WorldWideScience

Sample records for arms control

  1. The arms race control

    International Nuclear Information System (INIS)

    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)

  2. Arms control: misplaced focus

    Energy Technology Data Exchange (ETDEWEB)

    Schwartz, W.A.; Derber, C.

    1986-03-01

    Most of the nuclear debate consists of arguments about which weapons systems should be built, controlled, canceled, frozen, or retired. Short of virtually complete, multilateral nuclear disarmament, however, no change in the pace, balance, or even the direction of the arms race can make much difference in the risk of nuclear war, the damage should one occur, or the division of international political power. This includes Star Wars, the nuclear freeze, and even large cuts in or stabilization of offensive nuclear arsenals. A better starting point for nuclear politics would be the insight that nuclear weapons have completely changed the logic of power as it has been handed down through the ages. Military force, perfected to its highest level, has invalidated itself - for in a nuclearized world, any resort to force by a nuclear power risks escalation to its ultimate level, and thus to oblivion for all. Trying to rationalize and control the ultimate force is far less realistic and important than limiting the provocation of conflict and the use of force at lower, non-nuclear levels - by the United States, it clients, and, to the extent possible, its adversaries. 13 references.

  3. 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).

  4. Design of Robotic Arm Control System Mimics Human Arm Motion

    Directory of Open Access Journals (Sweden)

    A. Salam Al-Ammri

    2013-01-01

    Full Text Available This paper presents a control system to make the robotic hand mimic human hand motion in real time and offline mode. The human hand tracking system is a wearable sensing arm (potentiometers used to determine the position in space and to sense the grasping task of human hand. The maskable sensing arm was designed with same geometrical arrangement of robotic hand that needs to be controlled. The control software of a robot was implemented using Visual Basic and supported with graphical user interface (GUI. The control algorithm depends on joint to joint mapping method to match between the motions at each joint of portable sensing arm with corresponding joint of a robot in order to make the robot mimic the motion.

  5. Arms Control and Strategic Stability

    Institute of Scientific and Technical Information of China (English)

    Hu; Yumin

    2014-01-01

    This essay intends to offer a comment on concepts, trends and attitudes concerning arms control and strategic stability with reference to the current international security situation. It also offers observations from two different perspectives about strategic stability: one proceeds from the concept of universal security and aims to prevent conflicts and instability from disrupting regional and international security environment on which nation states depend so much for their peaceful development; the other starts from maintaining the global leadership by a super power and aiming to contain any challenge that sways or is likely to sway its dominating status. If China and the United States commit themselves to the undertaking of a new type of major powers relationship that stresses win-win cooperation, they will be able to contribute greatly to a stable international security architecture that is good for world peaceful development.

  6. Systems Approach to Arms Control Verification

    Energy Technology Data Exchange (ETDEWEB)

    Allen, K; Neimeyer, I; Listner, C; Stein, G; Chen, C; Dreicer, M

    2015-05-15

    Using the decades of experience of developing concepts and technologies for verifying bilateral and multilateral arms control agreements, a broad conceptual systems approach is being developed that takes into account varying levels of information and risk. The IAEA has already demonstrated the applicability of a systems approach by implementing safeguards at the State level, with acquisition path analysis as the key element. In order to test whether such an approach could also be implemented for arms control verification, an exercise was conducted in November 2014 at the JRC ITU Ispra. Based on the scenario of a hypothetical treaty between two model nuclear weapons states aimed at capping their nuclear arsenals at existing levels, the goal of this exercise was to explore how to use acquisition path analysis in an arms control context. Our contribution will present the scenario, objectives and results of this exercise, and attempt to define future workshops aimed at further developing verification measures that will deter or detect treaty violations.

  7. Tags and seals for arms control verification

    Energy Technology Data Exchange (ETDEWEB)

    DeVolpi, A.

    1990-09-18

    Tags and seals have long been recognized as important tools in arms control. The trend in control of armaments is to limit militarily significant equipment that is capable of being verified through direct and cooperative means, chiefly on-site inspection or monitoring. Although this paper will focus on the CFE treaty, the role of tags and seals for other treaties will also be addressed. Published technology and concepts will be reviewed, based on open sources. Arms control verification tags are defined as unique identifiers designed to be tamper-revealing; in that respect, seals are similar, being used as indicators of unauthorized access. Tamper-revealing tags might be considered as single-point markers, seals as two-point couplings, and nets as volume containment. The functions of an arms control tag can be considered to be two-fold: to provide field verification of the identity of a treaty-limited item (TLI), and to have a means of authentication of the tag and its tamper-revealing features. Authentication could take place in the field or be completed elsewhere. For CFE, the goal of tags and seals can be to reduce the overall cost of the entire verification system.

  8. Computer aided control of a mechanical arm

    Science.gov (United States)

    Derocher, W. L., Jr.; Zermuehlen, r. O.

    1979-01-01

    A method for computer-aided remote control of a six-degree-of-freedom manipulator arm involved in the on-orbit servicing of a spacecraft is presented. The control configuration features a supervisory type of control in which each of the segments of a module exchange trajectory is controlled automatically under human supervision, with manual commands to proceed to the next step and in the event of a failure or undesirable outcome. The implementation of the supervisory system is discussed in terms of necessary onboard and ground- or Orbiter-based hardware and software, and a one-g demonstration system built to allow further investigation of system operation is described. Possible applications of the system include the construction of satellite solar power systems, environmental testing and the control of heliostat solar power stations.

  9. Europe, arms control and American security

    International Nuclear Information System (INIS)

    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

  10. 27 CFR 479.193 - Arms Export Control Act.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 3 2010-04-01 2010-04-01 false Arms Export Control Act... CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating to the registration and licensing of persons engaged in the business of manufacturing, importing...

  11. Arms control and the rule of law

    International Nuclear Information System (INIS)

    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

  12. 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.

  13. Embedded ARM Control Robotic Arm using BoaWeb server – a Survey

    Directory of Open Access Journals (Sweden)

    V.Sirisha

    2015-10-01

    Full Text Available In today’s market, the competing microprocessors are ARM (Advanced Risc Microprocessor, Intel, AMD. ARM is preferred since it has been powering portable devices for decades and has simple architecture to keep the energy waste to be minimum. The electronics advancements and embedded technology advancements have become a challenging field in today’s techno world. In paper, the diligent features of embedded systems are introduced. It deals about how a robot is controlled using embedded operating system and ARM. Based on the combination of ARM, DSP and ARM Linux, the robot is controlled. The paper introduces development of embedded robot control system using Wi-Fi and also IOT. The embedded control system design includes four aspects. i.e., system structure, functions, hardware design and software design. By using these aspects (hardware and software adjustments, many robotic applications can be developed. Due to the fast execution speed and reasonable Ethernet speed in ARM processor, this system can be used in industrial oriented applications where there is very much necessity of safety and security.

  14. The purposes, achievements, and priorities of arms control

    International Nuclear Information System (INIS)

    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

  15. 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)

  16. Arm coordination in octopus crawling involves unique motor control strategies.

    Science.gov (United States)

    Levy, Guy; Flash, Tamar; Hochner, Binyamin

    2015-05-01

    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.

  17. Modelling and Control of 5 dof Robotic Arm

    Directory of Open Access Journals (Sweden)

    Nurettin Gökhan Adar

    2013-01-01

    Full Text Available In this paper, dynamic modeling of a 5 DOF Robotic Arm was carried out. The Robotic Arm totally had 5 DOF spatial articulated arm which consist of 3 parts. The modeling of dynamic equations of motion were based on Lagrange-Euler equations. The equations were taked into matrix-vector form. The parts of Robotic Arm had been in free fall to see the accuracy of the equations of motion and each joint graphs were obtained. A control algorithm was designed to achieve the position of the joint corresponding to the desired scenario. PID control algorithm is used in this study. As a result of the simulation of the orbits of the cubic joint position had been followed up successfully.

  18. Gravitoinertial force level influences arm movement control

    Science.gov (United States)

    Fisk, J.; Lackner, J. R.; DiZio, P.

    1993-01-01

    1. The ability to move the forearm between remembered elbow joint angles immediately after rapid increases or decreases of the background gravitoinertial force (G) level was measured. The movements had been well-practiced in a normal 1G environment before the measurements in high-(1.8G) and low-force (0G) environments. The forearm and upper arm were always unsupported to maximize the influence of altered G-loading and to minimize extraneous cues about arm position. 2. Horizontal and vertical movement planes were studied to measure the effects of varying the G load in the movement plane within a given G background. Rapid and slow movements were studied to assess the role of proprioceptive feedback. 3. G level did not affect the amplitude of rapid movements, indicating that subjects were able to plan and to generate appropriate motor commands for the new G loading of the arm. The amplitude of slow movements was affected by G level, indicating that proprioceptive feedback is influenced by G level. 4. The effects of G level were similar for horizontal and vertical movements, indicating that proprioceptive information from supporting structures, such as the shoulder joint and muscles, had a role in allowing generation of the appropriate motor commands. 5. The incidence and size of dynamic overshoots were greater in 0G and for rapid movements. This G-related change in damping suggests a decrease in muscle spindle activity in 0G. A decrease in muscle spindle activity in 0G and an increase in 1.8G are consistent with the results of our prior studies on the tonic vibration reflex, locomotion, and perception of head movement trajectory in varying force backgrounds.

  19. 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.

  20. The importance of domestic law to international arms control

    International Nuclear Information System (INIS)

    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

  1. Weintek interfaces for controlling the position of a robotic arm

    Science.gov (United States)

    Barz, C.; Ilia, M.; Ilut, T.; Pop-Vadean, A.; Pop, P. P.; Dragan, F.

    2016-08-01

    The paper presents the use of Weintek panels to control the position of a robotic arm, operated step by step on the three motor axes. PLC control interface is designed with a Weintek touch screen. The HMI Weintek eMT3070a is the user interface in the process command of the PLC. This HMI controls the local PLC, entering the coordinate on the axes X, Y and Z. The subject allows the development in a virtual environment for e-learning and monitoring the robotic arm actions.

  2. ANFIS-PID Controller for Arm Rehabilitation Device

    Directory of Open Access Journals (Sweden)

    M.H.Jali

    2015-10-01

    Full Text Available In this paper, the arm rehabilitation device controller based on fuzzy logic techniques is presented. Patients who has post-stroke may lose control of their upper limb. If they are treated with functional rehabilitation training, the patients can rehabilitate their motion functions and working abilities. These rehabilitation devices are used to recover the movement of arm after stroke. Many controllers had been used for the rehabilitation device and one of them is ANFIS-PID controller where Adaptive Neuro-Fuzzy Inference System (ANFIS technique is the combination of fuzzy logic and neural network system. The objectives of this project are to develop arm rehabilitation device controller based on the ANFIS-PID technique. The development of ANFIS is purposely as an inverse model to the system and proportional-integral- erivative (PID controller as a feedback control. EMG model is integrated to the control system as reference where Artificial Neural Network (ANN is used to model the EMG to position relationship. Simulation is conducted using MATLAB to validate the system performance that is integrated with EMG model. Then the performance is compared between ANFIS-PID controller and PID alone controller. ANFIS–PID controller reduced more tracking error compared to PID controller and demonstrates better results when disturbance is applied to the control system.

  3. 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

  4. Biologically Inspired Robotic Arm Control Using an Artificial Neural Oscillator

    Directory of Open Access Journals (Sweden)

    Woosung Yang

    2010-01-01

    Full Text Available We address a neural-oscillator-based control scheme to achieve biologically inspired motion generation. In general, it is known that humans or animals exhibit novel adaptive behaviors regardless of their kinematic configurations against unexpected disturbances or environment changes. This is caused by the entrainment property of the neural oscillator which plays a key role to adapt their nervous system to the natural frequency of the interacted environments. Thus we focus on a self-adapting robot arm control to attain natural adaptive motions as a controller employing neural oscillators. To demonstrate the excellence of entrainment, we implement the proposed control scheme to a single pendulum coupled with the neural oscillator in simulation and experiment. Then this work shows the performance of the robot arm coupled to neural oscillators through various tasks that the arm traces a trajectory. With these, the real-time closed-loop system allowing sensory feedback of the neural oscillator for the entrainment property is proposed. In particular, we verify an impressive capability of biologically inspired self-adaptation behaviors that enables the robot arm to make adaptive motions corresponding to an unexpected environmental variety.

  5. Anchoring the "floating arm": Use of proprioceptive and mirror visual feedback from one arm to control involuntary displacement of the other arm.

    Science.gov (United States)

    Brun, C; Guerraz, M

    2015-12-01

    Arm movement control takes advantage of multiple inputs, including those originating from the contralateral arm. In the mirror paradigm, it has been suggested that control of the unseen arm, hidden by the mirror, is facilitated by the reflection of the other, moving arm. Although proprioceptive feedback originating from the moving arm, (the image of which is reflected in the mirror), is always coupled with visual feedback in the mirror paradigm, the former has received little attention. We recently showed that the involuntary arm movement following a sustained, isometric contraction, known as the "floating arm" or "Kohnstamm phenomenon", was adjusted to the passive-motorized displacement of the other arm. However, provision of mirror feedback, that is, the reflection in the mirror of the passively moved arm, did not add to this coupling effect. Therefore, the interlimb coupling in the mirror paradigm may to a large extent have a proprioceptive origin rather than a visual origin. The objective of the present study was to decouple mirror feedback and proprioceptive feedback from the reflected, moving arm and evaluate their respective contributions to interlimb coupling in the mirror paradigm. First (in Experiment 1, under eyes-closed conditions), we found that masking the proprioceptive afferents of the passively moved arm (by co-vibrating the antagonistic biceps and triceps muscles) suppressed the interlimb coupling between involuntary displacement of one arm and passive displacement of the other. Next (in Experiment 2), we masked proprioceptive afferents of the passively moved arm and specifically evaluated mirror feedback. We found that interlimb coupling through mirror feedback (though significant) was weaker than interlimb coupling through proprioceptive feedback. Overall, the present results show that in the mirror paradigm, proprioceptive feedback is stronger and more consistent than visual-mirror feedback in terms of the impact on interlimb coupling.

  6. 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.

  7. 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.

  8. Current Situation of International Nuclear Arms Control and Nuclear Disarmament

    Institute of Scientific and Technical Information of China (English)

    Gong; Xianfu

    2014-01-01

    <正>Currently,international nuclear arms control and nuclear disarmament process is showing both encouraging and frustrating signs,with a stress on the latter.The following is a general picture:First,the new U.S.-Russian nuclear disarmament process faces challenges and prospect of a new round of nuclear disarmament negotiation is grim.As a result of implementing the New START signed in February 2011,as of March 1,2014,the United States has 1585

  9. Telepresence control of a dual-arm dexterous robot

    Science.gov (United States)

    Li, Larry; Cox, Brian; Shelton, Susan; Diftler, Myron

    1994-01-01

    Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory-motor skills of an on-orbit crew and effectively transfers them to a slave robot. A dual-arm dexterous robot operating under telepresence control has been developed and is being evaluated. Preliminary evaluation revealed several important observations that suggest the directions of future enhancement.

  10. Next generation nuclear arms control staff development initiative

    International Nuclear Information System (INIS)

    Full text: The current demographics for staff with nuclear expertise within the United States National Laboratory complex are dominated by a well experienced, but departing late-career workforce, a cadre of mid-career staff that are relatively few in number, and entry-level staff that are well educated but inexperienced, particularly in nuclear arms control and international nuclear safeguards affairs. Although there are a few significant United States Department of Energy (DOE) Programs that have been established to deal with this issue across the Laboratory complex (Next Generation Safeguards Initiative and Nonproliferation Graduate Fellowship Program, as two examples), it remains the responsibility of the individual laboratories to provide internal education, training and development activities to move the next generation of nuclear arms control practitioners to higher levels of competency and responsibility. This presentation describes an internal Next Generation Nuclear Arms Control Staff Development Initiative for early- to mid-career technical and policy experts from a broad range of disciplines at the Pacific Northwest National Laboratory (PNNL). Elements of this internally funded PNNL initiative include, inter alia, student selection criteria, course focus and objectives, core curriculum topics, the distinguished guest speakers series, practical applications of new knowledge and other student responsibilities for action and engagement, training for technical publication, funding issues, and successes and achievements from the very first class of 2012. (author)

  11. The KALI multi-arm robot programming and control environment

    Science.gov (United States)

    Backes, Paul; Hayati, Samad; Hayward, Vincent; Tso, Kam

    1989-01-01

    The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

  12. Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

    International Nuclear Information System (INIS)

    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

  13. The Ukraine crisis and control of weapons of mass destruction: impacts on German arms control objectives

    OpenAIRE

    Oliver, Meier

    2014-01-01

    Russia's annexation of Crimea will make it harder for Germany to achieve its disarmament and non-proliferation objectives. Joint action by Russia and the United States to reduce their strategic nuclear arsenals appears unlikely in the medium term. And that reduces the chances of tactical nuclear weapons being included - as Germany would prefer - in a future arms control accord. While existing nuclear arms control agreements have not thus far been openly called into question, they may yet beco...

  14. Friction in the development of arms control policy. Research report

    Energy Technology Data Exchange (ETDEWEB)

    Gordon, J.A.

    1986-05-01

    This report reviews the arms-control policy and decision-making process of the last several administrations with the emphasis on how frictional forces, not unlike those discussed by von Clausewitz, affect the process. It is discusses friction within administrations, as a result of Congressional actions, from nongovernmental organizations, and from the media. Friction is present in every process involving individuals and organizations with differing views and objectives. It may not be desirable to remove all friction from the process, even if it were possible to do so, lest the decision makers stifle creativity and lose the benefit of a variety of views and approaches.

  15. Motion control of the satellite mounted robot arm which assures satellite attitude stability

    Science.gov (United States)

    Mitsushige, Oda

    When a robot arm is mounted on a satellite to perform some tasks, the satellite's attitude must be stabilized to retain the communication link and to generate electrical power from solar panels. It is not realistic to control the total system as one dynamic system, since the number of degrees of freedom becomes too large to be handled by state-of-the-art satellite mounted computers. This paper proposes a coordinated control between the satellite's attitude control system and the robot-arm control system. The robot-arm control system estimates the angular momentum of the planned robot-arm's motion. The satellite's attitude control system will compensate for the reaction by using feed-forward control. The robot-arm controller also manages the motion plan of the robot arm in order not to disturb the satellite's attitude stability.

  16. 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.

  17. Light Duty Utility Arm interface control document plan

    International Nuclear Information System (INIS)

    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

  18. 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.

  19. The Redundant Arm Self-motion Control Based on Self-tuning Fuzzy PID Controller

    Institute of Scientific and Technical Information of China (English)

    Liu Yu(刘宇); Sun Lining; Du Zhijiang

    2004-01-01

    A fuzzy control algorithm based on self-tuning PID proportional factor is presented. To a certain degree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and friction, and decreases overshoot of end manipulator's tracking desired curves. The controller's structure is very simple but effective. With this control method, a 7-DOF redundant arm's self-motion developed by the authors is investigated. Research results show that the said controller restrains track overshoot and possesses preferable merits.

  20. Supporting the President's Arms Control and Nonproliferation Agenda: Transparency and Verification for Nuclear Arms Reductions

    Energy Technology Data Exchange (ETDEWEB)

    Doyle, James E [Los Alamos National Laboratory; Meek, Elizabeth [Los Alamos National Laboratory

    2009-01-01

    The President's arms control and nonproliferation agenda is still evolving and the details of initiatives supporting it remain undefined. This means that DOE, NNSA, NA-20, NA-24 and the national laboratories can help define the agenda, and the policies and the initiatives to support it. This will require effective internal and interagency coordination. The arms control and nonproliferation agenda is broad and includes the path-breaking goal of creating conditions for the elimination of nuclear weapons. Responsibility for various elements of the agenda will be widely scattered across the interagency. Therefore an interagency mapping exercise should be performed to identify the key points of engagement within NNSA and other agencies for creating effective policy coordination mechanisms. These can include informal networks, working groups, coordinating committees, interagency task forces, etc. It will be important for NA-20 and NA-24 to get a seat at the table and a functional role in many of these coordinating bodies. The arms control and nonproliferation agenda comprises both mature and developing policy initiatives. The more mature elements such as CTBT ratification and a follow-on strategic nuclear arms treaty with Russia have defined milestones. However, recent press reports indicate that even the START follow-on strategic arms pact that is planned to be complete by the end of 2009 may take significantly longer and be more expansive in scope. The Russians called for proposals to count non-deployed as well as deployed warheads. Other elements of the agenda such as FMCT, future bilateral nuclear arms reductions following a START follow-on treaty, nuclear posture changes, preparations for an international nuclear security summit, strengthened international safeguards and multilateral verification are in much earlier stages of development. For this reason any survey of arms control capabilities within the USG should be structured to address potential needs

  1. Arms control and disarmament: A new conceptual approach

    International Nuclear Information System (INIS)

    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

  2. Templating as a Chain of Custody Tool for Arms Control

    Energy Technology Data Exchange (ETDEWEB)

    Benz, Jacob M.; Tanner, Jennifer E.; Duckworth, Leesa L.

    2013-06-01

    Historically, templates have been considered for use as a treaty accountable item (TAI) authentication tool, alongside item attributes. Because of this, the use of templates has fallen by the wayside due to the perceived intrusiveness of and handling/storage of template data; especially when compared to the negotiability of unclassified attribute threshold values. However, as a chain of custody tool, templates potentially have a large and important role to play in maintaining confidence in the authenticity of the treaty accountable items as they progress through an arms control regime. In general terms, templating is the process of creating a unique, measurable, and repeatable signature which is representative of the TAI. At any point in time, the signature can be re-measured or re-inspected to verify the signature has not changed. Chain of custody is the process by which a controlled boundary is established and maintained around a TAI to both deter and detect unauthorized access to the item. Typically, this is accomplished by putting a tamper indicating device (TID) on the item or container. The TID now acts as a surrogate for the item itself, and is continually checked to ensure the unique identifier and tamper indicating mechanisms have not changed since last inspection. This in and of itself is a form of templating. A stronger template is one that utilizes a signature of the combined item and container. There are many potential signatures which may be exploited, including radiation-, electromagnetic-, and acoustic-based signatures. This paper/presentation will explore the technology and mechanisms in which templating can be applied to create a more robust chain of custody over treaty accountable items as part of a future arms control regime.

  3. Future directions for arms control and nonproliferation. Conference summary

    Energy Technology Data Exchange (ETDEWEB)

    1994-07-06

    This report provides a summary of the presentations and discussions at the Spring 1994 CNSN-Wilton Park Conference. The Conference was one of a series on US-European security cooperation organized by The Center for National Security Negotiations (CNSN) of Science Applications International Corporation. These conferences bring together government and non-government experts, primarily from the United States and Europe, to discuss a range of regional and global security issues. The conferences provide an opportunity to explore, in a frank and off-the-record environment, common interests and concerns, as well as differences in approach that affect trans-Atlantic cooperation. This report is divided into the following three areas: (1) implementation of existing and pending agreements; (2) non-proliferation: prospects for trans-Atlantic cooperation; and (3) future directions in arms control.

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

    International Nuclear Information System (INIS)

    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)

  5. Detection Technologies, Arms control and nonproliferation technologies. Third/fourth quarters 1993

    Energy Technology Data Exchange (ETDEWEB)

    Staehle, G; Stull, S; Talaber, C; Moulthrop, P [eds.

    1993-12-31

    This issue of Arms Control and Nonproliferation Technologies is another in a series of issues about specific means for detecting and identifying proliferation and other suspect activities outside the realm of arms control treaties. All the projects discussed are funded by the Office of Research and Development of the Department of Energy`s Office of Nonproliferation and National Security.

  6. 77 FR 52105 - Announcement of the Innovation in Arms Control Challenge Under the America Competes...

    Science.gov (United States)

    2012-08-28

    ... Announcement of the Innovation in Arms Control Challenge Under the America Competes Reauthorization Act of 2011... first ``Innovation in Arms Control Challenge,'' with the goal of spurring innovation, and developing scientific and technological options that will provide additional transparency and information related...

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

    International Nuclear Information System (INIS)

    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

  8. A Determination of the Lifetime of a Set of PLUTO Coarse-Control Arms

    International Nuclear Information System (INIS)

    The Materials Testing Reactor PLUTO is controlled by seven coarse-control arms. These arms move as signal arms through the reactor core and are fabricated from cadmium sheet clad in stainless steel, the stainless steel being in direct contact with the D2O moderator. In a consideration of the safe operation of PLUTO, it is important that the lifetime of these arms, with regard to the burn-up of the cadmium, be accurately known. For an estimate of their lifetime each arm of the set was removed from the reactor after a known irradiation period, and the cadmium was analysed for determination of the burn-up which had taken place in the cadmium-113 isotope. In the analysis the cross section of solutions of cadmium samples, which had been punched from each arm, was compared with a solution of natural cadmium, the cross-sections being measured in the reactor GLEEP. The burn-up distribution over each of the cadmium arms is presented and discussed with regard to an estimation of the lifetime of each coarse-control arm in the reactor. Also presented is the thermal-flux distribution over the surface of two of the coarse-control arms, as measured in DAPHNE, the zero-power mock-up of PLUTO. (author)

  9. Optimal control model of arm configuration in a reaching task

    Science.gov (United States)

    Yamaguchi, Gary T.; Kakavand, Ali

    1996-05-01

    It was hypothesized that the configuration of the upper limb during a hand static positioning task could be predicted using a dynamic musculoskeletal model and an optimal control routine. Both rhesus monkey and human upper extremity models were formulated, and had seven degrees of freedom (7-DOF) and 39 musculotendon pathways. A variety of configurations were generated about a physiologically measured configuration using the dynamic models and perturbations. The pseudoinverse optimal control method was applied to compute the minimum cost C at each of the generated configurations. Cost function C is described by the Crowninshield-Brand (1981) criterion which relates C (the sum of muscle stresses squared) to the endurance time of a physiological task. The configuration with the minimum cost was compared to the configurations chosen by one monkey (four trials) and by eight human subjects (eight trials each). Results are generally good, but not for all joint angles, suggesting that muscular effort is likely to be one major factor in choosing a preferred static arm posture.

  10. Entering the New Millennium: Dilemmas in Arms Control; TOPICAL

    International Nuclear Information System (INIS)

    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

  11. Measurement approaches to support future warhead arms control transparency

    International Nuclear Information System (INIS)

    Transparency on warhead stockpiles, warhead dismantlement, and fissile material stockpiles in nuclear weapons states will become increasingly important in the move beyond START II toward lower quantities of warheads. Congressional support for further warhead reductions will likely depend on the degree of irreversibility, or in other words, the rapidity with which warhead inventories could be reconstituted. Whether irreversibility considerations can be satisfied will depend on monitoring dismantlement as well as constraining the available stockpile of fissile materials for possible refabrication into warheads. Measurement techniques designed to address the above problems will need to consider NPT Article 1 obligations as well as Russian and US classification regulations, which prohibit or restrict the transfer of nuclear warhead design information to other states. Classification considerations currently limit the potential completeness of future inspections of weapons materials. Many conventional international safeguards approaches are not currently viable for arms control applications because they would reveal weapons design information. The authors discuss a variety of technical measures that may help to improve transparence of warhead and fissile material stockpiles and may enable limited warhead dismantlement transparency

  12. 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.

  13. 78 FR 43959 - Announcement of the 2013 Innovation in Arms Control Challenge Under the America Competes...

    Science.gov (United States)

    2013-07-22

    ... applications of the proposed solution to broaden potential adoption of the technology beyond arms control...) announces the following challenge: What Information Technology Tools and Concepts Can Support Future Arms... proposed technology tool or concept. 3. Description of the concept's feasibility, achievability...

  14. 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.

  15. Design and Implementation of Prosthetic Arm using Gear Motor Control Technique with Appropriate Testing

    CERN Document Server

    Neogi, Biswarup; Ghosal, Soumya; Das, Achintya; Tibarewala, D N

    2011-01-01

    Any part of the human body replication procedure commences the prosthetic control science. This paper highlights the hardware design technique of a prosthetic arm with implementation of gear motor control aspect. The prosthetic control arm movement has been demonstrated in this paper applying processor programming and with the successful testing of the designed prosthetic model. The architectural design of the prosthetic arm here has been replaced by lighter material instead of heavy metal, as well as the traditional EMG (electro myographic) signal has been replaced by the muscle strain.

  16. Simultaneous Authentication and Certification of Arms-Control Measurement Systems

    International Nuclear Information System (INIS)

    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

  17. Manual input device for controlling a robot arm

    International Nuclear Information System (INIS)

    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)

  18. Integrated Optimal Model of Structure and Control of the Single Arm Manipulator

    Institute of Scientific and Technical Information of China (English)

    ZHU Deng-lin; JIANG Tao; WEI Jun-hua; WANG An-lin; WANG Shi-gang

    2006-01-01

    The integrated optimal design of mechanical and control system is discussed in terms of the performance requirement and configuration for the single arm flexible manipulator. By combination of dynamics of flexible structure and control theory, a PD feedback control system, which minimizes the settling time, has been designed. Then, the viable region of poles of the PD closed-loop control system is decided according to overshoot and the settling time, and an integrated optimal model of structure and control of single arm manipu lator is presented. Finally, the parameters of structure and control system are simultaneously optimized withrespect to objective function including the moment of inertia and the control effort of system.

  19. Continuous neuronal ensemble control of simulated arm reaching by a human with tetraplegia

    Science.gov (United States)

    Chadwick, E. K.; Blana, D.; Simeral, J. D.; Lambrecht, J.; Kim, S. P.; Cornwell, A. S.; Taylor, D. M.; Hochberg, L. R.; Donoghue, J. P.; Kirsch, R. F.

    2011-06-01

    Functional electrical stimulation (FES), the coordinated electrical activation of multiple muscles, has been used to restore arm and hand function in people with paralysis. User interfaces for such systems typically derive commands from mechanically unrelated parts of the body with retained volitional control, and are unnatural and unable to simultaneously command the various joints of the arm. Neural interface systems, based on spiking intracortical signals recorded from the arm area of motor cortex, have shown the ability to control computer cursors, robotic arms and individual muscles in intact non-human primates. Such neural interface systems may thus offer a more natural source of commands for restoring dexterous movements via FES. However, the ability to use decoded neural signals to control the complex mechanical dynamics of a reanimated human limb, rather than the kinematics of a computer mouse, has not been demonstrated. This study demonstrates the ability of an individual with long-standing tetraplegia to use cortical neuron recordings to command the real-time movements of a simulated dynamic arm. This virtual arm replicates the dynamics associated with arm mass and muscle contractile properties, as well as those of an FES feedback controller that converts user commands into the required muscle activation patterns. An individual with long-standing tetraplegia was thus able to control a virtual, two-joint, dynamic arm in real time using commands derived from an existing human intracortical interface technology. These results show the feasibility of combining such an intracortical interface with existing FES systems to provide a high-performance, natural system for restoring arm and hand function in individuals with extensive paralysis. This paper was originally submitted for the special issue containing contributions from the Fourth International Brain-Computer Interface Meeting.

  20. Production monitoring of a RTM automotive control arm by means of fibre optic sensors

    OpenAIRE

    Chiesura, Gabriele; Luyckx, Geert; Voet, Eli; Van Paepegem, Wim; Degrieck, Joris; Kaufmann, Markus; Martens, Tom; Lamberti, Alfredo Lamberti; Vanlanduit, Steve

    2015-01-01

    In this study, a sensor network based on Fibre Bragg Grating (FBG) sensor has been embedded in a carbon fibre reinforced control arm car component, which was produced by Resin Transfer Moulding (RTM) technique. Two main challenges were to be overcome: first, the integration of the sensors lines in the existing RTM mould without modifying it; second, the demoulding of the control arm without damaging the sensors lines. Both tasks were successfully achieved and the process was monitored. The wa...

  1. Arms control. (Latest citations from the NTIS bibliographic database). Published Search

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-06-01

    The bibliography contains citations concerning policies, global relations, and agreements pertaining to arms control. Strategic Arms Limitation Talks (SALT), security affairs, proliferation due to commercial uses of nuclear energy, and deterrence and disarmament are among the topics discussed. The military uses of space and the control and distribution of chemical warfare agents are also considered. (Contains 50-250 citations and includes a subject term index and title list.) (Copyright NERAC, Inc. 1995)

  2. Policy Paper 26: The Middle East Arms Control and Regional Security Talks: Progress, Problems, and Prospects

    OpenAIRE

    Jentleson, Bruce

    1996-01-01

    The record of the Arms Control and Regional Security (ACRS) Working Group thus far is a mixed one. On the one hand, the very creation of a multilateral process for arms control and regional security in a region where no comparable process ever before existed is in itself a significant achievement. A working agenda then was defined, and by late 1994 a series of initial multilateral agreements had been negotiated for confidence-building measures (CBMs), confidence-and-security-building measures...

  3. 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.

  4. Application of the Actor-Critic Architecture to Functional Electrical Stimulation Control of a Human Arm.

    Science.gov (United States)

    Thomas, Philip; Branicky, Michael; van den Bogert, Antonie; Jagodnik, Kathleen

    2009-01-01

    Clinical tests have shown that the dynamics of a human arm, controlled using Functional Electrical Stimulation (FES), can vary significantly between and during trials. In this paper, we study the application of the actor-critic architecture, with neural networks for the both the actor and the critic, as a controller that can adapt to these changing dynamics of a human arm. Development and tests were done in simulation using a planar arm model and Hill-based muscle dynamics. We begin by training it using a Proportional Derivative (PD) controller as a supervisor. We then make clinically relevant changes to the dynamics of the arm and test the actor-critic's ability to adapt without supervision in a reasonable number of episodes. Finally, we devise methods for achieving both rapid learning and long-term stability. PMID:20689654

  5. Creating a Reinforcement Learning Controller for Functional Electrical Stimulation of a Human Arm.

    Science.gov (United States)

    Thomas, Philip S; Branicky, Michael; van den Bogert, Antonie; Jagodnik, Kathleen

    2008-01-01

    Clinical tests have shown that the dynamics of a human arm, controlled using Functional Electrical Stimulation (FES), can vary significantly between and during trials. In this paper, we study the application of Reinforcement Learning to create a controller that can adapt to these changing dynamics of a human arm. Development and tests were done in simulation using a two-dimensional arm model and Hill-based muscle dynamics. An actor-critic architecture is used with artificial neural networks for both the actor and the critic. We begin by training it using a Proportional Derivative (PD) controller as a supervisor. We then make clinically relevant changes to the dynamics of the arm and test the actor-critic's ability to adapt without supervision in a reasonable number of episodes. PMID:22081795

  6. 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.)

  7. Embedded ANFIS as a Supervisory Controller for a 6-DOF Robotic Arm

    Directory of Open Access Journals (Sweden)

    Meher Madhu Dharmana, Sai Shashidhar, Sachin Kumar,Chaithanya

    2014-05-01

    Full Text Available This paper implements multi-layered ANFIS controller in PIC16F886 micro-controller as a supervisory control for a 6 DOF robotic arm. The complexity in mathematical modelling demands for machine-learning techniques, which rely less on precise mathematical analysis. ANFIS is one such machine learning technique which helps in decision making for the control of robotic arms. Standard PD controllers could be used as servos to guarantee precise tracking. Based on real physical parameters of Dexter ER-1, a model is developed in Sim –Mechanics to capture the actual dynamics of robot arm. The time dependent reachable set is generated out of which it gave nearly 40,000 data samples. This data is used as inverse training data for ANFIS network and is implemented as a supervisory controller in microcontroller. The controller is tested with predefined paths and random position targets and results are shown to act satisfactorily.

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

    Directory of Open Access Journals (Sweden)

    Luo Haitao

    2013-10-01

    Full Text Available 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 and ADAMS. Furthermore, a control model was created in MATLAB/SIMULINK. And then, the co-simulation model was established based on ADAMS/Control and MATLAB/SIMULINK. The simulation results indicate that the robot arm system has preferable response characteristics and nicer locus-tracking ability. The co-simulation method is intuitive and effective. It is no need to create dynamics equation of complicated physical system and has the important practical significance to study manipulation and control for robot arm.

  9. Flexible trial design in practice - stopping arms for lack-of-benefit and adding research arms mid-trial in STAMPEDE: a multi-arm multi-stage randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Sydes Matthew R

    2012-09-01

    Full Text Available Abstract Background Systemic Therapy for Advanced or Metastatic Prostate cancer: Evaluation of Drug Efficacy (STAMPEDE is a randomized controlled trial that follows a novel multi-arm, multi-stage (MAMS design. We describe methodological and practical issues arising with (1 stopping recruitment to research arms following a pre-planned intermediate analysis and (2 adding a new research arm during the trial. Methods STAMPEDE recruits men who have locally advanced or metastatic prostate cancer who are starting standard long-term hormone therapy. Originally there were five research and one control arms, each undergoing a pilot stage (focus: safety, feasibility, three intermediate ‘activity’ stages (focus: failure-free survival, and a final ‘efficacy’ stage (focus: overall survival. Lack-of-sufficient-activity guidelines support the pairwise interim comparisons of each research arm against the control arm; these pre-defined activity cut-off becomes increasingly stringent over the stages. Accrual of further patients continues to the control arm and to those research arms showing activity and an acceptable safety profile. The design facilitates adding new research arms should sufficiently interesting agents emerge. These new arms are compared only to contemporaneously recruited control arm patients using the same intermediate guidelines in a time-delayed manner. The addition of new research arms is subject to adequate recruitment rates to support the overall trial aims. Results (1 Stopping Existing Therapy: After the second intermediate activity analysis, recruitment was discontinued to two research arms for lack-of-sufficient activity. Detailed preparations meant that changes were implemented swiftly at 100 international centers and recruitment continued seamlessly into Activity Stage III with 3 remaining research arms and the control arm. Further regulatory and ethical approvals were not required because this was already included in the

  10. Analyst Tools and Quality Control Software for the ARM Data System

    Energy Technology Data Exchange (ETDEWEB)

    Moore, Sean; Hughes, Gary

    2008-07-31

    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 web-based data analysis and visualization tools such as the interactive plotting program NCVweb, various diagnostic plot browsers, and a datastream processing status application. These tools allow 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. We have also embarked on a system to comprehensively generate long time-series plots, frequency distributions, and other relevant statistics for scientific and engineering data in most high-level, publicly available ARM data streams. Furthermore, frequency distributions categorized by month or by season are made available to help define valid data ranges specific to those time domains. These statistics can be used to set limits that when checked, will improve upon the reporting of suspicious data and the early detection of instrument malfunction. The statistics and proposed limits are stored in a database for easy reporting, refining, and for use by other processes. Web-based applications to view the results are also available.

  11. 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.

  12. The Implications of a New ERa in Arms Control -- Perspectives and Analysis

    International Nuclear Information System (INIS)

    On November 13, 2003 the INMM hosted a workshop in Washington, DC entitled 'The Implications of a New Era in Arms Control on Regional Nonproliferation and Nuclear Materials Management'. In this paper we summarize the workshop's highlights and provide our analysis of the dominant themes. Ambassador Linton Brooks, Administrator of the National Nuclear Security Agency (NNSA), delivered the keynote address and focused on four points that are key to understanding the new era: (1) The demise of traditional East/West arms control; (2) The new strategic relationship between Russia and the United States; (3) The blurring of the distinction between nonproliferation and counter-terrorism; (4) The growing recognition that the nonproliferation regime is no longer adequate and needs to be strengthened. He issued a set of challenges to the workshop participants: if his premises were right, what should replace the lexicon of arms control? He described a four-part strategy for nuclear materials protection in Russia, and asked if that model should be replicated globally - potentially by leveraging the new relationship with Russia. Should it be through the IAEA, bilaterally, or some other mechanism? Asserting that the old Nonproliferation Treaty regime was inadequate, he asked what should replace it, and how do we bring it about? Three panel discussions were presented: (1) Implications of a New Era in US/Russia Arms Control Agreements; (2) Implications of a New in Arms Control Upon Regional Nuclear Nonproliferation: South Asia/East Asia/Middle East; and (3) Nuclear Materials Management in a New Era of Arms Control In the first panel, Daryl Kimball, Executive Director of the Arms Control Association argued that arms control agreements provided predictability in the reduction of arms, and had been successful in advancing the methods of verification. Lucas Fischer, the Deputy Assistant Secretary for Arms Control at the US State Department acknowledged that INF and START provide a basis

  13. Redundancy resolution of a human arm for controlling a seven DOF wearable robotic system.

    Science.gov (United States)

    Kim, Hyunchul; Miller, Levi Makaio; Al-Refai, Aimen; Brand, Moshe; Rosen, Jacob

    2011-01-01

    The human arm including the shoulder, elbow, wrist joints and exclusion scapular motion has 7 Degrees of Freedom (DOF) while positioning of the wrist in space and orientating the palm is a task that requires 6 DOF. As such it includes one more DOF than is needed to complete the task. Given the redundant nature of the arm, multiple arm configurations can be used to complete a task, which is expressed mathematically by none unique solution for the inverse kinematics. Despite this mathematical difficulty, the motor control provides a unique solution for the arm redundancy as the arm is moved in space. Resolving this redundancy is becoming critical as the human interacts with a wearable robotic system(exoskeleton) which includes the same redundancy as the human arm. Therefore, the inverse kinematics solution resolving the redundancy of these two coupled systems must be identical in order to guarantee a seamless integration. The redundancy of the arm can be formulated kinematically by defining the swivel angle - the rotation angle of the plane including the upper and lower arm around a virtual axis connecting the shoulder and wrist joints which are fixed in space. Analyzing reaching tasks recorded with a motion capture lab indicates that the swivel angle is selected such that when the elbow joint is flexed, the palm points the head. Based on these experimental results, selecting the point around the center of the head as a stationary target allows to calculate the swivel angle and in that way to resolve the human arm redundancy. Experimental results indicated that by using the proposed redundancy resolution criteria the error between the predicted swivel angle and the actual swivel angle adopted by the motor control system is less then 5 Deg. This criterion or a synthesis of several additional criteria may improve the synergistic relationships between an operator and a wearable robotic system. PMID:22255087

  14. Cox report and the US-China arms control technical exchange program

    Energy Technology Data Exchange (ETDEWEB)

    Di Capua, M S

    1999-09-01

    The ACE program furthered the national security interests of the US by promoting technical approaches to the implementation and verification of arms control treaties that the international community embraces. The Cox Committee report suggests that uncontrolled interactions were taking place between US and Chinese nuclear weapons scientists in the course of the ACE program. On the contrary, elaborate controls were in place at the very beginning and remained in place to control the interactions and protect US national security information. The ACE program payoff to national security was just beginning and its suspension, resulting from the Cox reports allegations, is a setback to US-China progress on arms control.

  15. Real-Time Discrete Adaptive Control of Robot Arm Based on Digital Signal Processing

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control (MRAC) and digital signal processing (DSP) computer system into an electromechanical system. With the DSP computer system, the control signal of each joint of the robot arm can be processed in real time and independently. The simulation and experiment results show that with the control strategy, the robot achieved a good trajectory following precision, a good decoupling performance and a high real-time adaptivity.

  16. 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.

  17. 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.

  18. Accurate position control of a flexible arm using a piezoactuator associated with a hysteresis compensator

    Science.gov (United States)

    Choi, Seung-Bok; Seong, Min-Sang; Ha, Sung Hoon

    2013-04-01

    In this work, position control of a one-link flexible arm is undertaken by considering the field-dependent hysteresis behavior of a piezoceramic actuator (piezoactuator in short). The proposed arm is controlled by two actuators: a motor mounted at the hub and a piezoceramic bonded to the surface of the flexible link. In the modeling process, two transfer functions: one from the input torque to output hub angle and the other from the input voltage to the output tip deflection are obtained. The hysteretic behavior of the piezoactuator is experimentally identified using the Preisach model, and the first-order descending (FOD) curves are obtained that are required to design a hysteresis compensator. After establishing the overall control block diagram for the position control of the flexible arm, a quantitative feedback theory (QFT) controller is designed by treating parameter variations and external disturbances as uncertainties. Subsequently, a hysteresis compensator that produces additional control input to the piezoactuator is designed to enhance the vibration control performance. An experimental realization of the proposed control scheme is undertaken and the effect of the hysteresis compensator on vibration control of the flexible arm is evaluated in the time domain.

  19. 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 many…

  20. Dynamic Structure Optimization Design of Lower Control Arm Based on ESL

    Directory of Open Access Journals (Sweden)

    Lihui Zhao

    2012-11-01

    Full Text Available Structure optimization techniques under static load conditions have been widely used in automotive industry for lightweight and performance improvement of modern cars. However, these static load conditions could not represent all the severe situations of automobile parts which subjected to complex loads varying with time, especially for lower control arm of front suspension. In this study, dynamic optimization of lower control arm was performed by combing traditional static load optimization techniques and multi-body dynamics by Equivalent Static Load (ESL. And the best draw-bead distribution of the stamped lower control arm was attained. Comparing the MBD analysis results of the new design derived from dynamic optimization and original structure, results show that the strength and stiffness was increased significantly while the mass was almost unchanged.

