronic weft selection, electronic let-off device and electronic take-up device in HGA732T terry rapier loom have greatly simplified the initial complicated mechanism, kept the warp tension constant from full to empty beam, set the variable weft density, eliminated the start mark effectively, promoted its flexibility, reliability and properties, and improved the fabric quality.

Worldwide Report, Arms Control

Science.gov (United States)

1986-02-28

NACHRICHTEN , 18 Oct 85) 39 Presummit Polish Reporting on SDI Issues (Warsaw RZECZPOSPOLITA, 19-20 Oct 85; Warsaw ZYCIE WARSZAWY, 15 Oct 85) 42...28 February 1986 SDI AND SPACE ARMS MEETING REVEALS SOME SUPPORT FOR EUREKA LINK TO MILITARY Puesseldbrf VDI NACHRICHTEN in German 18 Oct 85 p 10

Optimization of Casting Design Parameters on Fabrication of Reliable Semi-Solid Aluminum Suspension Control Arm

Science.gov (United States)

Ragab, Kh. A.; Bouaicha, A.; Bouazara, M.

2017-09-01

The semi-solid casting process has the advantage of providing reliable mechanical aluminum parts that work continuously in dynamic as control arm of the suspension system in automotive vehicles. The quality performance of dynamic control arm is related to casting mold and gating system designs that affect the fluidity of semi-solid metal during filling the mold. Therefore, this study focuses on improvement in mechanical performance, depending on material characterization, and casting design optimization, of suspension control arms made of A357 aluminum semi-solid alloys. Mechanical and design analyses, applied on the suspension arm, showed the occurrence of mechanical failures at unexpected weak points. Metallurgical analysis showed that the main reason lies in the difficult flow of semi-solid paste through the thin thicknesses of a complex geometry. A design modification procedure is applied to the geometry of the suspension arm to avoid this problem and to improve its quality performance. The design modification of parts was carried out by using SolidWorks design software, evaluation of constraints with ABAQUS, and simulation of flow with ProCast software. The proposed designs showed that the modified suspension arm, without ribs and with a central canvas designed as Z, is considered as a perfect casting design showing an increase in the structural strength of the component. In this case, maximum von Mises stress is 199 MPa that is below the yield strength of the material. The modified casting mold design shows a high uniformity and minim turbulence of molten metal flow during semi-solid casting process.

Understanding the conventional arms trade

Science.gov (United States)

Stohl, Rachel

2017-11-01

The global conventional arms trade is worth tens of billions of dollars every year and is engaged in by every country in the world. Yet, it is often difficult to control the legal trade in conventional arms and there is a thriving illicit market, willing to arm unscrupulous regimes and nefarious non-state actors. This chapter examines the international conventional arms trade, the range of tools that have been used to control it, and challenges to these international regimes.

International Space Station Temperature and Humidity Control Subsystem Verification for Node 1

Science.gov (United States)

Williams, David E.

2007-01-01

The International Space Station (ISS) Node 1 Environmental Control and Life Support (ECLS) System is comprised of five subsystems: Atmosphere Control and Supply (ACS), Atmosphere Revitalization (AR), Fire Detection and Suppression (FDS), Temperature and Humidity Control (THC), and Water Recovery and Management (WRM). This paper provides a summary of the nominal operation of the Node 1 THC subsystem design. The paper will also provide a discussion of the detailed Element Verification methodologies for nominal operation of the Node 1 THC subsystem operations utilized during the Qualification phase.

Design and verification of computer-based reactor control system modification at Bruce-A candu nuclear generating station

International Nuclear Information System (INIS)

Basu, S.; Webb, N.

1995-01-01

The Reactor Control System at Bruce-A Nuclear Generating Station is going through some design modifications, which involve a rigorous design process including independent verification and validation. The design modification includes changes to the control logic, alarms and annunciation, hardware and software. The design (and verification) process includes design plan, design requirements, hardware and software specifications, hardware and software design, testing, technical review, safety evaluation, reliability analysis, failure mode and effect analysis, environmental qualification, seismic qualification, software quality assurance, system validation, documentation update, configuration management, and final acceptance. (7 figs.)

Safety Verification for Probabilistic Hybrid Systems

DEFF Research Database (Denmark)

Zhang, Lijun; She, Zhikun; Ratschan, Stefan

2010-01-01

The interplay of random phenomena and continuous real-time control deserves increased attention for instance in wireless sensing and control applications. Safety verification for such systems thus needs to consider probabilistic variations of systems with hybrid dynamics. In safety verification o...... on a number of case studies, tackled using a prototypical implementation....

Multi-muscle FES force control of the human arm for arbitrary goals.

Science.gov (United States)

Schearer, Eric M; Liao, Yu-Wei; Perreault, Eric J; Tresch, Matthew C; Memberg, William D; Kirsch, Robert F; Lynch, Kevin M

2014-05-01

We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject's hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint force targets was 11% of the total range of achievable forces. Major sources of error were random error due to trial-to-trial variability and model bias due to nonstationary system properties. Because the muscles working collectively are the actuators of the skeletal system, the quantification of errors in force control guides designs of motion controllers for multi-joint, multi-muscle FES systems that can achieve arbitrary goals.

Position Based Visual Servoing control of a Wheelchair Mounter Robotic Arm using Parallel Tracking and Mapping of task objects

Directory of Open Access Journals (Sweden)

Alessandro Palla

2017-05-01

Full Text Available In the last few years power wheelchairs have been becoming the only device able to provide autonomy and independence to people with motor skill impairments. In particular, many power wheelchairs feature robotic arms for gesture emulation, like the interaction with objects. However, complex robotic arms often require a joystic to be controlled; this feature make the arm hard to be controlled by impaired users. Paradoxically, if the user were able to proficiently control such devices, he would not need them. For that reason, this paper presents a highly autonomous robotic arm, designed in order to minimize the effort necessary for the control of the arm. In order to do that, the arm feature an easy to use human - machine interface and is controlled by Computer Vison algorithm, implementing a Position Based Visual Servoing (PBVS control. It was realized by extracting features by the camera and fusing them with the distance from the target, obtained by a proximity sensor. The Parallel Tracking and Mapping (PTAM algorithm was used to find the 3D position of the task object in the camera reference system. The visual servoing algorithm was implemented in an embedded platform, in real time. Each part of the control loop was developed in Robotic Operative System (ROS Environment, which allows to implement the previous algorithms as different nodes. Theoretical analysis, simulations and in system measurements proved the effectiveness of the proposed solution.

Light Duty Utility Arm interface control document plan

Energy Technology Data Exchange (ETDEWEB)

Engstrom, J.W.

1994-12-27

This document describes the interface control documents that will be used to identify and control interface features throughout all phases of the Light Duty Utility Arm (LDUA) development and design. After the system is built, delivered and installed in the Cold Test Facility and later at the tank farm, the Interface Control Documents can be used in maintaining the configuration control process. The Interface Control Document will consist of Interface Control Drawings and a data base directly tied to the Interface Control Drawings. The data base can be used as an index to conveniently find interface information. Design drawings and other text documents that contain interface information will appear in the database. The Interface Control Drawings will be used to document and control the data and information that define the interface boundaries between systems, subsystems and equipment. Also, the interface boundaries will define the areas of responsibility for systems and subsystems. The drawing will delineate and identify all the physical and functional interfaces that required coordination to establish and maintain compatibility between the co-functioning equipment, computer software, and the tank farm facilities. An appendix contains the Engineering interface control database system riser manual.

Light Duty Utility Arm interface control document plan

International Nuclear Information System (INIS)

Engstrom, J.W.

1994-01-01

This document describes the interface control documents that will be used to identify and control interface features throughout all phases of the Light Duty Utility Arm (LDUA) development and design. After the system is built, delivered and installed in the Cold Test Facility and later at the tank farm, the Interface Control Documents can be used in maintaining the configuration control process. The Interface Control Document will consist of Interface Control Drawings and a data base directly tied to the Interface Control Drawings. The data base can be used as an index to conveniently find interface information. Design drawings and other text documents that contain interface information will appear in the database. The Interface Control Drawings will be used to document and control the data and information that define the interface boundaries between systems, subsystems and equipment. Also, the interface boundaries will define the areas of responsibility for systems and subsystems. The drawing will delineate and identify all the physical and functional interfaces that required coordination to establish and maintain compatibility between the co-functioning equipment, computer software, and the tank farm facilities. An appendix contains the Engineering interface control database system riser manual

Automatic generation and verification of railway interlocking control tables using FSM and NuSMV

Directory of Open Access Journals (Sweden)

Mohammad B. YAZDI

2009-01-01

Full Text Available Due to their important role in providing safe conditions for train movements, railway interlocking systems are considered as safety critical systems. The reliability, safety and integrity of these systems, relies on reliability and integrity of all stages in their lifecycle including the design, verification, manufacture, test, operation and maintenance.In this paper, the Automatic generation and verification of interlocking control tables, as one of the most important stages in the interlocking design process has been focused on, by the safety critical research group in the School of Railway Engineering, SRE. Three different subsystems including a graphical signalling layout planner, a Control table generator and a Control table verifier, have been introduced. Using NuSMV model checker, the control table verifier analyses the contents of control table besides the safe train movement conditions and checks for any conflicting settings in the table. This includes settings for conflicting routes, signals, points and also settings for route isolation and single and multiple overlap situations. The latest two settings, as route isolation and multiple overlap situations are from new outcomes of the work comparing to works represented on the subject recently.

Failure of Arm Movement Control in Stroke Patients, Characterized by Loss of Complexity.

Science.gov (United States)

Goh, Segun; Han, Kyungreem; Ryu, Jehkwang; Kim, Seonjin; Choi, MooYoung

2015-01-01

We study the mechanism of human arm-posture control by means of nonlinear dynamics and quantitative time series analysis methods. Utilizing linear and nonlinear measures in combination, we find that pathological tremors emerge in patient dynamics and serve as a main feature discriminating between normal and patient groups. The deterministic structure accompanied with loss of complexity inherent in the tremor dynamics is also revealed. To probe the underlying mechanism of the arm-posture dynamics, we further analyze the coupling patterns between joints and components, and discuss their roles in breaking of the organization structure. As a result, we elucidate the mechanisms in the arm-posture dynamics of normal subjects responding to the gravitational force and for the reduction of the dynamic degrees of freedom in the patient dynamics. This study provides an integrated framework for the origin of the loss of complexity in the dynamics of patients as well as the coupling structure in the arm-posture dynamics.

Measurement techniques for the verification of excess weapons materials

International Nuclear Information System (INIS)

Tape, J.W.; Eccleston, G.W.; Yates, M.A.

1998-01-01

The end of the superpower arms race has resulted in an unprecedented reduction in stockpiles of deployed nuclear weapons. Numerous proposals have been put forward and actions have been taken to ensure the irreversibility of nuclear arms reductions, including unilateral initiatives such as those made by President Clinton in September 1993 to place fissile materials no longer needed for a deterrent under international inspection, and bilateral and multilateral measures currently being negotiated. For the technologist, there is a unique opportunity to develop the technical means to monitor nuclear materials that have been declared excess to nuclear weapons programs, to provide confidence that reductions are taking place and that the released materials are not being used again for nuclear explosive programs. However, because of the sensitive nature of these materials, a fundamental conflict exists between the desire to know that the bulk materials or weapon components in fact represent evidence of warhead reductions, and treaty commitments and national laws that require the protection of weapons design information. This conflict presents a unique challenge to technologists. The flow of excess weapons materials, from deployed warheads through storage, disassembly, component storage, conversion to bulk forms, and disposition, will be described in general terms. Measurement approaches based on the detection of passive or induced radiation will be discussed along with the requirement to protect sensitive information from release to unauthorized parties. Possible uses of measurement methods to assist in the verification of arms reductions will be described. The concept of measuring attributes of items rather than quantitative mass-based inventory verification will be discussed along with associated information-barrier concepts required to protect sensitive information

Formal Verification of Continuous Systems

DEFF Research Database (Denmark)

Sloth, Christoffer

2012-01-01

and the verification procedures should be algorithmically synthesizable. Autonomous control plays an important role in many safety-critical systems. This implies that a malfunction in the control system can have catastrophic consequences, e.g., in space applications where a design flaw can result in large economic...... losses. Furthermore, a malfunction in the control system of a surgical robot may cause death of patients. The previous examples involve complex systems that are required to operate according to complex specifications. The systems cannot be formally verified by modern verification techniques, due...

The politics of arms control treaty ratification

International Nuclear Information System (INIS)

Krepon, M.; Caldwell, D.

1991-01-01

This book presents a critical examination of executive-congressional relations and the domestic politics of arms control treaty ratification within the United States during the twentieth century. The staring point of this study is the hypothesis that the politics of treaty ratification can be as important as the negotiations leading up to agreements. Benefits to international peace and security sought in years of painstaking diplomatic effort can be lost without Senate consent, as was the case with the Treaty of Versailles and the second treaty arising from the Strategic Arms Limitation Talks (SALT II). The authors of the case studies were requested to present first a brief, historical introduction to the case indicating why the case was important, the background concerning the origins of the treaty, and the treaty's major provisions. The purpose of the introduction to the case was not to provide a complete picture of the negotiating record but to set the stage for a more in-depth discussion of the events that followed after the treaty was signed. The authors address five substantive areas: the international political context of the treaty, the domestic political context, the role of the president, executive-congressional relations, and public opinion and the role of interest groups. The questions and issues concerning each of these areas are briefly summarized

Verification of a Program for the Control of a Robotic Workcell with the Use of AR

Directory of Open Access Journals (Sweden)

Jozef Novak-Marcincin

2012-08-01

Full Text Available This paper contributes in the form of a theoretical discussion and also, by the presentation of a practical example, brings information about the utilization possibilities of elements of augmented reality for the creation of programs for the control of a robotic workplace and for their simulated verification. In the beginning it provides an overview of the current state in the area of robotic systems with the use of unreal objects and describes existing and assumed attitudes. The next part describes an experimental robotic workplace. Then it clarifies the realization of a new way of verification of the program for robotic workplace control and provides information about the possibilities for further development of created functioning concepts.

Controlled, Rapid Uprighting of Molars: A surprisingly Simple Solution The Pivot Arm Appliance.

Science.gov (United States)

Warise, Timothy R; Galella, Steve A

2015-01-01

In orthodontic cases where the regional anatomy provides limited room for eruption, there is etiologically a higher occurrence of tipped/impacted second molars. Although second molar extraction with third molar replacement is a useful option, the "Pivot Arm Appliance" encourages the uprighting of the second molar as a preferred treatment. The most unique and important attribute of the "Pivot Arm Appliance" is the rotating tube. In cases of access limitation, the disto-occlusal surface of the molar presents as one area that is accessible. Other features of the "Pivot Arm Appliance" include: The position of the rotator tube delivers optimal rotational force through the pivoting action of the tube/arm complex. The "Pivot Arm Appliance" takes advantage of the efficiency and simplicity of a Class I lever system. The anatomical fulcrum being the dense cortical bone located anterior to the ascending ramus. The vertical spring system is compact, reliable and delivers gentle controlled force in rotational direction. The lingual location of the "Pivot Arm Appliance" does not hinder the function of the tongue, impinge on the soft tissue or interfere with normal masticatory function. The ease of placement of the rotator tube and subsequent insertion of the spring. It is well to note the uprighting appliance provides a very useful and practical approach to the unique problem of severely tipped second molars with limited buccal access. The "Pivot Arm Appliance" does not function only in these situations but can be used in all cases of second molar uprighting of a moderate to severe nature.

Primary reaction control system/remote manipulator system interaction with loaded arm. Space shuttle engineering and operations support

Science.gov (United States)

Taylor, E. C.; Davis, J. D.

1978-01-01

A study of the interaction between the orbiter primary reaction control system (PRCS) and the remote manipulator system (RMS) with a loaded arm is documented. This analysis was performed with the Payload Deployment and Retrieval Systems Simulation (PDRSS) program with the passive arm bending option. The passive-arm model simulates the arm as massless elastic links with locked joints. The study was divided into two parts. The first part was the evaluation of the response of the arm to step inputs (i.e. constant jet torques) about each of the orbiter body axes. The second part of the study was the evaluation of the response of the arm to minimum impulse primary RCS jet firings with both single pulse and pulse train inputs.

Preventive arms control. Case study: plutonium disposition. Final report

International Nuclear Information System (INIS)

Liebert, W.

2001-01-01

Plutonium stored in separated form poses a severe threat of nuclear weapons proliferation. While options for the disposition of military plutonium stockpiles have been studied for several years, similar work has hardly been undertaken for plutonium stockpiles in the civilian sector. In the framework of this project, the various options to dispose of stockpiles of separated plutonium in the civilian sector were to be investigated. The project was embedded in the FONAS-project network on Preventive Arms Control, and the findings of this study were to be considered for the development of a concept of Preventive Arms Control. As a first step, the internationally available information on different options for plutonium disposition (MOX-use, immobilization together with radioactive wastes, elimination) were collected and compiled to allow further assessment of the different options. For some of the options, technical questions were examined in more detail. For this purpose, neutron transport and fuel burnup calculations were performed. In particular, the analysis focused on concepts for the elimination of plutonium by the use of uranium-free fuel in existing light-water reactors, since they are particularly attractive from the point of view of non-proliferation. The calculations were performed for a reference fuel based on yttrium-stabilized zirconia, with parameters like the initial plutonium content or the use of burnable neutron poisons varying. A systematic and complete analysis of the performed calculations, however, could not be undertaken due to project time restrictions. On the basis of assessment criteria for Preventive Arms Control developed by the project network, a specific set of criteria for the assessment of the pros and cons of different plutonium disposition methods has been defined. These criteria may then be used as part of a concept of prospective technology assessment. The project findings present a starting base for a comprehensive assessment of the

Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

Science.gov (United States)

Nabeel, Hafiz Muhammad; Azher, Anum; Usman Ali, Syed M.; Wahab Mughal, Abdul

2013-12-01

In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface.

Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

International Nuclear Information System (INIS)

Nabeel, Hafiz Muhammad; Azher, Anum; Ali, Syed M Usman; Mughal, Abdul Wahab

2013-01-01

In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface

Low-Intrusion Techniques and Sensitive Information Management for Warhead Counting and Verification: FY2011 Annual Report

Energy Technology Data Exchange (ETDEWEB)

Jarman, Kenneth D.; Robinson, Sean M.; McDonald, Benjamin S.; Gilbert, Andrew J.; Misner, Alex C.; Pitts, W. Karl; White, Timothy A.; Seifert, Allen; Miller, Erin A.

2011-09-01

Future arms control treaties may push nuclear weapons limits to unprecedented low levels and may entail precise counting of warheads as well as distinguishing between strategic and tactical nuclear weapons. Such advances will require assessment of form and function to confidently verify the presence or absence of nuclear warheads and/or their components. Imaging with penetrating radiation can provide such an assessment and could thus play a unique role in inspection scenarios. Yet many imaging capabilities have been viewed as too intrusive from the perspective of revealing weapon design details, and the potential for the release of sensitive information poses challenges in verification settings. A widely held perception is that verification through radiography requires images of sufficient quality that an expert (e.g., a trained inspector or an image-matching algorithm) can verify the presence or absence of components of a device. The concept of information barriers (IBs) has been established to prevent access to relevant weapon-design information by inspectors (or algorithms), and has, to date, limited the usefulness of radiographic inspection. The challenge of this project is to demonstrate that radiographic information can be used behind an IB to improve the capabilities of treaty-verification weapons-inspection systems.

Sample size determinations for group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms.

Science.gov (United States)

Heo, Moonseong; Litwin, Alain H; Blackstock, Oni; Kim, Namhee; Arnsten, Julia H

2017-02-01

We derived sample size formulae for detecting main effects in group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms. Such designs are necessary when experimental interventions need to be administered to groups of subjects whereas control conditions need to be administered to individual subjects. This type of trial, often referred to as a partially nested or partially clustered design, has been implemented for management of chronic diseases such as diabetes and is beginning to emerge more commonly in wider clinical settings. Depending on the research setting, the level of hierarchy of data structure for the experimental arm can be three or two, whereas that for the control arm is two or one. Such different levels of data hierarchy assume correlation structures of outcomes that are different between arms, regardless of whether research settings require two or three level data structure for the experimental arm. Therefore, the different correlations should be taken into account for statistical modeling and for sample size determinations. To this end, we considered mixed-effects linear models with different correlation structures between experimental and control arms to theoretically derive and empirically validate the sample size formulae with simulation studies.

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

Science.gov (United States)

Barker, L. K.; Houck, J. A.; Carzoo, S. W.

1984-01-01

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.

Do the TTBT and JVE provide a framework for 'effective' verification?

International Nuclear Information System (INIS)

Vergino, E.S.

1998-01-01

The Threshold Test Ban Treaty (TTBT) was signed in 1974 by Richard Nixon and Leonid Brezhnev with both the US and USSR agreeing to adhere to the 150 kt limit of the treaty as of March 31, 1976. Yet the treaty remained non ratified for more than twelve years and during this time during the height of the Cold War, the US and USSR continued to accuse one another of violating the treaty. During late 1987, during the Nuclear Testing Talks in Geneva the Joint Verification Experiment (JVE) was discussed and then was formally announced at the Shultz/Shevardnadze meeting in December, 1987. In the course of arranging JVE Information and data for five Soviet and five US nuclear tests, were exchanged. JVE activity culminated with Kearsarge, detonated on August 17, 1988 and Shagan, detonated on September 14, 1988. JVE provided a unique opportunity for US and USSR technical experts to work together to demonstrate that effective verification of the TTBT could be achieved. The TTBT was the first treaty in which the US pursued a series of complex protocols involving additional, intrusive verification measures. These required extensive collaboration between scientific and political communities, a collaboration necessary to address the balance between the technical capabilities and requirements and the political drivers and needs. During this talk the author discusses this balance, how the balance changed with time, the drivers for change and the lessons learned, and weather there are lessons to be learned that are applicable to the development of other, future, arms control agreements

Managing new arms races

International Nuclear Information System (INIS)

Segal, G.

1992-01-01

The management of new arms races in the region of Asia-Pacific includes considerations of weapons trade and transfer in the region, with an emphasis on nuclear weapons proliferation. It deals with the problem of controlling the arms trade and the efforts to control conventional weapons and underlines the possible role and influence of Conference on Cooperation and Security in Europe (CSCE)

Nonparetic arm force does not overinhibit the paretic arm in chronic poststroke hemiparesis.

Science.gov (United States)

Dimyan, Michael A; Perez, Monica A; Auh, Sungyoung; Tarula, Erick; Wilson, Matthew; Cohen, Leonardo G

2014-05-01

To determine whether nonparetic arm force overinhibits the paretic arm in patients with chronic unilateral poststroke hemiparesis. Case-control neurophysiological and behavioral study of patients with chronic stroke. Research institution. Eighty-six referred patients were screened to enroll 9 participants (N=9) with a >6 month history of 1 unilateral ischemic infarct that resulted in arm hemiparesis with residual ability to produce 1Nm of wrist flexion torque and without contraindication to transcranial magnetic stimulation. Eight age- and handedness-matched healthy volunteers without neurologic diagnosis were studied for comparison. Not applicable. Change in interhemispheric inhibition targeting the ipsilesional primary motor cortex (M1) during nonparetic arm force. We hypothesized that interhemispheric inhibition would increase more in healthy controls than in patients with hemiparesis. Healthy age-matched controls had significantly greater increases in inhibition from their active to resting M1 than patients with stroke from their active contralesional to resting ipsilesional M1 in the same scenario (20%±7% vs -1%±4%, F1,12=6.61, P=.025). Patients with greater increases in contralesional to ipsilesional inhibition were better performers on the 9-hole peg test of paretic arm function. Our findings reveal that producing force with the nonparetic arm does not necessarily overinhibit the paretic arm. Though our study is limited in generalizability by the small sample size, we found that greater active contralesional to resting ipsilesional M1 inhibition was related with better recovery in this subset of patients with chronic poststroke. Copyright © 2014 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Arms control and disarmament: A new conceptual approach

International Nuclear Information System (INIS)

2000-01-01

In the frame of the Millennium Assembly of the UN, the Secretary-General urged the global community to seize a sense of the occasion that comes from the turning of the century, to step back from today's headlines and take a broader, longer-term view of the state of the world and the challenges it poses. In partnership with the Stockholm International Peace Research Institute (SIPRI), the Department for Disarmament Affairs (DDA) is taking up precisely that challenge. This panel discussion is part of a series of events sponsored by the Department to deepen the discussion on topical disarmament and security related issues. It is also part of the constant search for a new approach, a new concept, a new paradigm or vision for disarmament and arms control since the end of the cold war, the end of the post-cold war period and the beginning of the new century. It is axiomatic that progress in disarmament is closely linked to the evolution of the security environment. Disarmament cannot be separated from the new geo-political and security configurations in Europe, new demonstrations of nuclear capability in Asia, the emergence of new conflicts that are being driven mainly by internal and ethnic strife and that are outrageous in their brutality in Europe, Asia and Africa. Today's agenda is still full and diverse in the traditional areas of disarmament, nuclear, chemical and biological disarmament as well as ballistic missile defense and proliferation and conventional disarmament including landmines. Like many organizations, research institutes, researchers and individuals in the field of security, DDA has set store on the reliability and credibility of the research and publications produced by SIPRI. As an independent international institute for research on problems for peace and conflict, disarmament and arms control founded in 1966, SIPRI's primary research has been consistently objective, timely, comprehensive and clearly presented. SIPRI's Yearbook has been a reference

Feedback attitude sliding mode regulation control of spacecraft using arm motion

Science.gov (United States)

Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

2013-09-01

The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

Impairment-oriented training or Bobath therapy for severe arm paresis after stroke: a single-blind, multicentre randomized controlled trial.

Science.gov (United States)

Platz, T; Eickhof, C; van Kaick, S; Engel, U; Pinkowski, C; Kalok, S; Pause, M

2005-10-01

To study the effects of augmented exercise therapy time for arm rehabilitation as either Bobath therapy or the impairment-oriented training (Arm BASIS training) in stroke patients with arm severe paresis. Single blind, multicentre randomized control trial. Three inpatient neurorehabilitation centres. Sixty-two anterior circulation ischaemic stroke patients. Random assignment to three group: (A) no augmented exercise therapy time, (B) augmented exercise therapy time as Bobath therapy and (C) augmented exercise therapy time as Arm BASIS training. Fugl-Meyer arm motor score. Secondary measure: Action Research Arm Test (ARA). Ancillary measures: Fugl-Meyer arm sensation and joint motion/pain scores and the Ashworth Scale (elbow flexors). An overall effect of augmented exercise therapy time on Fugl-Meyer scores after four weeks was not corroborated (mean and 95% confidence interval (CI) of change scores: no augmented exercise therapy time (n=20) 8.8, 5.2-12.3; augmented exercise therapy time (n=40) 9.9, 6.8-13.9; p = 0.2657). The group who received the augmented exercise therapy time as Arm BASIS training (n=20) had, however, higher gains than the group receiving the augmented exercise therapy time as Bobath therapy (n=20) (mean and 95% CI of change scores: Bobath 7.2, 2.6-11.8; BASIS 12.6, 8.4-16.8; p = 0.0432). Passive joint motion/pain deteriorated less in the group who received BASIS training (mean and 95% CI of change scores: Bobath -3.2, -5.2 to -1.1; BASIS 0.1, -1.8-2.0; p = 0.0090). ARA, Fugl-Meyer arm sensation, and Ashworth Scale scores were not differentially affected. The augmented exercise therapy time as Arm BASIS training enhanced selective motor control. Type of training was more relevant for recovery of motor control than therapeutic time spent.

Controller design for flexible, distributed parameter mechanical arms via combined state space and frequency domain techniques

Science.gov (United States)

Book, W. J.; Majett, M.

1982-01-01

The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results.

Arms Control: US and International efforts to ban biological weapons

Energy Technology Data Exchange (ETDEWEB)

1992-12-01

The Bacteriological (Biological) and Toxin Weapons Convention, the treaty that bans the development, production, and stockpiling and acquisition of biological weapons was opened for signature in 1972 and came into force in 1975 after being ratified by 22 governments, including the depository nations of the USA, the United Kingdom, and the former Soviet Union. In support of the Convention, the USA later established export controls on items used to make biological weapons. Further, in accordance with the 1990 President`s Enhanced Proliferation Control Initiative, actions were taken to redefine and expand US export controls, as well as to encourage multilateral controls through the Australia Group. Thus far, the Convention has not been effective in stopping the development of biological weapons. The principal findings as to the reasons of the failures of the Convention are found to be: the Convention lacks universality, compliance measures are effective, advantage of verification may outweigh disadvantages. Recommendations for mitigating these failures are outlined in this report.

Dynamic parameter identification of robot arms with servo-controlled electrical motors

Science.gov (United States)

Jiang, Zhao-Hui; Senda, Hiroshi

2005-12-01

This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

Development of NSSS Control System Performance Verification Tool

International Nuclear Information System (INIS)

Sohn, Suk Whun; Song, Myung Jun

2007-01-01

Thanks to many control systems and control components, the nuclear power plant can be operated safely and efficiently under the transient condition as well as the steady state condition. If a fault or an error exists in control systems, the nuclear power plant should experience the unwanted and unexpected transient condition. Therefore, the performance of these control systems and control components should be completely verified through power ascension tests of startup period. However, there are many needs to replace control components or to modify control logic or to change its setpoint. It is important to verify the performance of changed control system without redoing power ascension tests in order to perform these changes. Up to now, a simulation method with computer codes which has been used for design of nuclear power plants was commonly used to verify its performance. But, if hardware characteristics of control system are changed or the software in control system has an unexpected fault or error, this simulation method is not effective to verify the performance of changed control system. Many tests related to V and V (Verification and Validation) are performed in the factory as well as in the plant to eliminate these errors which might be generated in hardware manufacturing or software coding. It reveals that these field tests and the simulation method are insufficient to guaranty the performance of changed control system. Two unexpected transients occurred in YGN 5 and 6 startup period are good examples to show this fact. One occurred at 50% reactor power and caused reactor trip. The other occurred during 70% loss of main feedwater pump test and caused the excess turbine runback

To Keep and Bear Arms: Gun Control and the Second Amendment. Teacher's Guide.

Science.gov (United States)

Edwards, Amy N.; Walker, Tim

This teacher's guide is designed to accompany the two-part videotape "To Keep and Bear Arms: Gun Control and the Second Amendment." The videotape and teacher's guide should help students to: (1) understand the history of the Second Amendment; (2) examine how guns and gun control laws affect people's lives; (3) compare and contrast the…

TEST DESIGN FOR ENVIRONMENTAL TECHNOLOGY VERIFICATION (ETV) OF ADD-ON NOX CONTROL UTILIZING OZONE INJECTION

Science.gov (United States)

The paper discusses the test design for environmental technology verification (ETV) of add-0n nitrogen oxides (NOx) control utilizing ozone injection. (NOTE: ETV is an EPA-established program to enhance domestic and international market acceptance of new or improved commercially...

Verification of intravenous catheter placement by auscultation--a simple, noninvasive technique.

Science.gov (United States)

Lehavi, Amit; Rudich, Utay; Schechtman, Moshe; Katz, Yeshayahu Shai

2014-01-01

Verification of proper placement of an intravenous catheter may not always be simple. We evaluated the auscultation technique for this purpose. Twenty healthy volunteers were randomized for 18G catheter inserted intravenously either in the right (12) or left arm (8), and subcutaneously in the opposite arm. A standard stethoscope was placed over an area approximately 3 cm proximal to the tip of the catheter in the presumed direction of the vein to grade on a 0-6 scale the murmur heard by rapidly injecting 2 mL of NaCl 0.9% solution. The auscultation was evaluated by a blinded staff anesthesiologist. All 20 intravenous injection were evaluated as flow murmurs, and were graded an average 5.65 (±0.98), whereas all 20 subcutaneous injections were evaluated as either crackles or no sound, and were graded an average 2.00 (±1.38), without negative results. Sensitivity was calculated as 95%. Specificity and Kappa could not be calculated due to an empty false-positive group. Being simple, handy and noninvasive, we recommend to use the auscultation technique for verification of the proper placement of an intravenous catheter when uncertain of its position. Data obtained in our limited sample of healthy subjects need to be confirmed in the clinical setting.

Worldwide Report, Arms Control.

Science.gov (United States)

1985-11-22

dinosaurs (and a large number of other species which disappeared "simultaneously") might have become extinct because a large comet hit the earth’s...clear yet aeain the reasons why Washington is in such haste in the arms race for "star wars" and why it refuses to assume a commitment not to be...Kolesnichenko says: [Begin Kolesnichenko recording in Russian with English translation] In an effort to calm the American public and provide a logical reason

Brain-Machine Interface control of a robot arm using actor-critic rainforcement learning.

Science.gov (United States)

Pohlmeyer, Eric A; Mahmoudi, Babak; Geng, Shijia; Prins, Noeline; Sanchez, Justin C

2012-01-01

Here we demonstrate how a marmoset monkey can use a reinforcement learning (RL) Brain-Machine Interface (BMI) to effectively control the movements of a robot arm for a reaching task. In this work, an actor-critic RL algorithm used neural ensemble activity in the monkey's motor cortext to control the robot movements during a two-target decision task. This novel approach to decoding offers unique advantages for BMI control applications. Compared to supervised learning decoding methods, the actor-critic RL algorithm does not require an explicit set of training data to create a static control model, but rather it incrementally adapts the model parameters according to its current performance, in this case requiring only a very basic feedback signal. We show how this algorithm achieved high performance when mapping the monkey's neural states (94%) to robot actions, and only needed to experience a few trials before obtaining accurate real-time control of the robot arm. Since RL methods responsively adapt and adjust their parameters, they can provide a method to create BMIs that are robust against perturbations caused by changes in either the neural input space or the output actions they generate under different task requirements or goals.

Formal verification of algorithms for critical systems

Science.gov (United States)

Rushby, John M.; Von Henke, Friedrich

1993-01-01

We describe our experience with formal, machine-checked verification of algorithms for critical applications, concentrating on a Byzantine fault-tolerant algorithm for synchronizing the clocks in the replicated computers of a digital flight control system. First, we explain the problems encountered in unsynchronized systems and the necessity, and criticality, of fault-tolerant synchronization. We give an overview of one such algorithm, and of the arguments for its correctness. Next, we describe a verification of the algorithm that we performed using our EHDM system for formal specification and verification. We indicate the errors we found in the published analysis of the algorithm, and other benefits that we derived from the verification. Based on our experience, we derive some key requirements for a formal specification and verification system adequate to the task of verifying algorithms of the type considered. Finally, we summarize our conclusions regarding the benefits of formal verification in this domain, and the capabilities required of verification systems in order to realize those benefits.

Comparison between sEMG and force as control interfaces to support planar arm movements in adults with Duchenne: a feasibility study.

Science.gov (United States)

Lobo-Prat, Joan; Nizamis, Kostas; Janssen, Mariska M H P; Keemink, Arvid Q L; Veltink, Peter H; Koopman, Bart F J M; Stienen, Arno H A

2017-07-12

Adults with Duchenne muscular dystrophy (DMD) can benefit from devices that actively support their arm function. A critical component of such devices is the control interface as it is responsible for the human-machine interaction. Our previous work indicated that surface electromyography (sEMG) and force-based control with active gravity and joint-stiffness compensation were feasible solutions for the support of elbow movements (one degree of freedom). In this paper, we extend the evaluation of sEMG- and force-based control interfaces to simultaneous and proportional control of planar arm movements (two degrees of freedom). Three men with DMD (18-23 years-old) with different levels of arm function (i.e. Brooke scores of 4, 5 and 6) performed a series of line-tracing tasks over a tabletop surface using an experimental active arm support. The arm movements were controlled using three control methods: sEMG-based control, force-based control with stiffness compensation (FSC), and force-based control with no compensation (FNC). The movement performance was evaluated in terms of percentage of task completion, tracing error, smoothness and speed. For subject S1 (Brooke 4) FNC was the preferred method and performed better than FSC and sEMG. FNC was not usable for subject S2 (Brooke 5) and S3 (Brooke 6). Subject S2 presented significantly lower movement speed with sEMG than with FSC, yet he preferred sEMG since FSC was perceived to be too fatiguing. Subject S3 could not successfully use neither of the two force-based control methods, while with sEMG he could reach almost his entire workspace. Movement performance and subjective preference of the three control methods differed with the level of arm function of the participants. Our results indicate that all three control methods have to be considered in real applications, as they present complementary advantages and disadvantages. The fact that the two weaker subjects (S2 and S3) experienced the force-based control

Performance of arm locking in LISA

International Nuclear Information System (INIS)

McKenzie, Kirk; Spero, Robert E.; Shaddock, Daniel A.

2009-01-01

For the Laser Interferometer Space Antenna (LISA) to reach its design sensitivity, the coupling of the free-running laser frequency noise to the signal readout must be reduced by more than 14 orders of magnitude. One technique employed to reduce the laser frequency noise will be arm locking, where the laser frequency is locked to the LISA arm length. In this paper we detail an implementation of arm locking. We investigate orbital effects (changing arm lengths and Doppler frequencies), the impact of errors in the Doppler knowledge that can cause pulling of the laser frequency, and the noise limit of arm locking. Laser frequency pulling is examined in two regimes: at lock acquisition and in steady state. The noise performance of arm locking is calculated with the inclusion of the dominant expected noise sources: ultrastable oscillator (clock) noise, spacecraft motion, and shot noise. We find that clock noise and spacecraft motion limit the performance of dual arm locking in the LISA science band. Studying these issues reveals that although dual arm locking [A. Sutton and D. A. Shaddock, Phys. Rev. D 78, 082001 (2008)] has advantages over single (or common) arm locking in terms of allowing high gain, it has disadvantages in both laser frequency pulling and noise performance. We address this by proposing a modification to the dual arm-locking sensor, a hybrid of common and dual arm-locking sensors. This modified dual arm-locking sensor has the laser frequency pulling characteristics and low-frequency noise coupling of common arm locking, but retains the control system advantages of dual arm locking. We present a detailed design of an arm-locking controller and perform an analysis of the expected performance when used with and without laser prestabilization. We observe that the sensor phase changes beneficially near unity-gain frequencies of the arm-locking controller, allowing a factor of 10 more gain than previously believed, without degrading stability. With a time

dSPACE real time implementation of fuzzy PID position controller for vertical rotating single link arm robot using four-quadrant BLDC drive

Directory of Open Access Journals (Sweden)

Manikandan Ramasamy

2017-07-01

Full Text Available Automation has been growing in recent years for the manufacturing industries to increase productivity. Multiple robotic arms are used to handle materials for lifting in flexible directions. The vertical rotation of a 360 degree single arm is considered in this research on a position servo drive with brushless DC motor. The load torque of an arm varies depending upon the angular displacement due to gravity, so it requires four-quadrant operation of the drive with a robust feedback controller. This paper deals with the design and performance comparison of a conventional PID feedback controller with a fuzzy-based PID controller and suggests the most suitable controller. The design was implemented in real time through the dSPACE DS1104 controller environment to verify the dynamic behaviors of the arm.

Tolerance Verification of Micro and Nano Structures on Polycarbonate Substrates

DEFF Research Database (Denmark)

Gasparin, Stefania; Tosello, Guido; Hansen, Hans Nørgaard

2010-01-01

Micro and nano structures are an increasing challenge in terms of tolerance verification and process quality control: smaller dimensions led to a smaller tolerance zone to be evaluated. This paper focuses on the verification of CD, DVD and HD-DVD nanoscale features. CD tolerance features are defi......Micro and nano structures are an increasing challenge in terms of tolerance verification and process quality control: smaller dimensions led to a smaller tolerance zone to be evaluated. This paper focuses on the verification of CD, DVD and HD-DVD nanoscale features. CD tolerance features...

Electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength after stroke.

Science.gov (United States)

Mehrholz, Jan; Pohl, Marcus; Platz, Thomas; Kugler, Joachim; Elsner, Bernhard

2015-11-07

Electromechanical and robot-assisted arm training devices are used in rehabilitation, and may help to improve arm function after stroke. To assess the effectiveness of electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength in people after stroke. We also assessed the acceptability and safety of the therapy. We searched the Cochrane Stroke Group's Trials Register (last searched February 2015), the Cochrane Central Register of Controlled Trials (CENTRAL) (the Cochrane Library 2015, Issue 3), MEDLINE (1950 to March 2015), EMBASE (1980 to March 2015), CINAHL (1982 to March 2015), AMED (1985 to March 2015), SPORTDiscus (1949 to March 2015), PEDro (searched April 2015), Compendex (1972 to March 2015), and Inspec (1969 to March 2015). We also handsearched relevant conference proceedings, searched trials and research registers, checked reference lists, and contacted trialists, experts, and researchers in our field, as well as manufacturers of commercial devices. Randomised controlled trials comparing electromechanical and robot-assisted arm training for recovery of arm function with other rehabilitation or placebo interventions, or no treatment, for people after stroke. Two review authors independently selected trials for inclusion, assessed trial quality and risk of bias, and extracted data. We contacted trialists for additional information. We analysed the results as standardised mean differences (SMDs) for continuous variables and risk differences (RDs) for dichotomous variables. We included 34 trials (involving 1160 participants) in this update of our review. Electromechanical and robot-assisted arm training improved activities of daily living scores (SMD 0.37, 95% confidence interval (CI) 0.11 to 0.64, P = 0.005, I² = 62%), arm function (SMD 0.35, 95% CI 0.18 to 0.51, P arm muscle strength (SMD 0.36, 95% CI 0.01 to 0.70, P = 0.04, I² = 72%), but the quality of the evidence was low to very low

CyARM: Haptic Sensing Device for Spatial Localization on Basis of Exploration by Arms

Directory of Open Access Journals (Sweden)

Junichi Akita

2009-01-01

Full Text Available We introduce a new type of perception aid device based on user's exploration action, which is named as CyARM (acronym of “Cyber Arm”. The user holds this device in her/his arm, the extension of the arm is controlled by tension in wires, which are attached to her/his body according to the distance to the object. This user interface has unique characteristics that give users the illusion of an imaginary arm that extends to existing objects. The implementations of CyARM and our two experiments to investigate the efficiency and effectiveness of CyARM are described. The results show that we could confirm that CyARM can be used to recognize the presence of an object in front of the user and to measure the relative distance to the object.

Nonspecific Arm Pain

Directory of Open Access Journals (Sweden)

Ali Moradi

2013-12-01

Full Text Available Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

Nonspecific Arm Pain

Directory of Open Access Journals (Sweden)

Ali Moradi

2013-12-01

Full Text Available   Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

The design of multi-channel pulse amplitude analyzer based on ARM micro controller

International Nuclear Information System (INIS)

Li Hai; Li Xiang; Liu Caixue

2010-01-01

It introduces the design of multi-channel pulse amplitude analyzer based on embedded ARM micro-controller. The embedded and real-time system μC/OS-II builds up the real-time and stability of the system and advances the integration. (authors)

Perception of gain in U.S.-Soviet arms control

International Nuclear Information System (INIS)

D'Anieri, P.J.

1991-01-01

Most current work in the field of international cooperation focuses on the resolution of the 'prisoners dilemma.' Such work begins by assuming that the issues under consideration are defined by absolute gains, where both sides can gain simultaneously. But the realist strand of international relations literature holds that this assumption is suspect - that international relations are usually characterized by relative gains, where gain for one side comes only at the others expense. The model developed here uses the question of absolute versus relative gains not as a theoretical assumption, but as a variable to be measured empirically. The hypothesis is that whether or not the US and the Soviet Union cooperate to limit arms competition is largely determined by whether the two sides define the issue in question as one of absolute or relative gains. The 'perception of gain' hypothesis is compared to explanations at the levels of the international system (rational choice), domestic politics, and individual belief systems. Three case studies are used to compare the strengths and weaknesses of each hypothesis. The findings confirmed that perception of gain is an important independent variable affecting arms control outcomes, but none of the theories were completely supported or rejected

Development of the automatic control rod operation system for JOYO. Verification of automatic control rod operation guide system

International Nuclear Information System (INIS)

Terakado, Tsuguo; Suzuki, Shinya; Kawai, Masashi; Aoki, Hiroshi; Ohkubo, Toshiyuki

1999-10-01

The automatic control rod operation system was developed to control the JOYO reactor power automatically in all operation modes(critical approach, cooling system heat up, power ascent, power descent), development began in 1989. Prior to applying the system, verification tests of the automatic control rod operation guide system was conducted during 32nd duty cycles of JOYO' from Dec. 1997 to Feb. 1998. The automatic control rod operation guide system consists of the control rod operation guide function and the plant operation guide function. The control rod operation guide function provides information on control rod movement and position, while the plant operation guide function provide guidance for plant operations corresponding to reactor power changes(power ascent or power descent). Control rod insertion or withdrawing are predicted by fuzzy algorithms. (J.P.N.)

How do octopuses use their arms?

Science.gov (United States)

Mather, J A

1998-09-01

A taxonomy of the movement patterns of the 8 flexible arms of octopuses is constructed. Components consist of movements of the arm itself, the ventral suckers and their stalks, as well as the relative position of arms and the skin web between them. Within 1 arm, combinations of components result in a variety of behaviors. At the level of all arms, 1 group of behaviors is described as postures, on the basis of the spread of all arms and the web to make a 2-dimensional surface whose position differs in the 3rd dimension. Another group of arm behaviors is actions, more or less coordinated and involving several to all arms. Arm control appears to be based on radial symmetry, relative equipotentiality of all arms, relative independence of each arm, and separability of components within the arm. The types and coordination of arm behaviors are discussed with relationship to biomechanical limits, muscle structures, and neuronal programming.