  1. Modeling, Validation, and Control of Electronically Actuated Pitman Arm Steering for Armored Vehicle

    Directory of Open Access Journals (Sweden)

    Vimal Rau Aparow

    2016-01-01

    Full Text Available In this study, 2 DOF mathematical models of Pitman arm steering system are derived using Newton’s law of motion and modeled in MATLAB/SIMULINK software. The developed steering model is included with a DC motor model which is directly attached to the steering column. The Pitman arm steering model is then validated with actual Pitman arm steering test rig using various lateral inputs such as double lane change, step steer, and slalom test. Meanwhile, a position tracking control method has been used in order to evaluate the effectiveness of the validated model to be implemented in active safety system of a heavy vehicle. The similar method has been used to test the actual Pitman arm steering mechanism using hardware-in-the-loop simulation (HILS technique. Additional friction compensation is added in the HILS technique in order to minimize the frictional effects that occur in the mechanical configuration of the DC motor and Pitman arm steering. The performance of the electronically actuated Pitman arm steering system can be used to develop a firing-on-the-move actuator (FOMA for an armored vehicle. The FOMA can be used as an active safety system to reject unwanted yaw motion due to the firing force.

  2. 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.

  3. 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.

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

    OpenAIRE

    Giovanni Gerardo Muscolo; Kenji Hashimoto; Atsuo Takanishi; Paolo Dario

    2013-01-01

    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 t...

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

    Directory of Open Access Journals (Sweden)

    P. Wu

    2012-09-01

    Full Text Available 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 trajectory through the building of double linear inverted pendulum model of dual-arm mobile robot. The sector gridding search algorithm is proposed and the reachable workspace which meets the Zero Moment Point stability principle when the robot moving on the ground is obtained. Tip Trajectory is generated through polynomial interpolation. Each joint curve is calculated using MATLAB which is imported to virtual physical model. The feasibility of gait generation is verified.

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

    Energy Technology Data Exchange (ETDEWEB)

    Forsberg, C.W.; Storch, S.N. [Oak Ridge National Lab., TN (United States); Lewis, L.C. [Lockheed Martin Idaho Technology Co., Idaho Falls, ID (United States). Idaho National Engineering and Environmental Lab.

    1998-07-07

    The US investigated the use of {sup 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 {sup 233}U on a large scale. Most of the {sup 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 {sup 233}U-containing materials. Because of these changes, significant activities associated with {sup 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 {sup 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.

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

    International Nuclear Information System (INIS)

    The US investigated the use of 233U 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 233U on a large scale. Most of the 233U-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 233U-containing materials. Because of these changes, significant activities associated with 233U-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 233U-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

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

    International Nuclear Information System (INIS)

    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)

  9. Understanding Nuclear Weapons and Arms Control: A Guide to the Issues. New Edition.

    Science.gov (United States)

    Mayers, Teena

    Intended for secondary and college level students and teachers, this guide discusses the nuclear arms control issue. There are four sections. Section I discusses U.S. nuclear strategy from 1945 to the present, strategic nuclear weapons competition between the United States and the Union of Soviet Socialist Republics (U.S.S.R.), U.S.…

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

    International Nuclear Information System (INIS)

    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

  11. 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.

  12. The Struggle for Territorial Control in Colombia: An Analysis of the Dynamics of the Armed Conflict

    Directory of Open Access Journals (Sweden)

    Juan Fernando Henao Duque

    2015-06-01

    Full Text Available This paper reviews the literature on the theory of armed conflict and examines its application to the insurgents´ struggle with the State for political and territorial control in Colombia during 1999-2010.  The analysis examines three sub-periods during this period and several geographic regions to analyze the effect of varying levels of participant capability on the dynamics of the conflict, as measured by the intensity of the conflict over time.  We conclude that as long as there are asymmetries between the State and the insurgency, armed confrontation is likely to continue.

  13. 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.

  14. 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.

  15. Internet remote control interface for a multipurpose robotic arm

    Directory of Open Access Journals (Sweden)

    Matthew W. Dunnigan

    2008-11-01

    Full Text Available This paper presents an Internet remote control interface for a MITSUBISHI PA10-6CE manipulator established for the purpose of the ROBOT museum exhibition during spring and summer 2004. The robotic manipulator is a part of the Intelligent Robotic Systems Laboratory at Heriot ? Watt University, which has been established to work on dynamic and kinematic aspects of manipulator control in the presence of environmental disturbances. The laboratory has been enriched by a simple vision system consisting of three web-cameras to broadcast the live images of the robots over the Internet. The Interface comprises of the TCP/IP server providing command parsing and execution using the open controller architecture of the manipulator and a client Java applet web-site providing a simple robot control interface.

  16. 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.

  17. High-Resolution Fast-Neutron Spectrometry for Arms Control and Treaty Verification

    Energy Technology Data Exchange (ETDEWEB)

    David L. Chichester; James T. Johnson; Edward H. Seabury

    2012-07-01

    Many nondestructive nuclear analysis techniques have been developed to support the measurement needs of arms control and treaty verification, including gross photon and neutron counting, low- and high-resolution gamma spectrometry, time-correlated neutron measurements, and photon and neutron imaging. One notable measurement technique that has not been extensively studied to date for these applications is high-resolution fast-neutron spectrometry (HRFNS). Applied for arms control and treaty verification, HRFNS has the potential to serve as a complimentary measurement approach to these other techniques by providing a means to either qualitatively or quantitatively determine the composition and thickness of non-nuclear materials surrounding neutron-emitting materials. The technique uses the normally-occurring neutrons present in arms control and treaty verification objects of interest as an internal source of neutrons for performing active-interrogation transmission measurements. Most low-Z nuclei of interest for arms control and treaty verification, including 9Be, 12C, 14N, and 16O, possess fast-neutron resonance features in their absorption cross sections in the 0.5- to 5-MeV energy range. Measuring the selective removal of source neutrons over this energy range, assuming for example a fission-spectrum starting distribution, may be used to estimate the stoichiometric composition of intervening materials between the neutron source and detector. At a simpler level, determination of the emitted fast-neutron spectrum may be used for fingerprinting 'known' assemblies for later use in template-matching tests. As with photon spectrometry, automated analysis of fast-neutron spectra may be performed to support decision making and reporting systems protected behind information barriers. This paper will report recent work at Idaho National Laboratory to explore the feasibility of using HRFNS for arms control and treaty verification applications, including simulations

  18. A distributed Petri Net controller for a dual arm testbed

    Science.gov (United States)

    Bjanes, Atle

    1991-01-01

    This thesis describes the design and functionality of a Distributed Petri Net Controller (DPNC). The controller runs under X Windows to provide a graphical interface. The DPNC allows users to distribute a Petri Net across several host computers linked together via a TCP/IP interface. A sub-net executes on each host, interacting with the other sub-nets by passing a token vector from host to host. One host has a command window which monitors and controls the distributed controller. The input to the DPNC is a net definition file generated by Great SPN. Thus, a net may be designed, analyzed and verified using this package before implementation. The net is distributed to the hosts by tagging transitions that are host-critical with the appropriate host number. The controller will then distribute the remaining places and transitions to the hosts by generating the local nets, the local marking vectors and the global marking vector. Each transition can have one or more preconditions which must be fulfilled before the transition can fire, as well as one or more post-processes to be executed after the transition fires. These implement the actual input/output to the environment (machines, signals, etc.). The DPNC may also be used to simulate a Great SPN net since stochastic and deterministic firing rates are implemented in the controller for timed transitions.

  19. Rehabilitation of a Human Arm Supported by a Robotic Manipulator: A Position/Force Cooperative Control

    Directory of Open Access Journals (Sweden)

    Haifa Mehdi

    2010-01-01

    Full Text Available Problem statement: The assistance of person with limited ability of arm movement is necessary for rehabilitation reasons. This aid is required not only to cover the human performances of the arm in motion and force but also to have a strictly stable dynamics. In this study, we proposed a cooperative system between a disabled arm and a robotic manipulator to reach such objectives. Desired positions and contact forces were imposed by the disabled human whereas appropriate torques were applied by the manipulator to follow human intension. Approach: Various control strategies were proposed during recent years to solve position/force control problem. The impedance control concept was used in this study. A relationship between the dynamics of the robot and its energy was developed to derive stability conditions of the robotic system at the constrained motion phase using a suitable Lyapunov approach. Results: New sufficient conditions of asymptotic stability were developed. To prove the efficiency of the proposed approach, a prototype of a human arm coupled to cooperative constrained robotic manipulator was used. The simulation results showed the stability and the performances of the proposed approach. Conclusion: Results showed the possibility of their use in a real context of rehabilitation of injured and disabled people.

  20. ADAPTIVE FLIGHT CONTROL SYSTEM OF ARMED HELICOPTER USING WAVELET NEURAL NETWORK METHOD

    Institute of Scientific and Technical Information of China (English)

    ZHURong-gang; JIANGChangsheng; FENGBin

    2004-01-01

    A discussion is devoted to the design of an adaptive flight control system of the armed helicopter using wavelet neural network method. Firstly, the control loop of the attitude angle is designed with a dynamic inversion scheme in a quick loop and a slow loop. respectively. Then, in order to compensate the error caused by dynamic inversion, the adaptive flight control system of the armed helicopter using wavelet neural network method is put forward, so the BP wavelet neural network and the Lyapunov stable wavelet neural network are used to design the helicopter flight control system. Finally, the typical maneuver flight is simulated to demonstrate its validity and effectiveness. Result proves that the wavelet neural network has an engineering practical value and the effect of WNN is good.

  1. Impedance Controller Tuned by Particle Swarm Optimization for Robotic Arms

    Directory of Open Access Journals (Sweden)

    Haifa Mehdi

    2011-11-01

    Full Text Available This paper presents an efficient and fast method for fine tuning the controller parameters of robot manipulators in constrained motion. The stability of the robotic system is proved using a Lyapunov‐based impedance approach whereas the optimal design of the controller parameters are tuned, in offline, by a Particle Swarm Optimization (PSO algorithm. For designing the PSOmethod,differentindexperformancesare considered in both joint and Cartesian spaces. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the performances of the proposed approach. The simulation results show the stability and the performances of the proposed approach.

  2. Control of a Step Walking Combined to Arms Swinging for a Three Dimensional Humanoid Prototype

    Directory of Open Access Journals (Sweden)

    Amira Aloulou

    2010-01-01

    Full Text Available Problem statement: Present researches focus to make humanoid robots more and more autonomous so they can assist human in daily works like taking care of children, aged or disabled persons. In such social activities, the contemporary humanoid robots are expected to have human like morphology and gait. Studies on bipedal locomotion for humanoid robots are then part of the hottest topics in the field of robotic researches. Knowing the benefits of arm swinging for human gait, we propose in this study a new prototype of female humanoid robot morphology having the capabilities to swing arms during step walking. Approach: A new humanoid robot prototype had been introduced based on a human morphology corresponding to a woman whose weight is 70 kg and height is 1,73 m and using realistic gait parameters of a women. The female humanoid robot prototype was composed of fifteen links associated to twenty-six degrees of freedom. Winter statistical model had been applied to determine all physical parameters corresponding to each link. Modeling the proposed humanoid robot implies first to establish the kinematic model basically founded on Euler’s transformation matrix and then to set the dynamic model computed using the Newton-Euler method. To show how the arms played an important role in bipedal gait, we had chosen to consider the whole body as two independent robotic systems: the upper body and the lower body. Results: Both three dimensional kinematic and dynamic models of the humanoid robot had been developed. The three dimensional humanoid robot was controlled via a feedback linearization control during the single support, impact and double support phases. The simulation results showed the arm swing during the step of walking. Conclusion: The humanoid robot proposed has a human like morphology and ensures the function of a step walking with arm swinging. The applied control laws have ensured to the robot desired performances during a step walking.

  3. 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.

  4. Control of arm movement: reaching synergies for neuroprosthesis with life-like control

    Directory of Open Access Journals (Sweden)

    Popović Mirjana B.

    2002-01-01

    Full Text Available This paper presents control methods for restoration of reaching and grasping that mimics the mapping in the space of output states found in healthy subjects. The hypothesis was that the externally driven movements are most likely to advance the recovery of functioning if they follow lifelike control mechanisms. For this, it is important to analyze movement considering the conditions such as: 1 variety of functional tasks (drinking, writing, using computer disk; 2 different locations of the object (with respect to the body; with respect to the active arm; 3 variable loading of the hand (light, heavy; and 4 available grasp strategy (palmar, lateral, pinch. The overall goals of our study were the following 1 identification of coordinated synergies in functional tasks, 2 investigation of differences and similarities between these synergies related to different grasp types, and 3 analysis of the impact of direction, distance and load to synergies. Three spatial reaching synergies were validated for the following coordinated rotations: shoulder adduction/abduction vs. elbow flexion/extension angular velocity (synergy SI, humeral rotation vs. elbow flexion/extension angular velocity (synergy S2, and shoulder vs. elbow flexion/extension angular velocity (synergy S3. These are timely synchronized with the phases of functional tasks; where four reaching phases were distinguished. Here, we present alternation of synergies' coupling during successive phases of a functional task. Preliminary results indicate that the two phases of a functional task termed "no-object" phases used one coupling, between synergies S2 and S3; while the two other phases termed "object" phases were coupled by synergies SI and S2. We established the generalization on the following two objectives: the discrimination of tasks' phases and matching the synergies with task phases. This result reduces the number of mappings necessary for the design of neuroprosthesis with life

  5. REFLECTIONS ON THE FUTURE OF NUCLEAR ARMS CONTROL IN 2011REFLECTIONS ON THE FUTURE OF NUCLEAR ARMS CONTROL IN 2011%REFLECTIONS ON THE FUTURE OF NUCLEAR ARMS CONTROL IN2011REFLECTIONS ON THE FUTURE OF NUCLEAR ARMS CONTROL IN2011

    Institute of Scientific and Technical Information of China (English)

    Paul Schulte

    2011-01-01

    @@ The first vision for removing the threat of nuclear weapons, within a year of their first use, was the far-reaching agenda of the Acheson Lilienthal Report on the International Control of Atomic Energy in 1946[1] proposing that all fissile material should be transferred to a new international agency (the Atomic Development Authority) which would release small amounts to individual nations for peaceful uses.This proposal, like many others, fell victim to the ideologically aggravated suspicions of the Cold War.But, over time, and even during periods of intense east-west suspicion, a substantial body of negotiated agreements has been achieved.Almost all necessarily involved the nuclear superpowers, who led the way in the expansion of nuclear weapons, and whose arsenals therefore needed to be limited as a precondition for achieving wider global nuclear stability.

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

    Directory of Open Access Journals (Sweden)

    Segun Goh

    Full Text Available 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.

  7. Singular perturbation composite control of a free-floating flexible dual-arm space robot

    Institute of Scientific and Technical Information of China (English)

    Luo Zhanwu; Wang Congqing

    2008-01-01

    The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.

  8. Arm Orthosis/Prosthesis Movement Control Based on Surface EMG Signal Extraction.

    Science.gov (United States)

    Suberbiola, Aaron; Zulueta, Ekaitz; Lopez-Guede, Jose Manuel; Etxeberria-Agiriano, Ismael; Graña, Manuel

    2015-05-01

    This paper shows experimental results on electromyography (EMG)-based system control applied to motorized orthoses. Biceps and triceps EMG signals are captured through two biometrical sensors, which are then filtered and processed by an acquisition system. Finally an output/control signal is produced and sent to the actuators, which will then perform the actual movement, using algorithms based on autoregressive (AR) models and neural networks, among others. The research goal is to predict the desired movement of the lower arm through the analysis of EMG signals, so that the movement can be reproduced by an arm orthosis, powered by two linear actuators. In this experiment, best accuracy has achieved values up to 91%, using a fourth-order AR-model and 100ms block length.

  9. 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.)

  10. This weapon called peace: The doctrine and strategy of Soviet arms control and disarmament policy

    Energy Technology Data Exchange (ETDEWEB)

    Trifan, D.D.

    1989-01-01

    The strategy of Soviet arms-control and disarmament policy can be summarized in what we have termed the ratchet strategy of peaceful coexistence, in which a strategic advance is achieved through the tactics of multiple and indirect lines of approach, legitimized through invocation of peaceful coexistence, and made permanent and irreversible both by treaties and agreements and by the increasing military capability of the Soviet Union and her allies. This strategy is unchanged from World War II until today. Soviet strategic thought is based on the writings of V. I. Lenin; and both Lenin's strategic concepts and Soviet disarmament and arms-control strategy bear a striking resemblance to the precepts expressed by the 4th-century B.C. Chinese strategist Sun Tzu in the Art of War. This dissertation examines not only the strategic content of this policy, but the doctrinal components of Soviet disarmament and arms control strategy. The doctrinal principles must be derived through examination of: authoritative political and strategic writings, records of negotiations and negotiating positions, treaties and agreements, data concerning weapons systems, and the relationship of these to observed political and strategic developments during the period under examination. The doctrinal principles behind this strategy are: (1) the primary purpose of peaceful coexistence is the undermining of imperialism, (2) any means are permissible in the pursuit of peace strategy, and (3) the motive force for this strategy is Marxist-Leninist ideology, with the ultimate goal being the worldwide imposition of socialism in its Soviet variety. Shifts in Soviet policy are tactical instead of strategic in nature; and in keeping with the Soviet idea of the correlation of forces this strategy can be termed a time-fluid two-player zero-sum game. Consequently, Soviet arms-control and disarmament policy can be a weapon called peace.

  11. Use of Social Media to Target Information-Driven Arms Control and Nonproliferation Verification

    Energy Technology Data Exchange (ETDEWEB)

    Kreyling, Sean J.; Williams, Laura S.; Gastelum, Zoe N.; Whattam, Kevin M.; Corley, Courtney D.; Cramer, Nicholas O.; Rose, Stuart J.; Bell, Eric B.; Gregory, Michelle L.

    2012-07-19

    There has been considerable discussion within the national security community, including a recent workshop sponsored by the U.S. State Department, about the use of social media for extracting patterns of collective behavior and influencing public perception in areas relevant to arms control and nonproliferation. This paper seeks to explore if, and how, social media can be used to supplement nonproliferation and arms control inspection and monitoring activities on states and sites of greatest proliferation relevance. In this paper, we set the stage for how social media can be applied in this problem space and describe some of the foreseen challenges, including data validation, sources and attributes, verification, and security. Using information analytics and data visualization capabilities available at Pacific Northwest National Laboratory (PNNL), we provide graphical examples of some social media "signatures" of potential relevance for nonproliferation and arms control purposes. We conclude by describing a proposed case study and offering recommendations both for further research and next steps by the policy community.

  12. On Control of Reaching Movements for Musculo-Skeletal Redundant Arm Model

    Directory of Open Access Journals (Sweden)

    Kenji Tahara

    2009-01-01

    Full Text Available This paper focuses on a dynamic sensory-motor control mechanism of reaching movements for a musculo-skeletal redundant arm model. The formulation of a musculo-skeletal redundant arm system, which takes into account non-linear muscle properties obtained by some physiological understandings, is introduced and numerical simulations are perfomed. The non-linear properties of muscle dynamics make it possible to modulate the viscosity of the joints, and the end point of the arm converges to the desired point with a simple task-space feedback when adequate internal forces are chosen, regardless of the redundancy of the joint. Numerical simulations were performed and the effectiveness of our control scheme is discussed through these results. The results suggest that the reaching movements can be achieved using only a simple task-space feedback scheme together with the internal force effect that comes from non-linear properties of skeletal muscles without any complex mathematical computation such as an inverse dynamics or optimal trajectory derivation. In addition, the dynamic damping ellipsoid for evaluating how the internal forces can be determined is introduced. The task-space feedback is extended to the ‘virtual spring-damper hypothesis’ based on the research by Arimoto et al. (2006 to reduce the muscle output forces and heterogeneity of convergence depending on the initial state and desired position. The research suggests a new direction for studies of brain-motor control mechanism of human movements.

  13. Multimodal System Based on Electrooculography and Voice Recognition to Control a Robot Arm

    Directory of Open Access Journals (Sweden)

    José A. Martínez

    2013-07-01

    Full Text Available People with severe motor disorders cannot use their arms and/or hands to interact with the environment. In such cases, a human‐machine interface can be used to allow these people to perform activities of daily life. Voice recognition would be the best method to control a device devoted to help with these tasks, but this method is very dependent on the background noise and, under certain circumstances, it cannot be used successfully. In this sense, other methods must be included in the system to assist the voice recognition module. In this project, electrooculography (EOG has been selected due to its stability and robustness. This way, a multimodal system based on EOG and voice recognition has been developed to control a robotic arm. This paper presents the procedures designed to combine both methods to create a multimodal interface useful for disabled people. Tests presented in this document compare the skills of five different users while controlling the robotic arm to perform pick‐and‐place tasks. Task duration and accuracy have been measured to obtain specific scores that are used to evaluate both interaction methods independently and the multimodal combination of them. The system works successfully using both methods (EOG and voice recognition. In addition, the multimodal interface improves robustness and reduces the uncertainty generated by the environment when there is background noise.

  14. 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...

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

    International Nuclear Information System (INIS)

    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)

  16. Conventional forces and arms control: Technology and strategy in a changing world

    Energy Technology Data Exchange (ETDEWEB)

    Pilat, J.F.; White, P.C.

    1990-06-01

    To address the implications of changes for future roles of conventional forces and to assess the technology implications of future strategies, force requirements, and conventional arms control agreements, the Center for National Security Studies in cooperation with the Defense Research and Applications Directorate of the Los Alamos National Laboratory held a conference on Conventional Forces and Arms Control: Technology and Strategy in a Changing World'' at Los Alamos from September 25--27, 1989. The distinguished participants from government, industry, and academia in the United States and Western Europe addressed such issues as: What are the implications of geopolitical and technological trends for international security and stability How will these global changes affect US and allied strategies and force structure, especially the requirements for conventional, nonnuclear forces What will be the role of and rationale for conventional forces in the context of current and prospective allied security requirements How can the West assure it will have the forces necessary for its security How will technological developments influence the structure of tomorrow's conventional forces What impacts will arms reductions have on future systems and force structures What are the prospects for the development and deployment in weapon systems of future conventional military technologies, in light of existing and potential political, economic, bureaucratic, and other impediments

  17. Identifying, Visualizing, and Fusing Social Media Data to Support Nonproliferation and Arms Control Treaty Verification: Preliminary Results

    Energy Technology Data Exchange (ETDEWEB)

    Gastelum, Zoe N.; Cramer, Nicholas O.; Benz, Jacob M.; Kreyling, Sean J.; Henry, Michael J.; Corley, Courtney D.; Whattam, Kevin M.

    2013-07-11

    While international nonproliferation and arms control verification capabilities have their foundations in physical and chemical sensors, state declarations, and on-site inspections, verification experts are beginning to consider the importance of open source data to complement and support traditional means of verification. One of those new, and increasingly expanding, sources of open source information is social media, which can be ingested and understood through social media analytics (SMA). Pacific Northwest National Laboratory (PNNL) is conducting research to further our ability to identify, visualize, and fuse social media data to support nonproliferation and arms control treaty verification efforts. This paper will describe our preliminary research to examine social media signatures of nonproliferation or arms control proxy events. We will describe the development of our preliminary nonproliferation and arms control proxy events, outline our initial findings, and propose ideas for future work.

  18. Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

    Science.gov (United States)

    Yi, Seung-Jong

    Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and

  19. Learning arm's posture control using reinforcement learning and feedback-error-learning.

    Science.gov (United States)

    Kambara, H; Kim, J; Sato, M; Koike, Y

    2004-01-01

    In this paper, we propose a learning model using the Actor-Critic method and the feedback-error-learning scheme. The Actor-Critic method, which is one of the major frameworks in reinforcement learning, has attracted attention as a computational learning model in the basal ganglia. Meanwhile, the feedback-error-learning is learning architecture proposed as a computationally coherent model of cerebellar motor learning. This learning architecture's purpose is to acquire a feed-forward controller by using a feedback controller's output as an error signal. In past researches, a predetermined constant gain feedback controller was used for the feedback-error-learning. We use the Actor-Critic method for obtaining a feedback controller in the feedback-error-earning. By applying the proposed learning model to an arm's posture control, we show that high-performance feedback and feed-forward controller can be acquired from only by using a scalar value of reward. PMID:17271719

  20. 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. PMID:23366831

  1. Adaptive gravity and joint stiffness compensation methods for force-controlled arm supports

    NARCIS (Netherlands)

    Lobo-Prat, Joan; Keemink, Arvid Q.L.; Koopman, Bart F.J.M.; Stienen, Arno H.A.; Veltink, Peter H.

    2015-01-01

    People with muscular weakness can benefit from arm supports that compensate the weight of their arms. Due to the disuse of the arms, passive joint stiffness increases and providing only gravity compensation becomes insufficient to support the arm function. Hence, joint stiffness compensation is also

  2. Treating fibromyalgia with mindfulness-based stress reduction: results from a 3-armed randomized controlled trial.

    Science.gov (United States)

    Schmidt, Stefan; Grossman, Paul; Schwarzer, Barbara; Jena, Susanne; Naumann, Johannes; Walach, Harald

    2011-02-01

    Mindfulness-based stress reduction (MBSR) is a structured 8-week group program teaching mindfulness meditation and mindful yoga exercises. MBSR aims to help participants develop nonjudgmental awareness of moment-to-moment experience. Fibromyalgia is a clinical syndrome with chronic pain, fatigue, and insomnia as major symptoms. Efficacy of MBSR for enhanced well-being of fibromyalgia patients was investigated in a 3-armed trial, which was a follow-up to an earlier quasi-randomized investigation. A total of 177 female patients were randomized to one of the following: (1) MBSR, (2) an active control procedure controlling for nonspecific effects of MBSR, or (3) a wait list. The major outcome was health-related quality of life (HRQoL) 2 months post-treatment. Secondary outcomes were disorder-specific quality of life, depression, pain, anxiety, somatic complaints, and a proposed index of mindfulness. Of the patients, 82% completed the study. There were no significant differences between groups on primary outcome, but patients overall improved in HRQoL at short-term follow-up (P=0.004). Post hoc analyses showed that only MBSR manifested a significant pre-to-post-intervention improvement in HRQoL (P=0.02). Furthermore, multivariate analysis of secondary measures indicated modest benefits for MBSR patients. MBSR yielded significant pre-to-post-intervention improvements in 6 of 8 secondary outcome variables, the active control in 3, and the wait list in 2. In conclusion, primary outcome analyses did not support the efficacy of MBSR in fibromyalgia, although patients in the MBSR arm appeared to benefit most. Effect sizes were small compared to the earlier, quasi-randomized investigation. Several methodological aspects are discussed, e.g., patient burden, treatment preference and motivation, that may provide explanations for differences. In a 3-armed randomized controlled trial in female patients suffering from fibromyalgia, patients benefited modestly from a mindfulness

  3. Embed System for Robotic Arm with 3 Degree of Freedom Controller Using Computational Vision on Real-Time

    Directory of Open Access Journals (Sweden)

    Luiz Cortinhas

    2014-04-01

    Full Text Available This Paper deals with robotic arm embed controller system, with distributed system based on protocol communication between one server supportin g multiple points and mobile applications trough sockets .The proposed system utilizes hand with glove gesture in three-dimensional recognition using fuzzy implementation to set x,y,z coordinates. This approach present all implementation over: two raspberry PI arm based com puter running client program, x64 PC running server program, and one robot arm controlle d by ATmega328p based board.

  4. Wolfgang K.H. Panofsky: Scientist and Arms-Control Expert

    Science.gov (United States)

    Lüth, Vera G.

    2013-10-01

    Wolfgang K.H. Panofsky is remembered as the legendary founder and first director of SLAC, the Stanford Linear Accelerator Center. He devoted his life to teaching and research in accelerator and particle physics, to science policy, to his work as a science advisor to both the US and foreign governments, and to world peace as an expert on arms control and international security. He was admired by all who had a chance to meet and interact with him, and who simply called him Pief.

  5. Design of microphone control system based on ARM11%基于ARM11的麦克风控制系统研究

    Institute of Scientific and Technical Information of China (English)

    荣少巍

    2011-01-01

    介绍了一种基于ARM11的麦克风控制系统的硬件、操作系统驱动部分的设计与实现.采用继电器对外部进行控制,并使用片上AD采集语音信号.系统的处理器运用了高性能低功耗S3C6410A ARM11芯片作为主处理器,操作系统采用Linux系统,使板上FLASH进行数据存储,外部采用有触摸屏进行输入,软件系统采用Nokia公司推出的Qt4.7作为开发平台进行开发,拥有良好的可视化界面.最后进行系统调试,拥有较好的性能.%This paper introduces to the software and hardware design of a microphone control system based on ARM11, include operating system part of the design and implementation. A relay for external control, acquisition voice signals use on-chip AD. The system uses a S3C6410A /ARM11 of high-performance and low power consumption processor as main processor. The operating system use Linux. The system use board on FLASH to data storage, External input use of a touch screen for input. The software use Nokia's Qt4. 7 as software develop platform. This platform has a good visual interface. Finally,system debug and it has better performance.

  6. Sandia technology. Volume 13, number 2 Special issue : verification of arms control treaties.

    Energy Technology Data Exchange (ETDEWEB)

    1989-03-01

    Nuclear deterrence, a cornerstone of US national security policy, has helped prevent global conflict for over 40 years. The DOE and DoD share responsibility for this vital part of national security. The US will continue to rely on nuclear deterrence for the foreseeable future. In the late 1950s, Sandia developed satellite-borne nuclear burst detection systems to support the treaty banning atmospheric nuclear tests. This activity has continued to expand and diversify. When the Non-Proliferation Treaty was ratified in 1970, we began to develop technologies to protect nuclear materials from falling into unauthorized hands. This program grew and now includes systems for monitoring the movement and storage of nuclear materials, detecting tampering, and transmiting sensitive data securely. In the late 1970s, negotiations to further limit underground nuclear testing were being actively pursued. In less than 18 months, we fielded the National Seismic Station, an unattended observatory for in-country monitoring of nuclear tests. In the mid-l980s, arms-control interest shifted to facility monitoring and on-site inspection. Our Technical On-site Inspection Facility is the national test bed for perimeter and portal monitoring technology and the prototype for the inspection portal that was recently installed in the USSR under the Intermediate-Range Nuclear Forces accord. The articles in the special issue of Sundiu Technology describe some of our current contributions to verification technology. This work supports the US policy to seek realistic arms control agreements while maintaining our national security.

  7. Mechanical Design, Control Choices and first Return of Use of a Prosthetic Arm

    CERN Document Server

    Thomann, Guillaume

    2007-01-01

    In the world of upper limb prostheses, few companies dominate the majority of the market. They propose different kinds of hand, wrist and elbow prostheses but their control is often difficult to understand by the patients. We have decided to develop new myoelectric prosthetic arm (elbow, wrist and hand) by axing our development on the use of new technologies and facility of use for the patient. In this paper, we are explaining in details the different kinds of prostheses currently proposed to the amputees, their advantages and their drawbacks, the descriptions of the patients' needs and the possible improvements of the product. We will develop the designing choices of our prosthesis and the movements it can realize. Then we will explain the simplified control of the product by the patient and its first reactions. Finally, we will conclude by the news ideas and the next researches to concretize.

  8. Torsional Arming of Thiomannosyl Donors & Conformational Control of Hexahydropyridazines via pH

    DEFF Research Database (Denmark)

    Olsen, Jacob Ingemar

    demonstrated their ability to change conformation under different conditions. These conformational changes are connected to various intramolecular interactions and can to some extent, be controlled by pH (Chapter 3). Fusing these conformationally labile compounds to the rim of a cyclodextrin would create...... and can to some extent, be controlled by pH (Chapter 3). Fusing these conformationally labile compounds to the rim of a cyclodextrin would create compounds that could release molecules at a specified change in pH conditions. To investigate this, four hexahydropyridazines were synthesized and investigated......The overall objective of the research presented in this PhD thesis was to investigate torsional arming of thiogalacto- and thiomannosyl donors (part 1) and to investigate the possible synthesis and attachment of a pH regulated conformational switch to an α-cyclodextrin (part 2). Part 1: It is well...

  9. The applicability of sample collection and analysis in support of nuclear arms control agreements

    Energy Technology Data Exchange (ETDEWEB)

    McGuire, R.R.

    1995-08-01

    Agreements are being negotiated to halt the spread of nuclear arms both within the declared nuclear weapons states and to states not heretofore declaring their possession. With the verification regime of the recently negotiated Chemical Weapons Convention (CWC) as a model, negotiators are considering variations of on-site inspection as formulas to enhance the assurance of compliance with future agreements. These on-site inspections may be part of a treaty dictated verification regime or one of a set of voluntary {open_quotes}confidence building{close_quotes} measures. In either case, the collection of material samples for analysis could be an integral component of the inspection as it is in the CWC. The following is an assessment of the applicability of sampling and analysis for compliance monitoring nuclear arms control agreements currently envisioned. There are two essentially orthogonal ways of approaching this question of applicability: the consideration of the analytical questions and the consideration of the specifics of the individual agreements. This study is meant to utilize both approaches in examining the possible impact of sampling and analysis on compliance assessment. First attention must be given to technical questions relating to the efficacy of sampling and analysis.

  10. Progress to a nuclear-weapon-free world through tactical nuclear arms control

    International Nuclear Information System (INIS)

    At a time when, after some years of passivity, nuclear disarmament is becoming more of an urgent item on the international agenda and receiving accordingly more attention on the part of politicians and non-governmental experts. This is partly reflected in the Report of the Canberra Commission, and the statement on nuclear weapons by international generals and admirals. At the same time some developments such as uncertainties with START II ratification and the process of NATO enlargement make the task of nuclear arms control even more demanding. What is needed now is to pursue at last without any further delay negotiations on effective measures relating to the cessation of the nuclear arms race and to nuclear disarmament. And these effective measures must include both strategic and tactical nuclear weapons. Only a sustained commitment at the highest political level will legitimate serious discussions of the elimination option and ensure that resources and personnel are devoted to finding solutions to the problems associated with moving to zero, and to crafting appropriate transition strategies. In the absence of such a commitment, the nations of the world may never reach the point at which the desirability and feasibility of a nuclear-free world can be evaluated with greater certainty. This Pugwash Conference is trying to make a modest contribution in helping to make possible such a vitally important commitment

  11. 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…

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

    International Nuclear Information System (INIS)

    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

  13. Critical element study on autonomous position control of articulated-arm type manipulator

    International Nuclear Information System (INIS)

    An articulated-arm type manipulator can be operated effectively in a restricted space due to its flexibility and it can be attractive for a wide range of in-vessel maintenance such as viewing, inspection and limiter handling in fusion experimental reactors. In case of the in-vessel maintenance using a flexible manipulator, it is quite essential to develop an autonomous control method for compensating a deflection of manipulator so as to minimize the maintenance time with high precision. For this purpose, a new position control method using a combination of neural network predictor with a rigid inverse kinematics is being developed. The key features of this method are to simplify a kinematics modeling of flexible manipulator, to enable quick position compensation in stead of ordinary large matrix compensation, and to be applicable to a wide variety of manipulator characteristics. A sub-scaled model of flexible manipulator with 4 joints has been fabricated for a benchmark experiments of the autonomous position control. Comparing analytical simulation with experiments using the flexible manipulator, it has been demonstrated that the new position control method gives significant improvement in control performance with high precision in order of a figure. In addition, further optimization can be possible by adding other non-linear predictors such as radial basis function and fuzzy modeling. This paper describes the details of a sub-scaled flexible manipulator and a neural network position control system as well as results of analytical simulation and benchmark experiments. (author)

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

    Science.gov (United States)

    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.

  15. The Challenge for Arms Control Verification in the Post-New START World

    Energy Technology Data Exchange (ETDEWEB)

    Wuest, C R

    2012-05-24

    Nuclear weapon arms control treaty verification is a key aspect of any agreement between signatories to establish that the terms and conditions spelled out in the treaty are being met. Historically, arms control negotiations have focused more on the rules and protocols for reducing the numbers of warheads and delivery systems - sometimes resorting to complex and arcane procedures for counting forces - in an attempt to address perceived or real imbalances in a nation's strategic posture that could lead to instability. Verification procedures are generally defined in arms control treaties and supporting documents and tend to focus on technical means and measures designed to ensure that a country is following the terms of the treaty and that it is not liable to engage in deception or outright cheating in an attempt to circumvent the spirit and the letter of the agreement. As the Obama Administration implements the articles, terms, and conditions of the recently ratified and entered-into-force New START treaty, there are already efforts within and outside of government to move well below the specified New START levels of 1550 warheads, 700 deployed strategic delivery vehicles, and 800 deployed and nondeployed strategic launchers (Inter-Continental Ballistic Missile (ICBM) silos, Submarine-Launched Ballistic Missile (SLBM) tubes on submarines, and bombers). A number of articles and opinion pieces have appeared that advocate for significantly deeper cuts in the U.S. nuclear stockpile, with some suggesting that unilateral reductions on the part of the U.S. would help coax Russia and others to follow our lead. Papers and studies prepared for the U.S. Department of Defense and at the U.S. Air War College have also been published, suggesting that nuclear forces totaling no more than about 300 warheads would be sufficient to meet U.S. national security and deterrence needs. (Davis 2011, Schaub and Forsyth 2010) Recent articles by James M. Acton and others suggest that

  16. The Challenge for Arms Control Verification in the Post-New START World

    Energy Technology Data Exchange (ETDEWEB)

    Wuest, C R

    2012-05-24

    Nuclear weapon arms control treaty verification is a key aspect of any agreement between signatories to establish that the terms and conditions spelled out in the treaty are being met. Historically, arms control negotiations have focused more on the rules and protocols for reducing the numbers of warheads and delivery systems - sometimes resorting to complex and arcane procedures for counting forces - in an attempt to address perceived or real imbalances in a nation's strategic posture that could lead to instability. Verification procedures are generally defined in arms control treaties and supporting documents and tend to focus on technical means and measures designed to ensure that a country is following the terms of the treaty and that it is not liable to engage in deception or outright cheating in an attempt to circumvent the spirit and the letter of the agreement. As the Obama Administration implements the articles, terms, and conditions of the recently ratified and entered-into-force New START treaty, there are already efforts within and outside of government to move well below the specified New START levels of 1550 warheads, 700 deployed strategic delivery vehicles, and 800 deployed and nondeployed strategic launchers (Inter-Continental Ballistic Missile (ICBM) silos, Submarine-Launched Ballistic Missile (SLBM) tubes on submarines, and bombers). A number of articles and opinion pieces have appeared that advocate for significantly deeper cuts in the U.S. nuclear stockpile, with some suggesting that unilateral reductions on the part of the U.S. would help coax Russia and others to follow our lead. Papers and studies prepared for the U.S. Department of Defense and at the U.S. Air War College have also been published, suggesting that nuclear forces totaling no more than about 300 warheads would be sufficient to meet U.S. national security and deterrence needs. (Davis 2011, Schaub and Forsyth 2010) Recent articles by James M. Acton and others suggest that

  17. Generation of "virtual" control groups for single arm prostate cancer adjuvant trials.

    Directory of Open Access Journals (Sweden)

    Zhenyu Jia

    Full Text Available It is difficult to construct a control group for trials of adjuvant therapy (Rx of prostate cancer after radical prostatectomy (RP due to ethical issues and patient acceptance. We utilized 8 curve-fitting models to estimate the time to 60%, 65%, … 95% chance of progression free survival (PFS based on the data derived from Kattan post-RP nomogram. The 8 models were systematically applied to a training set of 153 post-RP cases without adjuvant Rx to develop 8 subsets of cases (reference case sets whose observed PFS times were most accurately predicted by each model. To prepare a virtual control group for a single-arm adjuvant Rx trial, we first select the optimal model for the trial cases based on the minimum weighted Euclidean distance between the trial case set and the reference case set in terms of clinical features, and then compare the virtual PFS times calculated by the optimum model with the observed PFSs of the trial cases by the logrank test. The method was validated using an independent dataset of 155 post-RP patients without adjuvant Rx. We then applied the method to patients on a Phase II trial of adjuvant chemo-hormonal Rx post RP, which indicated that the adjuvant Rx is highly effective in prolonging PFS after RP in patients at high risk for prostate cancer recurrence. The method can accurately generate control groups for single-arm, post-RP adjuvant Rx trials for prostate cancer, facilitating development of new therapeutic strategies.

  18. Control of Speed and Power in a Humanoid Robot Arm Using Pneumatic Actuators for Human-Robot Coexisting Environment

    Science.gov (United States)

    Hoshino, Kiyoshi

    A new type of humanoid robot arm which can coexist and be interactive with human beings are looked for. For the purpose of implementation of human smooth and fast movement to a pneumatic robot, the author used a humanoid robot arm with pneumatic agonist-antagonist actuators as endoskeletons which has control mechanism in the stiffness of each joint, and the controllability was experimentally discussed. Using Kitamori's method to experimentally decide the control gains and using I-PD controller, three joints of the humanoid robot arm were experimentally controlled. The damping control algorithm was also adopted to the wrist joint, to modify the speed in accordance with the power. The results showed that the controllability to step-wise input was less than one degree in error to follow the target angles, and the time constant was less than one second. The simultaneous input of command to three joints was brought about the overshoot of about ten percent increase in error. The humanoid robot arm can generate the calligraphic motions, moving quickly at some times but slowly at other times, or particularly softly on some occasions but stiffly on other occasions at high accuracy.

  19. Towards Brain-Computer Interface Control of a 6-Degree-of-Freedom Robotic Arm Using Dry EEG Electrodes

    Directory of Open Access Journals (Sweden)

    Alexander Astaras

    2013-01-01

    Full Text Available Introduction. Development of a robotic arm that can be operated using an exoskeletal position sensing harness as well as a dry electrode brain-computer interface headset. Design priorities comprise an intuitive and immersive user interface, fast and smooth movement, portability, and cost minimization. Materials and Methods. A robotic arm prototype capable of moving along 6 degrees of freedom has been developed, along with an exoskeletal position sensing harness which was used to control it. Commercially available dry electrode BCI headsets were evaluated. A particular headset model has been selected and is currently being integrated into the hybrid system. Results and Discussion. The combined arm-harness system has been successfully tested and met its design targets for speed, smooth movement, and immersive control. Initial tests verify that an operator using the system can perform pick and place tasks following a rather short learning curve. Further evaluation experiments are planned for the integrated BCI-harness hybrid setup. Conclusions. It is possible to design a portable robotic arm interface comparable in size, dexterity, speed, and fluidity to the human arm at relatively low cost. The combined system achieved its design goals for intuitive and immersive robotic control and is currently being further developed into a hybrid BCI system for comparative experiments.

  20. A comparative study of the active force control schemes applied to robot arm

    International Nuclear Information System (INIS)

    In this paper, a comparative study of three different types of active force control (AFC) schemes applied to a robotic arm is described. The study particularly focuses on the techniques to compute the estimated inertia matrix (ΙΝ) of a robotic manipulator necessary for the execution of the AFC strategy since the computation of (ΙΝ) is the common central theme to all AFC-based schemes. The first of the three AFC schemes is based on the conventional method of obtaining (ΙΝ), the second uses artificial neural network while the third incorporates an iterative learning algorithm. The study also discusses the characteristics of the (ΙΝ) curves obtained, the trajectory track performance of the schemes and the effects of the modelled disturbances. The robustness of all the AFC schemes are also ascertained in the study. (Author)

  1. Arms control and nonproliferation technologies: The non-proliferation experiment. First quarter 1994

    Energy Technology Data Exchange (ETDEWEB)

    Staehle, G.; Stull, S.; Talaber, C. [eds.

    1994-05-01

    In this issue of Arms Control and Nonproliferation Technologies we present the initial findings of the recent Non-Proliferation Experiment (NPE), conducted by the Department of Energy at the Nevada Test Site. Through an introduction and pictorial walk-through, Marv Denny and Jay Zucca of Lawrence Livermore National Laboratory describe the overall experiment. This is followed by scientific and technical abstracts of the complex suite of experiments and analyses, which were presented at the Symposium on Non-Proliferation Experiment Results and Implications for Test Ban Treaties, April 19--21, 1994. Questions regarding the ongoing analysis and conclusions from the NPE should be directed to Leslie Casey in the Office of Research and Development within the Office of Nonproliferation and National Security of DOE. Her phone number is 202-586-2151.

  2. Nuclear weapons, scientists, and the post-Cold War challenge selected papers on arms control

    CERN Document Server

    Drell, Sidney D

    2007-01-01

    This volume includes a representative selection of Sidney Drell's recent writings and speeches (circa 1993 to the present) on public policy issues with substantial scientific components. Most of the writings deal with national security, nuclear weapons, and arms control and reflect the author's personal involvement in such issues dating back to 1960. Fifteen years after the demise of the Soviet Union, the gravest danger presented by nuclear weapons is the spread of advanced technology that may result in the proliferation of nuclear weapons. Of most concern would be their acquisition by hostile governments and terrorists who are unconstrained by accepted norms of civilized behavior. The current challenges are to prevent this from happening and, at the same time, to pursue aggressively the opportunity to escape from an outdated nuclear deterrence trap.

  3. 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

  4. Driving and controlling circuit for full-color OLED based on ARM7%ARM7全彩OLED驱动控制电路设计

    Institute of Scientific and Technical Information of China (English)

    张翔; 蒋泉

    2012-01-01

    介绍了一款全彩无源OLED模块的驱动接口电路及驱动程序的设计.系统采用ARM7系列的LPC2138为控制核心,分别设计了电源电路、下载电路、复位电路和接口电路,并向全彩无源OLED模块提供数据信号和控制信号,从而实现了分辨力为128×128,65×103色的动态全彩图片显示.设计了基于ARM7内核的OLED驱动电路实验系统,可显示红、绿、蓝单色以及全彩图片,为中小尺寸OLED提供了一种低成本、低功耗的单芯片解决方案.%The paper introduces the design of driving circuit, reset circuit, download circuit, interface circuit and driving programs of the full-color passive OLED(organic light emitting device) module in the display system. The system adopts the LPC2138, family of ARM7-core, to control the OLED module. The data and control signals are provided by LPC2138 in order to realize a resolution of 128X 128, 65X 103 dynamic full-color display. Experiment results show that the system can display red, green, blue and full-color pictures, provide a low-cost, low-power and single-chip solution for small sized OLEDs.

  5. 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.

  6. Adaptive neural network control for coordinated motion of a dual-arm space robot system with uncertain parameters

    Institute of Scientific and Technical Information of China (English)

    GUO Yi-shen; CHEN Li

    2008-01-01

    Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed.By combining the relation of system linear momentum conversation with the Lagrangian approach,the dynamic equation of a robot is established.Based on the above results,the free-floating dual-arm space robot system is modeled with RBF neural networks,the GL matrix and its product operator.With all uncertain inertial system parameters,an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints.The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters.Also it does not need to train the neural network offline so that it would present real-time and online applications.A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.

  7. Upper-limb motor control in patients after stroke: Attentional demands and the potential beneficial effects of arm support

    NARCIS (Netherlands)

    Houwink, A.; Steenbergen, B.; Prange, G.B.; Buurke, J.H.; Geurts, A.C.H.

    2013-01-01

    The goal of this study was to investigate the attentional load of using the upper limb in moderately and mildly affected patients after stroke, with and without arm support. Ten patients with stroke (4 mild and 6 moderate paresis) and ten healthy, gender- and age-matched control subjects performed a

  8. Upper-limb motor control in patients after stroke: Attentional demands and the potential beneficial effects of arm support.

    NARCIS (Netherlands)

    Houwink, A.; Steenbergen, B.; Prange, G.B.; Buurke, J.H.; Geurts, A.C.H.

    2013-01-01

    The goal of this study was to investigate the attentional load of using the upper limb in moderately and mildly affected patients after stroke, with and without arm support. Ten patients with stroke (4 mild and 6 moderate paresis) and ten healthy, gender- and age-matched control subjects performed a

  9. Motor imagery, P300 and error-related EEG-based robot arm movement control for rehabilitation purpose.

    Science.gov (United States)

    Bhattacharyya, Saugat; Konar, Amit; Tibarewala, D N

    2014-12-01

    The paper proposes a novel approach toward EEG-driven position control of a robot arm by utilizing motor imagery, P300 and error-related potentials (ErRP) to align the robot arm with desired target position. In the proposed scheme, the users generate motor imagery signals to control the motion of the robot arm. The P300 waveforms are detected when the user intends to stop the motion of the robot on reaching the goal position. The error potentials are employed as feedback response by the user. On detection of error the control system performs the necessary corrections on the robot arm. Here, an AdaBoost-Support Vector Machine (SVM) classifier is used to decode the 4-class motor imagery and an SVM is used to decode the presence of P300 and ErRP waveforms. The average steady-state error, peak overshoot and settling time obtained for our proposed approach is 0.045, 2.8% and 44 s, respectively, and the average rate of reaching the target is 95%. The results obtained for the proposed control scheme make it suitable for designs of prosthetics in rehabilitative applications.

  10. 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.

  11. 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. PMID:25823038

  12. Performance Study of PID and Fuzzy Controllers for Position Control of 6 DOF arm Manipulator with Various Defuzzification Strategies

    Directory of Open Access Journals (Sweden)

    Kharidege Ahmed

    2016-01-01

    Full Text Available Today’s arm manipulators are more and more demanding in terms of productivity. Conventional controllers are not always able to provide good and accurate results. To complete a position movement of the manipulator’s end-effector, a set of joint angles of manipulator first required to be converted to the position coordinates by using the forward kinematics method, and each joint rotation is executed using a servomotor feedback control. The kinematic model has been validated using MATLAB® robotics toolbox. An end-effector based 6 degree of freedom (6-DOF platform is proposed in this work which uses DC servomotor for actuation of the three revolute joints. PID controller is used as a reference benchmark. And FLC controller with different defuzzification strategies was employed. Results were compared in terms of time response criteria. Simulation results using MATLAB are demonstrated that PID has superior performance in terms of transient parameters. In Steady state response, both PID and FLC manage to converge to the desired output but in terms of overshot FLC is outperformed.

  13. Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms

    Science.gov (United States)

    Togo, Shunta; Kagawa, Takahiro; Uno, Yoji

    2016-01-01

    The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the “UCM reference feedback control.” To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque

  14. Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms.

    Science.gov (United States)

    Togo, Shunta; Kagawa, Takahiro; Uno, Yoji

    2016-01-01

    The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the "UCM reference feedback control." To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque change

  15. Visual feedback facilitates intermanual transfer of the motor control of the dominant arm towards the nondominant arm

    OpenAIRE

    Urra Vicario, Oiane; Casals Gelpi, Alicia; Jané Campos, Raimon

    2015-01-01

    Visual feedback (VF) is applied to recover motor skills after stroke. However, the exact mechanisms underlying the beneficial effects of VF remain unclear, limiting its optimal use in clinical practice. We previously reported that the effect of neural mechanisms triggered by VF is reflected in the upperlimb at the level of the control structure (the set of synergies/corresponding activation coefficients used to perform a task). Here, we hypothesize that VF may facilitate the transfer of...

  16. Approaches to regional security and arms control in North-East Asia: Tasks ahead

    International Nuclear Information System (INIS)

    In order to pave the way towards regional security and arms control in North-East Asia, one of the outstanding issues left over from the cold war, that is, the question of a divided Korea-must be solved first. In settling the Korean problem, the importance of the bilateral negotiation between the parties in direct conflict can never be overemphasized. Over the past few years, fortunately, there has been an accumulation of developments that would have a positive effect on the improvement of inter-Korean relations and peaceful unification of the peninsula. In this sense, the first challenge for the two Koreas is to fulfil the pledges that they committed in the agreements. Concluding agreements is only a first step. They must be implemented fully both in letter and in spirit. Only upon the sincere and complete translation of the agreements into action can the two Koreas establish a solid peace system and move towards unification. This fulfilment will eventually contribute to security and stability in North-East Asia. To emphasize the importance of bilateral negotiation between the two Koreas is not necessarily to exclude the role of external Powers. The four major Powers in North-East Asia-China, Japan, Russia and the United States - could support the South-North dialogue, help ease tensions, facilitate discussion of common security concerns and possibly guarantee the outcomes negotiated between the two Koreas. By fostering bilateral negotiation between the parties to the conflict, they could contribute to enhancing security, confidence and disarmament in the region. At this moment, the most urgent task in the Korean peninsula relates to the problem of Pyongyang's nuclear weapons programme. To solve the nuclear problem, a significant progress on mutual reciprocal inspections must be made immediately in accordance with the wordings of the Declaration. Mutual inspection will test whether Pyongyang intends to go towards nuclear weapons, or away from them and towards

  17. Robust EMG sensing system based on data fusion for myoelectric control of a robotic arm

    Directory of Open Access Journals (Sweden)

    Soria Carlos M

    2009-02-01

    Full Text Available Abstract Background Myoelectric control of a robotic manipulator may be disturbed by failures due to disconnected electrodes, interface impedance changes caused by movements, problems in the recording channel and other various noise sources. To correct these problems, this paper presents two fusing techniques, Variance Weighted Average (VWA and Decentralized Kalman Filter (DKF, both based on the myoelectric signal variance as selecting criterion. Methods Tested in five volunteers, a redundant arrangement was obtained with two pairs of electrodes for each recording channel. The myoelectric signals were electronically amplified, filtered and digitalized, while the processing, fusion algorithms and control were implemented in a personal computer under MATLAB® environment and in a Digital Signal Processor (DSP. The experiments used an industrial robotic manipulator BOSCH SR-800, type SCARA, with four degrees of freedom; however, only the first joint was used to move the end effector to a desired position, the latter obtained as proportional to the EMG amplitude. Results Several trials, including disconnecting and reconnecting one electrode and disturbing the signal with synthetic noise, were performed to test the fusion techniques. The results given by VWA and DKF were transformed into joint coordinates and used as command signals to the robotic arm. Even though the resultant signal was not exact, the failure was ignored and the joint reference signal never exceeded the workspace limits. Conclusion The fault robustness and safety characteristics of a myoelectric controlled manipulator system were substantially improved. The proposed scheme prevents potential risks for the operator, the equipment and the environment. Both algorithms showed efficient behavior. This outline could be applied to myoelectric control of prosthesis, or assistive manipulators to better assure the system functionality when electrode faults or noisy environment are present.

  18. Design of Air Conditioner Central Control System Based on ARM-Linux-Qt%基于ARM-Linux-Qt的空调集中控制系统设计

    Institute of Scientific and Technical Information of China (English)

    杨都; 赖东锋; 肖焕明; 叶铁英

    2015-01-01

    In this paper, a central control system based on embedded technology, communication technology and HMI (Human and Machine Interactive) technology designed is introduced. The system selects TI AM335x hardware plat-form which based on ARM Cortex A8 processor, and Linux operation system as the software platform. The HMI in-terface is designed using Qt technology, and the communication is designed using CAN bus technology. The functions of the system include Multi-VRF centralized control, real time inspect, and schedule management. In addition, a high definition LCD and capacitive touch screen is provided to make system interactive conveniently and efficiently.%基于嵌入式技术、通信技术和人机交互技术设计了空调集中控制系统。该系统基于ARM Cortex A8的高速处理器TI AM335X硬件平台,采用嵌入式Linux操作系统,利用Qt设计了人机交互界面,通过CAN总线通讯技术,实现了多联机空调集中控制、实时监控、日程管理等功能。该系统采用7寸高分辨率彩色液晶屏和电容式触摸,较好的解决了以往空调集中控制器人机交互便捷性差、效率低下的问题。

  19. 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.

  20. Command and Control in a Nuclear-Armed Iran - Proliferation Papers No. 45

    International Nuclear Information System (INIS)

    In the long standoff regarding its nuclear ambition, Iran has cultivated ambiguity and been loath to reliably assure the international community of its ultimate intentions, complicating Western efforts to understand, let alone constrain, Tehran's endeavors. While many analyses have focused on how to prevent or contain a potential nuclear-armed Iran, the posture Iran would adopt once it has developed its nuclear weapons remains elusive. This paper highlights that while opting for command-and-control (C2) arrangements, Iran would have to reconcile two contrasting imperatives: first, to disperse assets and decentralize C2 to minimize the risks and potential damages of a disabling strike, which has been seen as a real - even imminent - threat in recent years. A contrasting concern emerged as the Iranian Revolutionary Guards' Corps became a key formulator and executor of Tehran's security policy: how to guard against the risk of unauthorized use of major weapons systems? Among the factors that could influence Iran's choices in terms of C2 arrangements, this paper focuses on Tehran's national security experience, the lessons it may have derived from it, as well as from the experience of other countries. (author)

  1. An efficient process of generating bispecific antibodies via controlled Fab-arm exchange using culture supernatants.

    Science.gov (United States)

    Paul, Suparna; Connor, Judy; Nesspor, Tom; Haytko, Peter; Boakye, Ken; Chiu, Mark L; Jiang, Haiyan

    2016-05-01

    Bispecific antibody generation is actively pursued for therapeutic and research antibody development. Although there are multiple strategies for generating bispecific antibodies (bsAbs); the common challenge is to develop a scalable method to prepare bsAbs with high purity and yield. The controlled Fab-arm exchange (cFAE) method combines two parental monoclonal antibodies (mAbs), each with a matched point mutation, F405L and K409R in the respective CH3 domains. The conventional process employs two steps: the purification of two parental mAbs from culture supernatants followed by cFAE. Following a reduction/oxidation reaction, the bispecific mAb is formed with greater than 95% heterodimerization efficiency. In this study, cFAE was initiated in culture supernatants expressing the two parental mAbs, thereby eliminating the need to first purify the parental mAbs. The bsAbs formed in culture supernatant was then purified using a Protein A affinity chromatography. The BsAbs generated in this manner had efficiency comparable to the conventional method using purified parental mAbs. BsAbs prepared by two different routes showed indistinguishable characteristics by SDS capillary electrophoresis, analytical size exclusion, and cation exchange chromatography. This alternative method significantly shortened timelines and reduced resources required for bsAb generation, providing an improved process with potential benefits in large-scale bsAb preparation, as well as for HTP small-scale bsAb matrix selection.

  2. A novel approach to the modelling and control of flexible robot arms

    Science.gov (United States)

    Ding, Xuru; Tarn, Tzyh-Jong; Bejczy, Antal K.

    1988-01-01

    A general dynamic model of a two-link Euler-Bernoulli beam flexible robot arm is presented in the form of partial-differential-integral equations. Observations are made on important properties of the dynamic model. The resulting infinite-dimensional system is then input-output decoupled and partially linearized by a diffeomorphic state transformation and nonlinear state feedback. The local stability issue is addressed for a one-link flexible robot arm.

  3. Active Force with Fuzzy Logic Control of a Two-Link Arm Driven by Pneumatic Artificial Muscles

    Institute of Scientific and Technical Information of China (English)

    H. Jahanabadi; M. Mailah; M. Z. Md Zain; H. M. Hooi

    2011-01-01

    In this paper,the practicality and feasibility of Active Force Control (AFC) integrated with Fuzzy Logic(AFCAFL) appliedto a two link planar arm actuated by a pair of Pneumatic Artificial Muscle (PAM) is investigated.The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force,high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour,high hysteresis and time varying parameters.Fuzzy Logic (FL) is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Proportional-Integral-Derivative (PID) control at the outermost loop.A simulation study was first performed followed by an experimental investigation for validation.The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space.In the former,the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency,whereas for the latter,two sets of trajectories with different loadings were considered.A practical rig utilizing a Hardware-In-The-Loop Simulation (H1LS) configuration was developed and a number of experiments were carried out.The results of the experiment and the simulation works were in good agreement,which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.

  4. 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.

  5. The development of fabrication techniques for europia/iron cermets tips for coarse control arms in Dido and Pluto

    International Nuclear Information System (INIS)

    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/cm3. 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. (U.K.)

  6. An open-source and cross-platform framework for Brain Computer Interface-guided robotic arm control.

    Science.gov (United States)

    Kubben, Pieter L; Pouratian, Nader

    2012-01-01

    Brain Computer Interfaces (BCIs) have focused on several areas, of which motor substitution has received particular interest. Whereas open-source BCI software is available to facilitate cost-effective collaboration between research groups, it mainly focuses on communication and computer control. We developed an open-source and cross-platform framework, which works with cost-effective equipment that allows researchers to enter the field of BCI-based motor substitution without major investments upfront. It is based on the C++ programming language and the Qt framework, and offers a separate class for custom MATLAB/Simulink scripts. It has been tested using a 14-channel wireless electroencephalography (EEG) device and a low-cost robotic arm that offers 5° of freedom. The software contains four modules to control the robotic arm, one of which receives input from the EEG device. Strengths, current limitations, and future developments will be discussed. PMID:23372966

  7. Sequential control signals determine arm and trunk contributions to hand transport during reaching in humans.

    Science.gov (United States)

    Rossi, Elena; Mitnitski, Arnold; Feldman, Anatol G

    2002-01-15

    When reaching towards objects placed outside the arm workspace, the trunk assumes an active role in transport of the hand by contributing to the extent of movement while simultaneously maintaining the direction of reach. We investigated the spatial-temporal aspects of the integration of the trunk motion into reaching. Specifically, we tested the hypothesis that the efficiency ('gain') of the arm-trunk co-ordination determining the contribution of the trunk to the extent of hand movement may vary substantially with the phase of reaching. Sitting subjects made fast pointing movements towards ipsi- and a contralateral targets placed beyond the reach of the right arm so that a forward trunk motion was required to assist in transporting the hand to the target. Sight of the arm and target was blocked before the movement onset. In randomly selected trials, the trunk motion was unexpectedly prevented by an electromagnet. Subjects were instructed to make stereotypical movements whether or not the trunk was arrested. In non-perturbed trials, most subjects began to move the hand and trunk simultaneously. In trunk-blocked trials, it was impossible for the hand to cover the whole pointing distance but the hand trajectory and velocity profile initially matched those from the trials in which the trunk motion was free, approximately until the hand reached its peak velocity. The arm inter-joint co-ordination substantially changed in response to the trunk arrest at a minimal latency of 40 ms after the perturbation onset. The results suggest that when the trunk was free, the influence of the trunk motion on the hand trajectory and velocity profile was initially neutralized by appropriate changes in the arm joint angles. Only after the hand had reached its peak velocity did the trunk contribute to the extent of pointing. Previous studies suggested that the central commands underlying the transport component of arm movements are completed when the hand reaches peak velocity. These

  8. Singular perturbation composite control of a free-floating flexible dual-arm space robot

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quanti...

  9. The Design of a Small UAV's Flight Controller Based on ARM11+CPLD%基于ARM11+CPLD的小型无人机飞行控制器设计

    Institute of Scientific and Technical Information of China (English)

    郑积仕; 蒋新华; 陈兴武

    2012-01-01

    本文针对小型无人机控制精度低、实时性不足的问题,设计了基于ARM11+ CPLD的飞行控制器.阐述该飞行控制器的硬件总体架构,各传感器与ARM11接口设计,CPLD并行多路PWM输入、输出设计;阐述硬件的驱动,导航控制、姿态控制的算法设计与实现.该飞行控制器的飞行测试结果理想.%The design of the flight controller based on ARM11+CPLD is presented in this paper aiming to solve the low accuracy and the inadequacy of real time in the control of UAV (Unamed Aircraft Veheicle). The overall frame of the flight controller hardware, the design of the interface between ARM11 and several sensors and the design of multi parallel PWM controls in CPLD are all presented. Furthermore, this paper also elaborates the hardware drive and the algorithm design and fulfillment of the navigation control and the attitude control. The flight test shows the flight controller works well.

  10. Synergic Effect of Compression Therapy and Controlled Active Exercises Using a Facilitating Device in the Treatment of Arm Lymphedema

    Directory of Open Access Journals (Sweden)

    Maria de Fátima Guerreiro Godoy, Maria Regina Pereira, Antonio Helio Oliani, Jose Maria Pereira de Godoy

    2012-01-01

    Full Text Available Trial design: A randomized controlled trial was performed to evaluate the effect of the combination of compression therapy with active exercising using a facilitating apparatus on arm lymphedema. Method: Twenty women with a mean age of 63.3 years were evaluated; all had lymphedema resulting from breast cancer treatment. The inclusion criterion was a difference of 200 mL in size between arms. The apparatus used, called 'pulley system', is a vertical iron wheel fixed on a support at a distance of 10 cm from the patient's body. Participants were submitted to two series of active exercises using this facilitating device, one series using a compression sleeve and the other without. Each series consisted of four 12-minute sessions of exercises separated by 3-minute rest intervals. Volumetry was performed before and after each series of exercises. The paired t-test was utilized for statistical analysis (p-value < 0.05. Results: A significant mean reduction (p-value < 0.007 and non-significant mean increase (p-value < 0.2 in volumes were observed during exercising with and without compression, respectively. Conclusion: Controlled active exercising utilizing a facilitating apparatus while wearing a compression sleeve reduces the size of lymphedematous arms.

  11. Managing new arms races

    International Nuclear Information System (INIS)

    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)

  12. 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.

  13. The Situation of International Arms Control and Non-proliferation in 2003

    Institute of Scientific and Technical Information of China (English)

    Hou; Hongyu

    2014-01-01

    The international non-proliferation efforts have achieved some positive results. The Iran nuclear issue has taken the first step towards solution; the abolition of Syrian chemical weapon is going ahead according the plan and the UN has adopted the Arms Trade Treaty. However, the DPRK nuclear issue has made no progress yet.

  14. Development of proximal arm muscle control during reaching in young infants : From variation to selection

    NARCIS (Netherlands)

    Bakker, Hanneke; de Graaf-Peters, Victorine B.; van Eykern, Leo A.; Otten, Bert; Hadders-Algra, Mijna

    2010-01-01

    Reaching movements are initiated by activity of the prime mover, i.e. the first activated arm muscle. We aimed to investigate the relationship between prime mover activity and kinematics of reaching in typically developing (TD) infants in supine and sitting position. Fourteen infants were assessed a

  15. Postdeployment Battlemind Training for the U.K. Armed Forces: A Cluster Randomized Controlled Trial

    Science.gov (United States)

    Mulligan, Kathleen; Fear, Nicola T.; Jones, Norman; Alvarez, Helen; Hull, Lisa; Naumann, Ulrike; Wessely, Simon; Greenberg, Neil

    2012-01-01

    Objective: Combat exposure can increase the risk of subsequent psychological ill-health in armed forces (AF) personnel. A U.S. postdeployment psycho-educational intervention, Battlemind, showed a beneficial effect on mental health in U.S. military personnel exposed to high combat levels. We evaluated the effectiveness of an anglicized version of…

  16. 32 CFR Appendix A to Part 631 - Armed Forces Disciplinary Control Board Procedures Guide

    Science.gov (United States)

    2010-07-01

    ... members present, final action will be taken only on the business for which the meeting was called. c. A... addressing installation or command concerns or issues. (1) Federal, State, and local judicial, legislative... detrimental to the good order and discipline, health, morale, welfare, safety, and morals of Armed...

  17. Viscoelastic model for redundancy resolution of the human arm via the swivel angle: applications for upper limb exoskeleton control.

    Science.gov (United States)

    Kim, Hyunchul; Roldan, Jay Ryan; Li, Zhi; Rosen, Jacob

    2012-01-01

    One of the key research efforts associated with a redundant seven degree of freedom (7-DOF) upper limb exoskeleton robot that is mechanically coupled to the human body is to develop high and low level control algorithms that enable the system to become a natural extension of the human body. Improving the synergistic relationship between the exoskeleton and the operator is manifested in part by decreasing the force exchange between the two entities. Such a reduction is accomplished in part by developing criteria for resolving the human arm redundancy. The redundancy may be represented by a swivel angle which is defined as the angular rotation of the elbow around an axis that passes through the shoulder and wrist joints. The proposed criteria for defining the swivel angle takes into account the dynamics of the human arm along with a viscoelastic muscle-like model with variable damping. The swivel angle is estimated using the pseudo-inverse of the Jacobian with a secondary objective function that estimates the desired joint angles during human arm movement. The result is then fed to the muscle model to create a more realistic human motion. The estimated swivel angle is then compared with the actual swivel angle measured experimentally by a motion capture system. Results indicate that the average error between the estimated and measured swivel joint angle is 4.4 degrees (in the range [3.7-6] degrees), which are lower than the kinematically based redundant resolution criterion. PMID:23367411

  18. Robot-assisted reaching exercise promotes arm movement recovery in chronic hemiparetic stroke: a randomized controlled pilot study

    Directory of Open Access Journals (Sweden)

    Rymer W Zev

    2006-06-01

    Full Text Available Abstract Background and purpose Providing active assistance to complete desired arm movements is a common technique in upper extremity rehabilitation after stroke. Such active assistance may improve recovery by affecting somatosensory input, motor planning, spasticity or soft tissue properties, but it is labor intensive and has not been validated in controlled trials. The purpose of this study was to investigate the effects of robotically administered active-assistive exercise and compare those with free reaching voluntary exercise in improving arm movement ability after chronic stroke. Methods Nineteen individuals at least one year post-stroke were randomized into one of two groups. One group performed 24 sessions of active-assistive reaching exercise with a simple robotic device, while a second group performed a task-matched amount of unassisted reaching. The main outcome measures were range and speed of supported arm movement, range, straightness and smoothness of unsupported reaching, and the Rancho Los Amigos Functional Test of Upper Extremity Function. Results and discussion There were significant improvements with training for range of motion and velocity of supported reaching, straightness of unsupported reaching, and functional movement ability. These improvements were not significantly different between the two training groups. The group that performed unassisted reaching exercise improved the smoothness of their reaching movements more than the robot-assisted group. Conclusion Improvements with both forms of exercise confirmed that repeated, task-related voluntary activation of the damaged motor system is a key stimulus to motor recovery following chronic stroke. Robotically assisting in reaching successfully improved arm movement ability, although it did not provide any detectable, additional value beyond the movement practice that occurred concurrently with it. The inability to detect any additional value of robot-assisted reaching

  19. EXAMINING THE ROLE AND RESEARCH CHALLENGES OF SOCIAL MEDIA AS A TOOL FOR NONPROLIFERATION AND ARMS CONTROL TREATY VERIFICATION

    Energy Technology Data Exchange (ETDEWEB)

    Henry, Michael J.; Cramer, Nicholas O.; Benz, Jacob M.; Gastelum, Zoe N.; Kreyling, Sean J.; West, Curtis L.

    2014-05-13

    Traditional arms control treaty verification activities typically involve a combination of technical measurements via physical and chemical sensors, state declarations, political agreements, and on-site inspections involving international subject matter experts. However, the ubiquity of the internet, and the electronic sharing of data that it enables, has made available a wealth of open source information with the potential to benefit verification efforts. Open source information is already being used by organizations such as the International Atomic Energy Agency to support the verification of state-declared information, prepare inspectors for in-field activities, and to maintain situational awareness . The recent explosion in social media use has opened new doors to exploring the attitudes, moods, and activities around a given topic. Social media platforms, such as Twitter, Facebook, and YouTube, offer an opportunity for individuals, as well as institutions, to participate in a global conversation at minimal cost. Social media data can also provide a more data-rich environment, with text data being augmented with images, videos, and location data. The research described in this paper investigates the utility of applying social media signatures as potential arms control and nonproliferation treaty verification tools and technologies, as determined through a series of case studies. The treaty relevant events that these case studies touch upon include detection of undeclared facilities or activities, determination of unknown events recorded by the International Monitoring System (IMS), and the global media response to the occurrence of an Indian missile launch. The case studies examine how social media can be used to fill an information gap and provide additional confidence to a verification activity. The case studies represent, either directly or through a proxy, instances where social media information may be available that could potentially augment the evaluation

  20. Electroacupuncture to treat painful diabetic neuropathy: study protocol for a three-armed, randomized, controlled pilot trial

    OpenAIRE

    Lee, Seunghoon; Kim, Joo-Hee; Shin, Kyung-Min; Kim, Jung-Eun; Kim, Tae-Hun; Kang, Kyung-Won; Lee, Minhee; Jung, So-Young; Shin, Mi-Suk; Kim, Ae-Ran; Park, Hyo-Ju; Hong, Kwon-Eui; Choi, Sun-Mi

    2013-01-01

    Background The purpose of this study is to conduct a basic analysis of the effectiveness and safety of electroacupuncture in the treatment of painful diabetic neuropathy (PDN) as compared to placebo and usual care and to evaluate the feasibility of large-scale clinical research. Methods/design This study is a protocol for a three-armed, randomized, patient-assessor-blinded (to the type of treatment), controlled pilot trial. Forty-five participants with a ≥ six month history of PDN and a mean ...

  1. Learning to Control Planar Hitting Motions of a Robotic Arm in a Mini-Golf-like Task

    OpenAIRE

    Kronander, Klas Jonas Alfred

    2010-01-01

    In this thesis we tackle the problem of goal-oriented adaptation of a robot hitting motion. We propose the parameters that must be learned in order to use and adapt a basic hitting motion to play minigolf. Then, two different statistical methods are used to learn these parameters. The two methods are evaluated and compared. To validate the proposed approach, a minigolf control module is developed for a robotic arm. Using the different learning techniques, we show that a robot can learn the no...

  2. Nonproliferation, arms control and disarmament and extended deterrence in the new security environment

    Energy Technology Data Exchange (ETDEWEB)

    Pilat, Joseph F [Los Alamos National Laboratory

    2009-01-01

    With the end of the Cold War, in a dramatically changed security environment, the advances in nonnuclear strategic capabilities along with reduced numbers and roles for nuclear forces has altered the calculus of deterrence and defense, at least for the United States. For many, this opened up a realistic possibility of a nuclear-free world. It soon became clear that the initial post-Cold War hopes were exaggerated. The world did change fundamentally, but it did not become more secure and stable. In place of the old Soviet threat, there has been growing concern about proliferation and terrorism involving nuclear and other weapons of mass destruction (WMD), regional conflicts, global instability and increasingly serious new and emerging threats, including cyber attacks and attacks on satellites. For the United States at least, in this emerging environment, the political rationales for nuclear weapons, from deterrence to reassurance to alliance management, are changing and less central than during the Cold War to the security of the United States, its friends and allies. Nuclear weapons remain important for the US, but for a far more limited set of roles and missions. As the Perry-Schlesinger Commission report reveals, there is a domestic US consensus on nuclear policy and posture at the highest level and for the near term, including the continued role of nuclear arms in deterring WMD use and in reassuring allies. Although the value of nuclear weapons has declined for the United States, the value of these weapons for Russia, China and so-called 'rogue' states is seen to be rising. The nuclear logic of NATO during Cold War - the need for nuclear weapons to counter vastly superior conventional capabilities of the Soviet Union and the Warsaw Pact - is today heard from Russians and even some proliferants. Moreover, these weapons present a way for rogues to achieve regional hegemony and possibly to deter interventions by the United States or others. While the

  3. Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism.

    Science.gov (United States)

    Liu, Zhi; Chen, Ci; Zhang, Yun; Chen, C L P

    2015-03-01

    To achieve an excellent dual-arm coordination of the humanoid robot, it is essential to deal with the nonlinearities existing in the system dynamics. The literatures so far on the humanoid robot control have a common assumption that the problem of output hysteresis could be ignored. However, in the practical applications, the output hysteresis is widely spread; and its existing limits the motion/force performances of the robotic system. In this paper, an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, is presented and investigated. In the controller design, the prior knowledge of system dynamics is assumed to be unknown. The motion error is guaranteed to converge to a small neighborhood of the origin by Lyapunov's stability theory. Simultaneously, the internal force is kept bounded and its error can be made arbitrarily small. PMID:24968367

  4. 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.

  5. Nonproliferation, arms control and disarmament and extended deterrence in the new security environment

    Energy Technology Data Exchange (ETDEWEB)

    Pilat, Joseph F [Los Alamos National Laboratory

    2009-01-01

    With the end of the Cold War, in a dramatically changed security environment, the advances in nonnuclear strategic capabilities along with reduced numbers and roles for nuclear forces has altered the calculus of deterrence and defense, at least for the United States. For many, this opened up a realistic possibility of a nuclear-free world. It soon became clear that the initial post-Cold War hopes were exaggerated. The world did change fundamentally, but it did not become more secure and stable. In place of the old Soviet threat, there has been growing concern about proliferation and terrorism involving nuclear and other weapons of mass destruction (WMD), regional conflicts, global instability and increasingly serious new and emerging threats, including cyber attacks and attacks on satellites. For the United States at least, in this emerging environment, the political rationales for nuclear weapons, from deterrence to reassurance to alliance management, are changing and less central than during the Cold War to the security of the United States, its friends and allies. Nuclear weapons remain important for the US, but for a far more limited set of roles and missions. As the Perry-Schlesinger Commission report reveals, there is a domestic US consensus on nuclear policy and posture at the highest level and for the near term, including the continued role of nuclear arms in deterring WMD use and in reassuring allies. Although the value of nuclear weapons has declined for the United States, the value of these weapons for Russia, China and so-called 'rogue' states is seen to be rising. The nuclear logic of NATO during Cold War - the need for nuclear weapons to counter vastly superior conventional capabilities of the Soviet Union and the Warsaw Pact - is today heard from Russians and even some proliferants. Moreover, these weapons present a way for rogues to achieve regional hegemony and possibly to deter interventions by the United States or others. While the

  6. Impact of Two Adolescent Pregnancy Prevention Interventions on Risky Sexual Behavior: A Three-Arm Cluster Randomized Control Trial

    Science.gov (United States)

    Cunningham, Michael R.; van Zyl, Michiel A.; Antle, Becky F.; Langley, Cheri N.

    2016-01-01

    Objectives. To test the efficacy of Reducing the Risk (RTR) and Love Notes (LN) on reducing risky sexual behavior among youths yet to experience or cause a pregnancy. Methods. The four dependent variables were ever had sex, condom use, birth control use, and number of sexual partners at 3- and 6-month follow-up in a 3-arm cluster randomized controlled trial of 1448 impoverished youths, aged 14 to 19 years, in 23 community-based organizations in Louisville, Kentucky, from September 2011 through March 2014. Results. At 3 and 6 months, compared with the control condition, youths in RTR reported fewer sexual partners and greater use of birth control. At 6 months, LN participants reported greater use of birth control and condoms, fewer sexual partners, and were less likely to have ever had sex compared with the control condition. Conclusions. We provided additional evidence for the continued efficacy of RTR and the first rigorous study of LN, which embeds sex education into a larger curriculum on healthy relationships and violence prevention. PMID:27689500

  7. 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.

  8. Reinforcement Learning Adaptive PID Controller for an Under-actuated Robot Arm

    Directory of Open Access Journals (Sweden)

    Adel Akbarimajd

    2015-10-01

    Full Text Available Abstract: An adaptive PID controller is used to control of a two degrees of freedom under actuated manipulator. An actor-critic based reinforcement learning is employed for tuning of parameters of the adaptive PID controller. Reinforcement learning is an unsupervised scheme wherein no reference exists to which convergence of algorithm is anticipated. Thus, it is appropriate for real time applications. Controller structure and learning equations as well as update rules are provided. Simulations are performed in SIMULINK and performance of the controller is compared with NARMA-L2 controller. The results verified good performance of the controller in tracking and disturbance rejection tests.

  9. Dynamics Modeling and Robust Trajectory Tracking Control for a Class of Hybrid Humanoid Arm Based on Neural Network

    Institute of Scientific and Technical Information of China (English)

    WANG Yueling; JIN Zhenlin

    2009-01-01

    In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm(HHA), which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network(NN)-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function(RBF) NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.

  10. On the improvement of the control force readiness of students engaged arm sport

    Directory of Open Access Journals (Sweden)

    Voronkov A.V.

    2014-03-01

    Full Text Available Purpose: to identify the most informative tests and test exercises to assess force readiness athletes. Material : the study involved 23 students of mass sports categories. Ascertaining experiment involved testing athletes force readiness, analysis of their competitive activity and determination of strength and reliability of correlation tests with the results of the competition. There were 19 trials and two anthropometric measurements. Results : it was found that traditional tests to determine the strength abilities athletes enough authentic. A significant positive correlation with the results of competitive activity indicators carpal dynamometry (in two different weight classes, and on both hands in the categories of more than 85 kg. And pull-ups on the maximum number of times. A high degree of correlation between the results of competitive activity and holding a dumbbell on a special bench capture below. This exercise is effective for assessing the level of preparedness of special strength in the weight category up to 80 kg and 85 kg. Conclusions : the most informative tests and benchmarks to determine the exercise of power readiness 1-2 athletes in sports categories arm sport.

  11. Control of multi-joint arm movements for the manipulation of touch in keystroke by expert pianists

    Directory of Open Access Journals (Sweden)

    Katayose Haruhiro

    2010-07-01

    Full Text Available Abstract Background Production of a variety of finger-key touches in the piano is essential for expressive musical performance. However, it remains unknown how expert pianists control multi-joint finger and arm movements for manipulating the touch. The present study investigated differences in kinematics and kinetics of the upper-limb movements while expert pianists were depressing a key with two different touches: pressed and struck. The former starts key-depression with the finger-tip contacting the key, whereas the latter involves preparatory arm-lift before striking the key. To determine the effect of individual muscular torque (MUS as well as non-muscular torques on joint acceleration, we performed a series of inverse and forward dynamics computations. Results The pressed touch showed smaller elbow extension velocity, and larger shoulder and finger flexion velocities during key-depression compared with the struck touch. The former touch also showed smaller elbow extension acceleration directly attributed to the shoulder MUS. In contrast, the shoulder flexion acceleration induced by elbow and wrist MUS was greater for the pressed touch than the struck touch. Towards the goal of producing the target finger-key contact dynamics, the pressed and struck touches effectively took advantage of the distal-to-proximal and proximal-to-distal inter-segmental dynamics, respectively. Furthermore, a psychoacoustic experiment confirmed that a tone elicited by the pressed touch was perceived softer than that by the struck touch. Conclusion The present findings suggest that manipulation of tone timbre depends on control of inter-segmental dynamics in piano keystroke.

  12. Design of Crop Growing Environment Monitoring and Control System Based On ARM and ZIGBEE%基于 ARM 和 ZigBee 的农作物生长环境监控系统的设计

    Institute of Scientific and Technical Information of China (English)

    小玲; 唐四维; 陈立君; 郑龙

    2016-01-01

    The crop growth environment monitoring and control system consisted of host computer ARM and Zig-Bee wireless sensor and actuator network was developed in order to achieve the perception-decision-control of the agri-cultural production process.The ZigBee sensor and actuator network based on CC2530 is able to sample air temperature and humidity,soil temperature and moisture,light illumination intensity,carbon dioxide,water and soil pH,and water dissolved oxygen data,and adjust crop growth environment by means of actuators according to control command from ARM.ARM host computer system in which S5PV210 is used as control core and the corresponding monitoring soft-ware is programmed based on Linux,Qt and SQLite,can implement data transmission between ZigBee coordinator and ARM using UART/SPI serial communication,realize the processing,storage,and management of real-time data from sensor network nodes,and regularly send data to the remote computer center through 3G/LAN port.The test results show that the designed system can achieve the real-time monitoring and control of crop growing environment parame-ters and the data dynamic analysis,historical inquiry,and threshold warning,and the system has good stability and practicality.%为了实现农业生产过程的感知-决策-控制,开发了一套由 ARM 上位机和基于 ZigBee 的传感器/执行器网络构成的农作物生长环境监控系统。基于 CC2530的 ZigBee 传感器/执行器网络能实时采集空气温湿度、土壤温湿度、光照强度、二氧化碳、水质或土壤的 pH 值等数据,并根据 ARM 上位机指令控制执行器状态来调节农作物生长环境参数。以 S5PV210为控制核心、基于 Linux、Qt 和 SQLite 开发的 ARM 上位机系统能采用 UART/SPI 串口通信方式实现 ARM 与 ZigBee 协调器之间的数据传输,实时接收、处理、存储和管理来自传感器网络节点的数据,并定期将数据通过3G 或局域网口上传给远程计算

  13. Evaluation of Arm Processor-based Bionic Intelligent Controller for a Buck-boost Converte

    Directory of Open Access Journals (Sweden)

    M.V. Mini

    2015-07-01

    Full Text Available This study focuses on performance-comparison of different tuning methods for a PI controller applied to a buck-boost converter. Comparison between the controllers is made by analysis of design methodology implementation issues and empirically measured performance. Design of PI controller is based on frequency response of the converter. The optimization of PI controller is based on ant colony algorithm. Experimental results show that, tuning the PI controller using ACO algorithm gave better performance than the conventional algorithm. This is mainly due to the fact ACO is capable of reducing the overshoot without oscillation.

  14. 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.

  15. 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.

  16. Forces and moments generated by the human arm: Variability and control

    Science.gov (United States)

    Xu, Y; Terekhov, AV; Latash, ML; Zatsiorsky, VM

    2012-01-01

    This is an exploratory study of the accurate endpoint force vector production by the human arm in isometric conditions. We formulated three common-sense hypotheses and falsified them in the experiment. The subjects (n=10) exerted static forces on the handle in eight directions in a horizontal plane for 25 seconds. The forces were of 4 magnitude levels (10 %, 20%, 30% and 40% of individual MVC). The torsion moment on the handle (grasp moment) was not specified in the instruction. The two force components and the grasp moment were recorded, and the shoulder, elbow, and wrist joint torques were computed. The following main facts were observed: (a) While the grasp moment was not prescribed by the instruction, it was always produced. The moment magnitude and direction depended on the instructed force magnitude and direction. (b) The within-trial angular variability of the exerted force vector (angular precision) did not depend on the target force magnitude (a small negative correlation was observed). (c) Across the target force directions, the variability of the exerted force magnitude and directional variability exhibited opposite trends: In the directions where the variability of force magnitude was maximal, the directional variability was minimal and vice versa. (d) The time profiles of joint torques in the trials were always positively correlated, even for the force directions where flexion torque was produced at one joint and extension torque was produced at the other joint. (e) The correlations between the grasp moment and the wrist torque were negative across the tasks and positive within the individual trials. (f) In static serial kinematic chains, the pattern of the joint torques distribution could not be explained by an optimization cost function additive with respect to the torques. Plans for several future experiments have been suggested. PMID:23080084

  17. An initial study examining the feasibility of expert system technology for command and control of supporting arms in the United States Marine Corps

    OpenAIRE

    Albano, Michael C.; Gearhart, Robert A.

    1988-01-01

    Approved for public release; distribution is unlimited The authors of this thesis propose the use of knowledge-based expert system technology to automate Marine Corps fire support command and control. It investigates the need for such support for the control of supporting arms and the ways to achieve it. The authors provide general information about artificial intelligence (specifically, expert system technology) and its potential use for automating command and control functions for Marine...

  18. Active controlled muscles in numerical model of human arm for movement in two degrees of freedom

    NARCIS (Netherlands)

    Budziszewski, P.; Nunen, E. van; Mordaka, J.K.; Kȩdzior, K.

    2008-01-01

    This paper describes the development of numerical model of human upper extremity able to perform movements and stabilization tasks in two degrees of freedom as a result of muscle activation controlled by a PID-based controller. These tasks are defined by functions of specified angle for every degree

  19. Position controller for the arm of a neutron diffractometer using fuzzy logic

    International Nuclear Information System (INIS)

    The neutron diffractometer is an important instrument coupled to one of the radial outlets of the TRIGA-3-Salazar Reactor and is used mainly to analyze textures and crystal lattices. One of its main components is the velocity analysis goniometer which controls in a tangential way the movements of the sensor requiring for this a resolution of a hundredth of degree, but at the same time wide displacements are required. It is necessary to design and construct a system on the basis of a micro controller which control the long movements in a rapid way and with the needed accuracy. In this work, a proposition is presented: to replace the A.C. motor with a D.C. motor with a wide range of velocity and supplied with a card (DAC) to control the velocity by means of digital data. Moreover, a programmed micro controller with an algorithm based on fuzzy logic receiving data in BCD will be use. The use of micro controller will allow to set free the personal computer of the position of the goniometer; nevertheless, the system will report to the P C and its control program about the present position of the goniometer and the time when the desired position is reached. It is also consider that the user will be away from the system (a minimum of 15 meters) in order to avoid the zone with a high intensity of background radiation. (Author)

  20. Fatigue damage analysis and life prediction for vehicle control arm%车辆控制臂疲劳损伤分析与寿命预测

    Institute of Scientific and Technical Information of China (English)

    刘永臣; 王国林; 孙丽

    2013-01-01

      为提高车辆结构疲劳耐久性、完善车辆结构设计方法,该文对车辆控制臂进行了的疲劳损伤分析与寿命预测研究。通过有限元分析法,建立控制臂有限元分析模型,分析其结构应力,确定疲劳损坏热点。实测获得试验场条件下控制臂的应变载荷,进行频谱分析与低通滤波等数据处理,利用雨流计数法,编制控制臂载荷谱。利用局部应力应变法与Miner准则,考虑结构应力集中修正,完成控制臂的疲劳损伤分析与寿命预估。结果表明,控制臂损伤热点主要分布在与转向节连接的过渡处,控制臂载荷信号频域能量主要集中在15 Hz以内,与车体结构的实际频率分布相符,控制臂的疲劳损伤分布与实际路况条件的受力状况相符,得出控制臂试验场预期寿命为3.96万h。研究结果可为车辆疲劳耐久研究提供重要参考。%In order to improve the vehicle structure fatigue durability, and to perfect vehicle structure design method, In this paper, fatigue damage analysis and life prediction on the vehicle control arm were done by three parts, namely, finite element modeling and analysis, load spectrum testing and establishment, fatigue damage analysis and life prediction. A fatigue life prediction method of vehicle control arm was put forward. Firstly, the finite element analysis model of the vehicle control arm was built in ANSYS software, and its construction stress was calculated and analyzed under the action of lateral and longitudinal forces respectively. Two hot points on the control arm were determined, which could bring about fatigue damage. The location of each hot point is respectively at the transition of the control arm connected to the steering knuckle and to the subframe. Both locations were identified as load testing points of P1 and P2 that strain gauges were pasted. Secondly, the strain load of the control arm was measured under the condition

  1. Coordinated control of a dual-arm dexterous robot using full immersion telepresence and virtual reality

    Science.gov (United States)

    Li, Larry; Cox, Brian; Shelton, Susan; Diftler, Myron

    1994-01-01

    Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory motor skills of an on-board crew and effectively transfers them to a slave robot. A dual alarm dexterous robot operating under telepresence control has been developed and initial evaluations of the system performing candidate EVA, IVA and planetary geological tasks were conducted. The results of our evaluation showed that telepresence control is very effective in transferring the operator's skills to the slave robot. However, the results also showed that, due to the kinematic and dynamics inconsistencies between the operator and the robot, a limited amount of intelligent automation is also required to carry out some to the tasks. Therefore, several enhancements have been made to the original system to increase the automated capabilities of the control system without losing the benefits of telepresence.