Distributed Engine Control Empirical/Analytical Verification Tools

Science.gov (United States)

DeCastro, Jonathan; Hettler, Eric; Yedavalli, Rama; Mitra, Sayan

2013-01-01

NASA's vision for an intelligent engine will be realized with the development of a truly distributed control system featuring highly reliable, modular, and dependable components capable of both surviving the harsh engine operating environment and decentralized functionality. A set of control system verification tools was developed and applied to a C-MAPSS40K engine model, and metrics were established to assess the stability and performance of these control systems on the same platform. A software tool was developed that allows designers to assemble easily a distributed control system in software and immediately assess the overall impacts of the system on the target (simulated) platform, allowing control system designers to converge rapidly on acceptable architectures with consideration to all required hardware elements. The software developed in this program will be installed on a distributed hardware-in-the-loop (DHIL) simulation tool to assist NASA and the Distributed Engine Control Working Group (DECWG) in integrating DCS (distributed engine control systems) components onto existing and next-generation engines.The distributed engine control simulator blockset for MATLAB/Simulink and hardware simulator provides the capability to simulate virtual subcomponents, as well as swap actual subcomponents for hardware-in-the-loop (HIL) analysis. Subcomponents can be the communication network, smart sensor or actuator nodes, or a centralized control system. The distributed engine control blockset for MATLAB/Simulink is a software development tool. The software includes an engine simulation, a communication network simulation, control algorithms, and analysis algorithms set up in a modular environment for rapid simulation of different network architectures; the hardware consists of an embedded device running parts of the CMAPSS engine simulator and controlled through Simulink. The distributed engine control simulation, evaluation, and analysis technology provides unique

Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

Science.gov (United States)

Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

2003-01-01

The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

Shaping of arm configuration space by prescription of non-Euclidean metrics with applications to human motor control

Science.gov (United States)

Biess, Armin

2013-01-01

The study of the kinematic and dynamic features of human arm movements provides insights into the computational strategies underlying human motor control. In this paper a differential geometric approach to movement control is taken by endowing arm configuration space with different non-Euclidean metric structures to study the predictions of the generalized minimum-jerk (MJ) model in the resulting Riemannian manifold for different types of human arm movements. For each metric space the solution of the generalized MJ model is given by reparametrized geodesic paths. This geodesic model is applied to a variety of motor tasks ranging from three-dimensional unconstrained movements of a four degree of freedom arm between pointlike targets to constrained movements where the hand location is confined to a surface (e.g., a sphere) or a curve (e.g., an ellipse). For the latter speed-curvature relations are derived depending on the boundary conditions imposed (periodic or nonperiodic) and the compatibility with the empirical one-third power law is shown. Based on these theoretical studies and recent experimental findings, I argue that geodesics may be an emergent property of the motor system and that the sensorimotor system may shape arm configuration space by learning metric structures through sensorimotor feedback.

Isolated effects of peripheral arm and central body cooling on arm performance.

Science.gov (United States)

Giesbrecht, G G; Wu, M P; White, M D; Johnston, C E; Bristow, G K

1995-10-01

Whole body cooling impairs manual arm performance. The independent contributions of local (peripheral) and/or whole body (central) cooling are not known. Therefore, a protocol was developed in which the arm and the rest of the body could be independently cooled. Biceps temperature (Tmus), at a depth of 20 mm, and esophageal temperature (Tes) were measured. Six subjects were immersed to the clavicles in a tank (body tank) of water under 3 conditions: 1) cold body-cold arm (CB-CA); 2) warm body-cold arm (WB-CA); and 3) cold body-warm arm (CB-WA). In the latter two conditions, subjects placed their dominant arm in a separate (arm) tank. Water temperature (Tw) in each tank was independently controlled. In conditions requiring cold body and/or cold arm, Tw in the appropriate tanks was 8 degrees C. In conditions requiring warm body and/or warm arm, Tw in the appropriate tanks was adjusted between 29 and 38 degrees C to maintain body/arm temperature at baseline values. A battery of 6 tests, requiring fine or gross motor movements, were performed immediately before immersion and after 15, 45, and 70 minutes of immersion. In CB-CA, Tes decreased from an average of 37.2 to 35.6 degrees C and Tmus decreased from 34.6 to 22.0 degrees C. In WB-CA, Tmus decreased to 18.1 degrees C (Tes = 37.1 degrees C), and in CB-WA, Tes decreased to 35.8 degrees C (Tmus = 34.5 degrees C). By the end of immersion, there were significant decrements (43-85%) in the performance of all tests in CB-CA and WB-CA (p body and/or the arm elicits large decrements in finger, hand and arm performance. The decrements are due almost entirely to the local effects of arm tissue cooling.

United States Arms Control and Disarmament Agency. Ninth Annual Report to Congress.

Science.gov (United States)

Arms Control and Disarmament Agency, Washington, DC.

This annual report surveys activities of the Arms Control and Disarmament Agency (ACDA) and summarizes disarmament developments for the calendar year 1968. An act of Congress states that ACDA must have such a position within the Government that it can provide the President, the Secretary of State, other officials of the executive branch, and the…

The implementation of common object request broker architecture (CORBA) for controlling robot arm via web

International Nuclear Information System (INIS)

Syed Mahamad Zuhdi Amin; Mohd Yazid Idris; Wan Mohd Nasir Wan Kadir

2001-01-01

This paper presents the employment of the Common Object Request Broker Architecture (CORBA) technology in the implementation of our distributed Arm Robot Controller (ARC). CORBA is an industrial standard architecture based on distributed abstract object model, which is developed by Object Management Group (OMG). The architecture consists of five components i.e. Object Request Broker (ORB), Interface Definition Language (IDL), Dynamic Invocation Interface (DII), Interface Repositories (IR) and Object adapter (OA). CORBA objects are different from typical programming objects in three ways i.e. they can be executed on any platform, located anywhere on the network and written in any language that supports IDL mapping. In the implementation of the system, 5 degree of freedom (DOF) arm robot RCS 6.0 and Java as a programming mapping to the CORBA IDL. By implementing this architecture, the objects in the server machine can be distributed over the network in order to run the controller. the ultimate goal for our ARC system is to demonstrate concurrent execution of multiple arm robots through multiple instantiations of distributed object components. (Author)

Linear models to perform treaty verification tasks for enhanced information security

International Nuclear Information System (INIS)

MacGahan, Christopher J.; Kupinski, Matthew A.; Brubaker, Erik M.; Hilton, Nathan R.; Marleau, Peter A.

2017-01-01

Linear mathematical models were applied to binary-discrimination tasks relevant to arms control verification measurements in which a host party wishes to convince a monitoring party that an item is or is not treaty accountable. These models process data in list-mode format and can compensate for the presence of variability in the source, such as uncertain object orientation and location. The Hotelling observer applies an optimal set of weights to binned detector data, yielding a test statistic that is thresholded to make a decision. The channelized Hotelling observer applies a channelizing matrix to the vectorized data, resulting in a lower dimensional vector available to the monitor to make decisions. We demonstrate how incorporating additional terms in this channelizing-matrix optimization offers benefits for treaty verification. We present two methods to increase shared information and trust between the host and monitor. The first method penalizes individual channel performance in order to maximize the information available to the monitor while maintaining optimal performance. Second, we present a method that penalizes predefined sensitive information while maintaining the capability to discriminate between binary choices. Data used in this study was generated using Monte Carlo simulations for fission neutrons, accomplished with the GEANT4 toolkit. Custom models for plutonium inspection objects were measured in simulation by a radiation imaging system. Model performance was evaluated and presented using the area under the receiver operating characteristic curve.

Linear models to perform treaty verification tasks for enhanced information security

Energy Technology Data Exchange (ETDEWEB)

MacGahan, Christopher J., E-mail: cmacgahan@optics.arizona.edu [College of Optical Sciences, The University of Arizona, 1630 E. University Blvd, Tucson, AZ 85721 (United States); Sandia National Laboratories, Livermore, CA 94551 (United States); Kupinski, Matthew A. [College of Optical Sciences, The University of Arizona, 1630 E. University Blvd, Tucson, AZ 85721 (United States); Brubaker, Erik M.; Hilton, Nathan R.; Marleau, Peter A. [Sandia National Laboratories, Livermore, CA 94551 (United States)

2017-02-01

Linear mathematical models were applied to binary-discrimination tasks relevant to arms control verification measurements in which a host party wishes to convince a monitoring party that an item is or is not treaty accountable. These models process data in list-mode format and can compensate for the presence of variability in the source, such as uncertain object orientation and location. The Hotelling observer applies an optimal set of weights to binned detector data, yielding a test statistic that is thresholded to make a decision. The channelized Hotelling observer applies a channelizing matrix to the vectorized data, resulting in a lower dimensional vector available to the monitor to make decisions. We demonstrate how incorporating additional terms in this channelizing-matrix optimization offers benefits for treaty verification. We present two methods to increase shared information and trust between the host and monitor. The first method penalizes individual channel performance in order to maximize the information available to the monitor while maintaining optimal performance. Second, we present a method that penalizes predefined sensitive information while maintaining the capability to discriminate between binary choices. Data used in this study was generated using Monte Carlo simulations for fission neutrons, accomplished with the GEANT4 toolkit. Custom models for plutonium inspection objects were measured in simulation by a radiation imaging system. Model performance was evaluated and presented using the area under the receiver operating characteristic curve.

Gaming and Conventional Exercises for Improvement of Arm Function After Stroke: A Randomized Controlled Pilot Study.

Science.gov (United States)

Kottink, Anke I R; Prange, Gerdienke B; Krabben, Thijs; Rietman, Johan S; Buurke, Jaap H

2014-06-01

The use of new technologies in rehabilitation, such as virtual reality and/or computerized gaming exercises, may be useful to enable patients to practice intensively in a motivating way. The objective of the present randomized controlled pilot study was to compare the effect of reach training using a target group specific-designed rehabilitation game to time-matched standardized conventional reach training on arm function after stroke. Twenty chronic stroke patients were randomized to either the rehabilitation game group or the conventional training group. Both groups received three arm training sessions of 30 minutes each week, during a period of 6 weeks. Arm (the upper extremity part of Fugl-Meyer [FM] assessment) and hand (the Action Research Arm [ARA] test) functions were tested 1 week before (T0) and 1 week after (T1) training. A follow-up measurement was performed at 1 month after T1 (T2). ARA and FM scores improved significantly within both groups. Post hoc comparisons revealed significant increases in test scores between T0 and T1 and between T0 and T2 for both ARA and FM, but not for changes from T1 to T2. There were no significant differences between both groups for either clinical test. The present randomized controlled pilot study showed that both arm and hand function improved as much after training with a rehabilitation game as after time-matched conventional training.

Towards automatic verification of ladder logic programs

OpenAIRE

Zoubek , Bohumir; Roussel , Jean-Marc; Kwiatkowska , Martha

2003-01-01

International audience; Control system programs are usually validated by testing prior to their deployment. Unfortunately, testing is not exhaustive and therefore it is possible that a program which passed all the required tests still contains errors. In this paper we apply techniques of automatic verification to a control program written in ladder logic. A model is constructed mechanically from the ladder logic program and subjected to automatic verification against requirements that include...

Robotic Arm Control Algorithm Based on Stereo Vision Using RoboRealm Vision

Directory of Open Access Journals (Sweden)

SZABO, R.

2015-05-01

Full Text Available The goal of this paper is to present a stereo computer vision algorithm intended to control a robotic arm. Specific points on the robot joints are marked and recognized in the software. Using a dedicated set of mathematic equations, the movement of the robot is continuously computed and monitored with webcams. Positioning error is finally analyzed.

Verification and validation of human factors issues in control room design and upgrades

Energy Technology Data Exchange (ETDEWEB)

Green, M.; Collier, S. [Inst. for Energiteknikk, Halden (Norway). OECD Halden Reactor Project

1999-12-01

Systems, facilities and equipment are periodically updated during a power plant's lifetime. This has human factors implications, especially if the central control room is involved. Human factors work may therefore be required. There is an extensive literature on human factors itself, but not so much on how it is verified and validated. Therefore, HRP and the Swedish Nuclear Power Inspectorate commissioned a study. The objective was to review the literature and establish a knowledge base on verification and validation (V and V) of human factors issues. The report first discusses verification and validation as applied to human factors work. It describes a design process and the typical human factors topics involved. It then presents a generic method for V and V of human factors. This is built on a review of standards, guidelines and other references given in an annotated bibliography. The method is illustrated by application to some human factors topics.

Verification and validation of human factors issues in control room design and upgrades

International Nuclear Information System (INIS)

Green, M.; Collier, S.

1999-12-01

Systems, facilities and equipment are periodically updated during a power plant's lifetime. This has human factors implications, especially if the central control room is involved. Human factors work may therefore be required. There is an extensive literature on human factors itself, but not so much on how it is verified and validated. Therefore, HRP and the Swedish Nuclear Power Inspectorate commissioned a study. The objective was to review the literature and establish a knowledge base on verification and validation (V and V) of human factors issues. The report first discusses verification and validation as applied to human factors work. It describes a design process and the typical human factors topics involved. It then presents a generic method for V and V of human factors. This is built on a review of standards, guidelines and other references given in an annotated bibliography. The method is illustrated by application to some human factors topics

The timing of control signals underlying fast point-to-point arm movements.

Science.gov (United States)

Ghafouri, M; Feldman, A G

2001-04-01

It is known that proprioceptive feedback induces muscle activation when the facilitation of appropriate motoneurons exceeds their threshold. In the suprathreshold range, the muscle-reflex system produces torques depending on the position and velocity of the joint segment(s) that the muscle spans. The static component of the torque-position relationship is referred to as the invariant characteristic (IC). According to the equilibrium-point (EP) hypothesis, control systems produce movements by changing the activation thresholds and thus shifting the IC of the appropriate muscles in joint space. This control process upsets the balance between muscle and external torques at the initial limb configuration and, to regain the balance, the limb is forced to establish a new configuration or, if the movement is prevented, a new level of static torques. Taken together, the joint angles and the muscle torques generated at an equilibrium configuration define a single variable called the EP. Thus by shifting the IC, control systems reset the EP. Muscle activation and movement emerge following the EP resetting because of the natural physical tendency of the system to reach equilibrium. Empirical and simulation studies support the notion that the control IC shifts and the resulting EP shifts underlying fast point-to-point arm movements are gradual rather than step-like. However, controversies exist about the duration of these shifts. Some studies suggest that the IC shifts cease with the movement offset. Other studies propose that the IC shifts end early in comparison to the movement duration (approximately, at peak velocity). The purpose of this study was to evaluate the duration of the IC shifts underlying fast point-to-point arm movements. Subjects made fast (hand peak velocity about 1.3 m/s) planar arm movements toward different targets while grasping a handle. Hand forces applied to the handle and shoulder/elbow torques were, respectively, measured from a force sensor placed

Kinematic decomposition and classification of octopus arm movements

OpenAIRE

Zelman, Ido; Titon, Myriam; Yekutieli, Yoram; Hanassy, Shlomi; Hochner, Binyamin; Flash, Tamar

2013-01-01

The octopus arm is a muscular hydrostat and due to its deformable and highly flexible structure it is capable of a rich repertoire of motor behaviors. Its motor control system uses planning principles and control strategies unique to muscular hydrostats. We previously reconstructed a data set of octopus arm movements from records of natural movements using a sequence of 3D curves describing the virtual backbone of arm configurations. Here we describe a novel representation of octopus arm move...

Cooperation of nuclear reactor controller ARM-5S and turbine TVER-02

International Nuclear Information System (INIS)

Wagner, K.; Lnenicka, B.; Pokorny, F.; Prochazka, F.

1985-01-01

Turbines of Czechoslovak make provided with controllers TVER-02 are installed in WWER-440 nuclear power plants under construction in Czechoslovakia. Reactor output is controlled using Soviet-made controllers ARM-5S which already comprise turbine controllers. The problems are analyzed of cooperation of both controllers, especially their parameters and transient processes in typical operating situations. The analysis uses the results of measurements performed during the power start-up of Unit 1 of the V-2 nuclear power plant at Jaslovske Bohunice. The results show that two types of control modes can be selected for the operation of the entire unit: the control to constant unit output, and control of unit output varying with turbine load selected on the TVER-02 controller or given by the demand of the power network. (Z.M.)

Structure and behavior as determinants: United States nuclear test ban and chemical and biological arms control policy

International Nuclear Information System (INIS)

Reich, J.C.

1991-01-01

US efforts to control chemical and biological warfare and nuclear testing are examined with the aim of explaining the paucity of US backed agreements in these areas. Two theoretical perspectives, the behavioral and structural approaches, are used to explore US arms control outcomes. In the behavioral approach, the effects of governmental organization and the bargaining dynamics of policy-making elites with different cognitive styles are posited as important influences on US nuclear test ban and chemical and biological arms control policy outcomes. The behavioral perspective accounts for the timing of all US failed and successful entries (with one exception) into nuclear test bans and chemical and biological warfare restraints. A shortcoming of the behavior approach, however, is that it tends to overemphasize the chances for successful US entry into nuclear test and chemical and biological warfare limitations. Analysis of the same events from the structural perspective helps to correct for expectations generated by behavioral variables for a higher success rate than ultimately resulted. In the structural approach, the focus is on the effect of the organization of international politics on US nuclear test ban and chemical and biological arms control policy outcomes

Uranium-233 waste definition: Disposal options, safeguards, criticality control, and arms control

International Nuclear Information System (INIS)

Forsberg, C.W.; Storch, S.N.; Lewis, L.C.

1998-01-01

The US investigated the use of 233 U for weapons, reactors, and other purposes from the 1950s into the 1970s. Based on the results of these investigations, it was decided not to use 233 U on a large scale. Most of the 233 U-containing materials were placed in long-term storage. At the end of the cold war, the US initiated, as part of its arms control policies, a disposition program for excess fissile materials. Other programs were accelerated for disposal of radioactive wastes placed in storage during the cold war. Last, potential safety issues were identified related to the storage of some 233 U-containing materials. Because of these changes, significant activities associated with 233 U-containing materials are expected. This report is one of a series of reports to provide the technical bases for future decisions on how to manage this material. A basis for defining when 233 U-containing materials can be managed as waste and when they must be managed as concentrated fissile materials has been developed. The requirements for storage, transport, and disposal of radioactive wastes are significantly different than those for fissile materials. Because of these differences, it is important to classify material in its appropriate category. The establishment of a definition of what is waste and what is fissile material will provide the guidance for appropriate management of these materials. Wastes are defined in this report as materials containing sufficiently small masses or low concentrations of fissile materials such that they can be managed as typical radioactive waste. Concentrated fissile materials are defined herein as materials containing sufficient fissile content such as to warrant special handling to address nuclear criticality, safeguards, and arms control concerns

Biologically inspired control of humanoid robot arms robust and adaptive approaches

CERN Document Server

Spiers, Adam; Herrmann, Guido

2016-01-01

This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniqu...

Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

Directory of Open Access Journals (Sweden)

Ismail Ben Abdallah

2016-01-01

Full Text Available Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case or trajectory generation based on feedback sensors (active robots case. However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE, a developed human-machine-interface (HMI allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.

The Effect of Mystery Shopper Reports on Age Verification for Tobacco Purchases

Science.gov (United States)

KREVOR, BRAD S.; PONICKI, WILLIAM R.; GRUBE, JOEL W.; DeJONG, WILLIAM

2011-01-01

Mystery shops (MS) involving attempted tobacco purchases by young buyers have been employed to monitor retail stores’ performance in refusing underage sales. Anecdotal evidence suggests that MS visits with immediate feedback to store personnel can improve age verification. This study investigated the impact of monthly and twice-monthly MS reports on age verification. Forty-five Walgreens stores were each visited 20 times by mystery shoppers. The stores were randomly assigned to one of three conditions. Control group stores received no feedback, whereas two treatment groups received feedback communications every visit (twice monthly) or every second visit (monthly) after baseline. Logit regression models tested whether each treatment group improved verification rates relative to the control group. Post-baseline verification rates were higher in both treatment groups than in the control group, but only the stores receiving monthly communications had a significantly greater improvement than control group stores. Verification rates increased significantly during the study period for all three groups, with delayed improvement among control group stores. Communication between managers regarding the MS program may account for the delayed age-verification improvements observed in the control group stores. Encouraging inter-store communication might extend the benefits of MS programs beyond those stores that receive this intervention. PMID:21541874

Major upgrade of the articulated inspection arm control system to fulfill daily operation requirements

Energy Technology Data Exchange (ETDEWEB)

Pastor, P., E-mail: patrick.pastor@cea.fr [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Villedieu, E.; Allegretti, L.; Vincent, B.; Barbuti, A.; Bruno, V.; Coquillat, P.; Dechelle, C.; Gargiulo, L.; Le, R.; Malard, P.; Martinez, A.; Nouailletas, R. [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Yuntao, Song; Yong, Cheng; Chen, Liu; Hansheng, Feng; Shanshuang, Shi [ASIPP, Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China)

2015-10-15

Highlights: • We propose an overview of the work which has been done to upgrade the control system of the AIA robot (articulated inspection arm) to fulfill daily operation requirements for tokamak inspection. • The control system is based on the use of new position sensors, new electronics design and new supervisor software. • Final tests are ongoing in the EAST scale 1 tokamak mock-up. Routine operation of the robot at EAST will start in the beginning of 2015. - Abstract: An articulated inspection arm (AIA) has been developed by CEA for visual inspection between pulses inside the Tore Supra tokamak vacuum vessel without breaking temperature and vacuum conditions. The eight meters length robot is composed of a shuttle and six articulated segments with a video camera at its end. A demonstration prototype has been achieved in 2008 at Tore Supra (Gargiulo, 2007; Houry, 2008; Perrot, 2003). A project to upgrade the AIA into a fully operational robot has been undertaken by IRFM and ASIPP in an Associated Laboratory. It will be in operation first in the EAST machine and afterwards in Tore Supra in its WEST (W/Tungsten Environment in Steady-state Tokamak) configuration where it is of paramount importance to survey possible degradation of W component surface. The control system of the robot has been extensively upgraded. The effort has been focused on three areas: (1) improvement of the arm position accuracy, (2) increase of the operational robustness, (3) use of a powerful graphical user interface including simulation of trajectories and robot deployment capabilities in a 3D viewer environment. The aim of this paper is to detail the architecture of the AIA control system.

ENVIRONMENTAL TECHNOLOGY VERIFICATION REPORT: DUST SUPPRESSANT PRODUCTS: SYNTECH PRODUCTS CORPORATION'S PETROTAC

Science.gov (United States)

Dust suppressant products used to control particulate emissions from unpaved roads are among the technologies evaluated by the Air Pollution Control Technology (APCT) Verification Center, part of the U.S. Environmental Protection Agency's Environmental Technology Verification (ET...

ENVIRONMENTAL TECHNOLOGY VERIFICATION REPORT: DUST SUPPRESSANT PRODUCTS: SYNTECH PRODUCTS CORPORATION'S TECHSUPPRESS

Science.gov (United States)

Dust suppressant products used to control particulate emissions from unpaved roads are among the technologies evaluated by the Air Pollution Control Technology (APCT) Verification Center, part of the U.S. Environmental Protection Agency's Environmental Technology Verification (ET...

IMRT plan verification in radiotherapy

International Nuclear Information System (INIS)

Vlk, P.