  2. Parkinsonism reduces coordination of fingers, wrist, and arm in fine motor control.

    Science.gov (United States)

    Teulings, H L; Contreras-Vidal, J L; Stelmach, G E; Adler, C H

    1997-07-01

    This experiment investigates movement coordination in Parkinson's disease (PD) subjects. Seventeen PD patients and 12 elderly control subjects performed several handwriting-like tasks on a digitizing writing tablet resting on top of a table in front of the subject. The writing patterns, in increasing order of coordination complexity, were repetitive back-and-forth movements in various orientations, circles and loops in clockwise and counterclockwise directions, and a complex writing pattern. The patterns were analyzed in terms of jerk normalized for duration and size per stroke. In the PD subjects, back-and-forth strokes, involving coordination of fingers and wrist, showed larger normalized jerk than strokes performed using either the wrist or the fingers alone. In the PD patients, wrist flexion (plus radial deviation) showed greater normalized jerk in comparison to wrist extension (plus ulnar deviation). The elderly control subjects showed no such effects as a function of coordination complexity. For both PD and elderly control subjects, looping patterns consisting of circles with a left-to-right forearm movement, did not show a systematic increase of normalized jerk. The same handwriting patterns were then simulated using a biologically inspired neural network model of the basal ganglia thalamocortical relations for a control and a mild PD subject. The network simulation was consistent with the observed experimental results, providing additional support that a reduced capability to coordinate wrist and finger movements may be caused by suboptimal functioning of the basal ganglia in PD. The results suggest that in PD patients fine motor control problems may be caused by a reduced capability to coordinate the fingers and wrist and by reduced control of wrist flexion. PMID:9225749

  3. Nonlinear modeling and identification of the electro-hydraulic control system of an excavator arm using BONL model

    Science.gov (United States)

    Yan, Jun; Li, Bo; Guo, Gang; Zeng, Yonghua; Zhang, Meijun

    2013-11-01

    Electro-hydraulic control systems are nonlinear in nature and their mathematic models have unknown parameters. Existing research of modeling and identification of the electro-hydraulic control system is mainly based on theoretical state space model, and the parameters identification is hard due to its demand on internal states measurement. Moreover, there are also some hard-to-model nonlinearities in theoretical model, which needs to be overcome. Modeling and identification of the electro-hydraulic control system of an excavator arm based on block-oriented nonlinear(BONL) models is investigated. The nonlinear state space model of the system is built first, and field tests are carried out to reveal the nonlinear characteristics of the system. Based on the physic insight into the system, three BONL models are adopted to describe the highly nonlinear system. The Hammerstein model is composed of a two-segment polynomial nonlinearity followed by a linear dynamic subsystem. The Hammerstein-Wiener(H-W) model is represented by the Hammerstein model in cascade with another single polynomial nonlinearity. A novel Pseudo-Hammerstein-Wiener(P-H-W) model is developed by replacing the single polynomial of the H-W model by a non-smooth backlash function. The key term separation principle is applied to simplify the BONL models into linear-in-parameters structures. Then, a modified recursive least square algorithm(MRLSA) with iterative estimation of internal variables is developed to identify the all the parameters simultaneously. The identification results demonstrate that the BONL models with two-segment polynomial nonlinearities are able to capture the system behavior, and the P-H-W model has the best prediction accuracy. Comparison experiments show that the velocity prediction error of the P-H-W model is reduced by 14%, 30% and 75% to the H-W model, Hammerstein model, and extended auto-regressive (ARX) model, respectively. This research is helpful in controller design, system

  4. Split-brain monkeys : cerebral control of contralateral and ipsilateral arm, hand and finger movements

    NARCIS (Netherlands)

    J. Brinkman (Jacoba)

    1974-01-01

    textabstractIn the present study, an investigation has been made of the visuomotor control exerted by one half of the brain over each of the two upper extremities in the rhesus monkey. The hypothesis that one half of the brain can steer movements of each of the two extremities relatively independent

  5. 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.

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

    Science.gov (United States)

    Klauer, Christian; Schauer, Thomas; Reichenfelser, Werner; Karner, Jakob; Zwicker, Sven; Gandolla, Marta; Ambrosini, Emilia; Ferrante, Simona; Hack, Marco; Jedlitschka, Andreas; Duschau-Wicke, Alexander; Gföhler, Margit; Pedrocchi, Alessandra

    2014-01-01

    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. 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 and shoulder due to high level 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 s. PMID:25228853

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

    OpenAIRE

    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, brainstemstroke, amyotrophic lateral sclerosis and other disorders can disconnect the brain from the body, eliminating the ability to perform volitional movements. A neural interface system 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 long-standing tetraplegia can use a neural interface ...

  8. ARM Based Automatic Control System of Nano Positioning Stage for Micromanufacturing

    Directory of Open Access Journals (Sweden)

    Gaurav Singh Naruka

    2013-05-01

    Full Text Available A microcontroller based control system to drive the Physik Instrumente (PI piezoelectric ultrasonic nano-positioning (PUN sta ge for a micro-factory has been proposed by the author. The tuning parameters of th e PI Line Controller are chosen such that the PUN stage shows optimum step response . The microcontroller i.e. LPC2478R provides the user with the choices of oper ations on the 3.2” QVGA LCD screen and the choice can be made by a 5-key joysti ck. The PUN stage moves in different geometrical patterns as chosen by the use r. The stage is placed in the workspace of the Clark-MXRR,Inc. CPA-2101 femto-sec ond laser. Different patterns are made on the material in question. As compared t o the previous works in this area, the user is given the power for position control, r eal time tracking, and trajectory planning of the actuator. The user interface has be en made very easy to comprehend. The repeatability of tasks, portability of the as- sembly, the reduction in the size of the system , power consumption and the human involvemen t are the major achievements after the inclusion of a microcontroller

  9. Path Planning of Mobile Elastic Robotic Arms by Indirect Approach of Optimal Control

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2011-03-01

    Full Text Available Finding optimal trajectory is critical in several applications of robot manipulators. This paper is applied the open-loop optimal control approach for generating the optimal trajectory of the flexible mobile manipulators in point-to-point motion. This method is based on the Pontryagin-s minimum principle that by providing a two-point boundary value problem is solved the problem. This problem is known to be complex in particular when combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of flexible nature of links are taken into account. The study emphasizes on modeling of the complete optimal control problem by remaining all nonlinear state and costate variables as well as control constraints. In this method, designer can compromise between different objectives by considering the proper penalty matrices and it yields to choose the proper trajectory among the various paths. The effectiveness and capability of the proposed approach are demonstrated through simulation studies. Finally, to verify the proposed method, the simulation results obtained from the model are compared with the results of those available in the literature.

  10. Hybrid Neuroprosthesis for the Upper Limb: Combining Brain-Controlled Neuromuscular Stimulation with a Multi-Joint Arm Exoskeleton.

    Science.gov (United States)

    Grimm, Florian; Walter, Armin; Spüler, Martin; Naros, Georgios; Rosenstiel, Wolfgang; Gharabaghi, Alireza

    2016-01-01

    Brain-machine interface-controlled (BMI) neurofeedback training aims to modulate cortical physiology and is applied during neurorehabilitation to increase the responsiveness of the brain to subsequent physiotherapy. In a parallel line of research, robotic exoskeletons are used in goal-oriented rehabilitation exercises for patients with severe motor impairment to extend their range of motion (ROM) and the intensity of training. Furthermore, neuromuscular electrical stimulation (NMES) is applied in neurologically impaired patients to restore muscle strength by closing the sensorimotor loop. In this proof-of-principle study, we explored an integrated approach for providing assistance as needed to amplify the task-related ROM and the movement-related brain modulation during rehabilitation exercises of severely impaired patients. For this purpose, we combined these three approaches (BMI, NMES, and exoskeleton) in an integrated neuroprosthesis and studied the feasibility of this device in seven severely affected chronic stroke patients who performed wrist flexion and extension exercises while receiving feedback via a virtual environment. They were assisted by a gravity-compensating, seven degree-of-freedom exoskeleton which was attached to the paretic arm. NMES was applied to the wrist extensor and flexor muscles during the exercises and was controlled by a hybrid BMI based on both sensorimotor cortical desynchronization (ERD) and electromyography (EMG) activity. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. The hybrid BMI controlled the stimulation significantly better than the offline analyzed ERD (p = 0.028) or EMG (p = 0.021) modality alone. Neuromuscular stimulation could be well integrated into the exoskeleton-based training and amplified both the task-related ROM (p = 0.009) and the movement-related brain modulation (p = 0.019). Combining a hybrid BMI with neuromuscular stimulation

  11. Hybrid Neuroprosthesis for the Upper Limb: Combining Brain-Controlled Neuromuscular Stimulation with a Multi-Joint Arm Exoskeleton.

    Science.gov (United States)

    Grimm, Florian; Walter, Armin; Spüler, Martin; Naros, Georgios; Rosenstiel, Wolfgang; Gharabaghi, Alireza

    2016-01-01

    Brain-machine interface-controlled (BMI) neurofeedback training aims to modulate cortical physiology and is applied during neurorehabilitation to increase the responsiveness of the brain to subsequent physiotherapy. In a parallel line of research, robotic exoskeletons are used in goal-oriented rehabilitation exercises for patients with severe motor impairment to extend their range of motion (ROM) and the intensity of training. Furthermore, neuromuscular electrical stimulation (NMES) is applied in neurologically impaired patients to restore muscle strength by closing the sensorimotor loop. In this proof-of-principle study, we explored an integrated approach for providing assistance as needed to amplify the task-related ROM and the movement-related brain modulation during rehabilitation exercises of severely impaired patients. For this purpose, we combined these three approaches (BMI, NMES, and exoskeleton) in an integrated neuroprosthesis and studied the feasibility of this device in seven severely affected chronic stroke patients who performed wrist flexion and extension exercises while receiving feedback via a virtual environment. They were assisted by a gravity-compensating, seven degree-of-freedom exoskeleton which was attached to the paretic arm. NMES was applied to the wrist extensor and flexor muscles during the exercises and was controlled by a hybrid BMI based on both sensorimotor cortical desynchronization (ERD) and electromyography (EMG) activity. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. The hybrid BMI controlled the stimulation significantly better than the offline analyzed ERD (p = 0.028) or EMG (p = 0.021) modality alone. Neuromuscular stimulation could be well integrated into the exoskeleton-based training and amplified both the task-related ROM (p = 0.009) and the movement-related brain modulation (p = 0.019). Combining a hybrid BMI with neuromuscular stimulation

  12. Parametric motion control of robotic arms: A biologically based approach using neural networks

    Science.gov (United States)

    Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.

    1993-01-01

    A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

  13. [Arm Motor Function Recovery during Rehabilitation with the Use of Hand Exoskeleton Controlled by Brain-Computer Interface: a Patient with Severe Brain Damage].

    Science.gov (United States)

    Biryukova, E V; Pavlova, O G; Kurganskaya, M E; Bobrov, P D; Turbina, L G; Frolov, A A; Davydov, V I; Sil'tchenko, A V; Mokienko, O A

    2016-01-01

    We studied the dynamics of motor function recovery in a patient with severe brain damage in the course of neurorehabilitation using hand exoskeleton controlled by brain-computer interface. For estimating the motor function of paretic arm, we used the biomechanical analysis of movements registered during the course of rehabilitation. After 15 weekly sessions of hand exoskeleton control, the following results were obtained: a) the velocity profile of goal-directed movements of paretic hand became bell-shaped, b) the patient began to extend and abduct the hand which was flexed and adducted in the beginning of rehabilitation, and c) the patient began to supinate the forearm which was pronated in the beginning of rehabilitation. The first result is an evidence of the general improvement of the quality of motor control, while the second and third results prove that the spasticity of paretic arm has decreased. PMID:27188144

  14. Design of a Pneumatic Robotic Arm for Solar Cell Tester System By using PLC controller

    Directory of Open Access Journals (Sweden)

    Yousif I. Al Mashhadany

    2013-01-01

    Full Text Available Solar cell testers sort photovoltaic cells according to their electrical performance, tested under simulated sunlight. A variety of testers exist, but they all face a common challenge of handling cells that are very small and thin, which makes it difficult to transport the cells from the conveyer to the storage box. This paper presents a new design for a handling robot with vacuum end-effectors, which uses a PLC controller to govern the movement of the cells and the testing process. The design applies to solar cell testers for monocrystalline, polycrystalline, cadmium telluride (CdTe, and copper indium diselenide (CIS cells. Each cell is tested for efficiency and categorized accordingly into four groups (A to D. A Virtual Reality (VR model was built to simulate the system, keeping in mind real world constraints. Two photoelectric sensors were used to make detections for both the testing process and the robot movement. The PLC controller guides the trajectory of the robot according to the results of the efficiency testing. It was seen that the system worked very well, with the testing process and the robot movement interacting smoothly. The robot trajectory was seen to be highly accurate, and the pick and place operations were done with great precision.

  15. The effects of a home-based arm ergometry exercise programme on physical fitness, fatigue and activity in polio survivors: protocol for a randomised controlled trial

    Directory of Open Access Journals (Sweden)

    Murray Deirdre

    2012-12-01

    Full Text Available Abstract Background Many Polio survivors have reduced mobility, pain and fatigue, which make access to conventional forms of aerobic exercise difficult. Inactivity leads to increased risk of health problems, many of which are prevalent among Polio survivors. Aerobic exercise programmes in Polio survivors should utilise stable muscle groups and should be designed to minimise exacerbation of pain and fatigue. A home-based arm ergometry aerobic exercise programme may represent an affordable and accessible exercise modality, incorporating exercise prescription principles in this group. Methods/design This is a prospective, single blinded, randomised controlled trial. There are two arms; exercise intervention using arm ergometers and control. Polio survivors meeting eligibility criteria will be recruited and randomly allocated to intervention or control groups. Participants allocated to the intervention group will receive a small arm ergometer and a polar heart rate monitor. They will carry out a home-based moderate intensity (50-70% HRMax aerobic exercise programme for eight weeks, following instruction by the treating physiotherapist. Assessments will occur at baseline and after eight weeks and will include tests of physical fitness, activity, energy cost of walking, fatigue and quality of life. Clinically feasible assessment tools including the Six Minute Arm Test, the Physical Activity Scale for People with Physical Disabilities questionnaire, the Physiological Cost Index, Fatigue Severity Scale and the SF-36v2 will be utilised. Discussion The efficacy of a home-based arm ergometry programme in Polio survivors will be examined. No previous trial has examined such a programme using a wide range of outcome measures pertinent to Polio survivors. This study will provide new information on the impact of arm ergometry on physical fitness, activity, body composition, fatigue, pain, muscle strength, and health related quality of life. Also, the study

  16. Design of Programmable Automation Controller Based on ARM and Linux%基于ARM-Linux的可编程自动化控制器的设计

    Institute of Scientific and Technical Information of China (English)

    李斌; 陈富林; 李森; 王凯

    2011-01-01

    Based on the understanding of the PAC s function and programming method, a kind of PAC proto-type is discussed in detail. The main structure is introduced first, and later the operation system is deduced thor-oughly , both in hardware and software. Its hardware platform is based on a ARM board, while its software is based on linux as OS, Qt as HMI and Sqlite as database. Finally, analysis indicates that this PAC is of great scalability and portability, and can meet the industry requirements sufficiently.%在理解PAC系统的功能、组成和编程方法基础上,从整体上介绍了一种PAC的实现方案.首先对PAC总体结构作了简要介绍,然后主要对运行系统的整体构架的设计做了详细研究,包括软件及硬件系统的设计.运行系统的硬件平台是基于ARM的嵌入式控制器,软件方面使用linux作为操作系统,Qt作为界面,并支持Sqlite数据库.最后对软PLC系统的性能进行分析,分析结果表明:系统具备了良好的扩展性和移植性,达到了工业领域中的控制要求.

  17. Bio-Inspired Control of an Arm Exoskeleton Joint with Active-Compliant Actuation System

    Directory of Open Access Journals (Sweden)

    Michele Folgheraiter

    2009-01-01

    Full Text Available This paper presents the methodology followed on the design of a multi-contact point haptic interface that uses a bio-inspired control approach and a novel actuation system. The combination of these components aims at creating a system that increases the operability of the target, and, at the same time, enables an intuitive and safe tele-operation of any complex robotic system of any given morphology. The novelty lies on the combination of a thoughtful kinematic structure driven by an active-compliant actuation system and a bio-inspired paradigm for its regulation. Due to the proposed actuation approach, the final system will achieve the condition of wearable system. On that final solution, each joint will be able to change its stiffness depending on the task to be executed, and on the anatomical features of each individual. Moreover, the system provides a variety of safety mechanisms at different levels to prevent causing any harm to the operator. In future, the system should allow the complete virtual immersion of the user within the working scenario.

  18. 基于 ARM 的桌面型3D打印机控制系统设计%Design of desktop 3D printer control system based on ARM

    Institute of Scientific and Technical Information of China (English)

    谭秀腾; 郭小定; 李小龙; 余亮

    2014-01-01

    针对基于单片机为控制器的桌面型3D打印机控制系统中存在的处理速度慢、片外芯片多、电路复杂、打印质量不高等问题,设计了基于ARM为控制器的桌面型3D打印机控制系统。系统采用了NXP公司推出的基于ARM Cortex-M3内核的LPC1768微控制器,用它进行与上位机通信、数据处理、模拟量采集与处理、信号控制,选用A4988专用两相步进电机驱动器实现步进电机细分驱动,简化步进电机细分驱动的设计,行程开关电路采用GK152红外光电传感器。软件采用了PID方式调节加热床、挤出机加热温度。文中论述了控制系统主要硬件电路设计和软件的实现流程,系统测试表明性能良好。%The desktop 3D printer control systems with a sigle-chip controller have problems of slow processing speed, more pieces of outside chips, circuit complexity and poor quality of printing.To solve these problems, a desktop 3D printer control system with an ARM controller is designed.The system employs the LPC1768 microcon-troller based on ARM Cortex-M3 core which is introduced by the NXP and used to communicate with the host com-puter, data processing, analog acquisition and processing, signal control, used A4988 special two-phase stepper motor driver to implement stepper motor subdivision drive and to simplify the drive design for stepping motor.The travel switch circuit adopts GK152 infrared photoelectric sensor.The software adopted PID method in order to adjust the heating temperature of heating bed and extruder.This paper discusses the main hardware circuit design and soft-ware realization process of the control system.The System testing shows good performance.

  19. Double-blind placebo-controlled randomised trial of vitamin E and pentoxifylline in patients with chronic arm lymphoedema and fibrosis after surgery and radiotherapy for breast cancer

    International Nuclear Information System (INIS)

    Background and purpose: Treatment-induced arm lymphoedema is a common and distressing complication of curative surgery and radiotherapy for early breast cancer. A number of studies testing alpha-tocopherol (vitamin E) and pentoxifylline suggest evidence of clinical regression of superficial radiation-induced fibrosis but there is only very limited evidence from randomised trials. Arm lymphoedema after lymphatic radiotherapy and surgery has been used in the present study as a clinical system for testing these drugs in a double-blind placebo-controlled randomised phase II trial. Patients and methods: Sixty-eight eligible research volunteers with a minimum 20% increase in arm volume at a median 15.5 years (range 2-41) after axillary/supraclavicular radiotherapy (plus axillary surgery in 51/68 (75%) cases) were randomised to active drugs or placebo. All volunteers were given dl-alpha tocopheryl acetate 500 mg twice a day orally plus pentoxifylline 400 mg twice a day orally, or corresponding placebos, for 6 months. The primary endpoint was volume of the ipsilateral limb measured opto-electronically using a perometer and expressed as a percentage of the contralateral limb volume. Results: At 12 months post-randomisation, there was no significant difference between treatment and control groups in terms of arm volume. Absolute change in arm volume at 12 months was 2.5% (95% CI -0.40 to 5.3) in the treatment group compared to 1.2% (95% CI -2.8 to 5.1) in the placebo group. The difference in mean volume change between randomisation groups at 12 months was not statistically significant (P=0.6), -1.3% (95% CI -6.1 to 3.5), nor was there a significant difference in response at 6 months (P=0.7), where mean change in arm volume from baseline in the treatment and placebo groups was -2.3% (95% CI -7.9 to 3.4) and -1.1% (95% CI -3.9 to 1.7), respectively. There were no significant differences between randomised groups in terms of secondary endpoints, including tissue induration

  20. Pilates vs. Balance Training in Health Community-Dwelling Seniors: a 3-arm, Randomized Controlled Trial.

    Science.gov (United States)

    Donath, L; Roth, R; Hürlimann, C; Zahner, L; Faude, O

    2016-03-01

    The study examined effects of traditional balance vs. mat-based Pilates training on balance and trunk strength in healthy community dwellers. Forty-eight seniors were either stratified to a balance training group (BAL, n=16, 69.1 (SD 5.8) y), Pilates training group (PIL, n=17, 70.8 (6.5) y) or control group (CON, n=15, 69.2 (6.1) y). BAL performed traditional balance training, while PIL conducted mat-based Pilates-exercises (8 weeks, 2 sessions/week 66 min each). Balance performance (single limb stance and perturbed kneeling, Y-Balance test), dynamic and isometric trunk flexion and extension were assessed during pre- and post-testing. According to the magnitude-based inference approach, substantial positive effects in favor of BAL compared to CON were found for the Y-balance score (right leg, effect size (d)=0.68; left leg, d=0.56), trunk extension (d=0.68) and single leg stance (right leg, d=0.61; left leg, d=0.38). Dynamic (d=0.32) and isometric (d=0.15) trunk flexion revealed unclear effects. For the Y-balance score (right leg, d=0.48, left leg, d=0.75) and single leg stance (right leg, +d=0.61%; left leg, d=0.67), interestingly, BAL substantially exceeded PIL. PIL vs. CON revealed unclear effects for most parameters (0.05Pilates training did not cause relevant adaptations in trunk strength and balance performance, whereas balance training substantially improved balance and trunk strength. PMID:26630547

  1. 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.

  2. Automatic Control System for Refining Sugarcane Based on Embedded ARM-Linux and ZigBee%基于ARM-Linux和ZigBee的自动煮糖数据采集系统

    Institute of Scientific and Technical Information of China (English)

    王敦锋; 朱名日; 庾志衡; 周信东

    2011-01-01

    According to the special environment of refining; sugarcane production line,a RT data sugar-refine control platform of wireless sensor network based on Zigbee and arm-linux technology was built. The problems of traditional cable data acquisition system such as high cost.poor scalabiliiy of monitoring node,bad mobility were solved. A new way was achieved for the process automation of refinining sugar. The test result shows that the system runs well, and completely meets the requirements of produccion process.%针对糖厂煮糖制炼生产线的特殊环境,利用ZigBee和嵌入式ARM-Linux技术,构建了1个实时的蔗糖制炼无线传感器网络控制平台,有效解决传统的有线数据采集系统存在的成本较高、监控点扩充性差、移动性较差等问题,为实现煮糖过程的自动化提供了手段.测试表明,系统运行良好,能够满足工艺的要求.

  3. Hybrid neuroprosthesis for the upper limb: combining brain-controlled neuromuscular stimulation with a multi-joint arm exoskeleton

    Directory of Open Access Journals (Sweden)

    Florian Grimm

    2016-08-01

    Full Text Available Brain-machine interface-controlled (BMI neurofeedback training aims to modulate cortical physiology and is applied during neurorehabilitation to increase the responsiveness of the brain to subsequent physiotherapy. In a parallel line of research, robotic exoskeletons are used in goal-oriented rehabilitation exercises for patients with severe motor impairment to extend their range of motion and the intensity of training. Furthermore, neuromuscular electrical stimulation (NMES is applied in neurologically impaired patients to restore muscle strength by closing the sensorimotor loop. In this proof-of-principle study, we explored an integrated approach for providing assistance as needed to amplify the task-related range of motion and the movement-related brain modulation during rehabilitation exercises of severely impaired patients. For this purpose, we combined these three approaches (BMI, NMES, and exoskeleton in an integrated neuroprosthesis and studied the feasibility of this device in seven severely affected chronic stroke patients who performed wrist flexion and extension exercises while receiving feedback via a virtual environment. They were assisted by a gravity-compensating, seven degree-of-freedom exoskeleton which was attached to the paretic arm. Neuromuscular electrical stimulation was applied to the wrist extensor and flexor muscles during the exercises and was controlled by a hybrid BMI based on both sensorimotor cortical desynchronization (ERD and electromyography (EMG activity. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e. induced no overt support. The hybrid BMI controlled the stimulation significantly better than the offline analyzed ERD (p=0.028 or EMG (p=0.021 modality alone. Neuromuscular stimulation could be well integrated into the exoskeleton-based training and amplified both the task-related range of motion (p=0.009 and the movement-related brain modulation (p=0

  4. The rejection of the comprehensive nuclear test ban treaty by the US Senate: a reverse for the nuclear arms control?; Le rejet du traite d'interdiction complete des essais nucleaires par le Senat Americain: un revers pour l'arms control nucleaire?

    Energy Technology Data Exchange (ETDEWEB)

    Sitt, B. [Universite de Marne la Vallee, 77 (France)

    2000-07-01

    On October 13, 1999, after a hasty debate, the US Senate rejected the comprehensive nuclear test ban treaty (CTBT) signed 3 years ago. This article analyses this event with respect to the US domestic context (discussions at the Senate, reaction of the Presidency) and with respect to the international context (international reactions, future of the treaty, consequences on arms control policy). (J.S.)

  5. Brain-Computer Interface-based robotic end effector system for wrist and hand rehabilitation: results of a three-armed randomized controlled trial for chronic stroke

    Directory of Open Access Journals (Sweden)

    Kai Keng eAng

    2014-07-01

    Full Text Available The objective of this study was to investigate the efficacy of an Electroencephalography (EEG-based Motor Imagery (MI Brain-Computer Interface (BCI coupled with a Haptic Knob (HK robot for arm rehabilitation in stroke patients. In this three-arm, single-blind, randomized controlled trial; 21 chronic hemiplegic stroke patients (Fugl-Meyer Motor Assessment (FMMA score 10-50, recruited after pre-screening for MI BCI ability, were randomly allocated to BCI-HK, HK or Standard Arm Therapy (SAT groups. All groups received 18 sessions of intervention over 6 weeks, 3 sessions per week, 90 minutes per session. The BCI-HK group received 1 hour of BCI coupled with HK intervention, and the HK group received 1 hour of HK intervention per session. Both BCI-HK and HK groups received 120 trials of robot-assisted hand grasping and knob manipulation followed by 30 minutes of therapist-assisted arm mobilization. The SAT group received 1.5 hours of therapist-assisted arm mobilization and forearm pronation-supination movements incorporating wrist control and grasp-release functions. In all, 14 males, 7 females, mean age 54.2 years, mean stroke duration 385.1 days, with baseline FMMA score 27.0 were recruited. The primary outcome measure was upper-extremity FMMA scores measured mid-intervention at week 3, end-intervention at week 6, and follow-up at weeks 12 and 24. Seven, 8 and 7 subjects underwent BCI-HK, HK and SAT interventions respectively. FMMA score improved in all groups, but no intergroup differences were found at any time points. Significantly larger motor gains were observed in the BCI-HK group compared to the SAT group at weeks 3, 12 and 24, but motor gains in the HK group did not differ from the SAT group at any time point. In conclusion, BCI-HK is effective, safe, and may have the potential for enhancing motor recovery in chronic stroke when combined with therapist-assisted arm mobilization.

  6. Brain-computer interface-based robotic end effector system for wrist and hand rehabilitation: results of a three-armed randomized controlled trial for chronic stroke.

    Science.gov (United States)

    Ang, Kai Keng; Guan, Cuntai; Phua, Kok Soon; Wang, Chuanchu; Zhou, Longjiang; Tang, Ka Yin; Ephraim Joseph, Gopal J; Kuah, Christopher Wee Keong; Chua, Karen Sui Geok

    2014-01-01

    The objective of this study was to investigate the efficacy of an Electroencephalography (EEG)-based Motor Imagery (MI) Brain-Computer Interface (BCI) coupled with a Haptic Knob (HK) robot for arm rehabilitation in stroke patients. In this three-arm, single-blind, randomized controlled trial; 21 chronic hemiplegic stroke patients (Fugl-Meyer Motor Assessment (FMMA) score 10-50), recruited after pre-screening for MI BCI ability, were randomly allocated to BCI-HK, HK or Standard Arm Therapy (SAT) groups. All groups received 18 sessions of intervention over 6 weeks, 3 sessions per week, 90 min per session. The BCI-HK group received 1 h of BCI coupled with HK intervention, and the HK group received 1 h of HK intervention per session. Both BCI-HK and HK groups received 120 trials of robot-assisted hand grasping and knob manipulation followed by 30 min of therapist-assisted arm mobilization. The SAT group received 1.5 h of therapist-assisted arm mobilization and forearm pronation-supination movements incorporating wrist control and grasp-release functions. In all, 14 males, 7 females, mean age 54.2 years, mean stroke duration 385.1 days, with baseline FMMA score 27.0 were recruited. The primary outcome measure was upper extremity FMMA scores measured mid-intervention at week 3, end-intervention at week 6, and follow-up at weeks 12 and 24. Seven, 8 and 7 subjects underwent BCI-HK, HK and SAT interventions respectively. FMMA score improved in all groups, but no intergroup differences were found at any time points. Significantly larger motor gains were observed in the BCI-HK group compared to the SAT group at weeks 3, 12, and 24, but motor gains in the HK group did not differ from the SAT group at any time point. In conclusion, BCI-HK is effective, safe, and may have the potential for enhancing motor recovery in chronic stroke when combined with therapist-assisted arm mobilization.

  7. 基于ARM的单周期控制逆变电源研究%Study on One-Cycle Control Inverter Based on ARM

    Institute of Scientific and Technical Information of China (English)

    褚鹏超; 郑玉莲; 田晓燕; 孙频东

    2012-01-01

    One-cycle control is a kind of control strategy of analog power technology which is widely used. It has such merits as simple structure, rapid control speed and so on. Analog circuit is always used to form control circuit. In this paper ARM is used to realize one-cycle control. The components of one-cycle control circuit such as the integrator, comparator, RS flip-flop and other hardware circuits are realized by ARM. Finally, compared with one-cycle control which is realized by analog circuit, they are similar in the characteristics of dynamic performance.%单周期控制是模拟电源技术中一种被广泛使用的控制策略,它具有结构简单、调控速度快等优点,通常使用模拟电路构成控制电路,利用ARM控制芯片实现数字单周期控制,单周期控制电路中的积分器、电压比较器、RS触发器等硬件电路均用软件实现,最后与模拟电路构成的单周期电路相比较发现其在动态性能方面具有相似的特性.

  8. Study of factors controlling exposure dose and image quality of C-arm in operation room according to detector size of it (Mainly L-Spine AP study)

    Energy Technology Data Exchange (ETDEWEB)

    Chui, Sung Hyun; Jo, Hwang Woo [Dept. of Radiology, Kyung Hee University Hospital at Gangdong, Seoul (Korea, Republic of); Chun, Woon Kwan; Song, Ha Jin [Dept. of Nuclear Engineering, Chosun University, Gwangju (Korea, Republic of); Dong, Kyung Rae [Dept. of Radiological Technology, Gwangju Health University, Gwangju (Korea, Republic of); Choi, Eun Jin [Dept. of Public Health and Medicine, Dongshin University, Naju (Korea, Republic of)

    2015-02-15

    Time of operation has been reduced and accuracy of operation has been improved since C-arm, which offer real-time image of patient, was introduced in operation room. However, because of the contamination of patient, C-arm could not be used more appropriately. Therefore, this study is to know factors of controlling exposure dose, image quality and the exposed dose of health professional in operation room. Height of Wilson frame (bed for operation) was fixed at 130 cm. Then, Model 76-2 Phantom, which was set by assembling manual of Fluke Company, was set on the bed. Head/Spine Fluoroscopy AEC mode was set for exposure condition. According to detector size of C-arm, the absorbed dose per min was measured in the 7 steps OFD (cm) from 10 cm to 40 cm (10, 15, 20, 25, 30, 35, 40 cm). In each step of OFD, the absorbed dose per min of same diameter of collimation was measured. Moreover, using Nero MAX Model 8000, exposure dose per min was measured according to 3 step of distance from detector (20 cm, 60 cm, 100 cm). Finally, resolution was measured by CDRH Disc Phantom and magnification of each OFD was measured by aluminum stick bar. According to detector size of C-arm, difference of absorbed dose shows that the dose of 20 cm OFD is 1.750 times higher than the dose of 40 cm OFD. It means that the C-arm, which has smaller size of detector, shows the bigger difference of absorbed dose per min (p<0.05). In the difference of absorbed dose in the same step of OFD (from 20 cm to 40 cm), the absorbed dose of 9 inch detect or C-arm was 1.370 times higher than 12 inch' s (p<0.05). When OFD was set to 20 cm OFD, the absorbed dose of non-collimation case was approximately 0.816 times lower than the absorbed dose of collimation cases (p<0.05). When the distance was 20 cm from detector, exposed does includes first-ray and scatter-ray. When the distance was 60 cm and 100 cm from detector, exposed does includes just scatter-ray. So, there was the 2.200 times difference of absorbed

  9. Design of embedded intelligent home control system based on Arm-Linux%基于Arm-Linux的嵌入式智能家居控制系统的设计

    Institute of Scientific and Technical Information of China (English)

    谭涛; 徐晓辉; 黄晓亮; 王盟; 温阳

    2011-01-01

    随着嵌入式技术、网络及信息技术的发展,针对人们对智能家居的追求.提出了一种基于ARM9的嵌入式智能家居控制系统的解决方案.介绍了嵌入式Linux系统的软硬件平台,结合实例阐述了嵌入式QT图形界面系统、嵌入式数据库SQLite等关键技术在嵌入式智能家居控制系统中的应用.该方案解决了控制系统的可视化操作问题,提高了系统数据管理效率,并具有通用性可移植到其他硬件或软件平台应用.%With the development of embedded technology,network and information technology,for the pursuit for the intelligent home,a projection of embedded intelligent home controlling systems is proposed based on ARM9.It describes the software and hardware platforms of embedded Linux systems,explains the appliance on embedded intelligent home controlling systems of key technologies such as embedded QT graphical interface system and embedded database SQLite with examples. The projection solves the problem of visual operations,and improve the efficiency of data management,what's more,it is universal portable to other hardware and software platforms to be applied.

  10. “I Want That”: Human-in-the-Loop Control of a Wheelchair-Mounted Robotic Arm

    Directory of Open Access Journals (Sweden)

    Katherine M. Tsui

    2011-01-01

    Full Text Available Wheelchair-mounted robotic arms have been commercially available for a decade. In order to operate these robotic arms, a user must have a high level of cognitive function. Our research focuses on replacing a manufacturer-provided, menu-based interface with a vision-based system while adding autonomy to reduce the cognitive load. Instead of manual task decomposition and execution, the user explicitly designates the end goal, and the system autonomously retrieves the object. In this paper, we present the complete system which can autonomously retrieve a desired object from a shelf. We also present the results of a 15-week study in which 12 participants from our target population used our system, totaling 198 trials.

  11. 基于ARM的四足机器人分层控制系统%Hierarchy Control System of Quadruped Robot Based on ARM

    Institute of Scientific and Technical Information of China (English)

    彭为; 蒋蓁; 董金秋

    2011-01-01

    For good control of the quadruped robot with walking and skating abilities and for implementation of expansibility of modularization and function of the robot, a hierarchy system is adopted to control the robot. A MCU is used for real time driving control of the actuator and ARM9 used for sensor information acquisition and processing. The design of graphic interfaces is carried out on the PC with the help of VC++.%为了实现时具有步行、滑行复合运动的四足机器人的良好控制.实现该机器人的模块化和功能的扩展性,采用了分层控制体系架构来实现机器人的控制.使用单片机来实现舵机的实时驱动控制.使用ARM9实现传感器的采集和信息的处理,在PC机上利用VC++实现图形界面的设计.

  12. Effects of Action Observational Training Plus Brain-Computer Interface-Based Functional Electrical Stimulation on Paretic Arm Motor Recovery in Patient with Stroke: A Randomized Controlled Trial.

    Science.gov (United States)

    Kim, TaeHoon; Kim, SeongSik; Lee, ByoungHee

    2016-03-01

    The purpose of this study was to investigate whether action observational training (AOT) plus brain-computer interface-based functional electrical stimulation (BCI-FES) has a positive influence on motor recovery of paretic upper extremity in patients with stroke. This was a hospital-based, randomized controlled trial with a blinded assessor. Thirty patients with a first-time stroke were randomly allocated to one of two groups: the BCI-FES group (n = 15) and the control group (n = 15). The BCI-FES group administered to AOT plus BCI-FES on the paretic upper extremity five times per week during 4 weeks while both groups received conventional therapy. The primary outcomes were the Fugl-Meyer Assessment of the Upper Extremity, Motor Activity Log (MAL), Modified Barthel Index and range of motion of paretic arm. A blinded assessor evaluated the outcomes at baseline and 4 weeks. All baseline outcomes did not differ significantly between the two groups. After 4 weeks, the Fugl-Meyer Assessment of the Upper Extremity sub-items (total, shoulder and wrist), MAL (MAL-Activity of Use and Quality of Movement), Modified Barthel Index and wrist flexion range of motion were significantly higher in the BCI-FES group (p stroke rehabilitation. The limitations of the study are that subjects had a certain limited level of upper arm function, and the sample size was comparatively small; hence, it is recommended that future large-scale trials should consider stratified and lager populations according to upper arm function.

  13. Development of a Predictive Display Interface to assist control of a Robot Arm in a Telepresence System

    OpenAIRE

    Berntsen, Eivind

    2012-01-01

    Operation and maintenance O&M is an expensive but necessary part of almost any industrial endeavor. This becomes even more expensive when the object in need of O&M is located in remote places. This will be the case if you have a wind farm at sea. To get the cost of this down research into using a robot or possibly a robotic arm to do remote O&M has been initiated. This Thesis deals with some of the challenges when it comes to remote presence or telepresence and the use of a roboti...

  14. Cortical Spiking Network Interfaced with Virtual Musculoskeletal Arm and Robotic Arm.

    Science.gov (United States)

    Dura-Bernal, Salvador; Zhou, Xianlian; Neymotin, Samuel A; Przekwas, Andrzej; Francis, Joseph T; Lytton, William W

    2015-01-01

    Embedding computational models in the physical world is a critical step towards constraining their behavior and building practical applications. Here we aim to drive a realistic musculoskeletal arm model using a biomimetic cortical spiking model, and make a robot arm reproduce the same trajectories in real time. Our cortical model consisted of a 3-layered cortex, composed of several hundred spiking model-neurons, which display physiologically realistic dynamics. We interconnected the cortical model to a two-joint musculoskeletal model of a human arm, with realistic anatomical and biomechanical properties. The virtual arm received muscle excitations from the neuronal model, and fed back proprioceptive information, forming a closed-loop system. The cortical model was trained using spike timing-dependent reinforcement learning to drive the virtual arm in a 2D reaching task. Limb position was used to simultaneously control a robot arm using an improved network interface. Virtual arm muscle activations responded to motoneuron firing rates, with virtual arm muscles lengths encoded via population coding in the proprioceptive population. After training, the virtual arm performed reaching movements which were smoother and more realistic than those obtained using a simplistic arm model. This system provided access to both spiking network properties and to arm biophysical properties, including muscle forces. The use of a musculoskeletal virtual arm and the improved control system allowed the robot arm to perform movements which were smoother than those reported in our previous paper using a simplistic arm. This work provides a novel approach consisting of bidirectionally connecting a cortical model to a realistic virtual arm, and using the system output to drive a robotic arm in real time. Our techniques are applicable to the future development of brain neuroprosthetic control systems, and may enable enhanced brain-machine interfaces with the possibility for finer control of

  15. Cortical spiking network interfaced with virtual musculoskeletal arm and robotic arm

    Directory of Open Access Journals (Sweden)

    Salvador eDura-Bernal

    2015-11-01

    Full Text Available Embedding computational models in the physical world is a critical step towards constraining their behavior and building practical applications. Here we aim to drive a realistic musculoskeletal arm model using a biomimetic cortical spiking model, and make a robot arm reproduce the same trajectories in real time. Our cortical model consisted of a 3-layered cortex, composed of several hundred spiking model-neurons, which display physiologically realistic dynamics. We interconnected the cortical model to a two-joint musculoskeletal model of a human arm, with realistic anatomical and biomechanical properties. The virtual arm received muscle excitations from the neuronal model, and fed back proprioceptive information, forming a closed-loop system. The cortical model was trained using spike timing-dependent reinforcement learning to drive the virtual arm in a 2D reaching task. Limb position was used to simultaneously control a robot arm using an improved network interface. Virtual arm muscle activations responded to motoneuron firing rates, with virtual arm muscles lengths encoded via population coding in the proprioceptive population. After training, the virtual arm performed reaching movements which were smoother and more realistic than those obtained using a simplistic arm model. This system provided access to both spiking network properties and to arm biophysical properties, including muscle forces. The use of a musculoskeletal virtual arm and the improved control system allowed the robot arm to perform movements which were smoother than those reported in our previous paper using a simplistic arm.This work provides a novel approach consisting of bidirectionally connecting a cortical model to a realistic virtual arm, and using the system output to drive a robotic arm in real time. Our techniques are applicable to the future development of brain neuro-prosthetic control systems, and may enable enhanced brain-machine interfaces with the possibility

  16. Development of the control system on ARM for semiconducting incubator%半导体培养箱的ARM嵌入式控制系统研制

    Institute of Scientific and Technical Information of China (English)

    鲍琦; 许丽佳; 张开恒; 张珂铭; 尹新建; 孙磊

    2011-01-01

    针对传统培养箱加热制冷器件能耗高、体积大且温控精度不高的特点,应用热电半导体对培养箱的温度进行调节.采用ARM920T架构的S3C2440AL处理器并配合外围设备,在Linux嵌入式操作系统上进行核心程序研发,并加入模糊自适应PID算法,以实现对培养箱温度的精确控制.试验结果表明,该培养箱的控温相对误差达到±1.1%.%Aiming at the disadvantages of traditional incubator such as high energy consumption, big bulky and low precision, the thermoelectric semiconductor based on its Peltier effect is used to control incubator's temperature. This system is designed by using ARM920T processor S3C2440AL and the hardware driver programs developed on Linux embedded operating system, with aim of controlling temperature accurately. The experiment results show that the system can achieve the temperature relative error within ± 1.1%.