2006-01-01

This article describes the procedure for verification of IMRT (Intensity modulated radiation therapy) plan, which is used in the Oncological Institute of St. Elisabeth in Bratislava. It contains basic description of IMRT technology and developing a deployment plan for IMRT planning system CORVUS 6.0, the device Mimic (Multilammelar intensity modulated collimator) and the overall process of verifying the schedule created. The aim of verification is particularly good control of the functions of MIMIC and evaluate the overall reliability of IMRT planning. (author)

40 CFR 1065.675 - CLD quench verification calculations.

Science.gov (United States)

2010-07-01

... 40 Protection of Environment 32 2010-07-01 2010-07-01 false CLD quench verification calculations... POLLUTION CONTROLS ENGINE-TESTING PROCEDURES Calculations and Data Requirements § 1065.675 CLD quench verification calculations. Perform CLD quench-check calculations as follows: (a) Perform a CLD analyzer quench...

Controlled synthesis of multi-arm star polyether-polycarbonate polyols based on propylene oxide and CO2.

Science.gov (United States)

Hilf, Jeannette; Schulze, Patricia; Seiwert, Jan; Frey, Holger

2014-01-01

Multi-arm star copolymers based on a hyperbranched poly(propylene oxide) polyether-polyol (hbPPO) as a core and poly(propylene carbonate) (PPC) arms are synthesized in two steps from propylene oxide (PO), a small amount of glycidol and CO2 . The PPC arms are prepared via carbon dioxide (CO2 )/PO copolymerization, using hbPPO as a multifunctional macroinitiator and the (R,R)-(salcy)CoOBzF5 catalyst. Star copolymers with 14 and 28 PPC arms, respectively, and controlled molecular weights in the range of 2700-8800 g mol(-1) are prepared (Mw /Mn = 1.23-1.61). Thermal analysis reveals lowered glass transition temperatures in the range of -8 to 10 °C for the PPC star polymers compared with linear PPC, which is due to the influence of the flexible polyether core. Successful conversion of the terminal hydroxyl groups with phenylisocyanate demonstrates the potential of the polycarbonate polyols for polyurethane synthesis. © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Two-dimensional myoelectric control of a robotic arm for upper limb amputees

International Nuclear Information System (INIS)

Lopez Celani, Natalia M; Soria, Carlos M; Orosco, Eugenio C; Di Sciascio, Fernando A; Valentinuzzi, Max E

2007-01-01

Rehabilitation engineering and medicine have become integral and significant parts of health care services, particularly and unfortunately in the last three or four decades, because of wars, terrorism and large number of car accidents. Amputees show a high rate of rejection to wear prosthetic devices, often because of lack of an adequate period of adaptation. A robotic arm may appear as a good preliminary stage. To test the hypothesis, myoelectric signals from two upper limb amputees and from four normal volunteers were fed, via adequate electronic conditioning and using MATLAB, to an industrial robotic arm. Proportional strength control was used for two degrees of freedom (x-y plane) by means of eight signal features of control (four traditional statistics plus energy, integral of the absolute value, Willison's amplitude, waveform length and envelope) for comparison purposes, and selecting the best of them as final reference. Patients easily accepted the system and learned in short time how to operate it. Results were encouraging so that valuable training, before prosthesis is implanted, appears as good feedback; besides, these patients can be hired as specialized operators in semi-automatized industry

Two-dimensional myoelectric control of a robotic arm for upper limb amputees

Science.gov (United States)

López Celani, Natalia M.; Soria, Carlos M.; Orosco, Eugenio C.; di Sciascio, Fernando A.; Valentinuzzi, Max E.

2007-11-01

Rehabilitation engineering and medicine have become integral and significant parts of health care services, particularly and unfortunately in the last three or four decades, because of wars, terrorism and large number of car accidents. Amputees show a high rate of rejection to wear prosthetic devices, often because of lack of an adequate period of adaptation. A robotic arm may appear as a good preliminary stage. To test the hypothesis, myoelectric signals from two upper limb amputees and from four normal volunteers were fed, via adequate electronic conditioning and using MATLAB, to an industrial robotic arm. Proportional strength control was used for two degrees of freedom (x-y plane) by means of eight signal features of control (four traditional statistics plus energy, integral of the absolute value, Willison's amplitude, waveform length and envelope) for comparison purposes, and selecting the best of them as final reference. Patients easily accepted the system and learned in short time how to operate it. Results were encouraging so that valuable training, before prosthesis is implanted, appears as good feedback; besides, these patients can be hired as specialized operators in semi-automatized industry.

Association of Inter-arm Blood Pressure Difference with Asymptomatic Intracranial and Extracranial Arterial Stenosis in Hypertension Patients.

Science.gov (United States)

Wang, Yan; Zhang, Jin; Qian, Yuesheng; Tang, Xiaofeng; Ling, Huawei; Chen, Kemin; Li, Yan; Gao, Pingjin; Zhu, Dingliang

2016-07-14

Inter-arm blood pressure (BP) difference has been associated with ischemic stroke. Local atherosclerosis of stroke differ among vulnerable individuals, whereas intracranial arterial stenosis (ICAS) is more frequently affected Asians, and extracranial arterial stenosis (ECAS) is more prevalent among whites. We hereby sought to explore the association of inter-arm BP difference with ICAS and ECAS in stroke-free hypertensive patients in Chinese population. All the 885 subjects were evaluated of ICAS and ECAS through computerized tomographic angiography. Both arm BP was measured simultaneously by Vascular Profiler-1000 device. In the continuous study, ICAS was significantly associated with age, male, average brachial SBP, diabetes, anti-hypertensive treatment and inter-arm DBP difference. ECAS was associated with age, inter-arm SBP and LDL. In the categorical study, subjects with the top quartile of inter-arm DBP difference (≥4 mmHg) showed significantly higher risk of ICAS (OR = 2.109; 95% CI, 1.24-3.587). And the participants with the top quartile of inter-arm SBP difference (≥6 mmHg) showed significantly higher risk of ECAS (OR = 2.288; 95% CI, 1.309-3.998). In conclusion, we reported a diverse association of inter-arm SBP/DBP difference with the ICAS/ECAS. Inter-arm DBP difference might be the early symbol of ICAS in Chinese population, which need further verification in long-term cohort study.

Hybrid Decompositional Verification for Discovering Failures in Adaptive Flight Control Systems

Science.gov (United States)

Thompson, Sarah; Davies, Misty D.; Gundy-Burlet, Karen

2010-01-01

Adaptive flight control systems hold tremendous promise for maintaining the safety of a damaged aircraft and its passengers. However, most currently proposed adaptive control methodologies rely on online learning neural networks (OLNNs), which necessarily have the property that the controller is changing during the flight. These changes tend to be highly nonlinear, and difficult or impossible to analyze using standard techniques. In this paper, we approach the problem with a variant of compositional verification. The overall system is broken into components. Undesirable behavior is fed backwards through the system. Components which can be solved using formal methods techniques explicitly for the ranges of safe and unsafe input bounds are treated as white box components. The remaining black box components are analyzed with heuristic techniques that try to predict a range of component inputs that may lead to unsafe behavior. The composition of these component inputs throughout the system leads to overall system test vectors that may elucidate the undesirable behavior

Fingerprint verification prediction model in hand dermatitis.

Science.gov (United States)

Lee, Chew K; Chang, Choong C; Johor, Asmah; Othman, Puwira; Baba, Roshidah

2015-07-01

Hand dermatitis associated fingerprint changes is a significant problem and affects fingerprint verification processes. This study was done to develop a clinically useful prediction model for fingerprint verification in patients with hand dermatitis. A case-control study involving 100 patients with hand dermatitis. All patients verified their thumbprints against their identity card. Registered fingerprints were randomized into a model derivation and model validation group. Predictive model was derived using multiple logistic regression. Validation was done using the goodness-of-fit test. The fingerprint verification prediction model consists of a major criterion (fingerprint dystrophy area of ≥ 25%) and two minor criteria (long horizontal lines and long vertical lines). The presence of the major criterion predicts it will almost always fail verification, while presence of both minor criteria and presence of one minor criterion predict high and low risk of fingerprint verification failure, respectively. When none of the criteria are met, the fingerprint almost always passes the verification. The area under the receiver operating characteristic curve was 0.937, and the goodness-of-fit test showed agreement between the observed and expected number (P = 0.26). The derived fingerprint verification failure prediction model is validated and highly discriminatory in predicting risk of fingerprint verification in patients with hand dermatitis. © 2014 The International Society of Dermatology.

Distributed Engine Control Empirical/Analytical Verification Tools, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — In this Phase I project, Impact Technologies, in collaboration with Prof. R.K. Yedavalli, propose a novel verification environment for eventual rapid certification...

Performance and Usability of Various Robotic Arm Control Modes from Human Force Signals

Directory of Open Access Journals (Sweden)

Sébastien Mick

2017-10-01

Full Text Available Elaborating an efficient and usable mapping between input commands and output movements is still a key challenge for the design of robotic arm prostheses. In order to address this issue, we present and compare three different control modes, by assessing them in terms of performance as well as general usability. Using an isometric force transducer as the command device, these modes convert the force input signal into either a position or a velocity vector, whose magnitude is linearly or quadratically related to force input magnitude. With the robotic arm from the open source 3D-printed Poppy Humanoid platform simulating a mobile prosthesis, an experiment was carried out with eighteen able-bodied subjects performing a 3-D target-reaching task using each of the three modes. The subjects were given questionnaires to evaluate the quality of their experience with each mode, providing an assessment of their global usability in the context of the task. According to performance metrics and questionnaire results, velocity control modes were found to perform better than position control mode in terms of accuracy and quality of control as well as user satisfaction and comfort. Subjects also seemed to favor quadratic velocity control over linear (proportional velocity control, even if these two modes did not clearly distinguish from one another when it comes to performance and usability assessment. These results highlight the need to take into account user experience as one of the key criteria for the design of control modes intended to operate limb prostheses.

Intelligent Home Control System Based on ARM10

Science.gov (United States)

Chen, G. X.; Jiang, J.; Zhong, L. H.

2017-10-01

Intelligent home is becoming the hot spot of social attention in the 21st century. When it is in China, it is a really new industry. However, there is no doubt that Intelligent home will become a new economic growth point of social development; it will change the life-style of human being. To develop the intelligent home, we should keep up with the development trend of technology. This is the reason why I talk about the intelligent home control system here. In this paper, intelligent home control system is designed for alarm and remote control on gas- leaking, fire disaster, earthquake prediction, etc., by examining environmental changes around house. When the Intelligent home control system has detected an accident occurs, the processor will communicate with the GSM module, informing the house keeper the occurrence of accident. User can receive and send the message to the system to cut the power by mobile phone. The system can get access to DCCthrough ARM10 JTAG interface, using DCC to send and receive messages. At the same time, the debugger on the host is mainly used to receive the user’s command and send it to the debug component in the target system. The data that returned from the target system is received and displayed to the user in a certain format.

Compensation for loads during arm movements using equilibrium-point control.

Science.gov (United States)

Gribble, P L; Ostry, D J

2000-12-01

A significant problem in motor control is how information about movement error is used to modify control signals to achieve desired performance. A potential source of movement error and one that is readily controllable experimentally relates to limb dynamics and associated movement-dependent loads. In this paper, we have used a position control model to examine changes to control signals for arm movements in the context of movement-dependent loads. In the model, based on the equilibrium-point hypothesis, equilibrium shifts are adjusted directly in proportion to the positional error between desired and actual movements. The model is used to simulate multi-joint movements in the presence of both "internal" loads due to joint interaction torques, and externally applied loads resulting from velocity-dependent force fields. In both cases it is shown that the model can achieve close correspondence to empirical data using a simple linear adaptation procedure. An important feature of the model is that it achieves compensation for loads during movement without the need for either coordinate transformations between positional error and associated corrective forces, or inverse dynamics calculations.

Verification of safety critical software

International Nuclear Information System (INIS)

Son, Ki Chang; Chun, Chong Son; Lee, Byeong Joo; Lee, Soon Sung; Lee, Byung Chai

1996-01-01

To assure quality of safety critical software, software should be developed in accordance with software development procedures and rigorous software verification and validation should be performed. Software verification is the formal act of reviewing, testing of checking, and documenting whether software components comply with the specified requirements for a particular stage of the development phase[1]. New software verification methodology was developed and was applied to the Shutdown System No. 1 and 2 (SDS1,2) for Wolsung 2,3 and 4 nuclear power plants by Korea Atomic Energy Research Institute(KAERI) and Atomic Energy of Canada Limited(AECL) in order to satisfy new regulation requirements of Atomic Energy Control Boars(AECB). Software verification methodology applied to SDS1 for Wolsung 2,3 and 4 project will be described in this paper. Some errors were found by this methodology during the software development for SDS1 and were corrected by software designer. Outputs from Wolsung 2,3 and 4 project have demonstrated that the use of this methodology results in a high quality, cost-effective product. 15 refs., 6 figs. (author)

K Basins Field Verification Program

International Nuclear Information System (INIS)

Booth, H.W.

1994-01-01

The Field Verification Program establishes a uniform and systematic process to ensure that technical information depicted on selected engineering drawings accurately reflects the actual existing physical configuration. This document defines the Field Verification Program necessary to perform the field walkdown and inspection process that identifies the physical configuration of the systems required to support the mission objectives of K Basins. This program is intended to provide an accurate accounting of the actual field configuration by documenting the as-found information on a controlled drawing

Specification and Verification of Hybrid System

International Nuclear Information System (INIS)

Widjaja, Belawati H.

1997-01-01

Hybrid systems are reactive systems which intermix between two components, discrete components and continuous components. The continuous components are usually called plants, subject to disturbances which cause the state variables of the systems changing continuously by physical laws and/or by the control laws. The discrete components can be digital computers, sensor and actuators controlled by programs. These programs are designed to select, control and supervise the behavior of the continuous components. Specification and verification of hybrid systems has recently become an active area of research in both computer science and control engineering, many papers concerning hybrid system have been published. This paper gives a design methodology for hybrid systems as an example to the specification and verification of hybrid systems. The design methodology is based on the cooperation between two disciplines, control engineering and computer science. The methodology brings into the design of control loops and decision loops. The external behavior of control loops are specified in a notation which is understandable by the two disciplines. The design of control loops which employed theory of differential equation is done by control engineers, and its correctness is also guaranteed analytically or experimentally by control engineers. The decision loops are designed in computing science based on the specifications of control loops. The verification of systems requirements can be done by computing scientists using a formal reasoning mechanism. For illustrating the proposed design, a problem of balancing an inverted pendulum which is a popular experiment device in control theory is considered, and the Mean Value Calculus is chosen as a formal notation for specifying the control loops and designing the decision loops

Hardware design of HIRFL-CSR EVMEbus controller based on ARM920T

International Nuclear Information System (INIS)

Jing Lan; Qian Weimin; Xu Yang; Ji Peng; Liu Caihong; Ma Yunhai

2006-01-01

The HIRFL-CSR EVMEbus controller is developed in IMP. The controller is based on AT91RM9200 (ARM9) microprocessor, which is in 0.8 mm BGA package. The controller runs LINUX OS, and can connect with standard VGA display, keyboard, and mouse. There are 10 M/100 M Ethernet, USB, RS-232, RS-485 and CANBUS interfaces on the board. Itr supports storage devices SD Card and CF Card. The backboard interface logic is programmed in VHDL and is programmed into an in-system configurable FPGA device. The bus can drive high current up to 64 mA. It is not only compliant to VME specification, but also has flexibility of the programmable signal definition. Being a key module in HIRFL-CSR control system, the controller can be used as a local controller and also a remote gateway controller. (authors)

ENVIRONMENTAL TECHNOLOGY VERIFICATION--TEST REPORT OF MOBILE SOURCE EMISSION CONTROL DEVICES, CUMMINS EMISSION SOLUTIONS AND CUMMINS FILTRATION DIESEL OXIDATION CATALYST AND CLOSED CRANKCASE VENTILATION SYSTEM

Science.gov (United States)

The U.S. EPA has created the Environmental Technology Verification (ETV) Program. ETV seeks to provide high-quality, peer-reviewed data on technology performance. The Air Pollution Control Technology (APCT) Verification Center, a center under the ETV Program, is operated by Res...

Manual input device for controlling a robot arm

International Nuclear Information System (INIS)

Fischer, P.J.; Siva, K.V.

1990-01-01

A six-axis input device, eg joystick, is supported by a mechanism which enables the joystick to be aligned with any desired orientation, eg parallel to the tool. The mechanism can then be locked to provide a rigid support of the joystick. The mechanism may include three pivotal joints whose axes are perpendicular, each incorporating a clutch. The clutches may be electromagnetic or mechanical and may be operable jointly or independently. The robot arm comprises a base rotatable about a vertical axis, an upper arm, a forearm and a tool or grip rotatable about three perpendicular axes relative to the forearm. (author)

Simulation of Octopus Arm Based on Coupled CPGs

Directory of Open Access Journals (Sweden)

Juan Tian

2015-01-01

Full Text Available The octopus arm has attracted many researchers’ interests and became a research hot spot because of its amazing features. Several dynamic models inspired by an octopus arm are presented to realize the structure with a large number of degrees of freedom. The octopus arm is made of a soft material introducing high-dimensionality, nonlinearity, and elasticity, which makes the octopus arm difficult to control. In this paper, three coupled central pattern generators (CPGs are built and a 2-dimensional dynamic model of the octopus arm is presented to explore possible strategies of the octopus movement control. And the CPGs’ signals treated as activation are added on the ventral, dorsal, and transversal sides, respectively. The effects of the octopus arm are discussed when the parameters of the CPGs are changed. Simulations show that the octopus arm movements are mainly determined by the shapes of three CPGs’ phase diagrams. Therefore, some locomotion modes are supposed to be embedded in the neuromuscular system of the octopus arm. And the octopus arm movements can be achieved by modulating the parameters of the CPGs. The results are beneficial for researchers to understand the octopus movement further.

DOE/LLNL verification symposium on technologies for monitoring nuclear tests related to weapons proliferation

International Nuclear Information System (INIS)

Nakanishi, K.K.

1993-01-01

The rapidly changing world situation has raised concerns regarding the proliferation of nuclear weapons and the ability to monitor a possible clandestine nuclear testing program. To address these issues, Lawrence Livermore National Laboratory's (LLNL) Treaty Verification Program sponsored a symposium funded by the US Department of Energy's (DOE) Office of Arms Control, Division of Systems and Technology. The DOE/LLNL Symposium on Technologies for Monitoring Nuclear Tests Related to Weapons Proliferation was held at the DOE's Nevada Operations Office in Las Vegas, May 6--7,1992. This volume is a collection of several papers presented at the symposium. Several experts in monitoring technology presented invited talks assessing the status of monitoring technology with emphasis on the deficient areas requiring more attention in the future. In addition, several speakers discussed proliferation monitoring technologies being developed by the DOE's weapons laboratories

Model-based verification method for solving the parameter uncertainty in the train control system

International Nuclear Information System (INIS)

Cheng, Ruijun; Zhou, Jin; Chen, Dewang; Song, Yongduan

2016-01-01

This paper presents a parameter analysis method to solve the parameter uncertainty problem for hybrid system and explore the correlation of key parameters for distributed control system. For improving the reusability of control model, the proposed approach provides the support for obtaining the constraint sets of all uncertain parameters in the abstract linear hybrid automata (LHA) model when satisfying the safety requirements of the train control system. Then, in order to solve the state space explosion problem, the online verification method is proposed to monitor the operating status of high-speed trains online because of the real-time property of the train control system. Furthermore, we construct the LHA formal models of train tracking model and movement authority (MA) generation process as cases to illustrate the effectiveness and efficiency of the proposed method. In the first case, we obtain the constraint sets of uncertain parameters to avoid collision between trains. In the second case, the correlation of position report cycle and MA generation cycle is analyzed under both the normal and the abnormal condition influenced by packet-loss factor. Finally, considering stochastic characterization of time distributions and real-time feature of moving block control system, the transient probabilities of wireless communication process are obtained by stochastic time petri nets. - Highlights: • We solve the parameters uncertainty problem by using model-based method. • We acquire the parameter constraint sets by verifying linear hybrid automata models. • Online verification algorithms are designed to monitor the high-speed trains. • We analyze the correlation of key parameters and uncritical parameters. • The transient probabilities are obtained by using reliability analysis.

Report on a Zero-Knowledge Protocal Tabletop Exercise.

Energy Technology Data Exchange (ETDEWEB)

Marleau, Peter [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Brubaker, Erik [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Deland, Sharon M. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Hilton, Nathan R. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); McDaniel, Michael [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Schroeppel, Richard C. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Seager, Kevin D. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Stoddard, Mary Clare [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); MacArthur, Duncan [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

2015-06-01

This report summarizes the discussion and conclusions reached during a table top exercise held at Sandia National Laboratories, Albuquerque on September 3, 2014 regarding a recently described approach for nuclear warhead verification based on the cryptographic concept of a zero-knowledge protocol (ZKP) presented in a recent paper authored by Glaser, Barak, and Goldston. A panel of Sandia National Laboratories researchers, whose expertise includes radiation instrumentation design and development, cryptography, and arms control verification implementation, jointly reviewed the paper and identified specific challenges to implementing the approach as well as some opportunities. It was noted that ZKP as used in cryptography is a useful model for the arms control verification problem, but the direct analogy to arms control breaks down quickly. The ZKP methodology for warhead verification fits within the general class of template-based verification techniques, where a reference measurement is used to confirm that a given object is like another object that has already been accepted as a warhead by some other means. This can be a powerful verification approach, but requires independent means to trust the authenticity of the reference warhead - a standard that may be difficult to achieve, which the ZKP authors do not directly address. Despite some technical challenges, the concept of last-minute selection of the pre-loads and equipment could be a valuable component of a verification regime.

Verification of BGA type FPGA logic applied to a control equipment with Safety Class using the special socket

International Nuclear Information System (INIS)

Chung, YounHu; Yoo, Kwanwoo; Lee, Myeongkyun; Yun, Donghwa

2015-01-01

This article aims to provide the verification method for BGA-type FPGA of Programmable Logic Controller (PLC) developed as Safety Class. The logic of FPGA in the control device with Safety Class is the circuit to control overall logic of PLC. This device converts to the different module from the input signals for both digital and analogue of the equipment in the field and outputs their data. In addition, it should perform the logical controls such as backplane communication control and data communication. We suggest acquiring method of the data signal with efficient logic using the socket in this article. Proposed test socket is made by simpler process than former one, and the process is done in batches by which cost can be reduces, and the test socket can be quickly produced in response to any request. Also, it is possible to reduce the wear by reducing the contact force of the ball phenomenon. The structure on the basis of silicon can be reduced the modification, and it has excellent linearity. At the logic verification, the operation that state data block is designed in the FPGA could be easily confirmed by using a socket

Two-Armed, Mobile, Sensate Research Robot

Science.gov (United States)

Engelberger, J. F.; Roberts, W. Nelson; Ryan, David J.; Silverthorne, Andrew

2004-01-01

The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and

Case Study: Test Results of a Tool and Method for In-Flight, Adaptive Control System Verification on a NASA F-15 Flight Research Aircraft

Science.gov (United States)

Jacklin, Stephen A.; Schumann, Johann; Guenther, Kurt; Bosworth, John

2006-01-01

Adaptive control technologies that incorporate learning algorithms have been proposed to enable autonomous flight control and to maintain vehicle performance in the face of unknown, changing, or poorly defined operating environments [1-2]. At the present time, however, it is unknown how adaptive algorithms can be routinely verified, validated, and certified for use in safety-critical applications. Rigorous methods for adaptive software verification end validation must be developed to ensure that. the control software functions as required and is highly safe and reliable. A large gap appears to exist between the point at which control system designers feel the verification process is complete, and when FAA certification officials agree it is complete. Certification of adaptive flight control software verification is complicated by the use of learning algorithms (e.g., neural networks) and degrees of system non-determinism. Of course, analytical efforts must be made in the verification process to place guarantees on learning algorithm stability, rate of convergence, and convergence accuracy. However, to satisfy FAA certification requirements, it must be demonstrated that the adaptive flight control system is also able to fail and still allow the aircraft to be flown safely or to land, while at the same time providing a means of crew notification of the (impending) failure. It was for this purpose that the NASA Ames Confidence Tool was developed [3]. This paper presents the Confidence Tool as a means of providing in-flight software assurance monitoring of an adaptive flight control system. The paper will present the data obtained from flight testing the tool on a specially modified F-15 aircraft designed to simulate loss of flight control faces.