  17. Brain-Machine Interface to Control a Prosthetic Arm with Monkey ECoGs during Periodic Movements

    Directory of Open Access Journals (Sweden)

    Soichiro eMorishita

    2014-12-01

    Full Text Available Brain Machine Interfaces (BMIs are promising technologies to rehabilitate the function of upper limbs in severely paralyzed patients. We succeeded in developing a BMI prosthetic arm for a monkey implanted with electrocorticogram (ECoG electrodes and trained in a reaching task. It had stability in preventing the misclassification of ECoG patterns. However, the latency was about 200 ms as a trade-off for the stability. To improve the response of this BMI prosthetic arm, the generation of a trigger event by decoding muscle activity was adopted. It was performed to predict integrated electromyograms (iEMGs from the ECoGs. Experiments were conducted to verify the availability of this method, and the results confirmed that the proposed method was superior to the conventional one. In addition, a performance test of the proposed method with actually achieved iEMGs instead of predicted iEMGs was performed, and we found that the motor intention is finely expressed through estimated muscle activity from brain activity rather than actual muscle activity.

  18. Intelligent Door Control System Based on FPGA + ARM%基于FPGA+ARM的智能图像门控系统

    Institute of Scientific and Technical Information of China (English)

    张挺飞; 樊永生; 孙凌云

    2012-01-01

    提出了一种基于图像的智能门控系统,成功改善了传统智能门控系统控制范围小、灵敏度低的缺点.系统采用FPGA+ARM双控制器的硬件结构,实现了系统的小型化和实时性.FPGA控制摄像头采集图像数据,并进行灰度预处理,通过2片SRAM乒乓操作实时缓存图像数据,采用总线的方式与ARM嵌入式系统进行通信,并通过移植OpenCV实现图像门控算法.实验结果表明该系统的准确率达到96%.%An intelligent door control system based on the image technology is proposed and implemented. Therefore, the shortcomings of the small range, low sensitivity of the traditional intelligent door control system are successfully improved. The system of miniaturization and real-time is realized by the hardware structure of double controller (FPGA + ARM). The image data is collected by a camera which is controlled by FPGA. And at the same time the grayscale is pretreated. Image data is cached in real time by two SRAM ping-pong operations. Using the bus and ARM embedded system to communicate and the image door control algorithm is achieved by transplanting OpenCV. Experimental results show that the accuracy rate is up to 96%.

  19. Arm To Arm Interface Using Embedded C

    Directory of Open Access Journals (Sweden)

    Mohanraj.C

    2013-02-01

    Full Text Available Embedded systems are the most emerging field in these recent years. In this paper a different number of ARM processors (LPC2148 and LPC2378 are interconnected using C for distributed services. N numbers of processors are connected as the network and each processing devices are interlinked with each other, so that the each data that is processed by the devices and it can be used by the other device to activate their entire process. All the processed data’s are communicated to other device through Xbee interface card. LPC2148 and LPC2378 ARM processors are used in this prototype and winXtalk is used as a software terminal window. In this paper, the ultimate benefits of multiple processor interactions related to the embedded applications and design issues of processor interconnection are discussed. The features of multiple processor interaction in inter process communication and executions of embedded multitasking are also discussed. In modern embedded computing platform, embedded processor used in various applications like home automation, industrial control, medical system, access control, etc. In this paper, using embedded processor interactions, the several data communication is established.

  20. System For Research On Multiple-Arm Robots

    Science.gov (United States)

    Backes, Paul G.; Hayati, Samad; Tso, Kam S.; Hayward, Vincent

    1991-01-01

    Kali system of computer programs and equipment provides environment for research on distributed programming and distributed control of coordinated-multiple-arm robots. Suitable for telerobotics research involving sensing and execution of low level tasks. Software and configuration of hardware designed flexible so system modified easily to test various concepts in control and programming of robots, including multiple-arm control, redundant-arm control, shared control, traded control, force control, force/position hybrid control, design and integration of sensors, teleoperation, task-space description and control, methods of adaptive control, control of flexible arms, and human factors.

  1. Study on the control system of automatic welding system based on ARM%基于ARM的机器人自动焊接控制系统

    Institute of Scientific and Technical Information of China (English)

    段锦程; 石永华; 俞国庆; 梁斌

    2011-01-01

    Welding distortion emerges in three-dimensional seam welding.The teaching-playback robot can not correct the deviation real-timely by itself.Therefore,it is necessary to correct the deviation during welding process real-timely.Based on ARM9-S3C2440,by using RS-232 to communicate with welding robot,this control system can adjust the welding traveling path in real-time.lt can control the position of the welding torch to get rid of the side effect of hot deformation.Using this control system, it is guaranteed that not only the welding torch moves along the seam center,but also that the contact tube to workpiece distance(CTWD) is equal.In welding experiments, it produces good welding quality.%立体曲线焊缝焊接时会产生较大的焊接变形,如以示教方式进行机器人焊接将导致焊接路径的偏离,必须在焊接过程中进行实时纠偏.设计开发了一种焊接机器人控制系统,硬件以ARM9-S3C2440为核心,通过RS232与机器人进行通信,编写了控制软件,实现了焊接机器人的焊枪位置实时调整,有效应对了焊接热变形的影响.既保证了焊枪沿着坡口中心运动,又保证了导电嘴到工件的距离(CTWD),焊接工艺稳定,焊缝质量较好.

  2. Solar Automatic Tracking Double Fuzzy Control System Based on ARM%基于ARM的太阳自动跟踪双模糊控制系统

    Institute of Scientific and Technical Information of China (English)

    刘景艳; 李玉东; 杨晓邦

    2012-01-01

    针对太阳自动跟踪系统采用常规的PID控制器存在着跟踪精度低,超调量大等缺点,提出了一种基于ARM的太阳自动跟踪双模糊控制系统的设计方案;以32位ARM嵌入式微处理器为核心,采用光电跟踪和太阳运动轨迹跟踪相结合的混合跟踪模式;在光电跟踪模式下.采用模糊控制;在太阳运动轨迹跟踪模式下,采用模糊PID分段式控制,并依据光强的大小自动切换控制器;采用两个同样规格的太阳能电池板,分别采用固定安装和太阳自动跟踪系统测试太阳能电池板的采光强度;实验结果表明,该系统具有较高的跟踪精度,实现了对太阳全天候的跟踪,有效地提高了光电转换效率.%The solar automatic tracking system adopting the conventional PID controller has low tracking precision and big overshoot. The solar automatic tracking double fuzzy control system based on ARM is put forward. Embedded microcontroller 32-bit ARM processor is the core. A kind of mixed tracking mode is adopted, and it combines photoelectric tracking mode and solar trajectory tracking mode. The double fuzzy control method is presented, the fuzzy control method is adopted in photoelectric tracking mode, and in solar trajectory tracking mode, the fuzzy PID segmented tracking control method is put forward. And the controller can be automatically switched control mode according to light intensity. The fixed installation and the automatic tracking system are respectively used to test the solar panels daylighting strength. The experimental results show that the solar automatic tracking system is possessed of high tracking precision, realizes the sun round-the-clock tracking and effectively improves the photoelectric conversion efficiency.

  3. Design and Research of Intelligent Control System for Fruit and Vegetable Packaging Machine-Based on Embedded ARM%果蔬包装机智控系统的设计与研究-基于嵌入式 ARM

    Institute of Scientific and Technical Information of China (English)

    罗成; 刘志刚

    2016-01-01

    -tant.The AT91SAM9263 processor was used to design and research of the fruit and vegetable packing machine intelligent control system , the mechanical and electronic , intelligent test and a photoelectric sensor on various subjects based on ARM embedded .With a high degree of automation , high technology content , better accuracy and stability , high by fea-tures,it can greatly improve the quality of packaging , complete on different kinds of products packaging with strong adapt-ability .It not only improves the efficiency of packaging operations , but also savse the economic costand for farmers .

  4. Servo control system design based on ARM and CPLD%基于ARM与CPLD的伺服控制系统设计

    Institute of Scientific and Technical Information of China (English)

    邓永停; 李洪文

    2012-01-01

    In order to reduce the complexity of hardware design and improve the real time of the servo control system,the servo controller has been designed based on Samsung's ARM chip S3C2440A and ALTERA's CPLD chip EPM570T144 as the control chip. The function and hardware structure of the controller and software flow has been given. To the turntable the experiment is finished and the controller has good performance through analyzing the experiment data. The experiment shows that the controller has the advantage of high integration,flexible and timing. The controller satisfies the real-time servo control.%为了降低伺服控制系统的硬件设计复杂程度和增强系统控制的实时性,设计了基于ARM和CPLD的多轴伺服电机控制器.该控制器选用三星公司的ARM芯片S3C2440A和ALTERA公司的CPLD芯片EPM570T144作为控制芯片,给出了该控制器的硬件结构和软件流程设计.利用伺服转台进行控制实验,通过对实验数据分析得出该控制器具有较好的控制性能;实验结果表明该伺服控制器能够较好的实现复杂控制算法,具有集成度高,灵活性强,实时性好的特点,满足多轴伺服控制系统实时控制的需要.

  5. Design of control for household cleaning robot based on ARM%基于arm的家用清洁机器人的控制系统设计

    Institute of Scientific and Technical Information of China (English)

    张强; 陈奕梅

    2014-01-01

    文章提出了一种基于ARM处理器的家用清洁机器人控制系统,包括硬件设计和软件设计。硬件部分包括主控器模块、电源及欠压检测模、传感器模块、人机交互模块、驱动模块以及清洁模块。软件部分设计了清洁机器人的主要控制流程。该控制系统以通用性和功能完备为目标,使机器人具备智能清洁能力。%This paper presents a kind of control system of home cleaning robot based on ARM processor which includes hardware and software design. The hardware part includes main controller module, power supply with undervoltage detection module, sensor module, human-computer interaction module, driving module and cleaning module. The software part designs the staple control procedure of cleaning robot. This control system aims at universal and integrated functions which ensure the robot have the ability to clean intelligently.

  6. Nuclear arms: ethics, strategy, politics

    Energy Technology Data Exchange (ETDEWEB)

    Woolsey, R.J. (ed.)

    1984-01-01

    The range of debate over strategy and arms control today is broader than it was in the late 1950s and early 1960s. In part this is because the early 1980s debate has involved questioning of the fundamental notion of deterrence - by no less than the American Catholic bishops. Today's debate has also seen a national nuclear freeze campaign that, although its congressional supporters have held firmly to a bilateral approach, was tilted perceptibly towards unilateralism by noncongressional leaders at their national conference in February 1983. In one way or another the authors wrestle with different aspects of one central question: could the beginning steps for any consensus be possible, in today's climate, on strategic issues. Ethical issues are addressed in the first 3 papers: Charles Krauthammer, On Nuclear Morality; Patrick Glynn, The Moral Case for the Arms Buildup; and Michael Quinlarc, Thinking Deterrence Through. Three chapters on strategic considerations include: Brent Snowcroft, Understanding the US Strategic Arsenal; William J. Perry, Technological Prospects for US Strategic Forces; and Richard Burt, The Strategic and Political Lessons of INF. Arms control and politics is treated in chapters by: Walter B. Slocombe, Arms Control: Prospects; and Colin S. Gray, Arms Control: Problems. The nonnuclear dimensions of strategy are discussed in chapters by Amory B. and L. Hunter Lovins, Reducing Vulnerability - The Energy Jugular; and Robert Kupperman, Vulnerable America. The chapters on space and defense are: Hans Mark, Arms Control and Space Technology; and Newt Gingrich and John Madison, Space and National Defense. The concluding chapters are by Sen. Sam Nunn, The Need to Reshape Military Stategy; and the editor, R. James Woolsey, The Politics of Vulnerability, 1980-1983.

  7. An Inverter With New Topology and ARM-Based Control%基于ARM的新型拓扑结构的逆变电源

    Institute of Scientific and Technical Information of China (English)

    郑玉莲; 田晓燕; 孙频东

    2012-01-01

    A new topological structure of photovohaic inverter is proposed. It has a simple structure, and has the ability to step up/down conversion and adapt to wide voltage range compared with the one-stage PV grid-connected inverter. Then, one-cycle control based on ARM is introduced with lower power consumption, smaller size and higher accuracy compared with the traditional one-cycle control. Finally, the control strategy is confirmed to be correct and effective by the results of simulation and experiment.%提出了一种光伏逆变电源的新型拓扑结构,该结构简单,相对于单级式并网逆变器具有升、降压的特性,能够适应较宽的电压范围.介绍了基于ARM实现的数字单周期控制,与传统的模拟单周期控制相比,具有功耗更低、体积更小、精确度更高等优点.最后通过仿真和实验验证了该方案的正确性与有效性.

  8. Design of LED-screen Display Control System based on ARM%基于ARM的LED屏显示控制系统的设计

    Institute of Scientific and Technical Information of China (English)

    任蓉; 吕强

    2012-01-01

    本文根据LED显示模块的结构特点,结合CPLD技术以实现LED显示屏动态扫描显示。设计出基于ARM+FPGA的LED屏显示系统。从硬件和软件两个方面设计,实现LED屏的显示。硬件方面采用ARM9芯片S3C2440A为主控制单元。FPGA为扫描控制单元。完成数据存储。更新以及与上位机的通信等。软件方面包括上位机应用软件和嵌入式控制软件。上位机软件编辑LED显示屏上显示的数据信息,实现与下位机的通信;嵌入式控制软件实现数据接收和存储,数据输出和图像显示,从而实现对LED屏的控制。%According to the structural features of the LED display module and CPLD technology to accomplish the dynamic scanning display of the LED screen, the ARM+FPGA LDE screen display system is designed. The dynamic display of the LED screen is carried out from two ways: hardware and soft'ware. Hardware wise, the ARM9 chip S3C2440A is the main control unit, FPGA is the scan control unit. They can store data, update and communication with the upper computer. Software including the upper computer application sotiware and embedded control software, are providing quality service. Upper computer complies the dates from the LDE screen to communication with the subordinate part. Embedded control software is able to receive and store the data, transmit the data and display the image.

  9. 基于ARM的智能家居控制系统设计%Design of smart home control system based on ARM

    Institute of Scientific and Technical Information of China (English)

    杨晓迪; 廖昕; 古丽米拉·克孜尔别克; 孙中华

    2015-01-01

    针对传统智能家居采用有线组建布线繁琐,增减设备需要重新布线,影响美观,且系统中的家电需要依靠家庭内部的PC,升级和维护均不方便。在此将ZigBee无线通信技术及嵌入式ARM技术结合在一起,利用Qt技术通过触摸屏进行人机交互,设计了一种既能利用PC机又能利用手持终端对家居进行控制的智能家居控制系统。以现有嵌入式ARM微处理器的开发和控制水平,开展基于ZigBee的网点部署的研究,以无线网实施家居电器的控制和管理。测试表明,该系统具有良好的实用性、可靠性和可扩展性。%Since the cumbersome wired formation is used in traditional smart home,rewiring is needed when equipment changes,its appearance is affected,the appliances in the system rely on the PC in the house,and upgrades and maintenance are not convenient. Therefore,a smart home control system controlled by PC or hand⁃held terminal was designed by combining the ZigBee wireless communication technology with the embedded ARM technology and Qt technology for human⁃computer in⁃teraction via the touch screen. Based on developing level and control ability of existing embedded ARM microprocessor,the re⁃search on network deployment based on ZigBee was carried out. The control and management of household electrical appliances are implemented through wireless network. Test results show that the system has good practicability,reliability and scalability.

  10. Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach

    Directory of Open Access Journals (Sweden)

    Ki-Young Song

    2011-01-01

    Full Text Available Design of an adaptive controller for complex dynamic systems is a big challenge faced by the researchers. In this paper, we introduce a novel concept of dynamic pole motion (DPM for the design of an error-based adaptive controller (E-BAC. The purpose of this novel design approach is to make the system response reasonably fast with no overshoot, where the system may be time varying and nonlinear with only partially known dynamics. The E-BAC is implanted in a system as a nonlinear controller with two dominant dynamic parameters: the dynamic position feedback and the dynamic velocity feedback. For illustrating the strength of this new approach, in this paper we give an example of a flexible robot with nonlinear dynamics. In the design of this feedback adaptive controller, parameters of the controller are designed as a function of the system error. The position feedback Kp(e,t and the velocity feedback Kv(e,t are continuously varying and formulated as a function of the system error e(t. This approach for formulating the adaptive controller yields a very fast response with no overshoot.

  11. Efficacy of a Multi-level Intervention to Reduce Injecting and Sexual Risk Behaviors among HIV-Infected People Who Inject Drugs in Vietnam: A Four-Arm Randomized Controlled Trial.

    Directory of Open Access Journals (Sweden)

    Vivian F Go

    Full Text Available Injecting drug use is a primary driver of HIV epidemics in many countries. People who inject drugs (PWID and are HIV infected are often doubly stigmatized and many encounter difficulties reducing risk behaviors. Prevention interventions for HIV-infected PWID that provide enhanced support at the individual, family, and community level to facilitate risk-reduction are needed.455 HIV-infected PWID and 355 of their HIV negative injecting network members living in 32 sub-districts in Thai Nguyen Province were enrolled. We conducted a two-stage randomization: First, sub-districts were randomized to either a community video screening and house-to-house visits or standard of care educational pamphlets. Second, within each sub-district, participants were randomized to receive either enhanced individual level post-test counseling and group support sessions or standard of care HIV testing and counseling. This resulted in four arms: 1 standard of care; 2 community level intervention; 3 individual level intervention; and 4 community plus individual intervention. Follow-up was conducted at 6, 12, 18, and 24 months. Primary outcomes were self-reported HIV injecting and sexual risk behaviors. Secondary outcomes included HIV incidence among HIV negative network members.Fewer participants reported sharing injecting equipment and unprotected sex from baseline to 24 months in all arms (77% to 4% and 24% to 5% respectively. There were no significant differences at the 24-month visit among the 4 arms (Wald = 3.40 (3 df; p = 0.33; Wald = 6.73 (3 df; p = 0.08. There were a total of 4 HIV seroconversions over 24 months with no significant difference between intervention and control arms.Understanding the mechanisms through which all arms, particularly the control arm, demonstrated both low risk behaviors and low HIV incidence has important implications for policy and prevention programming.ClinicalTrials.gov NCT01689545.

  12. Reducing substance involvement in college students: a three-arm parallel-group randomized controlled trial of a computer-based intervention.

    Science.gov (United States)

    Christoff, Adriana de Oliveira; Boerngen-Lacerda, Roseli

    2015-06-01

    The prevalence of alcohol and other drug use is high among college students. Reducing their consumption will likely be beneficial for society as a whole. Computer and web-based interventions are promising for providing behaviorally based information. The present study compared the efficacy of three interventions (computerized screening and motivational intervention [ASSIST/MBIc], non-computerized screening and motivational intervention [ASSIST/MBIi], and screening only [control]) in college students in Curitiba, Brazil. A convenience sample of 458 students scored moderate and high risk on the ASSIST. They were then randomized into the three arms of the randomized controlled trial (ASSIST/MBIc, ASSIST/MBIi [interview], and assessment-only [control]) and assessed at baseline and 3 months later. The ASSIST involvement scores decreased at follow-up compared with baseline in the three groups, suggesting that any intervention is better than no intervention. For alcohol, the specific involvement scores decreased to a low level of risk in the three groups and the MBIc group showed a positive outcome compared with control, and the scores for each question were reduced in the two intervention groups compared to baseline. For tobacco, involvement scores decreased in the three groups, but they maintained moderate risk. For marijuana, a small positive effect was observed in the ASSIST/MBIi and control groups. The ASSIST/MBIc may be a good alternative to interview interventions because it is easy to administer, students frequently use such computer-based technologies, and individually tailored content can be delivered in the absence of a counselor. PMID:25679364

  13. Four-rotor unmanned aerial vehicles control system based on ARM%基于ARM的四旋翼无人飞行器控制系统

    Institute of Scientific and Technical Information of China (English)

    刘乾; 孙志锋

    2011-01-01

    为改变传统以单片机为处理器的四旋翼无人飞行器的控制方式,提出了一种基于嵌入式ARM的飞行控制系统的设计和实现方案.详细介绍了控制系统的总体构成以及硬、软件设计方法,包括传感器模块、电机模块、无线通信模块.试验结果表明,该设计结合嵌入式实时操作系统,保证了系统的高可靠性和高实时性,能满足飞行器起飞、悬停、降落等飞行模态的控制要求.%In order to change the conventional control of four-rotor unmanned aerial vehicles using microcontroller as the processor,a solution of flight control system based on embedded ARM was presented. The main function of the system, the hardware structure and the software design were discussed in detail, including the sensor module, the motor module, the wireless communication module. With embedded real time operating system to ensure the system' s high reliability and real-time performance, the experiments results show that the requirements of flight mode are satisfied,including taking off,hovering,and landing and so on.

  14. [History of malaria control in the French armed forces: from Algeria to the Macedonian front during the first World War].

    Science.gov (United States)

    Migliani, R; Meynard, J-B; Milleliri, J-M; Verret, C; Rapp, C

    2014-01-01

    The French joint military health corps has long experience in malaria control. Many military physicians played an essential role in the 19th century: Maillot revolutionized malaria treatment by using quinine during the conquest of Algeria, and Laveran discovered the causal parasite (the genus Plasmodium) there. This experience continued under the direction of Laveran and the Sergent brothers on the eastern front in Greek Macedonia during World War I. The vast coordinated control plan established on this front from 1917 delivered the French infantrymen from malaria and led to victory over the Bulgarian forces, which capitulated in September 1918.

  15. 基于ARM7飞控系统多传感器数据融合方法及实现%Multi-sensor Data Fusion Method and Implementation of Unmanned Helicopter Control System Based on ARM7

    Institute of Scientific and Technical Information of China (English)

    孙豫川; 裴海龙; 吴毅彬

    2013-01-01

    无人直升机控制系统是一个典型的多传感器系统,为了实现各传感器的优势互补,需要进行多传感器数据融合;可以采用十一阶扩展卡尔曼滤波器——EKF来实现数据融合滤波;这里介绍了十一阶扩展卡尔曼滤波器在基于arm7无人直升机飞控系统中的应用,卡拉曼滤波有效地去除了角度约的漂移量;为了降低十一阶kalman在ARM 7中的运算时间,可以将一个大系统拆分成若干小系统,然后分别对小系统进行滤波,同时对卡尔曼滤波里面的一些运算做优化处理;最终在主频是48 MHZ的ARM 7中的运算时间由70 ms减少到25 ms,成功实现了十一阶卡尔曼滤波在本系统中的高效运行.

  16. Changing patterns of US arms transfers

    Energy Technology Data Exchange (ETDEWEB)

    Salomone, M.D.

    1985-01-01

    The thesis has three purposes. First is to explore the changing patterns of US arms transfers from Fiscal Year 1950 (FY 1950) through Fiscal Year 1980 (FY 1980). Second, is to describe and assess the decision-making process for arms transfers within the US Government. Third is to examine and critique the conventional wisdom concerning US arms transfers, to support that wisdom, or to offer an alternate empirically supported view. The conventional wisdom about US arms transfer is that they have been rising at an alarming rate, and that this is the result of an arms transfer decision-making process which is out of control. This belief is founded on an empirically based proposition that arms transfers have been rising at an alarming rate. However, this proposition has never been empirically validated. To explore this conventional wisdom, the author establishes the historical, political and defense policy contexts for US arms transfers over the period FY 1950 through FY 1980. The author critiques the conventional wisdom about US arms transfers, analyzes the many ways that arms transfers have been measured, and explores the impediments to accurate measurement and assessment of the phenomenon.

  17. Shape-estimation of human hand using polymer flex sensor and study of its application to control robot arm

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jin Hyuck; Kim, Dae Hyun [Seoul National University of Technology, Seoul (Korea, Republic of)

    2015-02-15

    Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

  18. Efficacy of Continuing Education in Improving Pharmacists' Competencies for Providing Weight Management Service: Three-Arm Randomized Controlled Trial

    Science.gov (United States)

    Sarayani, Amir; Rashidian, Arash; Gholami, Kheirollah; Torkamandi, Hassan; Javadi, Mohammadreza

    2012-01-01

    Introduction: Weight management is a new public health role for community pharmacists in many countries. Lack of expertise is one of the key barriers to counseling obese patients. We evaluated the comparative efficacy of three alternative continuing education (CE) meetings on weight management. Methods: We designed a randomized controlled trial…

  19. Shape-estimation of human hand using polymer flex sensor and study of its application to control robot arm

    International Nuclear Information System (INIS)

    Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

  20. Ten-dimensional anthropomorphic arm control in a human brain-machine interface: difficulties, solutions, and limitations

    Science.gov (United States)

    Wodlinger, B.; Downey, J. E.; Tyler-Kabara, E. C.; Schwartz, A. B.; Boninger, M. L.; Collinger, J. L.

    2015-02-01

    Objective. In a previous study we demonstrated continuous translation, orientation and one-dimensional grasping control of a prosthetic limb (seven degrees of freedom) by a human subject with tetraplegia using a brain-machine interface (BMI). The current study, in the same subject, immediately followed the previous work and expanded the scope of the control signal by also extracting hand-shape commands from the two 96-channel intracortical electrode arrays implanted in the subject’s left motor cortex. Approach. Four new control signals, dictating prosthetic hand shape, replaced the one-dimensional grasping in the previous study, allowing the subject to control the prosthetic limb with ten degrees of freedom (three-dimensional (3D) translation, 3D orientation, four-dimensional hand shaping) simultaneously. Main results. Robust neural tuning to hand shaping was found, leading to ten-dimensional (10D) performance well above chance levels in all tests. Neural unit preferred directions were broadly distributed through the 10D space, with the majority of units significantly tuned to all ten dimensions, instead of being restricted to isolated domains (e.g. translation, orientation or hand shape). The addition of hand shaping emphasized object-interaction behavior. A fundamental component of BMIs is the calibration used to associate neural activity to intended movement. We found that the presence of an object during calibration enhanced successful shaping of the prosthetic hand as it closed around the object during grasping. Significance. Our results show that individual motor cortical neurons encode many parameters of movement, that object interaction is an important factor when extracting these signals, and that high-dimensional operation of prosthetic devices can be achieved with simple decoding algorithms. ClinicalTrials.gov Identifier: NCT01364480.

  1. Detachment of Tertiary Dendrite Arms during Controlled Directional Solidification in Aluminum - 7 wt Percent Silicon Alloys: Observations from Ground-based and Microgravity Processed Samples

    Science.gov (United States)

    Grugel, Richard N.; Erdman, Robert; Van Hoose, James R.; Tewari, Surendra; Poirier, David

    2012-01-01

    Electron Back Scattered Diffraction results from cross-sections of directionally solidified aluminum 7wt% silicon alloys unexpectedly revealed tertiary dendrite arms that were detached and mis-oriented from their parent arm. More surprisingly, the same phenomenon was observed in a sample similarly processed in the quiescent microgravity environment aboard the International Space Station (ISS) in support of the joint US-European MICAST investigation. The work presented here includes a brief introduction to MICAST and the directional solidification facilities, and their capabilities, available aboard the ISS. Results from the ground-based and microgravity processed samples are compared and possible mechanisms for the observed tertiary arm detachment are suggested.

  2. 基于PMAC的仿人按摩机器人手臂控制系统设计%Design of arm control system for massage humanoid robotic based on PMAC

    Institute of Scientific and Technical Information of China (English)

    张邦成; 韩跃营; 王占礼; 庞在祥; 张玉玲

    2012-01-01

    The arm of the humanoid massage robot is an important component of the massage robot, which control system is a key factor of the chinese massage robot for achieving precise position control of the massage position.To realize precise position control of the massage humanoid robot arm,the control system of the massage humanoid robot arm was designed based on PC+PMAC.Then the parameters of PMAC were set and the parameters of PID controller were optimized through the communication of PMAC and PC Based on VC++,the control system software was designed.The simulation and practical application results show that the control system of humanoid massage robot arm can fulfill the design requirements.%仿人按摩机器人手臂是按摩机器人的重要组成部分,其控制系统是中医按摩机器人完成按摩位置精确定位的关键因素.为了实现对仿人按摩机器人手臂精确控制,基于PC+PMAC运动控制卡设计了仿人按摩机器人手臂控制系统.通过PC与PMAC运动控制卡之间的通信对PMAC运动控制卡进行参数设置以及PMAC运动控制卡的PID控制器参数的优化.基于VC++软件开发平台设计了控制系统软件.仿真及实际应用效果表明,设计开发的仿人按摩机器人手臂控制系统实现了对手臂的控制,达到了设计要求.

  3. Adverse Events from a Randomized, Multi-Arm, Placebo-Controlled Trial of Mebendazole in Children 12-24 Months of Age.

    Science.gov (United States)

    Joseph, Serene A; Montresor, Antonio; Casapía, Martín; Pezo, Lidsky; Gyorkos, Theresa W

    2016-07-01

    Large-scale deworming interventions, using anthelminthic drugs, are recommended in areas where the prevalence of soil-transmitted helminth infection is high. Anthelminthic safety has been established primarily in school-age children. Our objective was to provide evidence on adverse events from anthelminthic use in early childhood. A randomized multi-arm, placebo-controlled trial of mebendazole, administered at different times and frequencies, was conducted in children 12 months of age living in Iquitos, Peru. Children were followed up to 24 months of age. The association between mebendazole administration and the occurrence of a serious or minor adverse event was determined using logistic regression. There was a total of 1,686 administrations of mebendazole and 1,676 administrations of placebo to 1,760 children. Eighteen serious adverse events (i.e., 11 deaths and seven hospitalizations) and 31 minor adverse events were reported. There was no association between mebendazole and the occurrence of a serious adverse event (odds ratio [OR] = 1.21; 95% confidence interval [CI] = 0.47, 3.09) or a minor adverse event (OR = 0.84; 95% CI = 0.41, 1.72). Results from our trial support evidence of safety in administering mebendazole during early childhood. These results support World Health Organization deworming policy and the scaling up of interventions to reach children as of 12 months of age in endemic areas. PMID:27139441

  4. A Parallel-Arm Randomized Controlled Trial to Assess the Effects of a Far-Infrared-Emitting Collar on Neck Disorder

    Directory of Open Access Journals (Sweden)

    Yung-Sheng Lin

    2015-09-01

    Full Text Available The purpose of this study is to assess the beneficial effects of a far-infrared-emitting collar (FIRC on the management of neck disorders. A neck disorder is generalized as neck muscle pain and its relative mental disorders because the etiologies of the neck’s multidimensional syndrome are either muscle impairment or psychiatric distress. This is the first study to determine the efficacy of a FIRC by evaluating objective physical evidence and psychometric self-reports using a parallel-arm randomized sham-controlled and single-blinded design. In this trial, 60 participants with neck disorders were observed at baseline and post-intervention. Compared to the placebo group after a 30-min intervention, the FIRC demonstrated a statistically significant biological effect in elevating skin temperature and promoting blood circulation with p-values 0.003 and 0.020, respectively. In addition, FIRC application significantly reduced neck muscle tension, relieved pain, ameliorated fatigue, improved depression, and decreased anxiety. The FIRC could therefore be a potential treatment for neck disorders.

  5. 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.

  6. Design And Implementation Of Anthropomorphic Robotic Arm

    Directory of Open Access Journals (Sweden)

    Ashish Sharma

    2014-01-01

    Full Text Available The report focuses on the design and demonstration of an anthropomorphic robotic arm with seven degrees of freedom using readily available low-cost components to perform different real time human hand applications. The robotic arm consists of a shoulder, elbow, wrist and a five-finger gripper. It can perform different gripping actions, such as lateral, spherical, cylindrical and tip-holding gripping actions; each finger has three movable links. The actuator used for the robotic arm is a high torque dc servo motor and the five-finger gripper consists of five cables placed like tendons in the human arm. Implementation is done using a human hand glove which senses the motion from sensor technology to produce a proportional analog voltage, digitized via the microcontroller Atmel ATmega32. The microcontroller then through the processed signal controls the mechanical structure that is the robotic arm. Keywords –

  7. Using ecological momentary assessment in testing the effectiveness of an alcohol intervention: a two-arm parallel group randomized controlled trial.

    Directory of Open Access Journals (Sweden)

    Carmen V Voogt

    Full Text Available BACKGROUND: Alcohol consumption of college students has a fluctuating nature, which might impact the measurement of intervention effects. By using 25 follow-up time-points, this study tested whether intervention effects are robust or might vary over time. METHODS: Data were used from a two-arm parallel group randomized controlled trial applying ecological momentary assessment (EMA with 30 data time-points in total. Students between 18 and 24 years old who reported heavy drinking in the past six months and who were ready to change their alcohol consumption were randomly assigned to the experimental (n = 456: web-based brief alcohol intervention and control condition (n = 451: no intervention. Outcome measures were weekly alcohol consumption, frequency of binge drinking, and heavy drinking status. RESULTS: According to the intention-to-treat principle, regression analyses revealed that intervention effects on alcohol consumption varied when exploring multiple follow-up time-points. Intervention effects were found for a weekly alcohol consumption at 1, 2, 3, 4, and 7 weeks follow-up, b frequency of binge drinking at 1, 2, 7, and 12 weeks follow-up, and c heavy drinking status at 1, 2, 7, and 16 weeks follow-up. CONCLUSIONS: This research showed that the commonly used one and six month follow-up time-points are relatively arbitrary and not using EMA might bring forth erroneous conclusions on the effectiveness of interventions. Therefore, future trials in alcohol prevention research and beyond are encouraged to apply EMA when assessing outcome measures and intervention effectiveness. TRIAL REGISTRATION: Netherlands Trial Register NTR2665.

  8. APSTNG: Associated particle sealed-tube neutron generator studies for arms control. Final report on NN-20 Project ST220

    Energy Technology Data Exchange (ETDEWEB)

    Rhodes, E.; Dickerman, C.E.; Brunner, T.; Hess, A.; Tylinski, S.

    1994-12-01

    Argonne National Laboratory has performed research and development on the use of Associated Particle Sealed-Tube Neutron Generator (APSTNG) technology for treaty verification and non-proliferation applications, under funding from the DOE Office of Nonproliferation and National Security. Results indicate that this technology has significant potential for nondestructively detecting elemental compositions inside inspected objects or volumes. The final phase of this project was placement of an order for commercial procurement of an advanced sealed tube, with its high-voltage supply and control systems. Procurement specifications reflected lessons learned during the study. The APSTNG interrogates a volume with a continuous 14-MeV neutron flux. Each neutron is emitted coincident with an {open_quotes}associated{close_quotes} alpha-particle emitted in the opposite direction. Thus detection of an alpha-particle marks the emission of a neutron in a cone opposite to that defined by the alpha detector. Detection of a gamma ray coincident with the alpha indicates that the gamma was emitted from a neutron-induced reaction inside the neutron cone: the gamma spectra can be used to identify fissionable materials and many isotopes having an atomic number larger than that of boron. The differences in gamma-ray and alpha-particle detection times yield a coarse measurement of the distance along the cone axis from the APSTNG emitter to each region containing the identified nuclide. A position-sensitive alpha detector would permit construction of coarse three-dimensional images. The source and emission-detection systems can be located on the same side of the interrogated volume. The neutrons and gamma rays are highly penetrating. A relatively high signal-to-background ratio allows the use of a relatively small neutron source and conventional electronics.

  9. Why we cannot grow a human arm.

    Science.gov (United States)

    Ricci, John L

    2013-11-01

    There are several significant issues that prevent us from growing a human arm now, or within the next 10-20 years. From a tissue engineering perspective, while we can grow many of the components necessary for construction of a human arm, we can only grow them in relatively small volumes, and when scaled up to large volumes we lack the ability to develop adequate blood/nerve supply. From a genetic engineering perspective, we will probably never be able to turn on the specific genes necessary to "grow an arm" unless it is attached to a fetus and this presents enormous ethical issues related to farming of human organs and structures. Perhaps the most daunting problem facing the transplantation of a tissue engineered or transplanted arm is that of re-innervation of the structure. Since the sensory and motor nerve cells of the arm are located outside of the structure, re-innervation requires those nerves to regenerate over relatively large distances to repopulate the nervous system of the arm. This is something with which we have had little success. We can grow repair parts, but "growing an arm" presents too many insurmountable problems. The best we could possibly do with tissue engineering or genetic engineering would be the equivalent of a fetal arm and the technical problems, costs, and ethical hurdles are enormous. A more likely solution is a functional, permanent, neuroelectronically-controlled prosthesis. These are nearly a reality today.

  10. ARM-based Control System Design of Embedded Computerized Hosiery Machine%基于ARM的嵌入式电脑丝袜机控制系统设计

    Institute of Scientific and Technical Information of China (English)

    张团善; 罗富文; 吴辉

    2014-01-01

    针对国内丝袜机计算机控制系统在稳定性、扩展性、可移植性等方面较差的问题,设计了一种基于ARM的嵌入式电脑丝袜机控制系统。在介绍控制系统的设计要求、基本原理及功能实现的基础上,提出了该系统采用ARM920T架构的32位工业级处理芯片S3C2440A作为主控制器,采用ARM Cortex-M3内核的32位微处理器STM32F103作为现场总线的从节点控制器;并详细分析控制系统的工作流程,以及主控制器和底层功能模块的软、硬件实现方法。实践证明,该控制系统具有集成度高、稳定性好、实时性强等优点。%In terms of the problem of bad stability, extensibility and transportability of control system of domes-tic hosiery machine, the paper designs a new kind of control system for embedded computerized hosiery machine based on ARM. Based on the introduction of design requirement, basic principle and function realization, it pro-vides that the 32-bit industrial-grade processing chip S3C2440A of ARM920T framework is the master controller, and the 32-bit microprocessor STM32F103 of ARM Cortex-M3 core is node controller of field bus; besides, it ana-lyzes in detail the working processing, as well as the achieving method of software and hardware of master con-troller and bottom function-realizing module. This control system presents some obvious advantages, such as high integration, good stability and strong real-time control and so on.

  11. 铝合金控制臂球头销旋铆工艺有限元分析%Simulation on the Ball Joint Sealing of Aluminum Control Arms

    Institute of Scientific and Technical Information of China (English)

    田浩彬; 李学磊; 刘晓航; 苑文婧; 鲁成伟

    2012-01-01

      汽车控制臂球头销封装是汽车底盘零件装配中的重要一环,其装配质量直接影响到汽车转向部件的寿命。采用有限元分析方法对铝合金控制臂球头销的旋铆封装技术进行了研究,对旋铆过程中铝合金控制臂的变形及受力情况进行了分析,并通过试验方法进行了验证,为汽车控制臂球头销的整体封装提供了有效的技术支持。%  Ball joint sealing of aluminum control arms is one of the key processes to the assembly of automobile chassis, which directly influents the life cycle of steering systems of automobiles. The revolving-reveting process for ball joint of control arms is studied by finite element method, and the deformation of housing is advanced and verified by experiments, which can provide technical support to the ball joint sealing of automobile control arms.

  12. High Accuracy Temperature Control System in Cliniea Chemistry Analyzer Based on ARM9%基于ARM9的高精度生化分析仪温度控制系统设计

    Institute of Scientific and Technical Information of China (English)

    刘克平; 曹书权; 李岩

    2008-01-01

    全自动生化分析仪开发研制中的一个重要组成部分是温控系统的设计,被检样品和试剂只有在指定的温度下检测才能保证生化检验结果的可靠性.设计了一种基于ARM9处理器的温控系统,结合嵌入式Linux操作系统,实现模糊自整定PID控制算法,具有控制精度高,响应快,稳定性、实时性好等优点.

  13. Intelligent Control System for Encapsulation Machine Based on ARM7%基于ARM7的表贴元件包装机智能控制系统

    Institute of Scientific and Technical Information of China (English)

    高岩; 马丽娟

    2008-01-01

    根据我国当前表帖元件包装机温度控制精度及封装效率都较低的现状,设计了基于ARM7处理器S3C44B0X的智能控制系统.介绍了该控制系统的硬件电路组成并给出了主程序流程,针对温度控制提出了带有加权因子的模糊控制算法.实际应用表明,该智能系统的控制效果优于常规控制系统.

  14. Protocol for a multicentre, parallel-arm, 12-month, randomised, controlled trial of arthroscopic surgery versus conservative care for femoroacetabular impingement syndrome (FASHIoN)

    Science.gov (United States)

    Griffin, D R; Dickenson, E J; Wall, P D H; Donovan, J L; Foster, N E; Hutchinson, C E; Parsons, N; Petrou, S; Realpe, A; Achten, J; Achana, F; Adams, A; Costa, M L; Griffin, J; Hobson, R; Smith, J

    2016-01-01

    Introduction Femoroacetabular impingement (FAI) syndrome is a recognised cause of young adult hip pain. There has been a large increase in the number of patients undergoing arthroscopic surgery for FAI; however, a recent Cochrane review highlighted that there are no randomised controlled trials (RCTs) evaluating treatment effectiveness. We aim to compare the clinical and cost-effectiveness of arthroscopic surgery versus best conservative care for patients with FAI syndrome. Methods We will conduct a multicentre, pragmatic, assessor-blinded, two parallel arm, RCT comparing arthroscopic surgery to physiotherapy-led best conservative care. 24 hospitals treating NHS patients will recruit 344 patients over a 26-month recruitment period. Symptomatic adults with radiographic signs of FAI morphology who are considered suitable for arthroscopic surgery by their surgeon will be eligible. Patients will be excluded if they have radiographic evidence of osteoarthritis, previous significant hip pathology or previous shape changing surgery. Participants will be allocated in a ratio of 1:1 to receive arthroscopic surgery or conservative care. Recruitment will be monitored and supported by qualitative intervention to optimise informed consent and recruitment. The primary outcome will be pain and function assessed by the international hip outcome tool 33 (iHOT-33) measured 1-year following randomisation. Secondary outcomes include general health (short form 12), quality of life (EQ5D-5L) and patient satisfaction. The primary analysis will compare change in pain and function (iHOT-33) at 12 months between the treatment groups, on an intention-to-treat basis, presented as the mean difference between the trial groups with 95% CIs. The study is funded by the Health Technology Assessment Programme (13/103/02). Ethics and dissemination Ethical approval is granted by the Edgbaston Research Ethics committee (14/WM/0124). The results will be disseminated through open access peer

  15. Analgesic and antihyperalgesic effects of melatonin in a human inflammatory pain model: a randomized, double-blind, placebo-controlled, three-arm crossover study.

    Science.gov (United States)

    Andersen, Lars P H; Gögenur, Ismail; Fenger, Andreas Q; Petersen, Marian C; Rosenberg, Jacob; Werner, Mads U

    2015-11-01

    Antinociceptive effects of melatonin have been documented in a wide range of experimental animal models. The aim of this study was to investigate the analgesic, antihyperalgesic, and anti-inflammatory properties of melatonin using a validated burn injury (BI) model in healthy male volunteers. The design was a randomized, double-blind, placebo-controlled, three-arm crossover study. Each volunteer participated in 3 identical study sessions with intravenous administration of placebo, melatonin 10 mg, or melatonin 100 mg. Sixty minutes after bolus injection of study medication, a BI was induced by a computerized contact thermode (47.0°C, 420 seconds, 5.0 × 2.5 cm). Pain ratings during the BI and quantitative sensory testing at baseline and at 1, 2, 4, and 6 hours after the BI were performed. Quantitative sensory testing included assessments of secondary hyperalgesia areas, mechanical and thermal thresholds in the BI area, and pressure algometry. Furthermore, markers of inflammation, skin-reflectance spectrophotometry, and high-resolution ultrasonography were applied to measure skin erythema and dermal thickness in the BI area. Pain during the BI and secondary hyperalgesia areas were defined as primary outcomes. Twenty-nine volunteers were randomized and completed the study. While the BI induced large secondary hyperalgesia areas and significantly increased the markers of inflammation, no significant effects of melatonin were observed with respect to primary or secondary outcomes, compared with placebo. The administration of melatonin was not associated with any adverse effects. Melatonin did not demonstrate any analgesic, antihyperalgesic, or anti-inflammatory properties in the BI model.

  16. Efficacy and safety of bilateral continuous theta burst stimulation (cTBS for the treatment of chronic tinnitus: design of a three-armed randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Plontke Stefan K

    2009-08-01

    Full Text Available Abstract Background Tinnitus, the perception of sound and noise in absence of an auditory stimulus, has been shown to be associated with maladaptive neuronal reorganization and increased activity of the temporoparietal cortex. Transient modulation of tinnitus by repetitive transcranial magnetic stimulation (rTMS indicated that these areas are critically involved in the pathophysiology of tinnitus and suggested new treatment strategies. However, the therapeutic efficacy of rTMS in tinnitus is still unclear, individual response is variable, and the optimal stimulation area disputable. Recently, continuous theta burst stimulation (cTBS has been put forward as an effective rTMS protocol for the reduction of pathologically enhanced cortical excitability. Methods 48 patients with chronic subjective tinnitus will be included in this randomized, placebo controlled, three-arm trial. The treatment consists of two trains of cTBS applied bilaterally to the secondary auditory cortex, the temporoparietal associaction cortex, or to the lower occiput (sham condition every working day for four weeks. Primary outcome measure is the change of tinnitus distress as quantified by the Tinnitus Questionnaire (TQ. Secondary outcome measures are tinnitus loudness and annoyance as well as tinnitus change during and after treatment. Audiologic and speech audiometric measurements will be performed to assess potential side effects. The aim of the present trail is to investigate effectiveness and safety of a four weeks cTBS treatment on chronic tinnitus and to compare two areas of stimulation. The results will contribute to clarify the therapeutic capacity of rTMS in tinnitus. Trial registration The trial was registered with the clinical trials register of http://www.clinicaltrials.gov (NCT00518024.

  17. Web-based screening and brief intervention for poly-drug use among teenagers: study protocol of a multicentre two-arm randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Arnaud Nicolas

    2012-09-01

    Full Text Available Abstract Background Mid to late adolescence is characterised by a vulnerability to problematic substance use since the consumption of alcohol and illicit drugs is frequently initiated and increased in this life period. While the detrimental long- and short-term effects of problematic consumption patterns in adolescence pose a major public health concern, current prevention programs targeting alcohol- and other substance-using adolescents are scarce. The study described in this protocol will test the effectiveness of a web-based brief intervention aimed at reducing problematic alcohol use and promoting abstinence from illegal drugs in adolescents with risky substance use aged 16 to 18 years old in four EU-countries. Methods/design To determine the effectiveness of our web-BI, we apply a two-arm randomized controlled trial (RCT study design, with baseline assessment at study entry and a three month follow-up assessment. Adolescents aged 16 to 18 years from Belgium, the Czech Republic, Germany, and Sweden will be randomly assigned to either the fully electronically delivered brief intervention group (N = 400 or an assessment only control group (N = 400 depending on their screening for risky substance use (using the CRAFFT. Recruitment, informed consent, randomization, intervention and follow-up will be implemented online. Primary outcomes are reductions in frequency and quantity of use of alcohol and drugs other than alcohol over a 30 day period, as well as consumption per typical occasion. Secondary outcomes concern changes in substance use related cognitions including the constructs of the Theory of Planned Behaviour, implementation intentions, and stages of change. Moreover the study addresses a number of moderator variables, including age of first use, general psychopathology and quality of parent–child relationship. Discussion The trial is expected to contribute to the growing literature on theory- and web-based brief interventions

  18. Nanotechnology and preventive arms control

    OpenAIRE

    Altmann, Jürgen

    2005-01-01

    "Nanotechnology (NT) is about analysis and engineering of structures with size between 0.1 and 100 nanometres (1 nm = 10 -9 m). At this scale, new effects occur and the boundaries between physics, chemistry and biology vanish. NT is predicted to lead to stronger but lighter materials, markedly smaller computers with immensely increased power, large and small autonomous robots, tools for manipulation of single molecules, targeted intervention within cells, connections between electronics and n...

  19. A Global Obstacle-avoidance Map for Anthropomorphic Arms

    Directory of Open Access Journals (Sweden)

    Cheng Fang

    2014-07-01

    Full Text Available More and more humanoid robots are used in human society, and they face a wide variety of complicated manipulation tasks, which are mainly to be achieved by their anthropomorphic arms. Obstacle avoidance for the anthropomorphic arm must be a fundamental consideration to guarantee the successful implementation of these tasks. Different from traditional methods searching for feasible or optimal collision-free solutions for the anthropomorphic arm, a global obstacle- avoidance map for the whole arm is proposed to indicate the complete set of feasible solutions. In this map, the motion of the arm can be appropriately planned to intuitively control the configuration of the arm in motion. First, the cubic spline function is adopted to interpolate some well-chosen path points to generate a smooth collision-free path for the wrist of the anthropomorphic arm. Second, based on the path function of the wrist, the time and the self-rotation angle of the arm about the “shoulder-wrist” axis are used to parameterize all possible configurations of the arm so that a global two- dimensional map considering the obstacle avoidance can be established. Subsequently, a collision-free self-rotation angle profile of the arm can be well planned. Finally, the joint trajectories of a specific anthropomorphic arm, which correspond to the planned path of the wrist and self-rotation angle profile of the arm, can be solved on the basis of the general kinematic analysis of the anthropomorphic arm, and the specific structure. Several simulations are conducted to verify that the proposed collision-free motion planning method for anthropomorphic arms has some advantages and can be regarded as a convenient and intuitive tool to control the configuration of the anthropomorphic arm in motion, without collision with obstacles in its surroundings.

  20. Control system of electric bike based on ARM%基于ARM的电动自行车控制系统设计

    Institute of Scientific and Technical Information of China (English)

    李华明; 陆玲霞; 陈海洋

    2012-01-01

    针对传统电动自行车功能难以满足市场多元化需求的问题,分析了电动自行车基本功能和潜在功能的需求,设计了以ARM微控制器LPC2214为主控芯片,以无刷直流电机驱动的电动自行车控制系统,在实现电动自行车基本功能的基础上增强了其功能的扩展性;同时重点介绍了系统主要功能的硬件和软件实现方案,该系统采取优良的控制策略改善了电动自行车基本功能,具有电动、巡航、助力等模式,并利用TFT显示运行状态,改善了用户体验.研究结果表明,该系统电机速度调节平稳、快速,人机交互友好,硬件电路简洁,保护措施可靠.%Aiming at the diversified demands for the functions of e-bikes, the basic and potential functions of the e-bikes were analyzed, and a control system embedded with ARM microcontroller LPC2214 was designed for the e-bikes driven by brushless DC motor. With the system, the basic functions of e-bikes were realized and extensibility of functions was enhanced. The hardware and software for the key functions were expounded. Appropriate control strategy was applied to improve the basic functions. The bike could be set to work in electric, cruise or boost mode and its operating states were displayed on the TFT, thus the user experience was improved. The results indicate that the speed regulation is steady and rapid, the man-machine interface is friendly, the hardware is concise and the protection functions are reliable.

  1. Firm exit and armed conflict in Colombia

    OpenAIRE

    Camacho, Andriana; Rodriguez, Catherine

    2010-01-01

    This paper uses two unique panel data sets to study the causal effect that armed conflict has over entrepreneurial activity in Colombia. Using a fixed effect estimation methodology at the plant level and controlling for the possible endogeneity of armed conflict through the use of instrumental variables, we find that a one standard deviation in the number of guerrilla and paramilitary attacks in a municipality increases the probability of firm exit in 8.1 percentage points. This effect is str...

  2. ARM Mentor Selection Process

    Energy Technology Data Exchange (ETDEWEB)

    Sisterson, D. L. [Argonne National Lab. (ANL), Argonne, IL (United States)

    2015-10-01

    The Atmospheric Radiation Measurement (ARM) Program was created in 1989 with funding from the U.S. Department of Energy (DOE) to develop several highly instrumented ground stations to study cloud formation processes and their influence on radiative transfer. In 2003, the ARM Program became a national scientific user facility, known as the ARM Climate Research Facility. This scientific infrastructure provides for fixed sites, mobile facilities, an aerial facility, and a data archive available for use by scientists worldwide through the ARM Climate Research Facility—a scientific user facility. The ARM Climate Research Facility currently operates more than 300 instrument systems that provide ground-based observations of the atmospheric column. To keep ARM at the forefront of climate observations, the ARM infrastructure depends heavily on instrument scientists and engineers, also known as lead mentors. Lead mentors must have an excellent understanding of in situ and remote-sensing instrumentation theory and operation and have comprehensive knowledge of critical scale-dependent atmospheric processes. They must also possess the technical and analytical skills to develop new data retrievals that provide innovative approaches for creating research-quality data sets. The ARM Climate Research Facility is seeking the best overall qualified candidate who can fulfill lead mentor requirements in a timely manner.

  3. Using Ecological Momentary Assessment in Testing the Effectiveness of an Alcohol Intervention: A Two-Arm Parallel Group Randomized Controlled Trial

    NARCIS (Netherlands)

    Voogt, C.V.; Kuntsche, E.N.; Kleinjan, M.; Poelen, E.A.P.; Lemmers, A.C.J.; Engels, R.C.M.E.

    2013-01-01

    Background Alcohol consumption of college students has a fluctuating nature, which might impact the measurement of intervention effects. By using 25 follow-up time-points, this study tested whether intervention effects are robust or might vary over time. Methods Data were used from a two-arm paralle

  4. Movement Analysis and Servo Control of Exoskeleton Mechanical Arm%外骨骼机械手臂的运动分析及伺服控制

    Institute of Scientific and Technical Information of China (English)

    张志军; 王世斌; 王利波

    2013-01-01

    用三维软件UG对外骨骼机械手臂的结构进行设计,根据外骨骼机械手臂结构进行力学分析以及稳定性研究,研制一套可穿戴的外骨骼机械手臂,可实现手臂的负重和残疾人手臂的康复训练;建立机械手臂的物理模型;研究平衡阀和伺服换向阀的工作稳定特性.对手臂控制的稳定性做一定分析.研究结果表明,设计的外骨骼机械手臂满足设计要求.%According to the fact that the United States and Japan developed exoskeleton robot features. The arm weight and disabled arm rehabilitation training can be achieved by designed Wearable exoskeleton robot; The physical model of the mechanical arm is established, which also studies the balance valve and servo valve working stability characteristic and makes some analysis on stability of the arm.

  5. A self-management program for employees with complaints of the arm, neck, or shoulder (CANS): study protocol for a randomized controlled trial

    NARCIS (Netherlands)

    Hutting, N.; Staal, J.B.; Heerkens, Y.F.; Engels, J.A.; Nijhuis-Van der Sanden, M.W.G.

    2013-01-01

    BACKGROUND: Complaints of the arm, neck, or shoulder (CANS) have a multifactorial origin and cause considerable work problems, including decreased work productivity, sickness absence, and, ultimately, job loss. There is a need for intervention programs for people with CANS. Self-management is an app

  6. 基于ARM的校园LED公告板远程控制系统设计%Design of Remote Controlling System of Campus LED Advertisement Board Based on ARM

    Institute of Scientific and Technical Information of China (English)

    陈泽婷

    2012-01-01

    针对传统的单个LED显示屏的控制的问题.开发基于ARM器件使用触摸屏技术和Zig—Bee无线传输技术的校园LED公告板远程控制系统。%To solve the control problem of traditional single LED dispaly screen, develops the campus LED advertisement boord remote controlling system, which is based on ARM Device usage-purposed screen touching technique and ZigBee Wireless transmission technique.

  7. Design of IPS System Control Based on ARM7 and DSP%基于ARM7和DSP双核控制的逆变电源设计

    Institute of Scientific and Technical Information of China (English)

    唐盛; 姚萌

    2011-01-01

    The main reason of underwater image degradation is backscattering effect of water for light. Backscattering noise elimination is one of the main works of underwater image processing. The causes of generating backscattering noise are analyzed and it is divided into random part and DC part through establishing backscattering noise model of light transmission. Performing Laplacian operation for eliminating the underwater image of DC noise and using Wiener adaptive filter to remove noise again. This method proves that the method can remove the backscattering noise and enhance the image contrast.%为了有效解决逆变电源中存在的因单一复杂控制而带来的系统运行高风险性、控制精度低,反馈调节时间长,系统可扩展性差等缺点,设计实现了一种基于ARM7 Cortex-M3内核的单片机STM32FI03和TI C2000系列DSP芯片TMS320F2808的双核控制逆变电源控制电路.通过在一台6kVA工频双变换纯在线式单相小功率逆变电源上进行控制和负载实验.结果表明,该设计方案有效解决了逆变电源系统中因控制核单一而导致的高复杂度高风险性的缺点,具有控制器模块化,抗干扰能力强,反馈调节速度快,内部接口扩展功能丰富等特点.

  8. 76 FR 79658 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2011-12-22

    ... Proposed Issuance of Letter of Offer Pursuant to Section 36(b)(1) of the Arms Export Control Act (U) (i... Other 10 million TOTAL 60 million * as defined in Section 47(6) of the Arms Export Control Act. (iii... Anti-Tank Guided Missiles, tripods, JAVELIN Weapon Effects Simulators, enhanced basic skills...

  9. 78 FR 26328 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2013-05-06

    ...)(1) of the Arms Export Control Act, as amended (U) (i) Prospective Purchaser: North Atlantic Treaty Organization (ii) Total Estimated Value: * As defined in Section 47(6) of the Arms Export Control Act. Major... NATO and furthering weapon system standardization and interoperability with U.S. forces. NATO...

  10. 78 FR 26326 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2013-05-06

    ...)(1) of the Arms Export Control Act, as amended (i) Prospective Purchaser: United Kingdom (ii) Total Estimated Value: * as defined in Section 47(6) of the Arms Export Control Act. Major Defense Equipment $0... Services under Consideration for Purchase: follow-on support for the Tomahawk Weapon System (TWS)...

  11. 76 FR 69707 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2011-11-09

    ... defeat perimeter security threats and readily employ counter- and anti-terrorism measures. The RSLF... Section 36(b)(1) of the Arms Export Control Act, as Amended (i) Prospective Purchaser: Kingdom of Saudi... million. Other 2 million. Total 33 million. *As defined in Section 47(6) of the Arms Export Control...

  12. 76 FR 72180 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2011-11-22

    ... continues to be, an important force for political stability and economic progress in East Asia. The Royal... Section 36(b)(1) of the Arms Export Control Act, as amended (i) Prospective Purchaser: Malaysia. (ii... Arms Export Control Act. Policy Justification Malaysia--AIM-9X-2 SIDEWINDER Missiles The Government...

  13. 77 FR 70153 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2012-11-23

    ... in the region. The principal contractors will be Raytheon/Lockheed Martin Javelin Joint Venture in... Section 36(b)(1) of the Arms Export Control Act, as amended (i) Prospective Purchaser: Oman (ii) Total... Section 47(6) of the Arms Export Control Act. POLICY JUSTIFICATION Oman--Javelin Missile The Sultanate...

  14. 77 FR 70151 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2012-11-23

    ... region. The principal contractors will be Raytheon/Lockheed Martin Javelin Joint Venture (JJV) in Tucson... Section 36(b)(1) of the Arms Export Control Act, as amended (i) Prospective Purchaser: Indonesia. (ii... defined in Section 47(6) of the Arms Export Control Act. (iii) Description and Quantity or Quantities...

  15. 基于DSP平台的排爆机械臂控制系统设计%Design of Control System for Eod Robot Arm Based on DSP Platform

    Institute of Scientific and Technical Information of China (English)

    陈朝大; 杜启亮; 秦传波; 田联房; 肖志远

    2014-01-01

    针对具有危险的特种环境,设计一个可以代替人工作业的排爆机器人控制系统。该系统以DSP为中央处理核心,用6个伺服电机配合铝制合金搭建机械臂硬件结构,利用DSP增强型PWM模块驱动伺服电机,上位机采用PC机进行控制。实现了串口测试软件向SCI模块发送指令的功能,从而控制机械臂,仿生模仿人手的各类运动。实验结果表明:控制系统精度高,调节快,该机械臂有强的承重能力,能准确握紧危险品并放于隔离箱中。%Aiming at dangerous special environment,a control system for eod robot which could be used to replace manual opera-tion was designed. In this system,DSP was used as central processing core,six servo motors with aluminum alloy were used to com-plete hardware structure of the mechanical arm. The DSP enhanced PWM module was used to drive the servo motor. Host computer was controlled by PC. Instruction was sent to SCI by the serial testing software,so as to control mechanical arm and can realize multi-an-gle movement. The experimental results show that the control system’s precision is high,the adjustment velocity is fast,the mechani-cal arm has strong bearing ability and can accurately hold dangerous goods and put them in isolation box.

  16. A modest proposal for dropping poor arms in clinical trials.

    Science.gov (United States)

    Proschan, Michael A; Dodd, Lori E

    2014-08-30

    This paper presents a simple procedure for clinical trials comparing several arms with control. Demand for streamlining the evaluation of new treatments has led to phase III clinical trials with more arms than would have been used in the past. In such a setting, it is reasonable that some arms may not perform as well as an active control. We introduce a simple procedure that takes advantage of negative results in some comparisons to lessen the required strength of evidence for other comparisons. We evaluate properties analytically and use them to support claims made about multi-arm multi-stage designs.

  17. A STUDY ON MANIPULATOR ARM OPTIMAL CONTROL AND LAGRANGE MULTIPLIER USING DCNLP%基于DCNLP的机器手臂最优化控制及拉格朗日因子研究

    Institute of Scientific and Technical Information of China (English)

    潘修强; 梅成才; 陈军杰

    2013-01-01

    为使机器手臂圆满地完成医疗搀扶等既定看护工作的同时能耗达到最低,针对机器手臂在医疗看护时的两个基本动作(拦截接住,对接捕获),描述并建立机器手臂的动力学方程,构建案例模型,并分别引入最优化控制技术,对最优控制问题进行离散并数字求解,得到系统的最优解;并基于上述工作基础,针对详述能耗J和各个限制方程微小异动之间关系的拉格朗日因子,深入探讨该两案例中的拉格朗日因子的不同表现.从案例结果分析,相对于传统方法求解能耗最优化问题,DCNLP法表现出了较好的鲁棒性,对初始值的估算要求较低,探讨的结果能对机器手臂如何更好地完成要求操作给出积极建议.%In order to have the manipulator arm consummately complete the established caregiving works of medical arm supporting and propping while minimising the energy consumption,aiming at two basic motions of manipulator arm' s medical caregiving,the interception catch and the docking capture,we describe and establish the dynamics equation for manipulator arm,construct case model,and introduce optimal control technology respectively,we scatter the optimal control problem and make digital solution to obtain the optimal solution; Moreover,based on the above working basis,and aiming at the Lagrange multiplier which recounting the relationship between the energy consumption J and the tiny abnormal motion of each restriction equation,we thoroughly discuss the different performances of the Lagrange multipliers in two cases.Analyses derived from the cases results demonstrate that,DCNLP method performs well in robustness in contrast to the traditional method used for solving energy consumption optimisation,it has lower requirement on initial estimation.The discuss result can provide active suggestion for manipulator arm in terms of the way to better complete the required operation.

  18. A historically controlled, single-arm, multi-centre, prospective trial to evaluate the safety and efficacy of MonoMax® suture material for abdominal wall closure after primary midline laparotomy. ISSAAC-Trial [NCT005725079

    Directory of Open Access Journals (Sweden)

    Franck Annette

    2008-07-01

    Full Text Available Abstract Background Several randomized controlled trials have compared different suture materials and techniques for abdominal wall closure with respect to the incidence of incisional hernias after midline laparotomy and shown that it remains, irrespective of the methods used, considerably high, ranging from 9% to 20%. The development of improved suture materials which would reduce postoperative complications may help to lower its frequency. Design This is a historically controlled, single-arm, multi-centre, prospective trial to evaluate the safety of MonoMax® suture material for abdominal wall closure in 150 patients with primary elective midline incisions. INSECT patients who underwent abdominal closure using Monoplus® and PDS® will serve as historical control group. The incidences of wound infections and of burst abdomen are defined as composite primary endpoints. Secondary endpoints are the frequency of incisional hernias within one year after operation and safety. To ensure adequate comparability in surgical performance and recruitment, the 4 largest centres of the INSECT-Trial will participate. After hospital discharge, the investigators will examine the enrolled patients again at 30 days and at 12 ± 1 months after surgery. Conclusion This historically controlled, single-arm, multi-centre, prospective ISSAAC trial aims to assess whether the use of an ultra-long-lasting absorbable monofilament suture material is safe and efficient. Trial registration NCT005725079

  19. An Elastica Arm Scale

    CERN Document Server

    Bosi, F; Corso, F Dal; Bigoni, D

    2015-01-01

    The concept of 'deformable arm scale' (completely different from a traditional rigid arm balance) is theoretically introduced and experimentally validated. The idea is not intuitive, but is the result of nonlinear equilibrium kinematics of rods inducing configurational forces, so that deflection of the arms becomes necessary for the equilibrium, which would be impossible for a rigid system. In particular, the rigid arms of usual scales are replaced by a flexible elastic lamina, free of sliding in a frictionless and inclined sliding sleeve, which can reach a unique equilibrium configuration when two vertical dead loads are applied. Prototypes realized to demonstrate the feasibility of the system show a high accuracy in the measure of load within a certain range of use. It is finally shown that the presented results are strongly related to snaking of confined beams, with implications on locomotion of serpents, plumbing, and smart oil drilling.

  20. ARM7-kehityskortti

    OpenAIRE

    Kukkonen, Henri

    2006-01-01

    Tämän opinnäytetyön tarkoituksena oli suunnitella ja toteuttaa ARM-mikro-ohjain pohjainen kehityskortti. Kortin tuli olla soveltuva ARM-ohjelmoinnin opettamiseen. Työssä myös selvitettiin ARM-mikro-ohjaimen ohjelmointiympäristön käyttöönotto. Teoriaosassa käsitellään ARM-arkkitehtuuria, työssä käytettyjen Atmelin AT91R40008-mikro-ohjaimen sekä Philipsin LPC2105-mikro-ohjaimen ominaisuuksia. Erityisesti työssä keskitytään kehityskorttien suunnitteluun. Kehityskortin vaatimuksina oli, että se ...

  1. Hello to Arms

    Science.gov (United States)

    2005-01-01

    This image highlights the hidden spiral arms (blue) that were discovered around the nearby galaxy NGC 4625 by the ultraviolet eyes of NASA's Galaxy Evolution Explorer. The image is composed of ultraviolet and visible-light data, from the Galaxy Evolution Explorer and the California Institute of Technology's Digitized Sky Survey, respectively. Near-ultraviolet light is colored green; far-ultraviolet light is colored blue; and optical light is colored red. As the image demonstrates, the lengthy spiral arms are nearly invisible when viewed in optical light while bright in ultraviolet. This is because they are bustling with hot, newborn stars that radiate primarily ultraviolet light. The youthful arms are also very long, stretching out to a distance four times the size of the galaxy's core. They are part of the largest ultraviolet galactic disk discovered so far. Located 31 million light-years away in the constellation Canes Venatici, NGC 4625 is the closest galaxy ever seen with such a young halo of arms. It is slightly smaller than our Milky Way, both in size and mass. However, the fact that this galaxy's disk is forming stars very actively suggests that it might evolve into a more massive and mature galaxy resembling our own. The armless companion galaxy seen below NGC 4625 is called NGC 4618. Astronomers do not know why it lacks arms but speculate that it may have triggered the development of arms in NGC 4625.

  2. Hemispace asymmetries and laterality effects in arm positioning.

    Science.gov (United States)

    Imanaka, K; Abernethy, B; Yamauchi, M; Funase, K; Nishihira, Y

    1995-12-01

    Hemispace asymmetries and laterality effects were examined on an arm positioning reproduction task. Sixteen male subjects were asked to reproduce both abductive and adductive positioning movements with the left or right arm within either the left or the right hemispace. Hemispace was manipulated using a 90 degrees head-rotation paradigm. A left hemispace advantage in positioning accuracy was predicted for both left and right arm movements on the grounds that the perceptual-motor control of positioning movements made in left hemispace is primarily mediated by the right hemisphere which is known to be advantageous for tasks which are spatial in nature (Heilman, Bowers, & Watson, 1984). No arm laterality effects were predicted to occur because the proximal musculature involved in the control of arm movements is innervated from both contralateral and ipsilateral cerebral hemispheres (Brinkman & Kuypers, 1973). Results showed that the predicted left hemispace advantage was evident for the right arm on the positioning variability measure alone, whereas it was absent for all other possible conditions on all error measures. Laterality (arm) effects were absent as predicted. The experiment also demonstrated a greater degradation of reproduction performance under the "crossed" arm-hemispace conditions than under the "uncrossed" conditions. A plausible explanation for the uncrossed advantage for the task is that under normal conditions, a single hemisphere is primarily responsible for both controlling the contralateral arm and directing attention to the contralateral hemispace, and consequently potential interhemispheric interference is minimized. A clear response bias effect in movement reproduction was also evident as a function of the direction of concurrent arm movement and head rotation. Arm movements made in the same direction as head rotation were systematically undershot in reproduction to a much greater degree than arm movements made in the opposite direction to head

  3. Fuzzy and Robust Control System of Intelligent RLED Arm Manipulators for Dynamic Obstacles%智能RLED动态目标中机器手的模糊鲁棒控制系统

    Institute of Scientific and Technical Information of China (English)

    魏武; Jean; Bosco; Mbede; 等

    2001-01-01

    This paper presents a fuzzy and robust close loop control system for nonlinear electromechanical systems of an electric motor actuating an arm robot. This control system is applied to the three basic navigation problems of intelligent robot systems in unstructured environments: autonomous planning, fast nonstop navigation without collision with obstacles, and dealing with structured and/or unstructured uncertainties. The stability of close loop control system is guaranteed by Lyapunov theory.%给出了一种电机驱动机器手中非线性机电模型的模糊鲁棒闭环控制系统,此控制系统可处理非结构环境下的三个主要的智能机器人导航问题:自动化规划、快速连续导航中的避障、处理结构和(或)非结构不确定性.

  4. The implementation and testing of a robotic arm on an autonomous vehicle

    OpenAIRE

    Jun, Hyun Il.

    2007-01-01

    An articulated arm with three degrees of freedom is implemented and tested on an autonomous robot. Kinematic equations of motion for the arm are modeled and tested. A communication architecture is successfully implemented for wireless manual control of the arm. Visual and thermal cues are realized with an onboard camera and a collocated thermal sensor. Future work suggests investigations for full autonomous arm control without manual operator intervention based on sensor cues and visual s...

  5. 卷筒包装机折边臂控制系统研究%The Automatic Control System of the Cylinder Type Paper Roll Packaging Machine Ruffled Arms

    Institute of Scientific and Technical Information of China (English)

    刘成; 张波; 李碧琼

    2012-01-01

    针对卷筒包装机折边臂在工作过程中动作过大、不稳定、容易损坏的情况,提出一种将气动控制的方式改为液压控制的具体方案.详细介绍了PLC控制液压站系统的设计,包括控制系统主电路图的设计、硬件的选型、I/O点的分配等,以及液压系统的安全控制.通过改进,克服了原来控制系统的缺陷,使卷筒包装机折边臂在工作过程中更加稳定、安静,且不易损坏.%According to the situation that the the cylinder type paper roll packaging machine ruffled arms in the process of operation is not stable and easy to damage, this paper presents a scheme which transfers hy- draulic control into pneumatic control. This paper introduces the design of the PLC control hydraulic sta- tion system , including the design of the main circuit of the control system diagram , the selection of hard- ware, I/O point distribution, and the safety control of the hydraulic system . Through the improvement, defects of the original control system were overcame, and the cylinder type paper roll packaging machine ruffled arms was more stable, quieter, and not easily damaged.

  6. 基于ARM9的轨道油气润滑系统控制器设计%Oil-gas Lubrication System Controller Design for Rail Based on ARM9

    Institute of Scientific and Technical Information of China (English)

    蔡胜年; 李鑫; 庞宝麟; 徐承韬

    2015-01-01

    以三星公司生产的S3C2410作为控制系统核心,设计有轨机车轮缘油气润滑控制系统,介绍控制系统的主要功能和系统结构。根据有轨机车轮缘油气润滑系统的控制要求,完成系统的硬件设计和软件设计。通过实验验证控制系统的实用性。对影响油气润滑效果及润滑油消耗量等重要参数进行专项实验,实验结果对完善油气润滑控制系统的性能和进一步提高系统的实用性具有重要参考价值。%In this paper,the S3C2410 chip produced by Samsung company was used as a core of the control system to design the trolley locomotive wheel rim lubrication system of oil and gas,and the main functions and architecture of the system were introduced. Hardware design and software design were given by the control requests of the trolley locomotive wheel rim lubrication system of oil and gas. And the prac-ticability of control system was verified by the experiment. Special experiment was carried out for impor-tant parameters influencing oil-gas lubrication effect and lubricating oil consumption. The experimental re-sults had an important reference value for improving the performance of the oil and gas lubrication control system and further increasing the practicality of system.

  7. Manipulability measure of dual-arm space robot and its application to design an optimal configuration

    Science.gov (United States)

    Zhang, Bo; Liang, Bin; Wang, Xueqian; Li, Gang; Chen, Zhang; Zhu, Xiaojun

    2016-11-01

    Coupling effect exists among different arms and the base in a multi-arm space robot. The manipulability measure of one arm can be affected by the base and the other arms, which has important effects on the configuration optimization, the singularity avoidance and the compliant control. The manipulability measure for a multi-arm space robot is more complex than that of a single-arm space robot. At present, the manipulability measure of a multi-arm space robot has not been studied. In the paper, a new concept of manipulability measure is applied to analyze the manipulability measure for a dual-arm space robot, especially for the manipulability measure of the mission arm subjecting to the influence from coupling effect of auxiliary arm and the base. Based on the manipulability measure of mission arm, a performance index is introduced and used to design and choose an optimization configuration for a dual-arm space robot. Finally, a plane dual-arm space robot is simulated, which is illustrated the influence of joint angles and the base attitude on mission arm's manipulability measure. Simulation results show that the proposed manipulability measure is useful for a multi-arm space robot and optimal configuration can be extended and applied to the coordinated soft rendezvous and docking and the target capture in the field of on-orbit servicing.

  8. Phoenix Stretches its Arm

    Science.gov (United States)

    2008-01-01

    [figure removed for brevity, see original site] Click on image for animation The Phoenix spacecraft is scheduled to begin raising its robotic arm up and out of its stowed configuration on the third Martian day, or Sol 3 (May 28, 2008) of the mission. This artist's animation, based on engineering models, shows how Phoenix will accomplish this task. First, its wrist actuator will rotate, releasing its launch-restraint pin. Next, the forearm moves up, releasing the elbow launch-restraint pin. The elbow will then move up and over in small steps, a process referred to as 'staircasing.' This ensures that the arm's protective biobarrier wrap, now unpeeled and lying to the side of the arm, will not get in the way of the arm's deployment. The arm is scheduled to straighten all the way out on Sol 4 (May 29, 2008), after engineers have reviewed images and telemetry data from the spacecraft showing that the biobarrier material has been cleared. The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  9. 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.

  10. Technology-assisted training of arm-hand skills in stroke: concepts on reacquisition of motor control and therapist guidelines for rehabilitation technology design

    Directory of Open Access Journals (Sweden)

    Willmann Richard D

    2009-01-01

    Full Text Available Abstract Background It is the purpose of this article to identify and review criteria that rehabilitation technology should meet in order to offer arm-hand training to stroke patients, based on recent principles of motor learning. Methods A literature search was conducted in PubMed, MEDLINE, CINAHL, and EMBASE (1997–2007. Results One hundred and eighty seven scientific papers/book references were identified as being relevant. Rehabilitation approaches for upper limb training after stroke show to have shifted in the last decade from being analytical towards being focussed on environmentally contextual skill training (task-oriented training. Training programmes for enhancing motor skills use patient and goal-tailored exercise schedules and individual feedback on exercise performance. Therapist criteria for upper limb rehabilitation technology are suggested which are used to evaluate the strengths and weaknesses of a number of current technological systems. Conclusion This review shows that technology for supporting upper limb training after stroke needs to align with the evolution in rehabilitation training approaches of the last decade. A major challenge for related technological developments is to provide engaging patient-tailored task oriented arm-hand training in natural environments with patient-tailored feedback to support (re learning of motor skills.

  11. 基于 ARM 微处理器的气动变载荷摩擦磨损试验机测控系统%Friction and Wear Testing Machine Based on ARM Microprocessor of Pneumatic Load Measurement and Control System

    Institute of Scientific and Technical Information of China (English)

    刘福才; 徐文丽; 侯甜甜; 王加春

    2016-01-01

    针对不同固体材料在不同条件下的摩擦磨损实验要求,设计了一种基于 ARM 微处理器的气动变载荷摩擦磨损试验机测控系统。采用气动加载方式,加载形式包括正弦波、方波、锯齿波、三角波、随机波等。气动加载采用 Fuzzy-PID 闭环控制,提高了动态加载性能。可通过测量实验中的摩擦力、摩擦系数、磨损量、温度、振动等参数来研究变载荷对材料摩擦磨损性能的影响。最后对 A3钢材料的摩擦磨损性能进行试验,证明该试验机性能稳定,测控系统准确可靠。%For the material surface characteristic research needs of the space operation process,a new changing load on the friction and wear tester based on the ARM microprocessor is proposed. The computer human-computer interaction interface and lower computer ARM unit is used to develop a measurement and control system of pneumatic variable load friction and wear testing machine. The loading mode using pneumatic and load forms included sine wave,square wave,sawtooth wave,triangle wave and random wave. ,Fuzzy-PID is used in pneumatic loading closed loop control to improve the dynamic loading performance. The influence of variable load on the tribological properties of material can be researched through measuring friction force,friction coefficient,wear,friction temperature and vibration parameters in experiment. Finally,the experiment results of A3 steel tribological properties prove that the proposed tester has stable performance and the test system is accurate and reliable.

  12. Evaluating the Effects of Aluminum-Containing and Non-Aluminum Containing Deodorants on Axillary Skin Toxicity During Radiation Therapy for Breast Cancer: A 3-Armed Randomized Controlled Trial

    Energy Technology Data Exchange (ETDEWEB)

    Lewis, Lucy, E-mail: Lucy.lewis@curtin.edu.au [Centre for Nursing Research, Sir Charles Gairdner Hospital, Nedlands, Western Australia (Australia); School of Nursing and Midwifery Curtin University, Perth (Australia); Carson, Sharron [Radiation Oncology, Sir Charles Gairdner Hospital, Nedlands, Western Australia (Australia); Bydder, Sean [Radiation Oncology, Sir Charles Gairdner Hospital, Nedlands, Western Australia (Australia); School of Surgery, The University of Western Australia, Crawley, Western Australia (Australia); Athifa, Mariyam [School of Nursing and Midwifery Curtin University, Perth (Australia); Williams, Anne M. [School of Nursing and Midwifery Curtin University, Perth (Australia); School of Nursing and Midwifery, Edith Cowan University, Perth, Western Australia (Australia); Bremner, Alexandra [School of Population Health, The University of Western Australia, Crawley, Western Australia (Australia)

    2014-11-15

    Purpose: Deodorant use during radiation therapy for breast cancer has been controversial as there are concerns deodorant use may exacerbate axillary skin toxicity. The present study prospectively determined the use of both aluminum-containing and non aluminum containing deodorants on axillary skin toxicity during conventionally fractionated postoperative radiation therapy for breast cancer. Methods and Materials: This 3-arm randomized controlled study was conducted at a single center, tertiary cancer hospital between March 2011 and April 2013. Participants were randomized to 1 of 2 experimental groups (aluminum-containing deodorant and soap or non–aluminum containing deodorant and soap) or a control group (soap). A total of 333 participants were randomized. Generalized estimating equations were used to estimate and compare the odds of experiencing high levels of sweating and skin toxicity in each of the deodorant groups to the odds in the control group. The study evaluated a range of endpoints including objective measurements of axilla sweating, skin toxicity, pain, itch and burning. Quality of life was assessed with a validated questionnaire. Results: Radiation characteristics were similar across all groups. Patients in the deodorant groups did not report significantly different ratings for axillary pain, itch, or burning compared with the control group. Patients in the aluminum-containing deodorant group experienced significantly less sweating than the control; the odds of their sweating being barely tolerable and frequently or always interfering with their daily activities was decreased by 85% (odds ratio, 0.15; 95% confidence interval, 0.03-0.91). Conclusions: We found no evidence that the use of either aluminum-containing or non–aluminum containing deodorant adversely effects axillary skin reaction during conventionally fractionated radiation therapy for breast cancer. Our analysis also suggests patients in the aluminum-containing deodorant arm had

  13. ARM Microprocessor-based Controller Design of a Kernel Hardness Tester%基于ARM微处理器的谷物硬度仪控制器设计

    Institute of Scientific and Technical Information of China (English)

    曹毅; 臧义; 石庆升; 鲁可

    2013-01-01

    高效处理器对于具有若干个驱动器和传感器的机电系统来说越来越重要了.为此,在一种具有多传感器的新型谷物硬度计设计中应用了32位低功耗的ARM微处理器.介绍了测试仪的结构,使用了嵌入式ARM微处理器完成了压力传感器的数据采集和交流伺服电机的位置控制.软件设计使用了基于Linux的QT语言,完成了在LCD上显示数据曲线以及实时的复杂数据处理.最后,给出了实验测量数据的图形结果,验证了本系统的可行性.%Performance efficient processors have become increasingly important for mechatronics with numerous actuators and sensors.Therefore,this paper implements a 32-bit low-power ARM microprocessor into the design of a novel kernel hardness tester equipped with multi-sensor capabilities.After a brief introduction of the tester mechanism,an embedded ARM microprocessor is used to accomplish the data acquisition of a load sensor and the position control of an AC servo motor.Using QT based on Linux for software design,it is possible to display data curves on LCD and complete complex data processing in time.Finally,some experiment results of measuring data are presented in graphic,which verifies the success of the project.

  14. Children In Armed Conflicts

    OpenAIRE

    Ranjan, Tejaswini

    2013-01-01

    This is a descriptive study. A child soldier is a child under the age of 18 that is recruited into the armed forces and engages in political violence. Child Soldiers are recruited by a state or non-state armed group and used as fighters, cooks, suicide bombers, human shields, messengers, spies, or for sexual purposes. This work of research describes the plight of child soldiers taking in context the scenario of different nations. The International mechanisms to combat this problem have also b...

  15. PHENIX Muon Arms

    International Nuclear Information System (INIS)

    The PHENIX Muon Arms detect muons at rapidities of |y|=(1.2-2.4) with full azimuthal acceptance. Each muon arm must track and identify muons and provide good rejection of pions and kaons (∼10-3). In order to accomplish this we employ a radial field magnetic spectrometer with precision tracking (Muon Tracker) followed by a stack of absorber/low resolution tracking layers (Muon Identifier). The design, construction, testing and expected run parameters of both the muon tracker and the muon identifier are described

  16. PHENIX Muon Arms

    Energy Technology Data Exchange (ETDEWEB)

    Akikawa, H.; Al-Jamel, A.; Archuleta, J.B.; Archuleta, J.R.; Armendariz, R.; Armijo, V.; Awes, T.C.; Baldisseri, A.; Barker, A.B.; Barnes, P.D.; Bassalleck, B.; Batsouli, S.; Behrendt, J.; Bellaiche, F.G.; Bland, A.W.; Bobrek, M.; Boissevain, J.G.; Borel, H.; Brooks, M.L.; Brown, A.W.; Brown, D.S.; Bruner, N.; Cafferty, M.M.; Carey, T.A.; Chai, J.-S.; Chavez, L.L.; Chollet, S.; Choudhury, R.K.; Chung, M.S.; Cianciolo, V.; Clark, D.J.; Cobigo, Y.; Dabrowski, C.M.; Debraine, A.; DeMoss, J.; Dinesh, B.V.; Drachenberg, J.L.; Drapier, O.; Echave, M.A.; Efremenko, Y.V.; En' yo, H.; Fields, D.E.; Fleuret, F.; Fried, J.; Fujisawa, E.; Funahashi, H.; Gadrat, S.; Gastaldi, F.; Gee, T.F.; Glenn, A.; Gogiberidze, G.; Gonin, M.; Gosset, J.; Goto, Y.; Granier de Cassagnac, R.; Hance, R.H.; Hart, G.W.; Hayashi, N.; Held, S.; Hicks, J.S.; Hill, J.C.; Hoade, R.; Hong, B.; Hoover, A.; Horaguchi, T.; Hunter, C.T.; Hurst, D.E.; Ichihara, T.; Imai, K.; Isenhower, L.D.L. Davis; Isenhower, L.D.L. Donald; Ishihara, M.; Jang, W.Y.; Johnson, J.; Jouan, D.; Kamihara, N.; Kamyshkov, Y.; Kang, J.H.; Kapoor, S.S.; Kim, D.J.; Kim, D.-W.; Kim, G.-B.; Kinnison, W.W.; Klinksiek, S.; Kluberg, L.; Kobayashi, H.; Koehler, D.; Kotchenda, L.; Kuberg, C.H.; Kurita, K.; Kweon, M.J.; Kwon, Y.; Kyle, G.S.; LaBounty, J.J.; Lajoie, J.G.; Lee, D.M.; Lee, S.; Leitch, M.J.; Li, Z.; Liu, M.X.; Liu, X.; Liu, Y.; Lockner, E.; Lopez, J.D.; Mao, Y.; Martinez, X.B.; McCain, M.C.; McGaughey, P.L.; Mioduszewski, S.; Mischke, R.E.; Mohanty, A.K.; Montoya, B.C.; Moss, J.M.; Murata, J.; Murray, M.M.; Nagle, J.L.; Nakada, Y.; Newby, J.; Obenshain, F.; Palounek, A.P.T.; Papavassiliou, V.; Pate, S.F.; Plasil, F.; Pope, K.; Qualls, J.M.; Rao, G.; Read, K.F. E-mail: readkf@ornl.gov; Robinson, S.H.; Roche, G.; Romana, A.; Rosnet, P.; Roth, R.; Saito, N.; Sakuma, T.; Sandhoff, W.F.; Sanfratello, L.; Sato, H.D.; Savino, R.; Sekimoto, M.; Shaw, M.R.; Shibata, T.-A.; Sim, K.S.; Skank, H.D.; Smith, D.E.; Smith, G.D. [and others

    2003-03-01

    The PHENIX Muon Arms detect muons at rapidities of |y|=(1.2-2.4) with full azimuthal acceptance. Each muon arm must track and identify muons and provide good rejection of pions and kaons ({approx}10{sup -3}). In order to accomplish this we employ a radial field magnetic spectrometer with precision tracking (Muon Tracker) followed by a stack of absorber/low resolution tracking layers (Muon Identifier). The design, construction, testing and expected run parameters of both the muon tracker and the muon identifier are described.

  17. 基于ARM11的无线彩色LED显示屏的控制系统设计%Design of LED-screen Display Wireless control System Based on ARM11

    Institute of Scientific and Technical Information of China (English)

    邓宏贵; 高小龙; 李明辉; 赵俊值

    2012-01-01

    Aiming at actual demand of present Color LED display, a reliable and cheap embedded wireless color LED display control system is designed and realized, with the combination of embedded technology, video compression technology, the wireless transmission technology) The system chooses S3C6410 as kernel boards controller, using the wireless Wi-Fi receive the H. 264 compressed video information through the host computer, then decodes, and finally into the FPGA-based scanning system of the color LED display. The test shows that the system is designed reasonable. The system has strength wireless transmission signal, can support IEEE 802. Lib / g of all communications rate from Imbps to the highest 54Mbps, runs stably, and can transport wireless video data in short distance.%针对彩色LED显示屏的实际应用需求,结合嵌入式技术、视频压缩技术、无线传输技术;设计了一种可靠性高、成本低的嵌入式无线的彩色LED显示屏的控制系统;系统选用S3C6410微处理器作为主控制器,利用无线wi-Fi接收上位机经过H.264压缩的视频信息,并进行解码,最后送入基于FPGA的彩色LED显示屏扫描系统显示;测试结果表明,系统设计合理,无线传输信号较强、支持IEEE 802.11b/g从1Mbps到最高54Mbps所有的通信速率,运行稳定,能进行较短距离的无线视频数据传输.

  18. Dual Arm Work Module Development and Appplications

    Energy Technology Data Exchange (ETDEWEB)

    Noakes, M.W.

    1999-04-25

    The dual arm work module (DAWM) was developed at Oak Ridge National Laboratory (ORNL) by the Robotics Technology Development Program (RTDP) as a development test bed to study issues related to dual arm manipulation, including platform cotilguration, controls, automation, operations, and tooling. The original platform was based on two Schilling Titan II manipulators mounted to a 5-degree-of- freedom (DOF) base fabricated by RedZone Robotics, Inc. The 5-DOF articulation provided a center torso rotation, linear actuation to change the separation between the arms, and arm base rotation joints to provide "elbows up," elbows down," or "elbows out" orientation. A series of tests were conducted on operations, tooling, and task space scene analysis (TSSA)-driven robotics for overhead transporter- mounted and crane hook-deployed scenarios. A concept was developed for DAWM deployment from a large remote work vehicle, but the project was redirected to support dismantlement of the Chicago Pile #5 (CP-5) reactor at Argonne National Laboratory in fiscal year (FY) 1997. Support of CP-5 required a change in focus of the dual arm technology from that of a development test bed to a system focussed for a specific end user. ORNL teamed with the Idaho National Environmental ,Engineering Laboratory, Sandia National Laboratory, and the Savannah River Technology Center to deliver a crane-deployed derivative of the DAWM, designated the dual arm work platform (DAWP). RTDP staff supported DAWP at CP-5 for one FY; Argonne staff continued operation through to dismantlement of the reactor internals. Lessons learned from this interaction were extensive. Beginning in FY 1999, dual arm development activities are again being pursued in the context of those lessons learned. This paper describes the progression of philosophy of the DAWM from initial test bed to lessons learned through interaction at CP-5 and to the present investigation of telerobotic assist of teleoperation and TSSA- driven robotics.