ENVIRONMENTAL TECHNOLOGY VERIFICATION: TEST/QA PLAN FOR THE VERIFICATION TESTING OF SELECTIVE CATALYTIC REDUCTION CONTROL TECHNOLOGIES FOR HIGHWAY, NONROAD, AND STATIONARY USE DIESEL ENGINES

Science.gov (United States)

The U.S. Environmental Protection Agency established the Environmental Technology Verification Program to accelerate the development and commercialization of improved environmental technology through third party verification and reporting of product performance. Research Triangl...

Investigation of a Verification and Validation Tool with a Turbofan Aircraft Engine Application

Science.gov (United States)

Uth, Peter; Narang-Siddarth, Anshu; Wong, Edmond

2018-01-01

The development of more advanced control architectures for turbofan aircraft engines can yield gains in performance and efficiency over the lifetime of an engine. However, the implementation of these increasingly complex controllers is contingent on their ability to provide safe, reliable engine operation. Therefore, having the means to verify the safety of new control algorithms is crucial. As a step towards this goal, CoCoSim, a publicly available verification tool for Simulink, is used to analyze C-MAPSS40k, a 40,000 lbf class turbo-fan engine model developed at NASA for testing new control algorithms. Due to current limitations of the verification software, several modifications are made to C-MAPSS40k to achieve compatibility with CoCoSim. Some of these modifications sacrifice fidelity to the original model. Several safety and performance requirements typical for turbofan engines are identified and constructed into a verification framework. Preliminary results using an industry standard baseline controller for these requirements are presented. While verification capabilities are demonstrated, a truly comprehensive analysis will require further development of the verification tool.

Automated Generation of Formal Models from ST Control Programs for Verification Purposes

CERN Document Server

Fernandez Adiego, B; Tournier, J-C; Blanco Vinuela, E; Blech, J-O; Gonzalez Suarez, V

2014-01-01

In large industrial control systems such as the ones installed at CERN, one of the main issues is the ability to verify the correct behaviour of the Programmable Logic Controller (PLC) programs. While manual and automated testing can achieve good results, some obvious problems remain unsolved such as the difficulty to check safety or liveness properties. This paper proposes a general methodology and a tool to verify PLC programs by automatically generating formal models for different model checkers out of ST code. The proposed methodology defines an automata-based formalism used as intermediate model (IM) to transform PLC programs written in ST language into different formal models for verification purposes. A tool based on Xtext has been implemented that automatically generates models for the NuSMV and UPPAAL model checkers and the BIP framework.

Advanced verification topics

CERN Document Server

Bhattacharya, Bishnupriya; Hall, Gary; Heaton, Nick; Kashai, Yaron; Khan Neyaz; Kirshenbaum, Zeev; Shneydor, Efrat

2011-01-01

The Accellera Universal Verification Methodology (UVM) standard is architected to scale, but verification is growing and in more than just the digital design dimension. It is growing in the SoC dimension to include low-power and mixed-signal and the system integration dimension to include multi-language support and acceleration. These items and others all contribute to the quality of the SOC so the Metric-Driven Verification (MDV) methodology is needed to unify it all into a coherent verification plan. This book is for verification engineers and managers familiar with the UVM and the benefits it brings to digital verification but who also need to tackle specialized tasks. It is also written for the SoC project manager that is tasked with building an efficient worldwide team. While the task continues to become more complex, Advanced Verification Topics describes methodologies outside of the Accellera UVM standard, but that build on it, to provide a way for SoC teams to stay productive and profitable.

Safeguard Verification as Cooperative Measure for Non Proliferation Control in Peru

International Nuclear Information System (INIS)

Ramirez, R.

2010-01-01

Peru applies the safeguard measures on its nuclear activities based in the International Atomic Energy Agency (IAEA) Safeguard Agreement and the Additional Protocol which has been fully implemented becoming part of the Integrated Safeguard since 2005. In addition to international safeguard commitments Peru is also committed with the United Nations 1540 Resolution by which national controls has to be established for preventing the proliferation of mass destruction weapons and their vector systems. The safeguards measures have become an important part of the verification activities related to this Resolution by analyzing of materials and equipment to be imported or that may be in transit across the country. These activities are part of those developed jointly with other governmental organizations. (author)

Brain-Machine Interface Enables Bimanual Arm Movements in Monkeys

Science.gov (United States)

Ifft, Peter J.; Shokur, Solaiman; Li, Zheng; Lebedev, Mikhail A.; Nicolelis, Miguel A. L.

2014-01-01

Brain-machine interfaces (BMIs) are artificial systems that aim to restore sensation and movement to severely paralyzed patients. However, previous BMIs enabled only single arm functionality, and control of bimanual movements was a major challenge. Here, we developed and tested a bimanual BMI that enabled rhesus monkeys to control two avatar arms simultaneously. The bimanual BMI was based on the extracellular activity of 374–497 neurons recorded from several frontal and parietal cortical areas of both cerebral hemispheres. Cortical activity was transformed into movements of the two arms with a decoding algorithm called a 5th order unscented Kalman filter (UKF). The UKF is well-suited for BMI decoding because it accounts for both characteristics of reaching movements and their representation by cortical neurons. The UKF was trained either during a manual task performed with two joysticks or by having the monkeys passively observe the movements of avatar arms. Most cortical neurons changed their modulation patterns when both arms were engaged simultaneously. Representing the two arms jointly in a single UKF decoder resulted in improved decoding performance compared with using separate decoders for each arm. As the animals’ performance in bimanual BMI control improved over time, we observed widespread plasticity in frontal and parietal cortical areas. Neuronal representation of the avatar and reach targets was enhanced with learning, whereas pairwise correlations between neurons initially increased and then decreased. These results suggest that cortical networks may assimilate the two avatar arms through BMI control. PMID:24197735

Automatic Verification of Timing Constraints for Safety Critical Space Systems

Science.gov (United States)

Fernandez, Javier; Parra, Pablo; Sanchez Prieto, Sebastian; Polo, Oscar; Bernat, Guillem

2015-09-01

In this paper is presented an automatic process of verification. We focus in the verification of scheduling analysis parameter. This proposal is part of process based on Model Driven Engineering to automate a Verification and Validation process of the software on board of satellites. This process is implemented in a software control unit of the energy particle detector which is payload of Solar Orbiter mission. From the design model is generated a scheduling analysis model and its verification model. The verification as defined as constraints in way of Finite Timed Automatas. When the system is deployed on target the verification evidence is extracted as instrumented points. The constraints are fed with the evidence, if any of the constraints is not satisfied for the on target evidence the scheduling analysis is not valid.

Safety in the nuclear era. Politics - strategy - arms control

International Nuclear Information System (INIS)

Siebel, G.

1988-01-01

Details are given on safety and the factors specifying safety in Europe; the history of the NATO and development of an alliance of sovereign states; nuclear deterrence - the politico-strategic standard of the nuclear era; the East/West struggle for military power; co-operative arms control - theory and practice of stability in the nuclear era; alternative schemes and models; SDI and EURECA - present and future chances and risks. The world is at the beginning of a fascinating development likely to be culminating in the control over and utilization of space, and the mastering of various technical problems be they of a civil or military nature. It remains to be seen whether man will be able to handle the new additional technical capacities in an ethically and politically responsible way. Be that as it may, political scepticism and negative reactions will not succeed in blocking the dynamic forces inherent in the development described. This is especially true for SDI and EURECA. Both schemes are full of both chances and risks. While chances ought to be made the most of risks must be controlled through policies guided by reason. (orig./HSCH) [de

European Union's Arms Control Regime and Arms Exports to China: Background and Legal Analysis

National Research Council Canada - National Science Library

Grimmett, Richard F; Papademetriou, Theresa

2005-01-01

In recent months, discussions have been held within the European Union (EU) on the question of lifting the embargo on arms exports to the People's Republic of China that was imposed on China on June 27, 1989...

A pilot scale demonstration of the DWPF process control and product verification strategy

International Nuclear Information System (INIS)

Hutson, N.D.; Jantzen, C.M.; Beam, D.C.

1992-01-01

The Defense Waste Processing Facility (DWPF) has been designed and constructed to immobilize Savannah River Site high level liquid waste within a durable borosilicate glass matrix for permanent storage. The DWPF will be operated to produce a glass product which must meet a number of product property constraints which are dependent upon the final product composition. During actual operations, the DWPF will control the properties of the glass product by the controlled blending of the waste streams with a glass-forming frit to produce the final melter feed slurry. The DWPF will verify control of the glass product through analysis of vitrified samples of slurry material. In order to demonstrate the DWPF process control and product verification strategy, a pilot-scale vitrification research facility was operated in three discrete batches using simulated DWPF waste streams. All of the DWPF process control methodologies were followed and the glass produce from each experiment was leached according to the Product Consistency Test. Results of the campaign are summarized

Arms control and the rule of law

International Nuclear Information System (INIS)

Tanzman, E.A.

1995-01-01

Many who speak of the end of the Cold War emphasize the warming of international relations when they speak of the momentous consequences of this event. According to this image, the half century since Trinity has been a period of sparse international communication during which the Eastern and Western blocs hibernated in their isolated dens of security alliances. Yet it is equally valid to consider the implications of the end of the war footing that has underlain the policies of all of the major military powers during the last fifty years. While meaningful international dialogue was in a state of relative lethargy during much of this period, the military establishments of the Great Powers were actively engaged in using as much force as possible in their efforts to control world affairs, short of triggering a nuclear holocaust. International discourse, at least in English, was rife with such military images as appeasement, containment, crisis stability, and tripwires. From the military posture of the U.S. and Russia a tense peace ironically emerged, but the terms by which decisions were made about controlling weapons of mass destruction (i.e., nuclear, chemical, and biological weapons) were the terms of war. The thesis of this paper is that the end of the Cold War marks a shift away from reliance on military might toward an international commitment to control weapons of mass destruction through the rule of law developed by John Rawls. The progression of agreements during this century to limit weapons of mass destruction testifies to this new development. A review of arms control agreements that the U.S. is a part of show clear growth of the rule of law as the world has left the Cold War

Arms control and the rule of law

Energy Technology Data Exchange (ETDEWEB)

Tanzman, E.A.

1995-03-01

Many who speak of the end of the Cold War emphasize the warming of international relations when they speak of the momentous consequences of this event. According to this image, the half century since Trinity has been a period of sparse international communication during which the Eastern and Western blocs hibernated in their isolated dens of security alliances. Yet it is equally valid to consider the implications of the end of the war footing that has underlain the policies of all of the major military powers during the last fifty years. While meaningful international dialogue was in a state of relative lethargy during much of this period, the military establishments of the Great Powers were actively engaged in using as much force as possible in their efforts to control world affairs, short of triggering a nuclear holocaust. International discourse, at least in English, was rife with such military images as appeasement, containment, crisis stability, and tripwires. From the military posture of the U.S. and Russia a tense peace ironically emerged, but the terms by which decisions were made about controlling weapons of mass destruction (i.e., nuclear, chemical, and biological weapons) were the terms of war. The thesis of this paper is that the end of the Cold War marks a shift away from reliance on military might toward an international commitment to control weapons of mass destruction through the rule of law developed by John Rawls. The progression of agreements during this century to limit weapons of mass destruction testifies to this new development. A review of arms control agreements that the U.S. is a part of show clear growth of the rule of law as the world has left the Cold War.

Institute of Nuclear Materials Management 36. annual meeting: Proceedings. Volume 24

International Nuclear Information System (INIS)

Anon.

1995-01-01

The sessions at this meeting covered the following topics: international safeguards; physical protection; material control and accountability (MC and A) training; waste overview; nonproliferation and arms control -- US/former Soviet Union; MC and A/physical protection -- SNM storage; spent fuel storage; physical protection -- intrusion sensors and access delay; MC and A -- gamma ray and holdup measurements; MC and A -- neutron based measurements; MC and A/nonproliferation and arms control -- fissile materials disposition; low level waste; packaging and transportation; international safeguards and nonproliferation and arms control -- IAEA verification in the US; international safeguards and physical protection -- video systems; poster and demonstrations; international safeguards and physical protection -- T.I.D.'s, tags and seals; high level wastes and mixed waste; MC and A -- bulk measurements; MC and A and physical protection -- policy; nonproliferation and arms control -- detection and monitoring techniques; nonproliferation and arms control -- US-Russian lab-to-lab safeguards cooperation; MC and A -- information systems; physical protection and MC and A -- vulnerability assessments; waste management -- measurement; international safeguards -- integrated and remote monitoring systems; MC and A -- material control and accountability and indicators; nonproliferation and arms control -- treaties and analysis; nonproliferation and arms control -- plutonium/HEU nonproliferation; MC and A -- measurement control and verification; and international safeguards and nonproliferation and arms control -- environmental monitoring and export control. Separate abstracts were prepared for some of the papers in this volume

The Microsoft Visual Studio Software Development For 5 DOF Nuclear Malaysia Robot Arm V2 Control System

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Azraf Azman; Mohd Rizal Mamat; Mohd Arif Hamzah

2014-01-01

This paper presents the Microsoft visual studio development for 5DOF Nuclear Malaysia Robot Arm V2 control system. The kinematics analysis is the study of the relationship between the individual joints of robot manipulator, the position and orientation of the end-effector. The Denavit-Hartenberg (DH) model is used to model the robot links and joints. Both forward and inverse kinematic are presented. The simulation software has been developed by using Microsoft visual studio to solve the robot arms kinematic behavior. (author)

Design of a telescope control system using an ARM microcontroller with embedded RTOS

Science.gov (United States)

Peñuela Pico, Cristian R.; Atara Montañez, Fabian A.; Cuervo, Juan C.; Gonzalez-Llorente, Jesus

2014-08-01

This work presents the design of a wireless control system that allows driving all the necessary instruments to control the orientation of an equatorial mounting telescope through a real time operative system (RTOS) that runs over ARM microcontroller. The control system is commanded through a user-interface which works under Android platform giving the user the option to control the tracking mode, right ascension, and declination. The system was successfully deployed and tested during a one-hour observation of the Moon. The frequency measured by the oscilloscope is 66.67 Hz which equals the sidereal speed. The telescope control systems allows the user to have a better precision when locating a star but also to cover long-duration tracking processes

A Biomechanical Model of Single-joint Arm Movement Control Based on the Equilibrium Point Hypothesis

OpenAIRE

Masataka, SUZUKI; Yoshihiko, YAMAZAKI; Yumiko, TANIGUCHI; Department of Psychology, Kinjo Gakuin University; Department of Health and Physical Education, Nagoya Institute of Technology; College of Human Life and Environment, Kinjo Gakuin University

2003-01-01

SUZUKI,M., YAMAZAKI,Y. and TANIGUCHI,Y., A Biomechanical Model of Single-joint Arm Movement Control Based on the Equilibrium Point Hypothesis. Adv. Exerc. Sports Physiol., Vol.9, No.1 pp.7-25, 2003. According to the equilibrium point hypothesis of motor control, control action of muscles is not explicitly computed, but rather arises as a consequence of interaction among moving equilibrium point, reflex feedback and muscle mechanical properties. This approach is attractive as it obviates the n...

Verification of failover effects from distributed control system communication networks in digitalized nuclear power plants

Energy Technology Data Exchange (ETDEWEB)

Min, Moon Gi; Lee, Jae Ki; Lee, Kwang Hyun; Lee, Dong Il; Lim, Hee Taek [Korea Hydro and Nuclear Power Co., Ltd, Daejeon (Korea, Republic of)

2017-08-15

Distributed Control System (DCS) communication networks, which use Fast Ethernet with redundant networks for the transmission of information, have been installed in digitalized nuclear power plants. Normally, failover tests are performed to verify the reliability of redundant networks during design and manufacturing phases; however, systematic integrity tests of DCS networks cannot be fully performed during these phases because all relevant equipment is not installed completely during these two phases. In additions, practical verification tests are insufficient, and there is a need to test the actual failover function of DCS redundant networks in the target environment. The purpose of this study is to verify that the failover functions works correctly in certain abnormal conditions during installation and commissioning phase and identify the influence of network failover on the entire DCS. To quantify the effects of network failover in the DCS, the packets (Protocol Data Units) must be collected and resource usage of the system has to be monitored and analyzed. This study introduces the use of a new methodology for verification of DCS network failover during the installation and commissioning phases. This study is expected to provide insight into verification methodology and the failover effects from DCS redundant networks. It also provides test results of network performance from DCS network failover in digitalized domestic nuclear power plants (NPPs)

Neurosurgical robotic arm drilling navigation system.

Science.gov (United States)

Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai

2017-09-01

The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.

DIMENSIONAL VERIFICATION AND QUALITY CONTROL OF IMPLANTS PRODUCED BY ADDITIVE MANUFACTURING

Directory of Open Access Journals (Sweden)

Teodor Toth

2015-07-01

Full Text Available Purpose: Development of computer technology and alternative manufacturing methods in form of additive manufacturing leads to the manufacture of products with complex shapes. In the field of medicine they include, inter alia, custom-made implants manufactured for a particular patient, such as cranial implants, maxillofacial implants, etc. With regard to the fact that such implants are inserted into a patient’s body, it is necessary to perform the verification, including the shape and dimensional verification. The article deals with the application of the industrial computer tomography within the process of inspection and verification of selected custom-made implant types.Methodology/Approach: The Department of Biomedical Engineering and Measurement performs the verification of medicinal products manufactured by the additive manufacturing technologies from the Ti-6Al-4V (Grade 5 titanium alloy, using the coordinate measuring machine Carl Zeiss Contura G2 and the industrial computed tomography machine Carl Zeiss Metrotom 1500. These equipment fulfil the requirements for the identification and evaluation of dimensions of both, the external and the internal structures. Findings: The article presents the possibilities of the computed tomography utilisation in the inspection of individual implant manufacture using the additive manufacturing technologies. The results indicate that with the adjustment of appropriate input parameters (alignment, this technology is appropriate for the analysis of shape deviations, when compared with the CAD model.Research Limitation/implication: With the increasing distance of measured object from X-ray source, the machine’s resolution function decreases. Decreasing of resolution has a minor impact on the measured dimensions (relatively high tolerances, but has a significant impact on the evaluation of porosity and inclusions. Originality/Value of paper: Currently, the verification of a manufactured implant  can be

Independent verification: operational phase liquid metal breeder reactors

International Nuclear Information System (INIS)

Bourne, P.B.

1981-01-01

The Fast Flux Test Facility (FFTF) recently achieved 100-percent power and now is in the initial stages of operation as a test reactor. An independent verification program has been established to assist in maintaining stable plant conditions, and to assure the safe operation of the reactor. Independent verification begins with the development of administrative procedures to control all other procedures and changes to the plant configurations. The technical content of the controlling procedures is subject to independent verification. The actual accomplishment of test procedures and operational maneuvers is witnessed by personnel not responsible for operating the plant. Off-normal events are analyzed, problem reports from other operating reactors are evaluated, and these results are used to improve on-line performance. Audits are used to confirm compliance with established practices and to identify areas where individual performance can be improved

Results of verifications of the control automatic exposure in equipment of RX with CR systems; Resultados de las verificaciones del control automatico de exposicion en equipos de RX con sistemas CR

Energy Technology Data Exchange (ETDEWEB)

Ruiz Manzano, P.; Rivas Ballarin, M. A.; Ortega Pardina, P.; Villa Gazulla, D.; Calvo Carrillo, S.; Canellas Anoz, M.; Millan Cebrian, E.

2013-07-01

After the entry into force in 2012, the new Spanish Radiology quality control protocol lists and discusses the results obtained after verification of the automatic control of exposure in computed radiography systems. (Author)

Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

Science.gov (United States)

Mclauchlan, Robert A.

1989-01-01

Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

Verification of excess defense material

International Nuclear Information System (INIS)

Fearey, B.L.; Pilat, J.F.; Eccleston, G.W.; Nicholas, N.J.; Tape, J.W.

1997-01-01

The international community in the post-Cold War period has expressed an interest in the International Atomic Energy Agency (IAEA) using its expertise in support of the arms control and disarmament process in unprecedented ways. The pledges of the US and Russian presidents to place excess defense materials under some type of international inspections raises the prospect of using IAEA safeguards approaches for monitoring excess materials, which include both classified and unclassified materials. Although the IAEA has suggested the need to address inspections of both types of materials, the most troublesome and potentially difficult problems involve approaches to the inspection of classified materials. The key issue for placing classified nuclear components and materials under IAEA safeguards is the conflict between these traditional IAEA materials accounting procedures and the US classification laws and nonproliferation policy designed to prevent the disclosure of critical weapon-design information. Possible verification approaches to classified excess defense materials could be based on item accountancy, attributes measurements, and containment and surveillance. Such approaches are not wholly new; in fact, they are quite well established for certain unclassified materials. Such concepts may be applicable to classified items, but the precise approaches have yet to be identified, fully tested, or evaluated for technical and political feasibility, or for their possible acceptability in an international inspection regime. Substantial work remains in these areas. This paper examines many of the challenges presented by international inspections of classified materials

A Developmental Study of Static Postural Control and Superimposed Arm Movements in Normal and Slowly Developing Children.

Science.gov (United States)

Fisher, Janet M.

Selected electromyographic parameters underlying static postural control in 4, 6, and 8 year old normally and slowly developing children during performance of selected arm movements were studied. Developmental delays in balance control were assessed by the Cashin Test of Motor Development (1974) and/or the Williams Gross Motor Coordination Test…

Distributed Fault-Tolerant Control of Networked Uncertain Euler-Lagrange Systems Under Actuator Faults.

Science.gov (United States)

Chen, Gang; Song, Yongduan; Lewis, Frank L

2016-05-03

This paper investigates the distributed fault-tolerant control problem of networked Euler-Lagrange systems with actuator and communication link faults. An adaptive fault-tolerant cooperative control scheme is proposed to achieve the coordinated tracking control of networked uncertain Lagrange systems on a general directed communication topology, which contains a spanning tree with the root node being the active target system. The proposed algorithm is capable of compensating for the actuator bias fault, the partial loss of effectiveness actuation fault, the communication link fault, the model uncertainty, and the external disturbance simultaneously. The control scheme does not use any fault detection and isolation mechanism to detect, separate, and identify the actuator faults online, which largely reduces the online computation and expedites the responsiveness of the controller. To validate the effectiveness of the proposed method, a test-bed of multiple robot-arm cooperative control system is developed for real-time verification. Experiments on the networked robot-arms are conduced and the results confirm the benefits and the effectiveness of the proposed distributed fault-tolerant control algorithms.

Upper Bounds Prediction of the Execution Time of Programs Running on ARM Cortex-A Systems

OpenAIRE

Fedotova , Irina; Krause , Bernd; Siemens , Eduard

2017-01-01

Part 6: Embedded and Real Time Systems; International audience; This paper describes the application of statistical analysis of the timing behavior for a generic real-time task model. Using specific processor of ARM Cortex-A series and an empirical approach of time values retrieval, the algorithm to predict the upper bounds for the task of the time acquisition operation has been formulated. For the experimental verification of the algorithm, we have used the robust Measurement-Based Probabili...

Compositional Verification of Multi-Station Interlocking Systems

DEFF Research Database (Denmark)

Macedo, Hugo Daniel dos Santos; Fantechi, Alessandro; Haxthausen, Anne Elisabeth

2016-01-01

pose a big challenge to current verification methodologies, due to the explosion of state space size as soon as large, if not medium sized, multi-station systems have to be controlled. For these reasons, verification techniques that exploit locality principles related to the topological layout...... of the controlled system to split in different ways the state space have been investigated. In particular, compositional approaches divide the controlled track network in regions that can be verified separately, once proper assumptions are considered on the way the pieces are glued together. Basing on a successful...... method to verify the size of rather large networks, we propose a compositional approach that is particularly suitable to address multi-station interlocking systems which control a whole line composed of stations linked by mainline tracks. Indeed, it turns out that for such networks, and for the adopted...

IP cores design from specifications to production modeling, verification, optimization, and protection

CERN Document Server

Mohamed, Khaled Salah

2016-01-01

This book describes the life cycle process of IP cores, from specification to production, including IP modeling, verification, optimization, and protection. Various trade-offs in the design process are discussed, including  those associated with many of the most common memory cores, controller IPs  and system-on-chip (SoC) buses. Readers will also benefit from the author’s practical coverage of new verification methodologies. such as bug localization, UVM, and scan-chain.  A SoC case study is presented to compare traditional verification with the new verification methodologies. ·         Discusses the entire life cycle process of IP cores, from specification to production, including IP modeling, verification, optimization, and protection; ·         Introduce a deep introduction for Verilog for both implementation and verification point of view.  ·         Demonstrates how to use IP in applications such as memory controllers and SoC buses. ·         Describes a new ver...

Virtual Distances Methodology as Verification Technique for AACMMs with a Capacitive Sensor Based Indexed Metrology Platform

Science.gov (United States)

Acero, Raquel; Santolaria, Jorge; Brau, Agustin; Pueo, Marcos

2016-01-01

This paper presents a new verification procedure for articulated arm coordinate measuring machines (AACMMs) together with a capacitive sensor-based indexed metrology platform (IMP) based on the generation of virtual reference distances. The novelty of this procedure lays on the possibility of creating virtual points, virtual gauges and virtual distances through the indexed metrology platform’s mathematical model taking as a reference the measurements of a ball bar gauge located in a fixed position of the instrument’s working volume. The measurements are carried out with the AACMM assembled on the IMP from the six rotating positions of the platform. In this way, an unlimited number and types of reference distances could be created without the need of using a physical gauge, therefore optimizing the testing time, the number of gauge positions and the space needed in the calibration and verification procedures. Four evaluation methods are presented to assess the volumetric performance of the AACMM. The results obtained proved the suitability of the virtual distances methodology as an alternative procedure for verification of AACMMs using the indexed metrology platform. PMID:27869722

Virtual Distances Methodology as Verification Technique for AACMMs with a Capacitive Sensor Based Indexed Metrology Platform.

Science.gov (United States)

Acero, Raquel; Santolaria, Jorge; Brau, Agustin; Pueo, Marcos

2016-11-18

This paper presents a new verification procedure for articulated arm coordinate measuring machines (AACMMs) together with a capacitive sensor-based indexed metrology platform (IMP) based on the generation of virtual reference distances. The novelty of this procedure lays on the possibility of creating virtual points, virtual gauges and virtual distances through the indexed metrology platform's mathematical model taking as a reference the measurements of a ball bar gauge located in a fixed position of the instrument's working volume. The measurements are carried out with the AACMM assembled on the IMP from the six rotating positions of the platform. In this way, an unlimited number and types of reference distances could be created without the need of using a physical gauge, therefore optimizing the testing time, the number of gauge positions and the space needed in the calibration and verification procedures. Four evaluation methods are presented to assess the volumetric performance of the AACMM. The results obtained proved the suitability of the virtual distances methodology as an alternative procedure for verification of AACMMs using the indexed metrology platform.

Territorial Service as part of the social and territorial control of the Salvadoran State during the armed conflict (1972-1992

Directory of Open Access Journals (Sweden)

Herard Von Santos

2016-06-01

Full Text Available Historiography study done with a narrative approach, based on documentary research and consulting oral sources. A historical review of the social and territorial control developed by the Salvadoran State during the internal armed conflict (1972-1992 is made. This is an academic effort to bring relevant elements that could be useful for contemporary contexts, especially in stages where irregular armed groups have a presence in the territory and exercise powers. The Territorial Service was a strategy to recover the State’s presence in the territory and exercise social control over vulnerable populations.

New Approaches and New Technologies for the Verification of Nuclear Disarmament

International Nuclear Information System (INIS)

Keir, David

2013-01-01

ESARDA’s New Approaches/Novel Technologies Working group has recently begun to take a great interest in technology for use in arms control verification, in parallel with a focus on Nuclear Safeguards technology. A topic-based meeting of members of the NA/NT Subgroup was hosted at Joint Research Centre (JRC), ITU-Nuclear Security Unit in Ispra (Italy), to further explore the technical issues and opportunities presented by the need for new approaches and technologies in a future verified nuclear weapons dismantlement regime. Nuclear warheads must contain radioactive material and, by their nature, gamma rays and neutrons are likely to penetrate to the outside of the warhead casing and even metal containers. Therefore radiation signatures should be detectable by appropriate pieces of equipment. For this reason, researchers in the field of technical verification of nuclear warhead dismantlement have studied and developed technologies for Non-Destructive Assay (NDA). This paper presents a generic dismantlement pathway for verified nuclear warhead dismantlement, based on the scenario employed by the UK-Norway initiative for their exercise in 2008/9. Using this as a framework the types of measurement challenge likely to be presented to a verifying inspector are discussed. The problem of intrusiveness of measurements in relation to the issue of proliferative release of classified information about the warhead attributes is discussed and the concept of ‘information barriers is introduced as a possible solution to this issue. A list of candidate technologies for use in verification activities, with or without information barriers is then presented and, since most of these are new or novel approaches to the issue, an already-established system for classifying them – in terms of state of development and complexity of use in this context – is proposed. Finally, the concept of capturing this information as a library of ‘data sheets’, designed for periodic review as

Simulation of Octopus Arm Based on Coupled CPGs

OpenAIRE

Juan Tian; Qiang Lu

2015-01-01

The octopus arm has attracted many researchers’ interests and became a research hot spot because of its amazing features. Several dynamic models inspired by an octopus arm are presented to realize the structure with a large number of degrees of freedom. The octopus arm is made of a soft material introducing high-dimensionality, nonlinearity, and elasticity, which makes the octopus arm difficult to control. In this paper, three coupled central pattern generators (CPGs) are built and a 2-dimens...

Emulating a robotic manipulator arm with an hybrid motion-control system

International Nuclear Information System (INIS)

Aragón-González, G; León-Galicia, A; Noriega-Hernández, M; Salazar-Hueta, A

2015-01-01

A motion control system with four and 1/2 degrees of freedom, designed to move small objects within a 0.25 m3 space, parallel to a horizontal table, with high speed and performance similar to a robotic manipulator arm was built. The machine employs several actuators and control devices. Its main characteristic is to incorporate a servomotor, steeper motors, electromechanical and fluid power actuators and diverse control resources. A group of actuators arranged on a spherical coordinates system is attached to the servomotor platform. A linear pneumatic actuator with an angular grip provides the radial extension and load clamping capacity. Seven inductive proximity sensors and one encoder provide feedback, for operating the actuators under closed loop conditions. Communication between the sensors and control devices is organized by a PLC. A touch screen allows governing the system remotely, easily and interactively, without knowing the specific programming language of each control component. The graphic environment on the touch screen guides the user to design and store control programs, establishing coordinated automatic routines for moving objects in space, simulation and implementation of industrial positioning or machining processes

International Space Station Atmosphere Control and Supply, Atmosphere Revitalization, and Water Recovery and Management Subsystem - Verification for Node 1

Science.gov (United States)

Williams, David E.

2007-01-01

The International Space Station (ISS) Node 1 Environmental Control and Life Support (ECLS) System is comprised of five subsystems: Atmosphere Control and Supply (ACS), Atmosphere Revitalization (AR), Fire Detection and Suppression (FDS), Temperature and Humidity Control (THC), and Water Recovery and Management (WRM). This paper provides a summary of the nominal operation of the Node 1 ACS, AR, and WRM design and detailed Element Verification methodologies utilized during the Qualification phase for Node 1.

Dynamic Modeling and Fuzzy Self-Tuning Disturbance Decoupling Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm

Directory of Open Access Journals (Sweden)

Yueling Wang

2013-01-01

Full Text Available A unique fuzzy self-tuning disturbance decoupling controller (FSDDC is designed for a serial-parallel hybrid humanoid arm (HHA to implement the throwing trajectory-tracking mission. Firstly, the dynamic model of the HHA is established and the input signal of the throwing process is obtained by studying the throwing process of human's arm. Secondly, the FSDDC, incorporating the disturbance decoupling controller (DDC and the fuzzy logic controller (FLC, is designed to ensure trajectory tracking of the HHA in the presence of uncertainties and disturbances. With the FSDDC method, the HHA system can be decoupled by actively estimating and rejecting the effects of both the internal plant dynamics and external disturbances. The self-tuning parameters are adapted online to improve the performance of the FSDDC; thus, it does not require detailed system parameters of the presented FSDDC. Finally, the controller introduced is compared with a PD controller which is commonly used for the robot manipulators control in industry. The effectiveness of the designed FSDDC is illustrated by simulations.

Nonproliferation and arms control assessment of weapons-usable fissile material storage and excess plutonium disposition alternatives

International Nuclear Information System (INIS)

1997-01-01

This report has been prepared by the Department of Energy's Office of Arms Control and Nonproliferation (DOE-NN) with support from the Office of Fissile Materials Disposition (DOE-MD). Its purpose is to analyze the nonproliferation and arms reduction implications of the alternatives for storage of plutonium and HEU, and disposition of excess plutonium, to aid policymakers and the public in making final decisions. While this assessment describes the benefits and risks associated with each option, it does not attempt to rank order the options or choose which ones are best. It does, however, identify steps which could maximize the benefits and mitigate any vulnerabilities of the various alternatives under consideration

A pilot scale demonstration of the DWPF process control and product verification strategy

International Nuclear Information System (INIS)

Hutson, N.D.; Jantzen, C.M.; Beam, D.C.

1992-01-01

The Defense Waste Processing Facility (DWPF) has been designed and constructed to immobilize Savannah River Site high level liquid waste within a durable borosilicate glass matrix for permanent storage. The DWPF will be operated to produce a glass product which must meet a number of product property constraints which are dependent upon the final product composition. During actual operations, the DWPF will control the properties of the glass product by the controlled blending of the waste streams with a glass-forming frit to produce the final melter feed slurry. The DWPF will verify control of the glass product through analysis of vitrified samples of slurry material. In order to demonstrate the DWPF process control and product verification strategy, a pilot-scale vitrification research facility was operated in three discrete batches using simulated DWPF waste streams. All of the DWPF process control methodologies were followed and the glass product from each experiment was leached according to the Product Consistency Test. In this paper results of the campaign are summarized

Verification and Tuning of an Adaptive Controller for an Unmanned Air Vehicle

Science.gov (United States)

Crespo, Luis G.; Matsutani, Megumi; Annaswamy, Anuradha M.

2010-01-01

This paper focuses on the analysis and tuning of a controller based on the Adaptive Control Technology for Safe Flight (ACTS) architecture. The ACTS architecture consists of a nominal, non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off-nominal ones. A framework unifying control verification and gain tuning is used to make the controller s ability to satisfy the closed-loop requirements more robust to uncertainty. In this paper we tune the gains of both controllers using this approach. Some advantages and drawbacks of adaptation are identified by performing a global robustness assessment of both the adaptive controller and its non-adaptive counterpart. The analyses used to determine these characteristics are based on evaluating the degradation in closed-loop performance resulting from uncertainties having increasing levels of severity. The specific adverse conditions considered can be grouped into three categories: aerodynamic uncertainties, structural damage, and actuator failures. These failures include partial and total loss of control effectiveness, locked-in-place control surface deflections, and engine out conditions. The requirements considered are the peak structural loading, the ability of the controller to track pilot commands, the ability of the controller to keep the aircraft s state within the reliable flight envelope, and the handling/riding qualities of the aircraft. The nominal controller resulting from these tuning strategies was successfully validated using the NASA GTM Flight Test Vehicle.

Challenges for effective WMD verification

International Nuclear Information System (INIS)

Andemicael, B.

2006-01-01

already awash in fissile material and is increasingly threatened by the possible consequences of illicit trafficking in such material. The chemical field poses fewer problems. The ban on chemical weapons is a virtually complete post-Cold War regime, with state-of-the-art concepts and procedures of verification resulting from decades of negotiation. The detection of prohibited materials and activities is the common goal of the nuclear and chemical regimes for which the most intrusive and intensive procedures are activated by the three organizations. Accounting for the strictly peaceful application of dual-use items constitutes the bulk of the work of the inspectorates at the IAEA and the OPCW. A common challenge in both fields is the advance of science and technology in the vast nuclear and chemical industries and the ingenuity of some determined proliferators to deceive by concealing illicit activities under legitimate ones. Inspection procedures and technologies need to keep up with the requirement for flexibility and adaptation to change. The common objective of the three organizations is to assemble and analyze all relevant information in order to conclude reliably whether a State is or is not complying with its treaty obligations. The positive lessons learned from the IAEA's verification experience today are valuable in advancing concepts and technologies that might also benefit the other areas of WMD verification. Together with the emerging, more comprehensive verification practice of the OPCW, they may provide a useful basis for developing common standards, which may in turn help in evaluating the cost-effectiveness of verification methods for the Biological and Toxin Weapons Convention and other components of a WMD control regime

Kinematic decomposition and classification of octopus arm movements.

Science.gov (United States)

Zelman, Ido; Titon, Myriam; Yekutieli, Yoram; Hanassy, Shlomi; Hochner, Binyamin; Flash, Tamar

2013-01-01

The octopus arm is a muscular hydrostat and due to its deformable and highly flexible structure it is capable of a rich repertoire of motor behaviors. Its motor control system uses planning principles and control strategies unique to muscular hydrostats. We previously reconstructed a data set of octopus arm movements from records of natural movements using a sequence of 3D curves describing the virtual backbone of arm configurations. Here we describe a novel representation of octopus arm movements in which a movement is characterized by a pair of surfaces that represent the curvature and torsion values of points along the arm as a function of time. This representation allowed us to explore whether the movements are built up of elementary kinematic units by decomposing each surface into a weighted combination of 2D Gaussian functions. The resulting Gaussian functions can be considered as motion primitives at the kinematic level of octopus arm movements. These can be used to examine underlying principles of movement generation. Here we used combination of such kinematic primitives to decompose different octopus arm movements and characterize several movement prototypes according to their composition. The representation and methodology can be applied to the movement of any organ which can be modeled by means of a continuous 3D curve.

Z-2 Architecture Description and Requirements Verification Results

Science.gov (United States)

Graziosi, Dave; Jones, Bobby; Ferl, Jinny; Scarborough, Steve; Hewes, Linda; Ross, Amy; Rhodes, Richard

2016-01-01

The Z-2 Prototype Planetary Extravehicular Space Suit Assembly is a continuation of NASA's Z series of spacesuits. The Z-2 is another step in NASA's technology development roadmap leading to human exploration of the Martian surface. The suit was designed for maximum mobility at 8.3 psid, reduced mass, and to have high fidelity life support interfaces. As Z-2 will be man-tested at full vacuum in NASA JSC's Chamber B, it was manufactured as Class II, making it the most flight-like planetary walking suit produced to date. The Z-2 suit architecture is an evolution of previous EVA suits, namely the ISS EMU, Mark III, Rear Entry I-Suit and Z-1 spacesuits. The suit is a hybrid hard and soft multi-bearing, rear entry spacesuit. The hard upper torso (HUT) is an all-composite structure and includes a 2-bearing rolling convolute shoulder with Vernier sizing mechanism, removable suit port interface plate (SIP), elliptical hemispherical helmet and self-don/doff shoulder harness. The hatch is a hybrid aluminum and composite construction with Apollo style gas connectors, custom water pass-thru, removable hatch cage and interfaces to primary and auxiliary life support feed water bags. The suit includes Z-1 style lower arms with cam brackets for Vernier sizing and government furnished equipment (GFE) Phase VI gloves. The lower torso includes a telescopic waist sizing system, waist bearing, rolling convolute waist joint, hard brief, 2 bearing soft hip thigh, Z-1 style legs with ISS EMU style cam brackets for sizing, and conformal walking boots with ankle bearings. The Z-2 Requirements Verification Plan includes the verification of more than 200 individual requirements. The verification methods include test, analysis, inspection, demonstration or a combination of methods. Examples of unmanned requirements include suit leakage, proof pressure testing, operational life, mass, isometric man-loads, sizing adjustment ranges, internal and external interfaces such as in-suit drink bag

SU-E-I-24: Method for CT Automatic Exposure Control Verification

Energy Technology Data Exchange (ETDEWEB)

Gracia, M; Olasolo, J; Martin, M; Bragado, L; Gallardo, N; Miquelez, S; Maneru, F; Lozares, S; Pellejero, S; Rubio, A [Complejo Hospitalario de Navarra, Pamplona, Navarra (Spain)

2015-06-15

Purpose: Design of a phantom and a simple method for the automatic exposure control (AEC) verification in CT. This verification is included in the computed tomography (CT) Spanish Quality Assurance Protocol. Methods: The phantom design is made from the head and the body phantom used for the CTDI measurement and PMMA plates (35×35 cm2) of 10 cm thickness. Thereby, three different thicknesses along the longitudinal axis are obtained which permit to evaluate the longitudinal AEC performance. Otherwise, the existent asymmetry in the PMMA layers helps to assess angular and 3D AEC operation.Recent acquisition in our hospital (August 2014) of Nomex electrometer (PTW), together with the 10 cm pencil ionization chamber, led to register dose rate as a function of time. Measurements with this chamber fixed at 0° and 90° on the gantry where made on five multidetector-CTs from principal manufacturers. Results: Individual analysis of measurements shows dose rate variation as a function of phantom thickness. The comparative analysis shows that dose rate is kept constant in the head and neck phantom while the PMMA phantom exhibits an abrupt variation between both results, being greater results at 90° as the thickness of the phantom is 3.5 times larger than in the perpendicular direction. Conclusion: Proposed method is simple, quick and reproducible. Results obtained let a qualitative evaluation of the AEC and they are consistent with the expected behavior. A line of future development is to quantitatively study the intensity modulation and parameters of image quality, and a possible comparative study between different manufacturers.

77 FR 52105 - Announcement of the Innovation in Arms Control Challenge Under the America Competes...

Science.gov (United States)

2012-08-28

... Challenge: This Challenge seeks creative ideas from the general public to use the tools and devices commonly..., shall be incorporated in and maintaining a primary place of business in the United States, and in the... provision of the following: 1. A description of the proposed mechanism or idea to support arms control...

A Study on Control System Design Based on ARM Sea Target Search System

Directory of Open Access Journals (Sweden)

Lin Xinwei

2015-01-01

Full Text Available The infrared detector is used for sea target search, which can assist humans in searching suspicious objects at night and under poor visibility conditions, and improving search efficiency. This paper applies for interrupt and stack technology to solve problems of data losses that may be caused by one-to-many multi-byte protocol communication. Meanwhile, this paper implements hardware and software design of the system based on industrial-grade ARM control chip and uC / OS-II embedded operating system. The control system in the sea target search system is an information exchange and control center of the whole system, which solves the problem of controlling over the shooting angle of the infrared detector in the process of target search. After testing, the control system operates stably and reliably, and realizes rotation and control functions of the pan/tilt platform during automatic search, manual search and track.

Disarmament through regional dialogue: United States arms control and disarmament policies

International Nuclear Information System (INIS)

Holum, J.D.

1994-01-01

Less than fifty years ago, Japan and the United States faced one another in history's deadliest conflict. Since that world war, the competition has been limited to a mature-if spirited-contest for customers. The two countries have become firm friends for peace-and leaders in the international community's campaign against weapons of mass destruction. This friendship is too important to be shaken by momentary upsets. The countries that learned the most from the last great war are today among the most resolutely peaceful in the world. To my mind, it is no coincidence that Japan and Germany, two nations which transformed defeat in that war into remarkable economic success following it-which have sought prosperity and harmony with their neighbours instead of dominion over them-are the two nations the United States would like to see added as permanent members to the United Nations Security Council. There is hope that, some day, countries may be judged not by the arms but the commitments they keep-and the values they uphold. All responsible nations must affirm that nuclear non-proliferation is an enduring value, not a passing policy. United States Arms Control and Disarmament Agency underlines that its highest priority in the coming year is indefinite and unconditional extension of the Non-proliferation Treaty

Real-Time Reliability Verification for UAV Flight Control System Supporting Airworthiness Certification.

Science.gov (United States)

Xu, Haiyang; Wang, Ping

2016-01-01

In order to verify the real-time reliability of unmanned aerial vehicle (UAV) flight control system and comply with the airworthiness certification standard, we proposed a model-based integration framework for modeling and verification of time property. Combining with the advantages of MARTE, this framework uses class diagram to create the static model of software system, and utilizes state chart to create the dynamic model. In term of the defined transformation rules, the MARTE model could be transformed to formal integrated model, and the different part of the model could also be verified by using existing formal tools. For the real-time specifications of software system, we also proposed a generating algorithm for temporal logic formula, which could automatically extract real-time property from time-sensitive live sequence chart (TLSC). Finally, we modeled the simplified flight control system of UAV to check its real-time property. The results showed that the framework could be used to create the system model, as well as precisely analyze and verify the real-time reliability of UAV flight control system.