  19. Wireless Control System for Camera Base on ARM and Single-Chip Microcomputer%基于ARM和单片机的相机无线控制系统

    Institute of Scientific and Technical Information of China (English)

    简献忠; 宋春茹; 徐林; 张晗

    2011-01-01

    介绍了一种利用蓝牙无线串口实现相机无线控制的方法.系统上位机采用S3C2440ARM,以CSR公司BC4 17/143 BQN芯片为核心的蓝牙无线串口在上位机和单片机上位之间传输数据,单片机接收到上位机发送的数据之后产生方波控制相机.该方案已经在硬件上实现,并经测试证明了能很好地控制相机无线拍照.所述方法对其它无线控制具有一定的借鉴意义.%This article introduces a wireless control system for the camera. The upper computer of the system is S3C2440 ARM. With the Bluetooth Serial Port data is transmitted from upper computer to the Single-Chip computer. The CSR BC417/143BQN is the core of the Bluetooth wireless Serial port module. Square wave is generated to control the camera after the Single-Chip microcomputer received the data, the scheme has been achieved with hardware, and it has been proved good to control the camera through test. The method described in this article has some reference value to other wireless control system.

  20. An Intellgent Task Scheduling and Control System Based on Object Model for Robot Arm%基于对象模型的YGR-1机器人智能任务规划和控制

    Institute of Scientific and Technical Information of China (English)

    邵鹏鸣; 李成刚; 吴翰声

    2001-01-01

    研制了一个基于对象模型的机器人智能任务规划与控制系统,对系统中的对象进行模型化,建立对象模型知识库,在设计任务规划时,模仿了人在日常生活中完成普通任务时进行任务规划的方法,在设计控制软件时,根据控制目标,设计了推理程序,因此,系统根据一用句子给出的请求,规划出一系列相关联的基本任务,从而控制机器人各关节协调动作,使之完成目标任务。%This paper describes the concepts and methodologies for an intelligent task scheduling and control system based on object model for robot arm . A human’s way of scheduling is considered. The intelligent task scheduling sets a task goal according to a user’s request in a natural sentence and generates a sequence of tasks and action to achieve the goal based on object model . In the control system, the reasoning programs are designed according to the control object purpose. Therefore the system can schedule the task and control coordinately actions of all joints of the robot arm to complete object job based on the scheduled tasks.

  1. Configuration of the LCD Controller & Driver Analysis Based on ARM & Linux Platform%ARM Linux平台下LCD控制器的配置及驱动分析

    Institute of Scientific and Technical Information of China (English)

    韩金利

    2013-01-01

    The importance of LCD drive in Linux platform is introduced. The Samsung's 32-bit embed-ded microprocessor S3C2440A and LR043JC211 are presented for reference. By analyzing the interface circuit design of LCD display module and S3C2440 processor, this paper makes a detailed description of method and software configuration based on S3C-2440A the LCD controller. The LCD driver in the Linux is analyzed, and a verification method and the environment of experimental results are given as well.%介绍了linux平台下进行LCD驱动开发的重要性,以Samsung公司的32位嵌入式微处理器S3C2440A和LR043JC211为例,结合LCD显示模块与S3C2440处理器的接口电路设计,详细说明了基于S3C2440A处理器的LCD控制器的功能和软件配置方法,对Linux环境下LCD驱动进行分析,并给出了一种实验结果的验证环境与方法。

  2. Modelling and Simulation of Mobile Hydraulic Crane with Telescopic Arm

    DEFF Research Database (Denmark)

    Nielsen, Brian; Pedersen, Henrik Clemmensen; Andersen, Torben Ole;

    2005-01-01

    paper a model of a loader crane with a flexible telescopic arm is presented, which may be used for evaluating control strategies. The telescopic arm is operated by four actuators connected hydraulically by a parallel circuit. The operating sequences of the individual actuators is therefore...... not controllable, but depends on the flow from the common control valve, flow resistances between the actuators and friction. The presented model incorporates structural flexibility of the telescopic arm and is capable of describing the dynamic behaviour of both the hydraulic and the mechanical system, including...

  3. Light Duty Utility Arm Software Test Plan

    International Nuclear Information System (INIS)

    This plan describes how validation testing of the software will be implemented for the integrated control and data acquisition system of the Light Duty Utility Arm System (LDUA). The purpose of LDUA software validation testing is to demonstrate and document that the LDUA software meets its software requirements specification

  4. Modernization of African Armed Forces

    DEFF Research Database (Denmark)

    Mandrup, Thomas

    2015-01-01

    Concept paper framing the debate at the Dakar Forum Workshop on Modernization of Armed forces in Africa.......Concept paper framing the debate at the Dakar Forum Workshop on Modernization of Armed forces in Africa....

  5. 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

  6. Design and Develop of Air-powered Logistics Transmission Control System Based on ARM%基于ARM的气动物流传输控制系统的设计与研发

    Institute of Scientific and Technical Information of China (English)

    黄维芳; 唐厚君; 赵俊旭; 万林

    2011-01-01

    Design and develop hardware and software of pneumatic tube system based on ARM, including site, conversion stations, switching centers, cutting boards and other parts of the electrical control. Using the idea of CAN bus achieve the communication of the whole logistics delivery system validly and real-time. It can send or receive goods in accordance with the requirements to achieve the logistics transmission between the hundreds of sites, the transmission distance up to 1 ,000 meters, greatly improved the efficiency of transport logistics.%基于ARM,对气动物流传输系统的站点、转换站、转换中心、节流板等各部分的电气控制部分进行了硬件与软件的设计和研发.利川CAN总线的思路对整个物流传输系统进行有效、实时的通信从而实现了能够按照发送或者接受要求,实现上百个站点之间的物流传输.传输距离可达1000米,大大提高了物流传输的效率.

  7. 基于ARM和Linux的埋弧焊自动控制系统人机界面设计%Design of Man-machine Interface of SAW Control System Based on ARM and Linux

    Institute of Scientific and Technical Information of China (English)

    张文明; 鞠洪涛; 刘鸿钧

    2011-01-01

    The disadvantages of traditional SAW control system was analyzed. A new kind of man-machine interface for them was designed The control core of the system is S3C2440A, a kind of ARM 9 processor which is made by Samsung Electronics Co.Ltd, and a 640*480 TFT LCD was used. This design transplanted an embedded Linux on the basis of hardware, and how to develop a GUI (Graphical User Interface) with the help of Qt and its C++ class library was introduced. The operators can input the welding parameters, control and even monitor the welding process. This design can achieve the functions such as saving parameters, drawing parameters graphics, abnormalities alarm and outputting VGA signals.%分析了传统埋弧焊控制系统的弊端,并设计了一种新型的埋弧焊控制系统的人机界面.控制核心采用了三星公司的ARM9处理器S3C2440A,使用640*480的TFT液晶显示器.在硬件的基础上移植了嵌入式Linux操作系统,并详细介绍了使用Qt提供的C++类库设计图形用户界面的方法.操作人员可以通过菜单和对话框等形式对焊接过程进行参数输入、过程控制和监视.可以实现焊接参数的保存、监视、绘制参数变化图像、出差报警、VGA输出等功能.

  8. 基于ARM工控主板的环境数据采集及无线传输系统%Environmental Data Acquisition and Wireless Transmission System Based on ARM Industrial Control Motherboard

    Institute of Scientific and Technical Information of China (English)

    马俊明; 张游杰; 边杏宾

    2014-01-01

    在传统的数据采集装置中,单片机加采集卡方式存在采集通道少、单任务及实时性差等不足;工控机加装采集卡的方式费用较高且不宜维护。由于ARM芯片体积小、价格低、可靠性高,成为当前嵌入式数据采集装置的首选。选用ARM8006工控主板,设计开发了多通道实时数据采集监控系统,开发的设备能够保证采集过程中数据的可靠性及实时性,并可将现场采集数据通过无线网络传输到上位机,整个系统实现了数据采集、显示、存储及无线传输等功能。%In the traditional data acquisition device,there are some shortages in SCM(single chip microcomputer)+AC (acquisition card) mode such as the less acquisition channels,single task, and poor real-time performance, etc.;and ICM (industrial control motherboard)+AC (acquisition card) mode is not easy to maintain and has higher cost. Because of the advantages of smaller volume,lower cost and higher reliability, the ARM chip has become the first choice of embedded data acquisition device. Based on ARM8006 industrial control motherboard,this paper develops a multi-channel real-time data acquisition and monitoring system, which can ensure the reliability and instantaneity of the data in acquisition process,and transmit the data collected in the site to the host computer through wireless network, realize the functions of the data acquisition,display,storage and wireless transmission.

  9. Light Duty Utility Arm computer software configuration management plan

    International Nuclear Information System (INIS)

    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

  10. Kinematics Performance Research of Macpherson Suspension with Improved Control-arm%控制臂改进型麦弗逊悬架运动学性能研究

    Institute of Scientific and Technical Information of China (English)

    冯金芝; 宋江涛; 郑松林; 顾晗; 陆毅

    2011-01-01

    Based on Multi-body Dynamics theory, multi-body models of traditional Macphernon suspension and Maephcrson suspension with improved control-arm are both established on virtual prototype-ADAMS/Car in this paper. Kinematic simulation results show that improved Macpherson suspension can reduce the values of camber angle, toe angle, kingpin inclination angle, steer angle and lift/dive, increase the values of caster angle slightly compared with traditional Macpherson suspension. Macpherson suspension with control-arm enhances vehicle's kinematic characteristics. Hence, it is more favorable for vehicle handling stability than traditional Macpherson suspension.%利用多体动力学理论,在虚拟样机仿真软件ADAMS/Car中建立了传统型麦弗逊悬架及控制臂改进型麦弗逊悬架模型.通过运动学仿真计算可知、在车轮上、下跳动过程中,改进型麦弗逊悬架使车轮外倾角、车轮前束、主销内倾角,车轮转角、抬头量和点头量的变化范围更小,主销后倾角变化范围稍大,更有利于操纵稳定;与传统型麦弗逊悬架相比,控制臂改进型麦弗逊悬架运动学性能有明显提高.

  11. Efficacy of an internet-based self-help intervention to reduce co-occurring alcohol misuse and depression symptoms in adults: study protocol of a three-arm randomised controlled trial

    Science.gov (United States)

    Schaub, Michael P; Blankers, Matthijs; Lehr, Dirk; Boss, Leif; Riper, Heleen; Dekker, Jack; Goudriaan, Anna E; Maier, Larissa J; Haug, Severin; Amann, Manuel; Dey, Michelle; Wenger, Andreas; Ebert, David D

    2016-01-01

    Introduction In the general population, alcohol use disorder and depression more often occur together than any other combination of a mental illness with a substance use disorder. It is important to have a cost-effective intervention that is able to reach at-risk individuals in the early stages of developing alcohol use disorders and depression disorders. Methods and analysis This paper presents the protocol for a 3-arm multicentre randomised controlled trial (RCT) to test the efficacy and cost-effectiveness of the combined internet-based self-help intervention Take Care of You (TCOY) to reduce alcohol misuse and depression symptoms in comparison with a waiting list control group and a comparable intervention focusing on problematic alcohol use only. The active interventions consist of modules designed to reduce alcohol use, based on the principles of motivational interviewing and methods of cognitive behavioural therapy, together with additional modules in the combined study arm to reduce symptoms of depression. Data will be collected at baseline, as well as at 3 and 6 months postrandomisation. The primary outcome is the quantity of alcohol used in the past 7 days. A number of secondary outcome measures will be studied. These include the Centre of Epidemiologic Studies of Depression Scale (CES-D) and a combined measure with the criteria of values below the cut-off for severe alcohol use disorder and for CES-D. Data analysis will follow the intention-to-treat principle using (generalised) linear mixed models. In order to investigate the interventions’ cost-utility and cost-effectiveness, a full economic evaluation will be performed. Ethics and dissemination This RCT will be executed in compliance with the Helsinki Declaration and has been approved by 2 local Ethics Committees. Results will be reported at conferences and in peer-reviewed publications. Participant-friendly summaries of trial findings will be published on the TCOY websites. Trial registration

  12. ARM User Survey Report

    Energy Technology Data Exchange (ETDEWEB)

    Roeder, LR

    2010-06-22

    The objective of this survey was to obtain user feedback to, among other things, determine how to organize the exponentially growing data within the Atmospheric Radiation Measurement (ARM) Climate Research Facility, and identify users’ preferred data analysis system. The survey findings appear to have met this objective, having received approximately 300 responses that give insight into the type of work users perform, usage of the data, percentage of data analysis users might perform on an ARM-hosted computing resource, downloading volume level where users begin having reservations, opinion about usage if given more powerful computing resources (including ability to manipulate data), types of tools that would be most beneficial to them, preferred programming language and data analysis system, level of importance for certain types of capabilities, and finally, level of interest in participating in a code-sharing community.

  13. Robot arm apparatus

    Science.gov (United States)

    Nachbar, Henry D.

    1992-01-01

    A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.

  14. 基于ARM的封闭式负压引流机压力控制系统的设计%Design of ARM-based pressure control system of vacuum sealing drainage device

    Institute of Scientific and Technical Information of China (English)

    翟贵生; 殷华

    2013-01-01

    目的 基于ARM9系统设计了封闭式负压引流(VSD)控制系统.方法 系统由中央处理单元、压力传感模块和压力控制模块3部分构成.选用32位的LJD-e Win7000作为中央处理单元,通过X型硅压力传感器感知压力,通过实时反馈技术控制电磁阀的开合,准确控制负压仓内压力.结果 完成了封闭式负压引流机压力控制系统,实测值和显示值比较结果显示:在要求产生压力较小时,系统产生的误差比较大;在设定压力较大时,产生的误差会变小.结论 经过线性算法校正,使得该压力控制系统可以满足封闭负压引流机对于压力控制的需求.%Objective With the extensive application of vacuum sealing drainage (VSD),vacuum control mode needs to be developed and improved.The aim of this study was to develop ARM-based VSD system.Methods The system was composed of central processing unit,pressure sensing unit and pressure control units.32-bit LJD-e Win7000 was used as central processing unit.X-type silicon pressure sensor was used to sense the pressure.Real time feedback technology was applied to control the solenoid opening and closing in order to accurately control the negative pressure.Results VSD pressure control system was completed.Compared with the measured value,the system had relatively large error in low pressure.With the increase of pressure,the error decreased.Conclusion Through linear correction algorithm,the pressure control system can meet the requirements of VSD machine.

  15. Kiikuv maja / Anu Arm

    Index Scriptorium Estoniae

    Arm, Anu

    2006-01-01

    Eesti Kunstiakadeemia esimese kursuse arhitektuuriüliõpilaste II semestri töö. Juhendaja arhitekt Andres Alver, ehitamise Pedaspeale organiseeris suvepraktika juhendaja arhitekt Jaan Tiidemann. Autor Anu Arm, kaasa töötasid ja valmis ehitasid: Ott Alver, Maarja Elm, Mari Hunt, Alvin Järving, Marten Kaevats, Riho Kerge, Reedik Poopuu, Anu Põime, Helen Rebane, Kaisa Saarva, Martin Tago, Reet Volt. Valmis: 19. VIII 2006

  16. Guest Editorial: Research update: VA study to optimize DEKA Arm

    Directory of Open Access Journals (Sweden)

    Linda Resnik, PT, PhD

    2010-05-01

    Full Text Available In 2005, the Defense Advanced Research Projects Agency (DARPA announced its Revolutionizing Prosthetics program and funded the development of the DEKA prosthetic arm. The DEKA Arm System incorporates major technological advances such as flexible socket design, innovative control features, software, and hardware that together enable enhanced functionality that promises to surpass any currently available prosthetic device. In 2008, the Department of Veterans Affairs (VA entered into an agreement with DARPA to conduct clinical evaluations of the prototype DEKA Arm System, a prosthetic device system still under development and not yet available commercially. Studies of the DEKA Arm System have been underway at VA sites since late 2008, with the first subject fitted with a DEKA Arm in early 2009.

  17. A software radio platform based on ARM and FPGA

    Directory of Open Access Journals (Sweden)

    Yang Xin.

    2016-01-01

    Full Text Available The rapid rise in computational performance offered by computer systems has greatly increased the number of practical software radio applications. A scheme presented in this paper is a software radio platform based on ARM and FPGA. FPGA works as the coprocessor together with the ARM, which serves as the core processor. ARM is used for digital signal processing and real-time data transmission, and FPGA is used for synchronous timing control and serial-parallel conversion. A SPI driver for real-time data transmission between ARM and FPGA under ARM-Linux system is provided. By adopting modular design, the software radio platform is capable of implementing wireless communication functions and satisfies the requirements of real-time signal processing platform for high security and broad applicability.

  18. Design of centralized controlling system for multimedia classroom based on ARM and GPRS%基于ARM及GPRS的多媒体教室中控系统设计

    Institute of Scientific and Technical Information of China (English)

    梁晓明; 王惠芳; 张新岭; 任丽静; 崔京华

    2012-01-01

    Because separately control of the multimedia classroom is not easy, a centralized controlling system is constituted on the basis of existing multimedia equipment by adding ARM-based controller and GPRS modules. It realized real-time monitoring of multimedia devices, centralized control, and effective management. The lifetime of multimedia classroom and multimedia e-quipment service is improved, and information storage, info-seeking and management are more convenient.%针对目前对媒体教室单独控制不易管理的情况,在现有多媒体设备的基础上,增加基于ARM的主控器以及GPRS模块,构成了中控系统,实现了对多媒体设备的实时监测、集中控制以及日常维护信息的有效管理,提高了多媒体教室的利用率以及多媒体设备的使用寿命,方便了信息的储存、查找与管理.

  19. Arm swing in human walking: what is their drive?

    Science.gov (United States)

    Goudriaan, Marije; Jonkers, Ilse; van Dieen, Jaap H; Bruijn, Sjoerd M

    2014-06-01

    Although previous research has studied arm swing during walking, to date, it remains unclear what the contribution of passive dynamics versus active muscle control to arm swing is. In this study, we measured arm swing kinematics with 3D-motion analysis. We used a musculoskeletal model in OpenSim and generated dynamic simulations of walking with and without upper limb muscle excitations. We then compared arm swing amplitude and relative phase during both simulations to verify the extent to which passive dynamics contribute to arm swing. The results confirm that passive dynamics are partly responsible for arm swing during walking. However, without muscle activity, passive swing amplitude and relative phase decrease significantly (both p<0.05), the latter inducing a more in-phase swing pattern of the arms. Therefore, we conclude that muscle activity is needed to increase arm swing amplitude and modify relative phase during human walking to obtain an out-phase movement relative to the legs. PMID:24865637

  20. Targeting young drinkers online: the effectiveness of a web-based brief alcohol intervention in reducing heavy drinking among college students: study protocol of a two-arm parallel group randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Lemmers Lex ACJ

    2011-04-01

    Full Text Available Abstract Background The prevalence of heavy drinking among college students and its associated health related consequences highlights an urgent need for alcohol prevention programs targeting 18 to 24 year olds. Nevertheless, current alcohol prevention programs in the Netherlands pay surprisingly little attention to the drinking patterns of this specific age group. The study described in this protocol will test the effectiveness of a web-based brief alcohol intervention that is aimed at reducing alcohol use among heavy drinking college students aged 18 to 24 years old. Methods/Design The effectiveness of the What Do You Drink web-based brief alcohol intervention will be tested among 908 heavy drinking college students in a two-arm parallel group randomized controlled trial. Participants will be allocated at random to either the experimental (N = 454: web-based brief alcohol intervention or control condition (N = 454: no intervention. The primary outcome measure will be the percentage of participants who drink within the normative limits of the Dutch National Health Council for low-risk drinking. These limits specify that, for heavy alcohol use, the mean consumption cannot exceed 14 or 21 glasses of standard alcohol units per week for females and males, respectively, while for binge drinking, the consumption cannot exceed five or more glasses of standard alcohol units on one drinking occasion at least once per week within one month and six months after the intervention. Reductions in mean weekly alcohol consumption and frequency of binge drinking are also primary outcome measures. Weekly Ecological Momentary Assessment will measure alcohol-related cognitions, that is, attitudes, self-efficacy, subjective norms and alcohol expectancies, which will be included as the secondary outcome measures. Discussion This study protocol describes the two-arm parallel group randomized controlled trial developed to evaluate the effectiveness of a web-based brief

  1. Analysis of stroke in ATHENA: a placebo-controlled, double-blind, parallel-arm trial to assess the efficacy of dronedarone 400 mg BID for the prevention of cardiovascular hospitalization or death from any cause in patients with atrial fibrillation/atrial flutter

    DEFF Research Database (Denmark)

    Connolly, Stuart J; Crijns, Harry J G M; Torp-Pedersen, Christian;

    2009-01-01

    , on stroke has been evaluated in a randomized, double-blind clinical trial, ATHENA (A placebo-controlled, double-blind, parallel-arm Trial to assess the efficacy of dronedarone 400 mg BID for the prevention of cardiovascular Hospitalization or death from any cause in patiENts with Atrial fibrillation...

  2. 输电线路带电巡检作业单臂机器人行走姿态控制方法%Walking posture control method of transmission line single arm inspection robot

    Institute of Scientific and Technical Information of China (English)

    严宇; 刘夏清; 邹德华; 章健军; 郭昊; 吴功平

    2016-01-01

    Becasue of the problem that the transmission line single arm inspection robot is difficult accurate controlled,the robot was divided into two states,containing normal walking and climb-ing walking,and the respective definition was given.The two states were controlled by the state space method based on state variable feedback and PD control method respectively,and two kinds of control methods were simulated by using Matlab simulation.In the end,the proposed two con-trol methods were validated in the actual circuit structures.The experimental results showed that the proposed control method was rapid and effective,and could meet the needs of practical appli-cation.%针对输电线路单臂巡检机器人的行走姿态难以有效控制的问题,该文将机器人行走分成常态行走与爬坡行走2个状态,并给出相应的定义,分别采用基于状态变量反馈的状态空间法与 PD控制法对2种状态进行控制,利用 Matlab对2种控制方法进行仿真,在搭建的实际线路上对所提出的2种控制方法进行方法验证。结果表明,提出基于状态空间法与PD控制法的输电线路带电巡检作业单臂机器人行走姿势控制迅速有效,可以满足实际应用需求。

  3. Design of multi-function control card of LED display based on ARM%基亏ARM的LED显示屏多功能控制卡设计

    Institute of Scientific and Technical Information of China (English)

    李卫卫; 钱剑敏

    2012-01-01

    Traditional wired control models LED control card can transmission distance very nearly and vulnerable to external environment constraints, therefore it cannot build a large-scale networked LED screen information system. GRPS wireless communication control method overhead is not conducive to small businesses use. For those problem of large-screen LED display system, This article combined with modern advanced microcontroller products, control technology and communication technology, Integrated three different control methods including serial control, integrated control of SMS and GPRS wireless cluster of multi-function control on an asynchronous control card ,in order to meet different customersI needs.%由于传统的有线控制方式的LED控制卡,传输距离近,易受外界环境的制约,因而不能构建大规模的联网式LED屏信息发布系统,而GPRS无线通讯控制方式开销大,不利于小商户使用。本文针对目前大屏幕LED显示系统存在的问题,结合当今先进的微控制器产品、控制技术和通信技术,把3种不同控制方式包括串口控制、短信控制以及GPRS无线集群控制的多功能控制卡集成在同一张异步控制卡上,以像满足不同客户使用需求。

  4. A randomized clinical trial comparing advanced pneumatic truncal, chest, and arm treatment to arm treatment only in self-care of arm lymphedema.

    Science.gov (United States)

    Ridner, Sheila H; Murphy, Barbara; Deng, Jie; Kidd, Nancy; Galford, Emily; Bonner, Candace; Bond, Stewart M; Dietrich, Mary S

    2012-01-01

    Treatment of the truncal lymphatics prior to treatment of the lymphedematous arm is an accepted, although not empirically tested, therapeutic intervention delivered during decongestive lymphatic therapy (DLT). Breast cancer survivors with arm lymphedema are encouraged to use these techniques when performing simple lymphatic drainage as part of their life-long lymphedema self-care. Self-massage is at times difficult and pneumatic compression devices are used by many patients to assist with self-care. One such device, the Flexitouch(®) System, replicates the techniques used during DLT; however, the need for application of pneumatic compression in unaffected truncal areas to improve self-care outcomes in arm only lymphedema is not established. The objective of this study was to compare the therapeutic benefit of truncal/chest/arm advanced pneumatic compression therapy (experimental group) verses arm only pneumatic compression (control group) in self-care for arm lymphedema without truncal involvement using the Flexitouch(®) System. Outcomes of interest were self-reported symptoms, function, arm impedance ratios, circumference, volume, and trunk circumference. Forty-two breast cancer survivors, (21 per group), with Stage II lymphedema completed 30 days of home self-care using the Flexitouch(®) System. Findings revealed a statistically significant reduction in both the number of symptoms and overall symptom burden within each group; however, there were no statistically significant differences in these outcomes between the groups. There was no statistically significant overall change or differential pattern of change between the groups in function. A statistically significant reduction in bioelectrical impedance and arm circumference within both of the groups was achieved; however, there was no statistically significant difference in reduction between groups. These findings indicate that both configurations are effective, but that there may be no added benefit to

  5. Optimizing Armed Forces Capabilities for Hybrid Warfare – New Challenge for Slovak Armed Forces

    Directory of Open Access Journals (Sweden)

    Peter PINDJÁK

    2015-09-01

    Full Text Available The paper deals with the optimization of military capabilities of the Slovak Armed Forces for conducting operations in a hybrid conflict, which represents one of the possible scenarios of irregular warfare. Whereas in the regular warfare adversaries intend to eliminate the centers of gravity of each other, most often command and control structures, in irregular conflicts, the center of gravity shifts towards the will and cognitive perception of the target population. Hybrid warfare comprises a thoroughly planned combination of conventional military approaches and kinetic operations with subversive, irregular activities, including information and cyber operations. These efforts are often accompanied by intensified activities of intelligence services, special operation forces, and even mercenary and other paramilitary groups. The development of irregular warfare capabilities within the Slovak Armed Forces will require a progressive transformation process that may turn the armed forces into a modern and adaptable element of power, capable of deployment in national and international crisis management operations.

  6. 某武器系统静变电源的优化PID控制研究%The Researching of Optimized PID Control Technology in the Arms System Static Inverter

    Institute of Scientific and Technical Information of China (English)

    牛江川; 樊波; 林茂; 苏杨

    2012-01-01

    This article proposed the optimized PID controller plan to increase the quality of the Static Inverter output voltage in the arms system, according to the error signal size this plan uses of the particle swarm optimization PID controller parameters adjusting conveniently, real-time makes the online adjustment to the system control measures. Based on Matlab/Simulink, the system was simulated under the circumstance of the Static Inverter. Compare with the normal PID control, the analysis of the optimized PID controller simulation results showed that the overshoot was reduced, the quality of anti-interference and robust were enhanced, and it needs short time to attain balance after the outside interference, it also enables the voltage of the static inverter around the specified value.%为提高某武器系统静止变频电源(简称静变电源)输出电压的质量,本文研究了基于优化PID的控制方法,根据误差信号的波动大小,利用粒子群算法在线优化PID控制器的参数,并实时地对系统控制量进行调整。在Matlab/Simulink环境下,对于系统在静变电源控制中的应用进行了仿真。并与常规的PID控制进行比较,仿真结果表明采用粒子群优化的PID控制器减少了超调量,抗干扰性和鲁棒性强,受外界干扰后恢复平衡所需的时间短,也使得系统输出电压能够维持在给定值附近。

  7. Control System Design of Servo Motor Based on Qt/ARM%基于Qt/ARM的伺服电机控制系统

    Institute of Scientific and Technical Information of China (English)

    李麟; 叶春生

    2013-01-01

    伺服电机的调速控制和信息反馈是当前控制系统中最主要的研究内容之一.根据实验室项目的需要,以STM32F103为下位机核心控制器,设计了基于Qt的伺服电机控制系统.上位机设计了在Windows和Linux两种平台下工作的模式,可以在PC机上和手持式Linux系统中运行,节约成本;同时也为后续远程网络控制提供了参考依据.%The speed control and information feedback of servo motor are the most important research contents of control system.According to the project of laboratory,this paper took STM32F103 as the core controller,and then designed a servo motor control system based on Qt.The upper computer of this system designed two work modes which could be worked in Windows and Linux,in order to save costs;also provided the reference for the research of subsequent remote network control.

  8. Design of Four Rotor Attitude Controller Based on ARM%基于AR M的四旋翼姿态控制器设计

    Institute of Scientific and Technical Information of China (English)

    吴承建; 沈捷; 陈乾坤

    2016-01-01

    四旋翼姿态控制器采用集成了加速度计和陀螺仪的惯性测量单元,实时采集姿态数据,传输给Cortex-M4内核的处理芯片,利用四元数姿态解算方法,对加速度和角速度数据融合解算处理;采用位置式PID控制算法,控制4个无刷电机的转速,实现控制四旋翼飞行器的飞行姿态;建立万向云台调试系统,通过实践调试验证该控制器能实现控制四旋翼姿态的稳定性;稳定飞行时,姿态角的平均振荡范围为5°。%Four rotor attitude controller adopts the inertial measurement unit which integrated accelerometer with gyro,gather attitude data real-time,then transferred to the Cortex-M4 core processing chips,Using the attitude of quaternion calculation method,the data in-tegration of acceleration and angular velocity is calculated.And use positional PID control algorithm to control four brushless motor speed to achieve controlled four-rotor aircraft flight attitude.Establish universal platform debug system,through the practice of testing to verify controller can achieve the stability control of four rotor profile.The stable flight attitude average oscillation angle range is 5 degree.

  9. Design of the Main Control Unit of the Time Synchronization System Based on ARM and FPGA%基于ARM和FPGA的时间同步仪控制单元设计

    Institute of Scientific and Technical Information of China (English)

    刘鹏

    2012-01-01

    以时间同步仪的功能为出发点,设计了基于ARM和FPGA的控制系统,该系统以ARM芯片S3C2440A为控制核心,在FPGA芯片XCS30的辅助控制下,完成了时间同步仪系统的人机交互、参数设定、电文处理、远程控制等功能。通过键盘操作,LED灯和LCD显示屏,实现了简洁的人机交互控制界面,并在人机交互模块的基础上完成了参数设定模块的设计。通过以太网控制器实现了电文处理,采用CRC校验法,在处理过程中对电文进行检验,确保电文处理的安全可靠,利用Telnet服务器实现了远程控制模块。%This paper presents the design of main control unit of time synchronization system.We have designed main control unit based on ARM and FPGA.S3C2440A is selected as the core control module of main control unit;FPGA is selected as an auxiliary control unit.We have completed the functions of human computer interaction,the parameter settings,message handling and remote control.This paper has researched the mode of human computer interaction,and completed concise HCI as keyboard control,LED and LCD display;We complete the parameter settings based on the mode of human computer interaction;messages are transported by the Ethernet and the CRC checkout is used to checking the messages in the transmission to keep the message transport safety;and the mode of remote control is completed by Telnet.

  10. Procurement, Storage and Distribution of Foodstuff in the Armed Forces

    OpenAIRE

    Y. D. Sahasrabuddhe

    1984-01-01

    The problem of procuring, storing and distributing foodstuffs to the Armed Forces in India is a stupendous task because of the wide variations interrains and climatic conditions and the varied food habits of the people. It is all the more exacting as the processed food industry is still in its infancy. Because of the stringent quality control requirements of the Armed Forces, the food processing industry in India is not willing to undertake supplies to the Defence services. The problems and h...

  11. Guest Editorial: Research update: VA study to optimize DEKA Arm

    OpenAIRE

    Linda Resnik, PT, PhD

    2010-01-01

    In 2005, the Defense Advanced Research Projects Agency (DARPA) announced its Revolutionizing Prosthetics program and funded the development of the DEKA prosthetic arm. The DEKA Arm System incorporates major technological advances such as flexible socket design, innovative control features, software, and hardware that together enable enhanced functionality that promises to surpass any currently available prosthetic device. In 2008, the Department of Veterans Affairs (VA) entered into an agreem...

  12. Using HMI Weintek in command of an industrial robot arm

    Science.gov (United States)

    Barz, C.; Latinovic, T.; Balan, I. B. A.; Pop-Vadean, A.; Pop, P. P.

    2015-06-01

    The present paper intends to highlight the utility and importance of HMI in the control of the robotic arm, commanding a Siemens PLC. The touch screen HMI Weinteke MT3070a is the user interface in the process command of Siemens PLC, in which the distances and displacement speeds are introduced on the three axes. The interface includes monitoring robotic arm movement but also allows its command by incrementing step by step the motion over axis.

  13. 基于FPGA的机械臂多路舵机控制器设计%Design of Multi-Channel Servo-Motor Controller for Robot Arm Based on FPGA

    Institute of Scientific and Technical Information of China (English)

    张普行; 贾秋玲

    2011-01-01

    Embedding a NIOS Ⅱ soft core and PWM module implements a multi-channel servo-motor controller for robot arm. The hardware consists of NIOS Ⅱ soft core and PWM module. The PWM module contains frequency divider unit,address decoder unit, output enable register and PWM generator unit. The software is mainly with interact with the upper computer. Compared with the single chip computer plus FPGA, it reduces the cost. Meanwhile, the hardware is easy to extend, has much more channels and high precision of control. Its programming is also simple. The maximum precision of pulse width is able to reach 20 ns, under the clock of 50 MHz. The results of both simulation and experiment indicate that the controller is able to generate correct PWM wave. It can also control the servo-motor without shaking.%在FPGA中内嵌NIOS Ⅱ软核和PWM模块,实现机械手的多路舵机控制.硬件主要包括NIOS Ⅱ软核和PWM模块,PWM模块包括分频单元、地址译码单元、输出使能单元和PWM产生单元.软件部分主要完成与上位机的交互.与单片机+FPGA的方案相比,成本降低.同时,硬件扩展方便,通道数目多,软件编程简单,控制精度高,在50 MHz的时钟下,最大脉宽精度可以达到20ns.

  14. Application of Discrete Event Control to the Insertion Task of Electric Line Using 6-Link Electro-Hydraulic Manipulators with Dual Arm

    Science.gov (United States)

    Ahn, Kyoungkwan; Yokota, Shinichi

    Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation. Meanwhile it is relatively difficult to realize autonomous assembly tasks particularly in the case of manipulating flexible objects such as electric lines. In this report, a discrete event control system is introduced for automatic assembly task of electric lines into sleeves as one of a typical task of active electric power lines. In the implementation of a discrete event control system, LVQNN (learning vector quantization neural network) is applied to the insertion task of electric lines to sleeves. In order to apply these proposed control system to the unknown environment, virtual learning data for LVQNN was generated by fuzzy inference. By the experimental results of two types of electric lines and sleeves, these proposed discrete event control and neural network learning algorithm are confirmed very effective to the insertion tasks of electric lines to sleeves as a typical task of active electric power maintenance tasks.

  15. LISA Long-Arm Interferometry

    Science.gov (United States)

    Thorpe, James I.

    2009-01-01

    An overview of LISA Long-Arm Interferometry is presented. The contents include: 1) LISA Interferometry; 2) Constellation Design; 3) Telescope Design; 4) Constellation Acquisition; 5) Mechanisms; 6) Optical Bench Design; 7) Phase Measurement Subsystem; 8) Phasemeter Demonstration; 9) Time Delay Interferometry; 10) TDI Limitations; 11) Active Frequency Stabilization; 12) Spacecraft Level Stabilization; 13) Arm-Locking; and 14) Embarassment of Riches.

  16. Robotic Arm Biobarrier Cable

    Science.gov (United States)

    2008-01-01

    This image, taken by the Surface Stereo Imager on NASA's Phoenix Mars Lander on the 14th Martian day of the mission (June 7, 2008), shows the cable that held the Robotic Arm's biobarrier in place during flight has snapped. The cable's springs retracted to release the biobarrier right after landing. To the lower right of the image a spring is visible. Extending from that spring is a length of cable that snapped during the biobarrier's release. A second spring separated from the cable when it snapped and has been photographed on the ground under the lander near one of the legs. The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  17. Research on Control of Renal Biopsy Operation Positioning Robot Under the Guidance of C Arm%C型臂引导下肾穿剌手术定位机器人控制研究

    Institute of Scientific and Technical Information of China (English)

    许东; 谢叻; 孟纪超; 夏海豹; 夏术介

    2013-01-01

    C-arm image—guided surgical positioning technology is widely used in domestic renal biopsy surgery. C-arni for the two-dimensional images cannot directly provide a three- dimensional image information, and work long hours will lead to health care workers suffer from high—dose radiation. In order to improve the above limitations, we design new surgical positioning robot to access three-dimensional image by two positioning image. Robot control is used fuzzy controller as compensator, which improve control accuracy effectively. The surgical positioning robot can quickly locate, and greatly improve the surgery a success rate, to protect health care workers from the X—ray radiation.%以C型臂图像为引导的定位手术目前在国内肾穿刺手术中广泛应用,但C型臂为二维图像,无法直接提供三维图像信息,且长时间工作会导致医护人员遭受大剂量辐射.为改进上述局限性,设计了新型手术定位机器人通过两次定位来完成对三维图像的获取.在机器人控制中,利用模糊控制器作为补偿器,有效地提高控制精度.这套手术定位机器人可以快速定位,并大大提高了手术的一次成功率,保护医护工作者免受X射线辐射.

  18. 基于ARM处理器的四旋翼无人机自主控制系统研究%Autonomous control system for the quadrotor unmanned aerial vehicle based on ARM processors

    Institute of Scientific and Technical Information of China (English)

    张垚; 鲜斌; 殷强; 刘洋; 王福

    2012-01-01

    为实现四旋翼无人机的自主飞行控制,设计并搭建了四旋翼无人机的硬件飞行控制平台.该平台采用自行组装的四旋翼飞行器作为本体,航向姿态参考系统(AHRS) MTi-G单元作为主要机载传感器,ARM嵌入式系统芯片作为主控制器,AVR单片机作为超控单元.基于四旋翼无人机的非线性动态模型,采用内外环结构的PD控制算法,构造了无人机的位置与姿态跟踪控制器.实现了四旋翼无人机滚转角、俯仰角和水平纵向、横向位置共四个自由度的自动控制.实验结果表明,本文提出的机载控制系统设计取得了较好的飞行控制效果.%In order to achieve the autonomous flight control of the quadrotor, an autonomous flight control hardware platform is designed in which a self-assembly aircraft is used as the body frame. The main onboard sensor is an attitude heading reference system(AHRS) MTi-G unit, and the on-board controller is an ARM-based embedded system. An AVR microcontroller is used to construct the override module. Based on the nonlinear dynamic model of the quadrotor. an inner-outer-loop PD control scheme is designed for the position and attitude tracking controller. Autonomous control of the roll angle, pitch angle and the horizontal direction of latitude and longitude has been obtained. Experimental results show that the on-board control system has achieved good flight performance.

  19. 基于ARM的嵌入式媒体播放远程控制系统%Based on the ARM of the Embedded Media Remote Control System

    Institute of Scientific and Technical Information of China (English)

    乌日图; 刘相达; 杜丽霞; 郭威

    2011-01-01

    根据当今移动终端设备多功能、低功耗、易于移植的要求,分别从硬件和软件系统两方面提出了一种基于三星S3C2440芯片的嵌入式多媒体娱乐控制器的解决方案,同时介绍了利用Linux构造嵌入式系统的方法,并提出了基于MiniGUI开发多媒体娱乐软件的基本方案.嵌入式媒体播放远程控制系统是适用于大型商场超市及写字楼内的信息发布及广告宣传,实现对视频终端的远程控制及对信息和视频的统一管理,提高了信息发布效率,节约了人力成本,同时可产生广告效益.%According to technical requirements of the current mobile terminal equipment multifunction, low power consumption, easy transplantation, this article respectively from two aspects, which are hardware and software systems, puts forward a kind of solution about embedded multimedia entertainment controller. It is based on S3C2440 Samsung chip. The article introduces a kind of method about using Linux tectonic embedded system, and puts forward basic scheme of the development of multimedia entertainment software based on MiniGUI. Embedded media remote control system is suitable for large supermarkets and stores information release and advertising. The system realizes the remote control video terminals and to unified management video and information, improves the efficiency of information issue, save manpower cost, also can produce advertising effectiveness.

  20. 'Penetrated system' or 'normal' state? An exploration of INF arms control policy, East-West economic relations, and inter-German policy in the Federal Republic of Germany, 1979-1987

    International Nuclear Information System (INIS)

    The thesis explores policy-making processes in the Federal Republic from 1979-1987 in three areas: INF arms control policy, East-West economic relations, and inter-German policy. Each case study assesses the degree of complexity and domestic accountability in policy-making processes and evaluates the relative influence of domestic and external factors on policy choices. It argues that the trends in West German foreign policy toward greater assertiveness reflected the evolution of the FRG as a state, society, and polity. The 'maturation' of the Federal Republic has introduced greater complexity into foreign policy-making processes, and more frequent societal intervention into what heretofore were elite deliberations. Domestic actors have begun to demand greater accountability, while West German leaders, in turn, have become more assertive and confident in defending German national interests. As the FRG has gained respect and self-respect, it has begun to assume the international role that might be expected of a state of its size, population, geo-political importance, and level of political and economic development. The FRG has become a 'normal' state

  1. 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)

    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

  2. Penetrated system' or normal' state An exploration of INF arms control policy, East-West economic relations, and inter-German policy in the Federal Republic of Germany, 1979-1987

    Energy Technology Data Exchange (ETDEWEB)

    Fisher, C.S.

    1991-01-01

    The thesis explores policy-making processes in the Federal Republic from 1979-1987 in three areas: INF arms control policy, East-West economic relations, and inter-German policy. Each case study assesses the degree of complexity and domestic accountability in policy-making processes and evaluates the relative influence of domestic and external factors on policy choices. It argues that the trends in West German foreign policy toward greater assertiveness reflected the evolution of the FRG as a state, society, and polity. The maturation' of the Federal Republic has introduced greater complexity into foreign policy-making processes, and more frequent societal intervention into what heretofore were elite deliberations. Domestic actors have begun to demand greater accountability, while West German leaders, in turn, have become more assertive and confident in defending German national interests. As the FRG has gained respect and self-respect, it has begun to assume the international role that might be expected of a state of its size, population, geo-political importance, and level of political and economic development. The FRG has become a normal' state.

  3. Nuclear non-proliferation and arms control: Are we making progress? 7 November 2005, Washington, DC, Carnegie International Non-Proliferation Conference

    International Nuclear Information System (INIS)

    In recent years, four developments have radically altered the security landscape - the emergence of clandestine nuclear supply networks, the spread of nuclear fuel cycle technology, the efforts by more countries to acquire nuclear weapons, and the declared ambition of terrorists to acquire and use weapons of mass destruction. Four 'yardsticks' are proposed against which to gauge the IAEA's recent performance and to set future goals: (1) the effectiveness of nuclear verification; (2) the control of sensitive nuclear technology; (3) the protection of nuclear material; and (4) compliance with commitments. The effectiveness of nuclear verification depends on the extend of access to information and locations in a given country and inspections can only verify what countries declare. The expanded access provided by the Additional Protocol to safeguards agreements enables the Agency to verify possible undeclared activities however both safeguards agreements are focused on nuclear material and therefore the Agency's authority to investigate possible parallel weaponization activity is limited. In addition only 70 countries have the additional protocol on force. Additional transparency measures' may be required. The IAEA is exploring innovative technologies (such as noble gas sampling) for detecting undeclared nuclear facilities and activities. The Agency has yet to establish a mechanism under which states systematically share information with the IAEA on the export of sensitive nuclear material and certain technology. The control of sensitive nuclear technology focuses on the control over activities that involve uranium enrichment and plutonium separation. A group of international experts proposes to 1) provide assurance of supply of reactor technology and nuclear fuel; 2) accept a time-limited moratorium (of perhaps 5-10 years) on new uranium enrichment and plutonium separation facilities - at the very least for countries that do not currently have such technologies; 3

  4. Exercise as an Intervention to Reduce Study-Related Fatigue among University Students: A Two-Arm Parallel Randomized Controlled Trial.