Trends and challenges in global arms control regimes: Implications for the Mediterranean, North Africa, and the Middle East

Energy Technology Data Exchange (ETDEWEB)

Lehman, R.F. II

1994-06-01

In another sense, however, the nuclear age and ballistic missiles long ago created a much smaller world in which the distinctions between global and regional security have been lessened. In an age of weapons of mass destruction, any point on the earth can find itself suddenly at the center of world attention. This makes it all the more important that we understand all of the arms control tools available, including global approaches. In discussing global arms control regimes, I will focus primarily on those that are open to universal membership such as the Nuclear Nonproliferation Treaty (NPT) or which have global reach, such as certain export control and supplier regimes. It is important to remember, however, that certain regional, bilateral, and even unilateral arms control measures can have a global impact as well. One need only witness the impact of the Treaty on Conventional Forces in Europe (CFE). Despite its mere {open_quotes}Atlantic to the Urals{close_quotes} focus, the CFE treaty helped change the political and strategic calculations of the entire world. Likewise, the Conference on Security and Cooperation in Europe (CSCE), with its headquarters in Vienna, is centered on Europe but spreads from Vancouver to Vladivostok (or perhaps we should say from Amchitka to Kamchatka), circumnavigating much of the northern hemisphere when measured the long way around via North America. The political significance of its successes and failures outdistance CSCE`s geographical spread.

Feedback Control of arm movements using Neuro-Muscular Electrical Stimulation (NMES combined with a lockable, passive exoskeleton for gravity compensation

Directory of Open Access Journals (Sweden)

Christian eKlauer

2014-09-01

Full Text Available Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. Potential users of this system are patients with high-level spinal cord injury and neurodegenerative neuromuscular diseases, such as amyotrophic lateral sclerosis, Friedreich ataxia, and multiple sclerosis. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES to enable reaching functions in people with no residual voluntary control of the arm due to upper motor neuron lesions after spinal cord injury. NMES is applied to the deltoids and the biceps muscles and integrated with a three degrees of freedom (DoFs passive exoskeleton, which partially compensates gravitational forces and allows to lock each DOF. The user is able to choose the target hand position and to trigger actions using an eyetracker system. The target position is selected by using the eyetracker and determined by a marker-based tracking system using Microsoft Kinect. A central controller, i.e. a finite state machine, issues a sequence of basic movement commands to the real-time arm controller. The NMES control algorithm sequentially controls each joint angle while locking the other DoFs. Daily activities, such as drinking, brushing hair, pushing an alarm button, etc., can be supported by the system. The robust and easily tunable control approach was evaluated with five healthy subjects during a drinking task. Subjects were asked to remain passive and to allow NMES to induce the movements. In all of them, the controller was able to perform the task, and a mean hand positioning error of less than five centimeters was achieved. The average total time duration for moving the hand from a rest position to a drinking cup, for moving the cup to the mouth and back, and for finally returning the arm to the rest position was 71 seconds.

Digital-flight-control-system software written in automated-engineering-design language: A user's guide of verification and validation tools

Science.gov (United States)

Saito, Jim

1987-01-01

The user guide of verification and validation (V&V) tools for the Automated Engineering Design (AED) language is specifically written to update the information found in several documents pertaining to the automated verification of flight software tools. The intent is to provide, in one document, all the information necessary to adequately prepare a run to use the AED V&V tools. No attempt is made to discuss the FORTRAN V&V tools since they were not updated and are not currently active. Additionally, the current descriptions of the AED V&V tools are contained and provides information to augment the NASA TM 84276. The AED V&V tools are accessed from the digital flight control systems verification laboratory (DFCSVL) via a PDP-11/60 digital computer. The AED V&V tool interface handlers on the PDP-11/60 generate a Univac run stream which is transmitted to the Univac via a Remote Job Entry (RJE) link. Job execution takes place on the Univac 1100 and the job output is transmitted back to the DFCSVL and stored as a PDP-11/60 printfile.

VBMC: a formal verification tool for VHDL programs

International Nuclear Information System (INIS)

Ajith, K.J.; Bhattacharjee, A.K.

2014-01-01

The design of Control and Instrumentation (C and I) systems used in safety critical applications such as nuclear power plants involves partitioning of the overall system functionality into subparts and implementing each subpart in hardware and/or software as appropriate. With increasing use of programmable devices like FPGA, the hardware subsystems are often implemented in Hardware Description Languages (HDL) like VHDL. Since the functional bugs in such hardware subsystems used in safety critical C and I systems have disastrous consequences, it is important to use rigorous reasoning to verify the functionalities of the HDL models. This paper describes an indigenously developed software tool named VBMC (VHDL Bounded Model Checker) for mathematically proving/refuting functional properties of hardware designs described in VHDL. VBMC accepts hardware design as VHDL program file, functional property in PSL, and verification bound (number of cycles of operation) as inputs. It either reports that the design satisfies the functional property for the given verification bound or generates a counter example providing the reason of violation. In case of satisfaction, the proof holds good for the verification bound. VBMC has been used for the functional verification of FPGA based intelligent I/O boards developed at Reactor Control Division, BARC. (author)

VBMC: a formal verification tool for VHDL program

International Nuclear Information System (INIS)

Ajith, K.J.; Bhattacharjee, A.K.

2014-08-01

The design of Control and Instrumentation (C and I) systems used in safety critical applications such as nuclear power plants involves partitioning of the overall system functionality into sub-parts and implementing each sub-part in hardware and/or software as appropriate. With increasing use of programmable devices like FPGA, the hardware subsystems are often implemented in Hardware Description Languages (HDL) like VHDL. Since the functional bugs in such hardware subsystems used in safety critical C and I systems have serious consequences, it is important to use rigorous reasoning to verify the functionalities of the HDL models. This report describes the design of a software tool named VBMC (VHDL Bounded Model Checker). The capability of this tool is in proving/refuting functional properties of hardware designs described in VHDL. VBMC accepts design as a VHDL program file, functional property in PSL, and verification bound (number of cycles of operation) as inputs. It either reports that the design satisfies the functional property for the given verification bound or generates a counterexample providing the reason of violation. In case of satisfaction, the proof holds good for the verification bound. VBMC has been used for the functional verification of FPGA based intelligent I/O boards developed at Reactor Control Division, BARC. (author)

Embedded software verification and debugging

CERN Document Server

Winterholer, Markus

2017-01-01

This book provides comprehensive coverage of verification and debugging techniques for embedded software, which is frequently used in safety critical applications (e.g., automotive), where failures are unacceptable. Since the verification of complex systems needs to encompass the verification of both hardware and embedded software modules, this book focuses on verification and debugging approaches for embedded software with hardware dependencies. Coverage includes the entire flow of design, verification and debugging of embedded software and all key approaches to debugging, dynamic, static, and hybrid verification. This book discusses the current, industrial embedded software verification flow, as well as emerging trends with focus on formal and hybrid verification and debugging approaches. Includes in a single source the entire flow of design, verification and debugging of embedded software; Addresses the main techniques that are currently being used in the industry for assuring the quality of embedded softw...

[A Multi-arm Placebo-controlled Study with Glutamic Acid Conducted in Rostock in 1953/1954].

Science.gov (United States)

Häßler, Frank; Weirich, Steffen

2017-09-01

A Multi-arm Placebo-controlled Study with Glutamic Acid Conducted in Rostock in 1953/1954 Glutamic acid was commonly used in the treatment of intellectually disabled children in the 50s. Koch reported first results of an observation of 140 children treated with glutamic acid in 1952. In this line is the multi-arm placebo-controlled study reported here. The original study protocols were available. 58 children with speech problems who attending a school of special needs received glutamic acid, or vitamin B, or St.-John's-wort. The effect of glutamic acid was in few cases an improvement of attention. On the other hand restlessness and stutter increased. The majority of all reported a weight loss. The treatment with vitamin B showed a positive effect concerning concentration. The treatment with St.-John's wort was stopped caused by headache and vomiting in eight of nine cases. The results of the study reported here are unpublished. The reason may be that until the 60s the effects of glutamic acid in the treatment of intellectually disabled children were in generally overestimated.

Responses of the less affected arm to bilateral upper limb task training in early rehabilitation after stroke: a randomized controlled trial.

Science.gov (United States)

Morris, Jacqui H; Van Wijck, Frederike

2012-07-01

To investigate effects of bilateral training (BT) on ipsilesional arm dexterity and activity limitation; to explore clinical and demographic factors that influence training effects; and to explore relationships between contralesional and ipsilesional recovery. Single-blind randomized controlled trial with outcome assessment at baseline, postintervention (6 wk), and follow-up (18 wk). Inpatient acute and rehabilitation hospitals. Participants were randomized to a BT group in which training involved the ipsilesional and contralesional arms (n=56) or control training involving the contralesional arm only (n=50). Supervised BT or control training for 20 minutes on weekdays over a 6-week period using a standardized program. Upper limb activity limitation: Action Research Arm Test; and dexterity: Nine-Hole Peg Test (9HPT). Lower baseline scores were found for the ipsilesional arm on both measures compared with published normative values. The BT group demonstrated significantly greater change in dexterity (P=.03) during the intervention phase at 0 to 6 weeks (.06±.07pegs/s) compared with the control group (.02±.02pegs/s). The effect was lost for overall recovery at 0 to 18 weeks (P=.93). Younger participants (age≤68y) performed the 9HPT faster at baseline than older participants (P=.04) and demonstrated greater overall recovery with BT than older participants (P=.04). There was no significant correlation between ipsilesional and contralesional recovery. The study suggests that BT may lead to clinically small improvements in ipsilesional performance of fine, rapid dexterity tasks. Younger participants responded better to BT. There was no relationship between contralesional and ipsilesional recovery, suggesting that different causes and recovery mechanisms may exist. Copyright © 2012 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Procesamiento de ondas cerebrales con microprocesador ARM para control de coche teledirigido

OpenAIRE

Calderón Martínez, Daniel

2016-01-01

Este trabajo fin de grado trata sobre el procesamiento de las señales que produce el cerebro humano para utilizarlas y destinarlas a algún propósito. En este caso, dicho propósito es el control de un coche teledirigido de juguete. Mediante un dispositivo electrónico comercial, que realiza la función de BCI (Brain Computer Interface), se captan las ondas cerebrales haciendo uso de una electroencefalografía (EEG) y son enviadas a un microprocesador ARM vía bluetooth. El casco o sensor de ondas,...

78 FR 43959 - Announcement of the 2013 Innovation in Arms Control Challenge Under the America Competes...

Science.gov (United States)

2013-07-22

.... Description of the hardware and/or software requirements for execution of the tool or concept, including... Information Technology Tools and Concepts Can Support Future Arms Control Inspections? The 2013 Innovation in... the following: 1. Description of the problem the tool/concept will address. 2. Description of proposed...

Logic verification system for power plant sequence diagrams

International Nuclear Information System (INIS)

Fukuda, Mitsuko; Yamada, Naoyuki; Teshima, Toshiaki; Kan, Ken-ichi; Utsunomiya, Mitsugu.

1994-01-01

A logic verification system for sequence diagrams of power plants has been developed. The system's main function is to verify correctness of the logic realized by sequence diagrams for power plant control systems. The verification is based on a symbolic comparison of the logic of the sequence diagrams with the logic of the corresponding IBDs (interlock Block Diagrams) in combination with reference to design knowledge. The developed system points out the sub-circuit which is responsible for any existing mismatches between the IBD logic and the logic realized by the sequence diagrams. Applications to the verification of actual sequence diagrams of power plants confirmed that the developed system is practical and effective. (author)

Formal verification of complex properties on PLC programs

CERN Document Server

Darvas, D; Voros, A; Bartha, T; Blanco Vinuela, E; Gonzalez Suarez, V M

2014-01-01

Formal verification has become a recommended practice in the safety-critical application areas. However, due to the complexity of practical control and safety systems, the state space explosion often prevents the use of formal analysis. In this paper we extend our former verification methodology with effective property preserving reduction techniques. For this purpose we developed general rule-based reductions and a customized version of the Cone of Influence (COI) reduction. Using these methods, the verification of complex requirements formalised with temporal logics (e.g. CTL, LTL) can be orders of magnitude faster. We use the NuSMV model checker on a real-life PLC program from CERN to demonstrate the performance of our reduction techniques.

Visual Attention Allocation Between Robotic Arm and Environmental Process Control: Validating the STOM Task Switching Model

Science.gov (United States)

Wickens, Christopher; Vieanne, Alex; Clegg, Benjamin; Sebok, Angelia; Janes, Jessica

2015-01-01

Fifty six participants time shared a spacecraft environmental control system task with a realistic space robotic arm control task in either a manual or highly automated version. The former could suffer minor failures, whose diagnosis and repair were supported by a decision aid. At the end of the experiment this decision aid unexpectedly failed. We measured visual attention allocation and switching between the two tasks, in each of the eight conditions formed by manual-automated arm X expected-unexpected failure X monitoring- failure management. We also used our multi-attribute task switching model, based on task attributes of priority interest, difficulty and salience that were self-rated by participants, to predict allocation. An un-weighted model based on attributes of difficulty, interest and salience accounted for 96 percent of the task allocation variance across the 8 different conditions. Task difficulty served as an attractor, with more difficult tasks increasing the tendency to stay on task.

Formal Verification of Real-Time System Requirements

Directory of Open Access Journals (Sweden)

Marcin Szpyrka

2000-01-01

Full Text Available The methodology of system requirements verification presented in this paper is a proposition of a practical procedure for reducing some negatives of the specification of requirements. The main problem that is considered is to create a complete description of the system requirements without any negatives. Verification of the initially defined requirements is based on the coloured Petri nets. Those nets are useful for testing some properties of system requirements such as completeness, consistency and optimality. An example ofthe litt controller is presented.

Picking Robot Arm Trajectory Planning Method

Directory of Open Access Journals (Sweden)

Zhang Zhiyong

2014-01-01

Full Text Available The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the joint space, then follow these equations motion for the interpolation on the joint so that we can meet the movement requirements. Trajectory planning is decisive significance for accuracy and stability of controlling robot arm. The key issue that picking arm complete picking task will be come true by trajectory planning, namely, robot arm track the desired trajectory. which based on kinematics and statics picking analysis in a joint space according to the requirements of picking tasks, and obtain the position and orientation for picking robot arm, study and calculate the theory of trajectory parameters timely.

Arm locking with Doppler estimation errors

Energy Technology Data Exchange (ETDEWEB)

Yu Yinan; Wand, Vinzenz; Mitryk, Shawn; Mueller, Guido, E-mail: yinan@phys.ufl.ed [Department of Physics, University of Florida, Gainesville, FL 32611 (United States)

2010-05-01

At the University of Florida we developed the University of Florida LISA Interferometer Simulator (UFLIS) in order to study LISA interferometry with hardware in the loop at a system level. One of the proposed laser frequency stabilization techniques in LISA is arm locking. Arm locking uses an adequately filtered linear combination of the LISA arm signals as a frequency reference. We will report about experiments in which we demonstrated arm locking using UFLIS. During these experiments we also discovered a problem associated with the Doppler shift of the return beam. The initial arm locking publications assumed that this Doppler shift can perfectly be subtracted inside the phasemeter or adds an insignificant offset to the sensor signal. However, the remaining Doppler knowledge error will cause a constant change in the laser frequency if unaccounted for. Several ways to circumvent this problem have been identified. We performed detailed simulations and started preliminary experiments to verify the performance of the proposed new controller designs.

Verification of product quality from process control

International Nuclear Information System (INIS)

Drobot, A.; Bunnell, L.R.; Freeborn, W.P.; Macedo, P.B.; Mellinger, G.B.; Pegg, I.L.; Piepel, G.F.; Reimus, M.A.H.; Routt, K.R.; Saad, E.

1989-01-01

Process models were developed to characterize the waste vitrification at West Valley, in terms of process operating constraints and glass compositions achievable. The need for verification of compliance with the proposed Waste Acceptance Preliminary Specification criteria led to development of product models, the most critical one being a glass durability model. Both process and product models were used in developing a target composition for the waste glass. This target composition designed to ensure that glasses made to this target will be of acceptable durability after all process variations have been accounted for. 4 refs., 11 figs., 5 tabs

Is identity per se irrelevant? A contrarian view of self-verification effects

OpenAIRE

Gregg, Aiden P.

2008-01-01

Self-verification theory (SVT) posits that people who hold negative self-views, such as depressive patients, ironically strive to verify that these self-views are correct, by actively seeking out critical feedback or interaction partners who evaluate them unfavorably. Such verification strivings are allegedly directed towards maximizing subjective perceptions of prediction and control. Nonetheless, verification strivings are also alleged to stabilize maladaptive self-perceptions, and thereby ...

Nonproliferation and arms control assessment of weapons-usable fissile material storage and excess plutonium disposition alternatives

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-01-01

This report has been prepared by the Department of Energy`s Office of Arms Control and Nonproliferation (DOE-NN) with support from the Office of Fissile Materials Disposition (DOE-MD). Its purpose is to analyze the nonproliferation and arms reduction implications of the alternatives for storage of plutonium and HEU, and disposition of excess plutonium, to aid policymakers and the public in making final decisions. While this assessment describes the benefits and risks associated with each option, it does not attempt to rank order the options or choose which ones are best. It does, however, identify steps which could maximize the benefits and mitigate any vulnerabilities of the various alternatives under consideration.

Interdisciplinary Comprehensive Arm Rehabilitation Evaluation (ICARE: a randomized controlled trial protocol

Directory of Open Access Journals (Sweden)

Winstein Carolee J

2013-01-01

Full Text Available Abstract Background Residual disability after stroke is substantial; 65% of patients at 6 months are unable to incorporate the impaired upper extremity into daily activities. Task-oriented training programs are rapidly being adopted into clinical practice. In the absence of any consensus on the essential elements or dose of task-specific training, an urgent need exists for a well-designed trial to determine the effectiveness of a specific multidimensional task-based program governed by a comprehensive set of evidence-based principles. The Interdisciplinary Comprehensive Arm Rehabilitation Evaluation (ICARE Stroke Initiative is a parallel group, three-arm, single blind, superiority randomized controlled trial of a theoretically-defensible, upper extremity rehabilitation program provided in the outpatient setting. The primary objective of ICARE is to determine if there is a greater improvement in arm and hand recovery one year after randomization in participants receiving a structured training program termed Accelerated Skill Acquisition Program (ASAP, compared to participants receiving usual and customary therapy of an equivalent dose (DEUCC. Two secondary objectives are to compare ASAP to a true (active monitoring only usual and customary (UCC therapy group and to compare DEUCC and UCC. Methods/design Following baseline assessment, participants are randomized by site, stratified for stroke duration and motor severity. 360 adults will be randomized, 14 to 106 days following ischemic or hemorrhagic stroke onset, with mild to moderate upper extremity impairment, recruited at sites in Atlanta, Los Angeles and Washington, D.C. The Wolf Motor Function Test (WMFT time score is the primary outcome at 1 year post-randomization. The Stroke Impact Scale (SIS hand domain is a secondary outcome measure. The design includes concealed allocation during recruitment, screening and baseline, blinded outcome assessment and intention to treat analyses. Our primary

Software verification for nuclear industry

International Nuclear Information System (INIS)

Wilburn, N.P.

1985-08-01

Why verification of software products throughout the software life cycle is necessary is considered. Concepts of verification, software verification planning, and some verification methodologies for products generated throughout the software life cycle are then discussed

A hardware-software system for the automation of verification and calibration of oil metering units secondary equipment

Science.gov (United States)

Boyarnikov, A. V.; Boyarnikova, L. V.; Kozhushko, A. A.; Sekachev, A. F.

2017-08-01

In the article the process of verification (calibration) of oil metering units secondary equipment is considered. The purpose of the work is to increase the reliability and reduce the complexity of this process by developing a software and hardware system that provides automated verification and calibration. The hardware part of this complex carries out the commutation of the measuring channels of the verified controller and the reference channels of the calibrator in accordance with the introduced algorithm. The developed software allows controlling the commutation of channels, setting values on the calibrator, reading the measured data from the controller, calculating errors and compiling protocols. This system can be used for checking the controllers of the secondary equipment of the oil metering units in the automatic verification mode (with the open communication protocol) or in the semi-automatic verification mode (without it). The peculiar feature of the approach used is the development of a universal signal switch operating under software control, which can be configured for various verification methods (calibration), which allows to cover the entire range of controllers of metering units secondary equipment. The use of automatic verification with the help of a hardware and software system allows to shorten the verification time by 5-10 times and to increase the reliability of measurements, excluding the influence of the human factor.

Verification and Validation Challenges for Adaptive Flight Control of Complex Autonomous Systems

Science.gov (United States)

Nguyen, Nhan T.

2018-01-01

Autonomy of aerospace systems requires the ability for flight control systems to be able to adapt to complex uncertain dynamic environment. In spite of the five decades of research in adaptive control, the fact still remains that currently no adaptive control system has ever been deployed on any safety-critical or human-rated production systems such as passenger transport aircraft. The problem lies in the difficulty with the certification of adaptive control systems since existing certification methods cannot readily be used for nonlinear adaptive control systems. Research to address the notion of metrics for adaptive control began to appear in the recent years. These metrics, if accepted, could pave a path towards certification that would potentially lead to the adoption of adaptive control as a future control technology for safety-critical and human-rated production systems. Development of certifiable adaptive control systems represents a major challenge to overcome. Adaptive control systems with learning algorithms will never become part of the future unless it can be proven that they are highly safe and reliable. Rigorous methods for adaptive control software verification and validation must therefore be developed to ensure that adaptive control system software failures will not occur, to verify that the adaptive control system functions as required, to eliminate unintended functionality, and to demonstrate that certification requirements imposed by regulatory bodies such as the Federal Aviation Administration (FAA) can be satisfied. This presentation will discuss some of the technical issues with adaptive flight control and related V&V challenges.

An Inverse Optimal Control Approach to Explain Human Arm Reaching Control Based on Multiple Internal Models.

Science.gov (United States)

Oguz, Ozgur S; Zhou, Zhehua; Glasauer, Stefan; Wollherr, Dirk

2018-04-03

Human motor control is highly efficient in generating accurate and appropriate motor behavior for a multitude of tasks. This paper examines how kinematic and dynamic properties of the musculoskeletal system are controlled to achieve such efficiency. Even though recent studies have shown that the human motor control relies on multiple models, how the central nervous system (CNS) controls this combination is not fully addressed. In this study, we utilize an Inverse Optimal Control (IOC) framework in order to find the combination of those internal models and how this combination changes for different reaching tasks. We conducted an experiment where participants executed a comprehensive set of free-space reaching motions. The results show that there is a trade-off between kinematics and dynamics based controllers depending on the reaching task. In addition, this trade-off depends on the initial and final arm configurations, which in turn affect the musculoskeletal load to be controlled. Given this insight, we further provide a discomfort metric to demonstrate its influence on the contribution of different inverse internal models. This formulation together with our analysis not only support the multiple internal models (MIMs) hypothesis but also suggest a hierarchical framework for the control of human reaching motions by the CNS.

Using Functional Electrical Stimulation Mediated by Iterative Learning Control and Robotics to Improve Arm Movement for People With Multiple Sclerosis.

Science.gov (United States)

Sampson, Patrica; Freeman, Chris; Coote, Susan; Demain, Sara; Feys, Peter; Meadmore, Katie; Hughes, Ann-Marie

2016-02-01

Few interventions address multiple sclerosis (MS) arm dysfunction but robotics and functional electrical stimulation (FES) appear promising. This paper investigates the feasibility of combining FES with passive robotic support during virtual reality (VR) training tasks to improve upper limb function in people with multiple sclerosis (pwMS). The system assists patients in following a specified trajectory path, employing an advanced model-based paradigm termed iterative learning control (ILC) to adjust the FES to improve accuracy and maximise voluntary effort. Reaching tasks were repeated six times with ILC learning the optimum control action from previous attempts. A convenience sample of five pwMS was recruited from local MS societies, and the intervention comprised 18 one-hour training sessions over 10 weeks. The accuracy of tracking performance without FES and the amount of FES delivered during training were analyzed using regression analysis. Clinical functioning of the arm was documented before and after treatment with standard tests. Statistically significant results following training included: improved accuracy of tracking performance both when assisted and unassisted by FES; reduction in maximum amount of FES needed to assist tracking; and less impairment in the proximal arm that was trained. The system was well tolerated by all participants with no increase in muscle fatigue reported. This study confirms the feasibility of FES combined with passive robot assistance as a potentially effective intervention to improve arm movement and control in pwMS and provides the basis for a follow-up study.

Kinematic decomposition and classification of octopus arm movements

Directory of Open Access Journals (Sweden)

Ido eZelman

2013-05-01

Full Text Available The octopus arm is a muscular hydrostat and due to its deformable and highly flexible structure it is capable of a rich repertoire of motor behaviors. Its motor control system uses planning principles and control strategies unique to muscular hydrostats. We previously reconstructed a data set of octopus arm movements from records of natural movements using a sequence of 3D curves describing the virtual backbone of arm configurations. Here we describe a novel representation of octopus arm movements in which a movement is characterized by a pair of surfaces that represent the curvature and torsion values of points along the arm as a function of time. This representation allowed us to explore whether the movements are built up of elementary kinematic units by decomposing each surface into a weighted combination of 2D Gaussian functions. The resulting Gaussian functions can be considered as motion primitives at the kinematic level of octopus arm movements. These can be used to examine underlying principles of movement generation. Here we used combination of such kinematic primitives to decompose different octopus arm movements and characterize several movement prototypes according to their composition. The representation and methodology can be applied to the movement of any organ which can be modeled by means of a continuous 3D curve.

Improved verification methods for safeguards verifications at enrichment plants

International Nuclear Information System (INIS)

Lebrun, A.; Kane, S. C.; Bourva, L.; Poirier, S.; Loghin, N. E.; Langlands, D.

2009-01-01

The International Atomic Energy Agency (IAEA) has initiated a coordinated research and development programme to improve its verification methods and equipment applicable to enrichment plants. The programme entails several individual projects to meet the objectives of the IAEA Safeguards Model Approach for Gas Centrifuge Enrichment Plants updated in 2006. Upgrades of verification methods to confirm the absence of HEU (highly enriched uranium) production have been initiated and, in particular, the Cascade Header Enrichment Monitor (CHEM) has been redesigned to reduce its weight and incorporate an electrically cooled germanium detector. Such detectors are also introduced to improve the attended verification of UF 6 cylinders for the verification of the material balance. Data sharing of authenticated operator weighing systems such as accountancy scales and process load cells is also investigated as a cost efficient and an effective safeguards measure combined with unannounced inspections, surveillance and non-destructive assay (NDA) measurement. (authors)

Improved verification methods for safeguards verifications at enrichment plants

Energy Technology Data Exchange (ETDEWEB)

Lebrun, A.; Kane, S. C.; Bourva, L.; Poirier, S.; Loghin, N. E.; Langlands, D. [Department of Safeguards, International Atomic Energy Agency, Wagramer Strasse 5, A1400 Vienna (Austria)

2009-07-01

The International Atomic Energy Agency (IAEA) has initiated a coordinated research and development programme to improve its verification methods and equipment applicable to enrichment plants. The programme entails several individual projects to meet the objectives of the IAEA Safeguards Model Approach for Gas Centrifuge Enrichment Plants updated in 2006. Upgrades of verification methods to confirm the absence of HEU (highly enriched uranium) production have been initiated and, in particular, the Cascade Header Enrichment Monitor (CHEM) has been redesigned to reduce its weight and incorporate an electrically cooled germanium detector. Such detectors are also introduced to improve the attended verification of UF{sub 6} cylinders for the verification of the material balance. Data sharing of authenticated operator weighing systems such as accountancy scales and process load cells is also investigated as a cost efficient and an effective safeguards measure combined with unannounced inspections, surveillance and non-destructive assay (NDA) measurement. (authors)

A saddle-point for data verification and materials accountancy to control nuclear material

International Nuclear Information System (INIS)

Beedgen, R.

1983-01-01

Materials accountancy is one of the main elements in international safeguards to determine whether or not nuclear material has been diverted in nuclear plants. The inspector makes independent measurements to verify the plant-operator's data before closing the materials balance with the operator's data. All inspection statements are in principle probability statements because of random errors in measuring the material and verification on a random sampling basis. Statistical test procedures help the inspector to decide under this uncertainty. In this paper a statistical test procedure representing a saddle-point is presented that leads to the highest guaranteed detection probability taking all concealing strategies into account. There are arguments favoring a separate statistical evaluation of data verification and materials accountancy. Following these considerations, a bivariate test procedure is explained that evaluates verification and accountancy separately. (orig.) [de

Light Duty Utility Arm computer software configuration management plan

International Nuclear Information System (INIS)

Philipp, B.L.

1998-01-01

This plan describes the configuration management for the Light Duty Utility Arm robotic manipulation arm control software. It identifies the requirement, associated documents, and the software control methodology. The Light Duty Utility Ann (LDUA) System is a multi-axis robotic manipulator arm and deployment vehicle, used to perform surveillance and characterization operations in support of remediation of defense nuclear wastes currently stored in the Hanford Underground Storage Tanks (USTs) through the available 30.5 cm (12 in.) risers. This plan describes the configuration management of the LDUA software

Poly(glycolide multi-arm star polymers: Improved solubility via limited arm length

Directory of Open Access Journals (Sweden)

Florian K. Wolf

2010-06-01

Full Text Available Due to the low solubility of poly(glycolic acid (PGA, its use is generally limited to the synthesis of random copolyesters with other hydroxy acids, such as lactic acid, or to applications that permit direct processing from the polymer melt. Insolubility is generally observed for PGA when the degree of polymerization exceeds 20. Here we present a strategy that allows the preparation of PGA-based multi-arm structures which significantly exceed the molecular weight of processable oligomeric linear PGA (<1000 g/mol. This was achieved by the use of a multifunctional hyperbranched polyglycerol (PG macroinitiator and the tin(II-2-ethylhexanoate catalyzed ring-opening polymerization of glycolide in the melt. With this strategy it is possible to combine high molecular weight with good molecular weight control (up to 16,000 g/mol, PDI = 1.4–1.7, resulting in PGA multi-arm star block copolymers containing more than 90 wt % GA. The successful linkage of PGA arms and PG core via this core first/grafting from strategy was confirmed by detailed NMR and SEC characterization. Various PG/glycolide ratios were employed to vary the length of the PGA arms. Besides fluorinated solvents, the materials were soluble in DMF and DMSO up to an average arm length of 12 glycolic acid units. Reduction in the Tg and the melting temperature compared to the homopolymer PGA should lead to simplified processing conditions. The findings contribute to broadening the range of biomedical applications of PGA.

Computer Language Choices in Arms Control and Nonproliferation Regimes

International Nuclear Information System (INIS)

White, G K

2005-01-01

The U.S. and Russian Federation continue to make substantive progress in the arms control and nonproliferation transparency regimes. We are moving toward an implementation choice for creating radiation measurement systems that are transparent in both their design and in their implementation. In particular, the choice of a programming language to write software for such regimes can decrease or significantly increase the costs of authentication. In this paper, we compare procedural languages with object-oriented languages. In particular, we examine the C and C++ languages; we compare language features, code generation, implementation details, and executable size and demonstrate how these attributes aid or hinder authentication and backdoor threats. We show that programs in lower level, procedural languages are more easily authenticated than are object-oriented ones. Potential tools and methods for authentication are covered. Possible mitigations are suggested for using object-oriented programming languages

Proprioceptive Interaction between the Two Arms in a Single-Arm Pointing Task.

Directory of Open Access Journals (Sweden)

Kazuyoshi Kigawa

Full Text Available Proprioceptive signals coming from both arms are used to determine the perceived position of one arm in a two-arm matching task. Here, we examined whether the perceived position of one arm is affected by proprioceptive signals from the other arm in a one-arm pointing task in which participants specified the perceived position of an unseen reference arm with an indicator paddle. Both arms were hidden from the participant's view throughout the study. In Experiment 1, with both arms placed in front of the body, the participants received 70-80 Hz vibration to the elbow flexors of the reference arm (= right arm to induce the illusion of elbow extension. This extension illusion was compared with that when the left arm elbow flexors were vibrated or not. The degree of the vibration-induced extension illusion of the right arm was reduced in the presence of left arm vibration. In Experiment 2, we found that this kinesthetic interaction between the two arms did not occur when the left arm was vibrated in an abducted position. In Experiment 3, the vibration-induced extension illusion of one arm was fully developed when this arm was placed at an abducted position, indicating that the brain receives increased proprioceptive input from a vibrated arm even if the arm was abducted. Our results suggest that proprioceptive interaction between the two arms occurs in a one-arm pointing task when the two arms are aligned with one another. The position sense of one arm measured using a pointer appears to include the influences of incoming information from the other arm when both arms were placed in front of the body and parallel to one another.

Upper ankle joint space detection on low contrast intraoperative fluoroscopic C-arm projections

Science.gov (United States)

Thomas, Sarina; Schnetzke, Marc; Brehler, Michael; Swartman, Benedict; Vetter, Sven; Franke, Jochen; Grützner, Paul A.; Meinzer, Hans-Peter; Nolden, Marco

2017-03-01

Intraoperative mobile C-arm fluoroscopy is widely used for interventional verification in trauma surgery, high flexibility combined with low cost being the main advantages of the method. However, the lack of global device-to- patient orientation is challenging, when comparing the acquired data to other intrapatient datasets. In upper ankle joint fracture reduction accompanied with an unstable syndesmosis, a comparison to the unfractured contralateral site is helpful for verification of the reduction result. To reduce dose and operation time, our approach aims at the comparison of single projections of the unfractured ankle with volumetric images of the reduced fracture. For precise assessment, a pre-alignment of both datasets is a crucial step. We propose a contour extraction pipeline to estimate the joint space location for a prealignment of fluoroscopic C-arm projections containing the upper ankle joint. A quadtree-based hierarchical variance comparison extracts potential feature points and a Hough transform is applied to identify bone shaft lines together with the tibiotalar joint space. By using this information we can define the coarse orientation of the projections independent from the ankle pose during acquisition in order to align those images to the volume of the fractured ankle. The proposed method was evaluated on thirteen cadaveric datasets consisting of 100 projections each with manually adjusted image planes by three trauma surgeons. The results show that the method can be used to detect the joint space orientation. The correlation between angle deviation and anatomical projection direction gives valuable input on the acquisition direction for future clinical experiments.

Evolution in nuclear strategy in US and Russia and its implications in arms control

Energy Technology Data Exchange (ETDEWEB)

Sokov, N

2003-07-01

Today, there is a growing tendency in war-fighting scenarios to include limited use of nuclear weapons. New developments in nuclear policy could be attributed to changes in the international situation like the multiplication of low level conflicts and the threat of terrorism. This paper analyzes the evolution of the Russian nuclear doctrine, the transformation of the US nuclear policy and their consequences on arms control. (J.S.)

Evolution in nuclear strategy in US and Russia and its implications in arms control

International Nuclear Information System (INIS)

Sokov, N.

2003-01-01

Today, there is a growing tendency in war-fighting scenarios to include limited use of nuclear weapons. New developments in nuclear policy could be attributed to changes in the international situation like the multiplication of low level conflicts and the threat of terrorism. This paper analyzes the evolution of the Russian nuclear doctrine, the transformation of the US nuclear policy and their consequences on arms control. (J.S.)

Physics Verification Overview

Energy Technology Data Exchange (ETDEWEB)

Doebling, Scott William [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

2017-09-12

The purpose of the verification project is to establish, through rigorous convergence analysis, that each ASC computational physics code correctly implements a set of physics models and algorithms (code verification); Evaluate and analyze the uncertainties of code outputs associated with the choice of temporal and spatial discretization (solution or calculation verification); and Develop and maintain the capability to expand and update these analyses on demand. This presentation describes project milestones.

The KNICS approach for verification and validation of safety software

International Nuclear Information System (INIS)

Cha, Kyung Ho; Sohn, Han Seong; Lee, Jang Soo; Kim, Jang Yeol; Cheon, Se Woo; Lee, Young Joon; Hwang, In Koo; Kwon, Kee Choon

2003-01-01

This paper presents verification and validation (VV) to be approached for safety software of POSAFE-Q Programmable Logic Controller (PLC) prototype and Plant Protection System (PPS) prototype, which consists of Reactor Protection System (RPS) and Engineered Safety Features-Component Control System (ESF-CCS) in development of Korea Nuclear Instrumentation and Control System (KNICS). The SVV criteria and requirements are selected from IEEE Std. 7-4.3.2, IEEE Std. 1012, IEEE Std. 1028 and BTP-14, and they have been considered for acceptance framework to be provided within SVV procedures. SVV techniques, including Review and Inspection (R and I), Formal Verification and Theorem Proving, and Automated Testing, are applied for safety software and automated SVV tools supports SVV tasks. Software Inspection Support and Requirement Traceability (SIS-RT) supports R and I and traceability analysis, a New Symbolic Model Verifier (NuSMV), Statemate MAGNUM (STM) ModelCertifier, and Prototype Verification System (PVS) are used for formal verification, and McCabe and Cantata++ are utilized for static and dynamic software testing. In addition, dedication of Commercial-Off-The-Shelf (COTS) software and firmware, Software Safety Analysis (SSA) and evaluation of Software Configuration Management (SCM) are being performed for the PPS prototype in the software requirements phase

Design of a VME bus controller based on ARM7 with embedded system

International Nuclear Information System (INIS)

Wang Yanyu; Qiao Weimin; Guo Yuhui; Li Xiaoqiang; Chinese Academy of Sciences, Beijing

2005-01-01

This paper introduces the solution of a VME-like bus Controller briefly. Samsung's S3C4510B 16/32-bit RISC microcontroller with ARM7 core is a high-performance microcontroller support Ethernet-based systems. The authors use S3C4510B, VIC-068A and CPLD devices built a high speed data route from VME-like Bus to network, the fast link between background computer data-base and front-end target module is achieved over network. (authors)

The development of fabrication techniques for europia/iron cermet tips for coarse-control arms in DIDO and PLUTO

International Nuclear Information System (INIS)

Moore, D.A.; Tarrant, E.A.

1980-11-01

The applicability of cermet-fabrication techniques to the production of europia/iron cermets for use as coarse-control arm tips in the materials test reactors DIDO and PLUTO has been investigated. Spheroids of europia were prepared by a dry agglomeration process. These were sintered, dispersed in iron powder and pressed into plates; the plates were then sintered to densify the iron matrix. These stages were optimised to produce a strong cermet with a europia density of >= 2.75 g/cm 3 . The uniformity of distribution of the absorber particles was confirmed by radiography, and adequate neutron-absorption worth by measurements carried out in the GLEEP reactor. An outline flow sheet has been prepared for the manufacture of europia/iron cermet plates suitable for use in the tips of DIDO and PLUTO coarse-control arms. (author)

BAGHOUSE FILTRATION PRODUCTS VERIFICATION TESTING, HOW IT BENEFITS THE BOILER BAGHOUSE OPERATOR

Science.gov (United States)

The paper describes the Environmental Technology Verification (ETV) Program for baghouse filtration products developed by the Air Pollution Control Technology Verification Center, one of six Centers under the ETV Program, and discusses how it benefits boiler baghouse operators. A...

78 FR 36307 - Proposed Information Collection (Shoulder and Arm Conditions Disability Benefits Questionnaire...

Science.gov (United States)

2013-06-17

... (Shoulder and Arm Conditions Disability Benefits Questionnaire) Activity: Comment Request AGENCY: Veterans... ``OMB Control No. 2900--NEW (Shoulder and Arm Conditions Disability Benefits Questionnaire)'' in any...: Shoulder and Arm Conditions Disability Benefits Questionnaire, VA Form 21-0960M-12. OMB Control Number...

Desain Proportional Integral Derrivative (Pid) Controller Pada Model Arm Robot Manipulator

OpenAIRE

Pratama, Adhityanendra Pandu; Munadi, Munadi

2014-01-01

Dalam rangka menuju proses industrialisasi modern di negara Indonesia, harus didukung dengan teknologi yang canggih, contoh nya adalah arm robot manipulator. sebagai pelaku proses produksi sehingga dihasilkan ketepatan,kepresisian, dan kefektifan pada proses produksi. Dengan hal tersebut dibuat sebuah desain kontrol PID pada arm robot manipulator dengan tujuan menghasilkan tingkat presisi dan kestabilan yang lebih baik. Kontroler tersebut didesain, disimulasikan, dan diaplikasikan pada ha...

Nuclear Arms Control, Nonproliferation, and Counterterrorism: Impacts on Public Health

Science.gov (United States)

Pregenzer, Arian

2014-01-01

Reducing the risks of nuclear war, limiting the spread of nuclear weapons, and reducing global nuclear weapons stockpiles are key national and international security goals. They are pursued through a variety of international arms control, nonproliferation, and counterterrorism treaties and agreements. These legally binding and political commitments, together with the institutional infrastructure that supports them, work to establish global norms of behavior and have limited the spread of weapons of mass destruction. Beyond the primary security objectives, reducing the likelihood of the use of nuclear weapons, preventing environmental releases of radioactive material, increasing the availability of safe and secure nuclear technology for peaceful purposes, and providing scientific data relevant to predicting and managing the consequences of natural or human-caused disasters worldwide provide significant benefits to global public health. PMID:24524501

Strategy of arm movement control is determined by minimization of neural effort for joint coordination.

Science.gov (United States)

Dounskaia, Natalia; Shimansky, Yury

2016-06-01

Optimality criteria underlying organization of arm movements are often validated by testing their ability to adequately predict hand trajectories. However, kinematic redundancy of the arm allows production of the same hand trajectory through different joint coordination patterns. We therefore consider movement optimality at the level of joint coordination patterns. A review of studies of multi-joint movement control suggests that a 'trailing' pattern of joint control is consistently observed during which a single ('leading') joint is rotated actively and interaction torque produced by this joint is the primary contributor to the motion of the other ('trailing') joints. A tendency to use the trailing pattern whenever the kinematic redundancy is sufficient and increased utilization of this pattern during skillful movements suggests optimality of the trailing pattern. The goal of this study is to determine the cost function minimization of which predicts the trailing pattern. We show that extensive experimental testing of many known cost functions cannot successfully explain optimality of the trailing pattern. We therefore propose a novel cost function that represents neural effort for joint coordination. That effort is quantified as the cost of neural information processing required for joint coordination. We show that a tendency to reduce this 'neurocomputational' cost predicts the trailing pattern and that the theoretically developed predictions fully agree with the experimental findings on control of multi-joint movements. Implications for future research of the suggested interpretation of the trailing joint control pattern and the theory of joint coordination underlying it are discussed.

Changes in arm-hand function and arm-hand skill performance in patients after stroke during and after rehabilitation.

Science.gov (United States)

Franck, Johan Anton; Smeets, Rob Johannes Elise Marie; Seelen, Henk Alexander Maria

2017-01-01

Arm-hand rehabilitation programs applied in stroke rehabilitation frequently target specific populations and thus are less applicable in heterogeneous patient populations. Besides, changes in arm-hand function (AHF) and arm-hand skill performance (AHSP) during and after a specific and well-described rehabilitation treatment are often not well evaluated. This single-armed prospective cohort study featured three subgroups of stroke patients with either a severely, moderately or mildly impaired AHF. Rehabilitation treatment consisted of a Concise_Arm_and_hand_ Rehabilitation_Approach_in_Stroke (CARAS). Measurements at function and activity level were performed at admission, clinical discharge, 3, 6, 9 and 12 months after clinical discharge. Eighty-nine stroke patients (M/F:63/23; mean age:57.6yr (+/-10.6); post-stroke time:29.8 days (+/-20.1)) participated. All patients improved on AHF and arm-hand capacity during and after rehabilitation, except on grip strength in the severely affected subgroup. Largest gains occurred in patients with a moderately affected AHF. As to self-perceived AHSP, on average, all subgroups improved over time. A small percentage of patients declined regarding self-perceived AHSP post-rehabilitation. A majority of stroke patients across the whole arm-hand impairment severity spectrum significantly improved on AHF, arm-hand capacity and self-perceived AHSP. These were maintained up to one year post-rehabilitation. Results may serve as a control condition in future studies.

Organics Verification Study for Sinclair and Dyes Inlets, Washington

Energy Technology Data Exchange (ETDEWEB)

Kohn, Nancy P.; Brandenberger, Jill M.; Niewolny, Laurie A.; Johnston, Robert K.

2006-09-28

Sinclair and Dyes Inlets near Bremerton, Washington, are on the State of Washington 1998 303(d) list of impaired waters because of fecal coliform contamination in marine water, metals in sediment and fish tissue, and organics in sediment and fish tissue. Because significant cleanup and source control activities have been conducted in the inlets since the data supporting the 1998 303(d) listings were collected, two verification studies were performed to address the 303(d) segments that were listed for metal and organic contaminants in marine sediment. The Metals Verification Study (MVS) was conducted in 2003; the final report, Metals Verification Study for Sinclair and Dyes Inlets, Washington, was published in March 2004 (Kohn et al. 2004). This report describes the Organics Verification Study that was conducted in 2005. The study approach was similar to the MVS in that many surface sediment samples were screened for the major classes of organic contaminants, and then the screening results and other available data were used to select a subset of samples for quantitative chemical analysis. Because the MVS was designed to obtain representative data on concentrations of contaminants in surface sediment throughout Sinclair Inlet, Dyes Inlet, Port Orchard Passage, and Rich Passage, aliquots of the 160 MVS sediment samples were used in the analysis for the Organics Verification Study. However, unlike metals screening methods, organics screening methods are not specific to individual organic compounds, and are not available for some target organics. Therefore, only the quantitative analytical results were used in the organics verification evaluation. The results of the Organics Verification Study showed that sediment quality outside of Sinclair Inlet is unlikely to be impaired because of organic contaminants. Similar to the results for metals, in Sinclair Inlet, the distribution of residual organic contaminants is generally limited to nearshore areas already within the

Training the Unimpaired Arm Improves the Motion of the Impaired Arm and the Sitting Balance in Chronic Stroke Survivors.

Science.gov (United States)