    Directory of Open Access Journals (Sweden)

    Juriena D de Vries

    Full Text Available Many university students experience high levels of study-related fatigue. This high prevalence, and the negative impact of fatigue on health and academic performance, call for prevention and reduction of these symptoms. The primary aim of the current study was to investigate to what extent an exercise intervention is effective in reducing three indicators of study-related fatigue (emotional exhaustion, overall fatigue, and need for recovery. Effects of exercise on secondary outcomes (sleep quality, self-efficacy, physical fitness, and cognitive functioning were also investigated.Participants were students with high levels of study-related fatigue, currently not exercising or receiving other psychological or pharmacological treatments, and with no medical cause of fatigue. They were randomly assigned to either a six-week exercise intervention (low-intensity running three times a week, n = 49 or wait list (no intervention, n = 48. All participants were measured before the intervention (T0, and immediately after the intervention (T1. Exercisers were also investigated 4 weeks (T2 and 12 weeks (T3 after the intervention.Participants in the exercise condition showed a larger decrease in two of the three indicators of study-related fatigue (i.e., overall fatigue and need for recovery as compared to controls. Additionally, sleep quality and some indicators of cognitive functioning improved more among exercisers than among controls. No effects were found for self-efficacy, and physical fitness. The initial effects of the exercise intervention lasted at follow-up (T2 and T3. At 12-week follow up (T3, 80% of participants in the exercise condition still engaged in regular exercise, and further enhancements were seen for emotional exhaustion, overall fatigue, and sleep quality.These results underline the value of low-intensity exercise for university students with high levels of study-related fatigue. The follow-up effects that were found in this study imply

  5. ARM Lead Mentor Selection Process

    Energy Technology Data Exchange (ETDEWEB)

    Sisterson, DL

    2013-03-13

    The ARM Climate Research Facility currently operates more than 300 instrument systems that provide ground-based observations of the atmospheric column. To keep ARM at the forefront of climate observations, the ARM infrastructure depends heavily on instrument scientists and engineers, also known as Instrument Mentors. Instrument Mentors must have an excellent understanding of in situ and remote-sensing instrumentation theory and operation and have comprehensive knowledge of critical scale-dependent atmospheric processes. They also possess the technical and analytical skills to develop new data retrievals that provide innovative approaches for creating research-quality data sets.

  6. Arménie

    Directory of Open Access Journals (Sweden)

    François Verdier

    2012-04-01

    Full Text Available L’Arménie est une petite république du Caucase, à la limite sud–est de l’Europe, qui a gagné son autonomie en 1990 après l’ouverture du bloc soviétique. Le nouveau Ministère du Patrimoine a sollicité la coopération de la France pour mettre en place une nouvelle politique culturelle. Tout d’abord, une évaluation sur place de la situation dans les domaines des monuments historiques, de l’archéologie et de l’Inventaire a permis d’envisager les réponses à proposer. Pour la demande d’informatisation des dossiers d’inventaire déjà réalisés sous l’autorité de l’Académie de Saint–Petersbourg, nous avons proposé de former des chercheurs arméniens aux méthodes et techniques de l’Inventaire général. L’accueil d’une stagiaire pendant trois mois au service régional de l’Inventaire de Haute–Normandie a été suivi par la mise en place d’un équipement informatique à Yérévan, puis par l’accueil et la formation de techniciens informaticiens et photographes arméniens. De retour dans leur pays ils ont commencé à remettre en place un service d’inventaire dont le programme comprend la création d’une base de données patrimoniales, le recensement de la ville de Yérévan, la numérisation d’images pour la publication d’un indicateur du patrimoine et la préparation de dossiers de protection au titre du patrimoine mondial.The Armenian heritage comprises both archaeological remains of towns destroyed by never–ending wars and a number of old churches from the eleventh and twelfth centuries. Yerevan, the capital of Armenia, was founded three thousand years ago and is one of Europe’s oldest capitals. From 1925 it has developed according to an ambitious urban planning project. After the major political upheavals of 1991, a special ministry was created to look after the architectural and movable heritage of the country and to promote the Armenian national identity. A mission in Yerevan was

  7. Neuromuscular control of the point to point and oscillatory movements of a sagittal arm with the actor-critic reinforcement learning method.

    Science.gov (United States)

    Golkhou, Vahid; Parnianpour, Mohamad; Lucas, Caro

    2005-04-01

    In this study, we have used a single link system with a pair of muscles that are excited with alpha and gamma signals to achieve both point to point and oscillatory movements with variable amplitude and frequency.The system is highly nonlinear in all its physical and physiological attributes. The major physiological characteristics of this system are simultaneous activation of a pair of nonlinear muscle-like-actuators for control purposes, existence of nonlinear spindle-like sensors and Golgi tendon organ-like sensor, actions of gravity and external loading. Transmission delays are included in the afferent and efferent neural paths to account for a more accurate representation of the reflex loops.A reinforcement learning method with an actor-critic (AC) architecture instead of middle and low level of central nervous system (CNS), is used to track a desired trajectory. The actor in this structure is a two layer feedforward neural network and the critic is a model of the cerebellum. The critic is trained by state-action-reward-state-action (SARSA) method. The critic will train the actor by supervisory learning based on the prior experiences. Simulation studies of oscillatory movements based on the proposed algorithm demonstrate excellent tracking capability and after 280 epochs the RMS error for position and velocity profiles were 0.02, 0.04 rad and rad/s, respectively. PMID:16154874

  8. The role of multisensor data fusion in neuromuscular control of a sagittal arm with a pair of muscles using actor-critic reinforcement learning method.

    Science.gov (United States)

    Golkhou, V; Parnianpour, M; Lucas, C

    2004-01-01

    In this study, we consider the role of multisensor data fusion in neuromuscular control using an actor-critic reinforcement learning method. The model we use is a single link system actuated by a pair of muscles that are excited with alpha and gamma signals. Various physiological sensor information such as proprioception, spindle sensors, and Golgi tendon organs have been integrated to achieve an oscillatory movement with variable amplitude and frequency, while achieving a stable movement with minimum metabolic cost and coactivation. The system is highly nonlinear in all its physical and physiological attributes. Transmission delays are included in the afferent and efferent neural paths to account for a more accurate representation of the reflex loops. This paper proposes a reinforcement learning method with an Actor-Critic architecture instead of middle and low level of central nervous system (CNS). The Actor in this structure is a two layer feedforward neural network and the Critic is a model of the cerebellum. The Critic is trained by the State-Action-Reward-State-Action (SARSA) method. The Critic will train the Actor by supervisory learning based on previous experiences. The reinforcement signal in SARSA is evaluated based on available alternatives concerning the concept of multisensor data fusion. The effectiveness and the biological plausibility of the present model are demonstrated by several simulations. The system showed excellent tracking capability when we integrated the available sensor information. Addition of a penalty for activation of muscles resulted in much lower muscle coactivation while keeping the movement stable. PMID:15671597

  9. 汽车控制臂橡胶衬套结构参数优化%Structural Parameters Optimization of Rubber Bushing on Automotive Control Arm

    Institute of Scientific and Technical Information of China (English)

    文国; 魏志刚

    2015-01-01

    基于Python的ABAQUS二次开发技术,对汽车控制臂橡胶衬套进行结构参数优化。以橡胶衬套的设计刚度为优化目标,以橡胶衬套的结构参数为设计变量,通过Python语言脚本,实现结构参数的自动变化和输出数据的自动处理,最后找到一组最优的结构参数,能同时满足橡胶衬套X和Y两个方向的刚度要求。%By using Abaqus secondary development based on Python ,structural parameters of rubber bushing are optimized. Optimization target is the design stiffness of rubber bushing. Python language control is used to realize automatic change of structural parameters and automatic processing of the data output. Finally optimal structural parameters are obtained to meet the X direction and Y direction of the rubber bushing in both directions of the stiffness requirements.

  10. ARM Standards Policy Committee Report

    Energy Technology Data Exchange (ETDEWEB)

    Cialella, A; Jensen, M; Koontz, A; McFarlane, S; McCoy, R; Monroe, J; Palanisamy, G; Perez, R; Sivaraman, C

    2012-09-19

    Data and metadata standards promote the consistent recording of information and are necessary to ensure the stability and high quality of Atmospheric Radiation Measurement (ARM) Climate Research Facility data products for scientific users. Standards also enable automated routines to be developed to examine data, which leads to more efficient operations and assessment of data quality. Although ARM Infrastructure agrees on the utility of data and metadata standards, there is significant confusion over the existing standards and the process for allowing the release of new data products with exceptions to the standards. The ARM Standards Policy Committee was initiated in March 2012 to develop a set of policies and best practices for ARM data and metadata standards.

  11. [Apothecaries' arms of Voltaire's family].

    Science.gov (United States)

    Chaigneau, M

    1998-01-01

    Apothecaries of Voltaire's family can be divided into two groups. Marceton Family: Claude Marceton, Hierosme and Pierre Testefolle, from Thouars. Arouet family: Jehan Arouet, Pierre Rochard and Jean Gougeard. Five of those apothecaries beand arms. PMID:11625327

  12. 78 FR 78941 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2013-12-27

    ... Export Control Act, as amended (i) Prospective Purchaser: Pakistan (ii) Total Estimated Value: Major... Pakistan Peace Drive F-16 program. (iv) Military Department: Air Force (GAF) (v) Prior Related Cases, if...) of the Arms Export Control Act. ] POLICY JUSTIFICATION Pakistan--Technical Support Team (TST)...

  13. Usage and Dose Response of a Mobile Acceptance and Commitment Therapy App: Secondary Analysis of the Intervention Arm of a Randomized Controlled Trial

    Science.gov (United States)

    Lappalainen, Raimo; Välkkynen, Pasi; Sairanen, Essi; Lappalainen, Päivi; Karhunen, Leila; Peuhkuri, Katri; Korpela, Riitta; Kolehmainen, Marjukka; Ermes, Miikka

    2016-01-01

    Background Mobile phone apps offer a promising medium to deliver psychological interventions. A mobile app based on Acceptance and Commitment Therapy (ACT) was developed and studied in a randomized controlled trial (RCT). Objective To study usage metrics of a mobile ACT intervention and dose-response relationship between usage and improvement in psychological flexibility. Methods An RCT was conducted to investigate the effectiveness of different lifestyle interventions for overweight people with psychological stress. This paper presents a secondary analysis of the group that received an 8-week mobile ACT intervention. Most of the analyzed 74 participants were female (n=64, 86%). Their median age was 49.6 (interquartile range, IQR 45.4-55.3) years and their mean level of psychological flexibility, measured with the Acceptance and Action Questionnaire II, was 20.4 (95% confidence interval 18.3-22.5). Several usage metrics describing the intensity of use, usage of content, and ways of use were calculated. Linear regression analyses were performed to study the dose-response relationship between usage and the change in psychological flexibility and to identify the usage metrics with strongest association with improvement. Binary logistic regression analyses were further used to assess the role of usage metrics between those who showed improvement in psychological flexibility and those who did not. In addition, associations between usage and baseline participant characteristics were studied. Results The median number of usage sessions was 21 (IQR 11.8-35), the number of usage days was 15 (IQR 9.0-24), and the number of usage weeks was 7.0 (IQR 4.0-8.0). The participants used the mobile app for a median duration of 4.7 (IQR 3.2-7.2) hours and performed a median of 63 (IQR 46-98) exercises. There was a dose-response relationship between usage and the change in psychological flexibility. The strongest associations with psychological flexibility (results adjusted with gender

  14. Bistable Head Positioning Arm Latch

    Science.gov (United States)

    Wasson, Ken; Endo, Juro; Mita, Masahiro; Abelein, Nathan

    A simple, low cost, yet effective device has been developed for immobilizing the head-arm assembly in a disk drive or similar mechanism during power-off conditions. The latching scheme also provides a consistent means of releasing the head-arm assembly from the immobilized position upon power up of the disk drive. The latch uses no electrical power in either immobilized or released state. This design is immune to extreme torque and linear shock forces applied to the disk drive case. The latch system can use the energy stored in the spinning disks to drive the head-arm assembly toward a safe position while simultaneously arming the latch mechanism to secure the head-arm assembly in the safe position upon arrival. A low energy five msec pulse of current drives the latch from one state to the other. Solenoids as presently used in latch mechanisms are bulky, expensive, have variable force characteristics, and often generate contaminants. The latch described in this paper is expected to replace such solenoids. It may also replace small magnet latches, which have limited latch force and apply unwanted torque to a proximate head positioning arm.

  15. Digital Signature Based Fax Machine Using ARM9 and Linux

    Directory of Open Access Journals (Sweden)

    Ch. Komali

    2013-01-01

    Full Text Available In this method we are having the S3C2240A (ARM9 Board which is ported with Linux in it. And this ARM9 board with Linux will be connected to the Touch Screen device. This ARM9 board intern will be connected to the LAN network (Ethernet. To design this fax machine we are using two Arm controller boards. One Arm board will keep at fax Transmission side and another board will keep at fax receiving side. By using the Ethernet we will send and receive the fax, for that we are using TCP/IP server and TCP/IP client. In this fax machine we have too many options on touch screen of arm like retrieve, sign, send, save etc. By selecting the retrieve option we can see the received text data on touch screen. If we want to transmit text data, we can select send option, then the fax will sent to the destination. On the receiving side, the received fax will be displayed on LCD touch screen. If necessary, we can sign directly on the touch panel by selecting the sign option. If we want to retransmit that signed document, we should active server. In this way bidirectional transmission and reception is possible

  16. Kinematic modeling and path planning for MIRADAS arms

    Science.gov (United States)

    Sabater, Josep; Gómez, José María.; López, Manuel; Torra, Jordi; Raines, Steven N.; Eikenberry, Stephen S.

    2014-07-01

    The Mid-resolution InfRAreD Astronomical Spectrograph (MIRADAS) is a near-infrared (NIR) multi-object spectrograph for the Gran Telescopio Canarias (GTC). It can simultaneously observe multiple targets selected by 20 identical deployable probe arms with pickoff mirror optics. The bases of the arms are fixed to the multiplexing system (MXS) plate, a circular platform, and arranged in a circular layout with minimum separation between elements of the arms. This document presents the MXS prototype P2a, a full-scale, fully operational prototype of a MIRADAS probe arm. This planar closed-loop mechanism compared to other previous designs offers some advantages specially in terms of stability and from the point of view of optics. Unfortunately, these benefits come at the expense of a more complicated kinematics and an unintuitive arm motion. Furthermore, the cryogenic motor controllers used in prototyping impose severe restrictions in path planing. They negatively impact in the slice of pie approach, a collision-avoidance patrolling strategy that can gives good results in other scenarios. This study is a starting point to define collision-free trajectory algorithms for the 20 probe arms of MIRADAS.

  17. Wheelchair-mounted robotic arm to hold and move a communication device - final design.

    Science.gov (United States)

    Barrett, Graham; Kurley, Kyle; Brauchie, Casey; Morton, Scott; Barrett, Steven

    2015-01-01

    At the 51st Rocky Mountain Bioengineering Symposium we presented a preliminary design for a robotic arm to assist an individual living within an assistive technology smart home. The individual controls much of their environment with a Dynavox Maestro communication device. However, the device obstructs the individual’s line of site when navigating about the smart home. A robotic arm was developed to move the communication device in and out of the user’s field of view as desired. The robotic arm is controlled by a conveniently mounted jelly switch. The jelly switch sends control signals to a four state (up, off, down, off) single-axis robotic arm interfaced to a DC motor by high power electronic relays. This paper describes the system, control circuitry, and multiple safety features. The arm will be delivered for use later in 2015.

  18. Compensatory arm reaching strategies after stroke: Induced position analysis

    Directory of Open Access Journals (Sweden)

    Wei Liu, PhD

    2013-02-01

    Full Text Available After stroke, movement patterns of the upper limb (UL during functional arm reaching change to accommodate altered constraints. These compensatory movement control strategies do not, however, have a one-to-one mapping with posttraining outcomes. In this study, we quantify arm movement control strategies in unilateral and bilateral reaching tasks using induced position analysis. In addition, we assess how those strategies are associated with UL residual impairments and with functional improvement after a specific bilateral arm training intervention. Twelve individuals with chronic stroke were measured while reaching to a box as part of their pre- and posttesting assessments. Other measurements included the Fugl-Meyer Upper Extremity Assessment (FM, Modified Wolf Motor Function Test (WT, and the University of Maryland Arm Questionnaire for Stroke (UMAQS. We identified arm control strategies that did not differ between unilateral and bilateral tasks but did differ by FM impairment level and by predicted gains in WT but not UMAQS. Increased shoulder relative to elbow moment contribution was associated with less impairment and greater gains of speed in functional tasks. These results suggest that one goal of training to achieve better outcomes may be to decrease the abnormal coupling of the shoulder and elbow.

  19. Design for a 5-DOF Cable-Driven Anthropomorphic Arm

    Directory of Open Access Journals (Sweden)

    Weihua Su

    2013-01-01

    Full Text Available In this paper, a motion control approach for a 5-DOF cable-driven manipulator is designed, and the mechanical structure design of this anthropomorphic-arm is introduced. For the 5-DOF manipulator, a hybrid algorithm is proposed to make the trajectory tracing of the manipulator in task space with high accuracy; the goals of the first phase of the robot arm have been meet. Although the method of motion control is limited in the current state, it serves as a strong foundation on which to test the performance and interface of the electronic components. The coupling cable lengths among the different joint modules are analyzed in detail.

  20. Innovative Design of Plastic Bottle Recycling Box Based on ARM

    Directory of Open Access Journals (Sweden)

    Yuedong Xiong

    2014-04-01

    Full Text Available Aiming at the problems of on-site plastic bottles recycling and the reuse of waste, the automatic recycling system was developed on the basis of ARM. As the main controller, ARM not only controls the mechanical system of the collector to recover and break plastic bottles, but also communicates with and rewards the user by the automatic reward system through the wireless network. The experimental prototype test results show: post treated fragments of plastic bottles are small, which are convenient to transport and take advantage of; the operation of recovery is easy, and the interface of man-machine interaction is friendly which is easy to expand functions.

  1. Exoskeleton arm with force feedback for robot bilateral teleoperation

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A novel 6 degrees of freedom (DOFs) wearable exoskeleton arm, ZJUESA, based on man-machine system is presented. It can be used in robot bilateral teleoperation as master arm with force-feedback. With introducing the revolute-prismatic-spherical(RPS) parallel mechanism and planetary gear mechanism, it is designed based on the anatomy of human upper-limb. With the sensors on this external mechanical structure, the human operator motion is detected and converted to the slave robot control command. Additionally the pneumatic system on it generates a force feedback by using hybrid fuzzy control. As a result, the human operator may have a feeling of doing the work directly.

  2. 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.

  3. Self-recognition mechanism between skin and suckers prevents octopus arms from interfering with each other.

    Science.gov (United States)

    Nesher, Nir; Levy, Guy; Grasso, Frank W; Hochner, Binyamin

    2014-06-01

    Controlling movements of flexible arms is a challenging task for the octopus because of the virtually infinite number of degrees of freedom (DOFs) [1, 2]. Octopuses simplify this control by using stereotypical motion patterns that reduce the DOFs, in the control space, to a workable few [2]. These movements are triggered by the brain and are generated by motor programs embedded in the peripheral neuromuscular system of the arm [3-5]. The hundreds of suckers along each arm have a tendency to stick to almost any object they contact [6-9]. The existence of this reflex could pose significant problems with unplanned interactions between the arms if not appropriately managed. This problem is likely to be accentuated because it is accepted that octopuses are "not aware of their arms" [10-14]. Here we report of a self-recognition mechanism that has a novel role in motor control, restraining the arms from interfering with each other. We show that the suckers of amputated arms never attach to octopus skin because a chemical in the skin inhibits the attachment reflex of the suckers. The peripheral mechanism appears to be overridden by central control because, in contrast to amputated arms, behaving octopuses sometime grab amputated arms. Surprisingly, octopuses seem to identify their own amputated arms, as they treat arms of other octopuses like food more often than their own. This self-recognition mechanism is a novel peripheral component in the embodied organization of the adaptive interactions between the octopus's brain, body, and environment [15, 16].

  4. A randomized cross-over trial to detect differences in arm volume after low- and heavy-load resistance exercise among patients receiving adjuvant chemotherapy for breast cancer at risk for arm lymphedema

    DEFF Research Database (Denmark)

    Bloomquist, Kira; Hayes, Sandi; Adamsen, Lis;

    2016-01-01

    BACKGROUND: In an effort to reduce the risk of breast cancer-related arm lymphedema, patients are commonly advised to avoid heavy lifting, impacting activities of daily living and resistance exercise prescription. This advice lacks evidence, with no prospective studies investigating arm volume...... changes after resistance exercise with heavy loads in this population. The purpose of this study is to determine acute changes in arm volume after a session of low- and heavy-load resistance exercise among women undergoing adjuvant chemotherapy for breast cancer at risk for arm lymphedema. METHODS...... cancer and who may be at risk of developing arm lymphedema. TRIAL REGISTRATION: Current Controlled Trials ISRCTN97332727 . Registered 12 February 2015....

  5. Vector-algebra approach to extract Denavit-Hartenberg parameters of assembled robot arms

    Science.gov (United States)

    Barker, L. K.

    1983-01-01

    The Denavit-Hartenberg parameters characterize the joint axis systems in a robot arm and, naturally, appear in the transformation matrices from one joint axis system to another. These parameters are needed in the control of robot arms and in the passage of sensor information along the arm. This paper presents a vector algebra method to determine these parameters for any assembled robot arm. The idea is to measure the location of the robot hand (or extension) for different joint angles and then use these measurements to calculate the parameters.

  6. NASA's Asteroid Redirect Mission (ARM)

    Science.gov (United States)

    Abell, Paul; Mazanek, Dan; Reeves, David; Naasz, Bo; Cichy, Benjamin

    2015-11-01

    The National Aeronautics and Space Administration (NASA) is developing a robotic mission to visit a large near-Earth asteroid (NEA), collect a multi-ton boulder from its surface, and redirect it into a stable orbit around the Moon. Once returned to cislunar space in the mid-2020s, astronauts will explore the boulder and return to Earth with samples. This Asteroid Redirect Mission (ARM) is part of NASA’s plan to advance the technologies, capabilities, and spaceflight experience needed for a human mission to the Martian system in the 2030s. Subsequent human and robotic missions to the asteroidal material would also be facilitated by its return to cislunar space. Although ARM is primarily a capability demonstration mission (i.e., technologies and associated operations), there exist significant opportunities to advance our knowledge of small bodies in the synergistic areas of science, planetary defense, asteroidal resources and in-situ resource utilization (ISRU), and capability and technology demonstrations. In order to maximize the knowledge return from the mission, NASA is organizing an ARM Investigation Team, which is being preceded by the Formulation Assessment and Support Team. These teams will be comprised of scientists, technologists, and other qualified and interested individuals to help plan the implementation and execution of ARM. An overview of robotic and crewed segments of ARM, including the mission requirements, NEA targets, and mission operations, will be provided along with a discussion of the potential opportunities associated with the mission.

  7. The Domestic Arms Race.

    Science.gov (United States)

    Caetano, Donald F.

    1979-01-01

    Discusses the relationship of familial influence, victimization, gun ownership, and attitudes toward gun control. Victims whose parents owned guns are much more likely to own guns and oppose legislation. (JMF)

  8. Scanning ARM Cloud Radar Handbook

    Energy Technology Data Exchange (ETDEWEB)

    Widener, K; Bharadwaj, N; Johnson, K

    2012-06-18

    The scanning ARM cloud radar (SACR) is a polarimetric Doppler radar consisting of three different radar designs based on operating frequency. These are designated as follows: (1) X-band SACR (X-SACR); (2) Ka-band SACR (Ka-SACR); and (3) W-band SACR (W-SACR). There are two SACRs on a single pedestal at each site where SACRs are deployed. The selection of the operating frequencies at each deployed site is predominantly determined by atmospheric attenuation at the site. Because RF attenuation increases with atmospheric water vapor content, ARM's Tropical Western Pacific (TWP) sites use the X-/Ka-band frequency pair. The Southern Great Plains (SGP) and North Slope of Alaska (NSA) sites field the Ka-/W-band frequency pair. One ARM Mobile Facility (AMF1) has a Ka/W-SACR and the other (AMF2) has a X/Ka-SACR.

  9. Automatic measuring and controlling system of weighing lysimeter based on LabVIEW and ARM processors%基于LabVIEW和ARM处理器的大型称重式蒸渗仪测控系统

    Institute of Scientific and Technical Information of China (English)

    郭会军; 张建丰; 王志林; 耿小江

    2013-01-01

      针对大型称重式蒸渗仪测控系统常见的缺乏通用性、扩展性不足和可靠性差等问题,该文提出了一种基于LabVIEW和ARM处理器的分布式大型称重式蒸渗仪测控系统。底层测控单元全部采用ARM处理器LPC1768开发设计,所有单元均通过RS485方式MODBUS协议与上位机进行通信,上位机测控软件采用LabVIEW设计开发,支持对除称重参数以外的其它测量参数的选择。同时采取了中值滤波和滑动窗口平均滤波等信号处理算法,提高称重测量精度。运行试验表明,在称重分辨率达到0.1 g,杠杆系数为277.7时,蒸发量或降雨量的分辨率达到了0.0072 mm水深。%With the great developments of agricultural productions and concerned research projects needs in China, the use of direct methods using lysimeters for measuring water and solute flow in soils has increased in recent years. Large weighable lysimeters were best suitable for obtaining reliable data about seepage water quantity and quality. The field lysimeters combined the advantages of true field conditions and laboratory possibilities of varying parameters, handling and maintenance. Instrumentation varied due to the specific needs of each application. In order to provide a unified software and hardware platforms and system configuration scheme for the automatic measuring and controlling lysimeters, a new method using the LabVIEW and ARM processors was proposed in this paper. The systems proposed consisted of three sections:the tank holding the main soil body, the weighing and load control system, the supervisory control and data acquisition system. The weighing and load control system, which were the core parts in the lysimeter, consisted of a precise electric balance with high resolution, multi-stage lever systems and an intelligent load control system. The balance, with resolution up to 0.1 g, connected with the host computer by RS232 bi-directional interface. To

  10. Implementation of Scheduling Algorithm with Robotic Arm and Analytical Plate for Clinical Chemistry Analyzer

    Directory of Open Access Journals (Sweden)

    Sudha Ramasamy

    2013-02-01

    Full Text Available Complete automation is the ultimate goal in health care industry and this is of utmost importance in clinical laboratories. Processor based bio robots are involved in all these automation procedures. In this study, the indigenous robotic platform, used in clinical chemistry analyzers, which is highly flexible and user friendly for small or medium sized hospitals, is designed. A microcontroller based robotic arm is put forth as the robotic platform and this is capable of handling blood samples, reagents, etc. The basic design is of a compact, three circular analytical plates, placed one inside the other. The samples and reagents are loaded onto the analytical plate; the arm then transfers the blood samples and reagents successively to the reaction cell and if required, next to an incubating unit. Two different arms perform all the different tasks based on the controlling algorithm. The circuit manipulating the path of the robot arm, along with other controlling circuitry of the arm is embedded within the arm itself. By automating this unit, the flexibility and throughput of the tests will be increased. Controlled and precise use of reagents and high accuracy of results are additional advantages. Data handling is also simplified. The robotic arm and analytical plate has been designed, a prototype model has been made and synchronization between the two has been achieved. The clear description of arm and analytical plate movement along with the synchronization algorithms are presented in this study.

  11. 77 FR 75617 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2012-12-21

    ... Representatives, Transmittals 12-68 with attached transmittal, policy justification, and Sensitivity of Technology... MK 235 Mod 7 with Global Positioning System Integrator, 2 ship sets Gun Weapon Systems MK 34, and 2... in Section 47(6) of the Arms Export Control Act. (vii) Sensitivity of Technology Contained in...

  12. 77 FR 77040 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2012-12-31

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF DEFENSE Office of the Secretary 36(b)(1) Arms Sales Notification AGENCY: Department of Defense, Defense Security... unguided BLU-111B/B free-fall bomb into precision-guided ``smart'' bomb. The control and airfoil...

  13. 78 FR 31899 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2013-05-28

    ... program support. * As defined in Section 47(6) of the Arms Export Control Act. (iv) Military Department... proposed sale of this equipment and support will not alter the basic military balance in the region. The... section containing Inertial Navigation System (INS) guidance/Global Positioning System (GPS) guidance...

  14. Arm Locking for the Laser Interferometer Space Antenna

    Science.gov (United States)

    Maghami, P. G.; Thorpe, J. I.; Livas, J.

    2009-01-01

    The Laser Interferometer Space Antenna (LISA) mission is a planned gravitational wave detector consisting of three spacecraft in heliocentric orbit. Laser interferometry is used to measure distance fluctuations between test masses aboard each spacecraft to the picometer level over a 5 million kilometer separation. Laser frequency fluctuations must be suppressed in order to meet the measurement requirements. Arm-locking, a technique that uses the constellation of spacecraft as a frequency reference, is a proposed method for stabilizing the laser frequency. We consider the problem of arm-locking using classical optimal control theory and find that our designs satisfy the LISA requirements.

  15. Procurement, Storage and Distribution of Foodstuff in the Armed Forces

    Directory of Open Access Journals (Sweden)

    Y. D. Sahasrabuddhe

    1984-04-01

    Full Text Available The problem of procuring, storing and distributing foodstuffs to the Armed Forces in India is a stupendous task because of the wide variations interrains and climatic conditions and the varied food habits of the people. It is all the more exacting as the processed food industry is still in its infancy. Because of the stringent quality control requirements of the Armed Forces, the food processing industry in India is not willing to undertake supplies to the Defence services. The problems and how they are handled are briefly reviewed.

  16. Ranking the European armed forces

    NARCIS (Netherlands)

    Beeres, R.J.M.; Bogers, M.

    2012-01-01

    The degree of collectiveness aimed for in European defence policy raises issues such as burden sharing and relative performance measurement of the European Armed Forces (EAF). This paper compares EAF performance rates on three dimensions: input, throughput and output. In order to express performance

  17. Rhetorical Histories and Arms Negotiations.

    Science.gov (United States)

    Kane, Thomas

    1988-01-01

    Argues that the use of historical events as rhetorical artifacts has sustained cold war assumptions and attitudes; that rhetorical events provide composites for rhetorical histories which become the basis for argumentative appeals; and that these rhetorical histories continue to permeate American diplomacy in general and arms negotiations in…

  18. Principle and Control of Voltage Balance of Convertor Arm Capacitor in Hybrid Multilevel Convertor%混合型多电平变流器桥臂电容电压平衡的原理与控制

    Institute of Scientific and Technical Information of China (English)

    郭高朋; 胡学浩; 温家良

    2015-01-01

    混合式多电平变流器(HMC)能够实现有功无功独立控制,在直流侧发生故障时,交流侧电流仍然可控,这对于构成直流电网有重要意义。文中研究了 HMC 的电压合成方法以及在静止同步补偿器(STATCOM)模式下和高压直流(HVDC)模式下的能量平衡原理。基于能量平衡的原理,提出了 STATCOM 模式下和 HVDC 模式下桥臂电容稳压控制方法,并提出了 HVDC 模式下桥臂电容稳压的具体实现方法。为了验证所提出的能量平衡原理及控制策略,根据仿真算例所提供的参数,搭建了端对端直流输电的 PSCAD 仿真模型,对 HMC 的启动充电、解锁、有功渐变和直流故障过程进行了仿真。仿真结果显示,HMC 能够实现有功无功独立控制,能够隔离直流侧故障,所提出的能量平衡原理与控制方法能够实现桥臂电容的稳压控制。%As a very important characteristic for DC grid,the active and reactive power of a hybrid multilevel convertor(HMC) can be controlled independently,so the AC current is still controllable when there is a fault on the DC side.The AC voltage synchronous method and the energy balance principle of the static synchronous compensator (STATCOM) model and high voltage direct current (HVDC) model are studied.Based on the energy balance principle,the capacitor voltage stabilizing principle of the arm in the STATCOM model and HVDC model is put forward,and the capacitor voltage balance method is realized in detail.In order to verify the principle and the method of the capacitor voltage balance,a PSCAD model is developed according to the parameter of the simulation example.The processes each of charging,deblocking,active power changing and DC fault are simulated.Results of the simulation show that the active current and reactive current of the HMC can be controlled independently of each other with the DC side fault of the HMC isolated.The capacitor voltage balance principle and method proposed are

  19. Multiple Identifications in Multi-Armed Bandits

    CERN Document Server

    Bubeck, Sébastien; Viswanathan, Nitin

    2012-01-01

    We study the problem of identifying the top $m$ arms in a multi-armed bandit game. Our proposed solution relies on a new algorithm based on successive rejects of the seemingly bad arms, and successive accepts of the good ones. This algorithmic contribution allows to tackle other multiple identifications settings that were previously out of reach. In particular we show that this idea of successive accepts and rejects applies to the multi-bandit best arm identification problem.

  20. Lymphatic abnormalities in the normal contralateral arms of subjects with breast cancer-related lymphedema as assessed by near-infrared fluorescent imaging

    OpenAIRE

    Aldrich, Melissa B.; Guilliod, Renie; Fife, Caroline E.; Maus, Erik A.; Smith, Latisha; Rasmussen, John C.; Sevick-Muraca, Eva M.

    2012-01-01

    Current treatment of unilateral breast cancer-related lymphedema (BCRL) is only directed to the afflicted arm. Near-infrared fluorescent imaging (NIRF) of arm lymphatic vessel architecture and function in BCRL and control subjects revealed a trend of increased lymphatic abnormalities in both the afflicted and unafflicted arms with increasing time after lymphedema onset. These pilot results show that BCRL may progress to affect the clinically “normal” arm, and suggest that cancer-related lymph...

  1. Boundary Layer Cloudiness Parameterizations Using ARM Observations

    Energy Technology Data Exchange (ETDEWEB)

    Bruce Albrecht

    2004-09-15

    This study used DOE ARM data and facilities to: (1) study macroscopic properties of continental stratus clouds at SGP and the factors controlling these properties, (2) develop a scientific basis for understanding the processes responsible for the formation of boundary layer clouds using ARM observations in conjunction with simple parametric models and LES, and (3) evaluate cumulus cloud characteristics retrieved from the MMCR operating at TWP-Nauru. In addition we have used high resolution 94 GHz observations of boundary layer clouds and precipitation to: (1) develop techniques for using high temporal resolution Doppler velocities to study large-eddy circulations and turbulence in boundary layer clouds and estimate the limitations of using current and past MMCR data for boundary layer cloud studies, (2) evaluate the capability and limitations of the current MMCR data for estimating reflectivity, vertical velocities, and spectral under low- signal-to-noise conditions associated with weak no n-precipitating clouds, (3) develop possible sampling modes for the new MMCR processors to allow for adequate sampling of boundary layer clouds, and (4) retrieve updraft and downdraft structures under precipitating conditions.

  2. Why START. [Strategic Arms Reduction Talks treaty

    Energy Technology Data Exchange (ETDEWEB)

    Mendelsohn, J.

    1991-04-01

    Barring some major unexpected downturn in US-Soviet relations, it seems likely that the long-awaited Strategic Arms Reduction Talks (START) treaty will be signed sometime in 1991. Under negotiation for the past nine years, public acceptance and Senate approval of a START treaty will be facilitated by the generally less confrontational East-West relationship which has evolved over that time, by the growing constraints on the US defense budget, and by the obvious merits of the treaty itself. Not only will the nearly complete START treaty be an extremely useful and powerful arms control agreement, it is also decidedly advantageous to US security interests. First and foremost, a START treaty will cap and reduce the steady buildup of nuclear weapons that has characterized the last 30 years of the US-Soviet strategic relationship. As a result of the basic outline originally agreed to at the Reykjavik summit, START will take a 25 to 35 percent bite out of existing nuclear arsenals, impose approximately a 50 percent cut in overall Soviet ballistic missile warheads and throw-weight (lifting power or payload capacity), and produce an exact 50 percent cut in Soviet SS-18 missiles.

  3. How does arm positioning of polytraumatized patients in the initial computed tomography (CT) affect image quality and diagnostic accuracy?

    International Nuclear Information System (INIS)

    Purpose: To evaluate the influence of different arm positions on abdominal image quality during initial whole-body CT (WBCT) in polytraumatized patients and to assess the risk of missing potentially life-threatening injuries due to arm artifacts. Materials and methods: Between July 2011 and February 2013, WBCT scans of 203 patients with arms in the abdominal area during initial WBCT were analyzed. Six different arms-down positions were defined: patients with both (group A)/one arm(s) (group B) down alongside the torso, patients with both (group C)/one arm(s) (group D) crossed in front of the upper abdomen, patients with both (group E)/one arm(s) (group F) crossed in front of the pelvic area. A group of 203 patients with elevated arms beside the head served as a control group. Two observers jointly evaluated image quality of different organ regions using a 4-point scale system. Follow-up examinations (CT scans and/or ultrasound) were analyzed to identify findings missed during initial WBCT due to reduced image quality. Results: Image quality for most of the organ regions analyzed was found to be significantly different among all groups (p < 0.05). Image quality was most severely degraded in group A, followed by groups E and C. Positioning with one arm up resulted in significantly better image quality than both arms down (p < 0.05). Overall, arms-up positioning showed significantly better image quality than arms-down positions (p < 0.05). In one case, liver hemorrhage missed in the initial WBCT because of arm artifacts, was revealed by follow-up CT. Conclusion: In WBCT arms-down positioning significantly degrades abdominal image quality and artifacts might even conceal potentially life-threatening injuries. If the patient's status does not allow elevation of both arms, image quality can benefit from raising at least one arm. Otherwise, arms should be placed in front of the upper abdomen instead of alongside the torso

  4. Rationale and design of ATHENA: A placebo-controlled, double-blind, parallel arm trial to assess the efficacy of dronedarone 400 mg bid for the prevention of cardiovascular hospitalization or death from any cause in PatiENts with atrial fibrillation/atrial flutter

    DEFF Research Database (Denmark)

    Hohnloser, S.H.; Connolly, S.J.; Crijns, H.J.G.M.;

    2008-01-01

    . Dronedarone is a new antiarrhythmic compound currently being developed for treatment of AF. Methods: The ATHENA trial (A placebo-controlled, double-blind, parallel arm Trial to assess the efficacy of dronedarone 400 mg bid for the prevention of cardiovascular Hospitalization or death from any cause in pati...... hospitalization or death from any cause. The study has completed patient enrollment in December 2006 and is expected to end follow-up 1 year later. Conclusion: ATHENA will be the largest efficacy and safety trial of dronedarone, a multichannel blocker compound with properties from class I, II, III, and IV...

  5. A testbed for a unified teleoperated-autonomous dual-arm robotic system

    Science.gov (United States)

    Hayati, S.; Lee, T.; Tso, K.; Backes, P.; Lloyd, J.

    1990-01-01

    This paper describes a complete robot control facility built at the Jet Propulsion Laboratory as part of NASA a telerobotics program to develop a state-of-the-art robot control environment for laboratory based space-like experiments. This system, which is now fully operational, has the following features: separation of the computing facilities into local and remote sites, autonomous motion generation in joint or Cartesian coordinates, dual-arm force reflecting teleoperation with voice interaction between the operator and the robots, shared control between the autonomously generated motions and operator controlled teleoperation, and dual-arm coordinated trajectory generation. The system has been used to carry out realistic experiments such as the exchange of an Orbital Replacement Unit (ORU), bolt turning, and door opening, using a mixture of autonomous actions and teleoperation, with either a single arm or two cooperating arms.

  6. Neural Network L-two-gain Robust Control for Flexible Arm Space Robot Based on Virtual Control Force Conception%柔性臂空间机器人基于虚拟力概念的神经网络L2增益鲁棒控制

    Institute of Scientific and Technical Information of China (English)

    梁捷; 陈力

    2012-01-01

    探讨本体位置不控、姿态受控的漂浮基柔性臂空间机器人系统在惯性参数不确定情况下的动力学建模与控制问题.根据系统位置几何关系、动量守恒关系和第二类拉格朗日方程,由假设模态法,建立漂浮基柔性臂空间机器人的系统动力学模型.利用该模型,针对系统惯性参数不确定情况,提出具有L2扰动抑制的刚性运动神经网络L2增益鲁棒控制策略,以使柔性臂空间机器人的本体姿态到达期望位置的同时,机械臂各关节铰能够协调地跟踪关节空间的期望轨迹.为了主动抑制柔性振动,运用虚拟力的概念,构造同时反映柔性模态和刚性运动轨迹的混合期望轨迹,通过改造原有的控制方案,提出基于虚拟力概念的神经网络L2增益鲁棒控制策略.提出控制器的优点在于,既不要求系统动力学方程关于惯性参数呈线性函数关系,也无须预知系统精确的动力学模型;由于运用了虚拟力的概念,从而仅通过设计一个控制输入便可同时保证刚性轨迹跟踪并对柔性振动进行主动抑制,更适应于空间机器人系统的实际应用.理论分析及仿真算例均表明了控制方法的可行性.%Concerned dynamic modeling and control problems are discussed for free-floating flexible arm space robot with uncertain parameters and an uncontrolled base. According to the geometric relationship and law of conversation of momentum, the Lagrange equation of the second kind is utilized to model the dynamic function of the flexible arm space robot incorporating the assumed modes method. By using this model, a neural network L-two-gain robust control scheme with i-two-gain disturbance attenuation is proposed to dominate the base attitude and the joint angle of manipulator to track desired trajectories synchronously in joint space on condition that system parameters are unknown. In order to damp out vibration, conception of virtual force is used to design

  7. The Design and Realization for the Controlling System of LED Display Screen Based on ARM7(44 B0)%基于ARM7(44B0)的LED显示屏控制系统设计与实现

    Institute of Scientific and Technical Information of China (English)

    王宏民; 关宇东; 陈学泉; 李艳

    2008-01-01

    给出了基于ARM7(44B0)的LED显示屏控制系统的设计解决方案,并通过CPLD对44B0的LCD接口进行变换,实现44B0与LED显示屏的无缝连接.利用嵌入式系统强大的数据处理能力和丰富的图形图像处理函数,使LED显示屏实现了灵活多样的图形图像显示功能.最后,给出了系统的硬件、软件设计方案以及CPLD的逻辑设计时序,对于实际应用具有参考价值.

  8. Regenerator cross arm seal assembly

    Science.gov (United States)

    Jackman, Anthony V.

    1988-01-01

    A seal assembly for disposition between a cross arm on a gas turbine engine block and a regenerator disc, the seal assembly including a platform coextensive with the cross arm, a seal and wear layer sealingly and slidingly engaging the regenerator disc, a porous and compliant support layer between the platform and the seal and wear layer porous enough to permit flow of cooling air therethrough and compliant to accommodate relative thermal growth and distortion, a dike between the seal and wear layer and the platform for preventing cross flow through the support layer between engine exhaust and pressurized air passages, and air diversion passages for directing unregenerated pressurized air through the support layer to cool the seal and wear layer and then back into the flow of regenerated pressurized air.

  9. A Novel Method to Calculate the Initial Phase Difference between the Two Fibre Arms of Laser Homodyne Interferometer

    Institute of Scientific and Technical Information of China (English)

    LUO Hong-E; TIAN Xiao-Jian; GAO Bo; LI Liang; WU Ge; CAO Liang

    2007-01-01

    @@ We suggest a novel method to calculate the initial phase difference between two fibre arms of a laser homodyne interferometer. Put the two fibre arms in a temperature controller, whose short term stability is 0.02 ℃ (measured in an hour), then measure the interference photocurrent and the photocurrents from the two fibre arms at a fixed temperature. With these three photocurrents we can calculate the value of the initial phase difference.

  10. Autonomous sensor-based dual-arm satellite grappling

    Science.gov (United States)

    Wilcox, Brian; Tso, Kam; Litwin, Todd; Hayati, Samad; Bon, Bruce

    1989-01-01

    Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided.

  11. The role of plant properties in arm trajectory formation: a neural network study.

    Science.gov (United States)

    Massone, L E; Myers, J D

    1996-01-01

    In this paper, we first introduce a neural network model of a planar, six-muscle, redundant arm whose structure and operation principles were inspired by those of the human arm. We developed the model with a motor-learning framework in mind, i.e., with the long-term goal of incorporating it in a parallel distributed learning scheme for the arm controller. We then demonstrate the response of the model to various patterns of activation of the arm muscles in order to study the relative role of control strategies and plant properties in trajectory formation. The results of our simulations emphasize the role of the intrinsic properties of the plant in generating movements with anthropomorphic qualities such as smoothness and unimodal velocity profiles, and demonstrate that the task of an eventual controller for the arm could be simply that of programming the amplitudes and durations of steps of neural input without considering additional motor details. Our findings are relevant to the design of artificial arms and, with some caveats, to the study of the brain strategies in the arm motor system.

  12. Experimental validation of dual/modified dual arm locking for LISA

    Energy Technology Data Exchange (ETDEWEB)

    Yu Yinan; Mitryk, Shawn J; Mueller, Guido, E-mail: yinan@phys.ufl.edu [Department of Physics, University of Florida, PO Box 118440, Gainesville, FL 32611-8440 (United States)

    2011-05-07

    The laser frequency stabilization subsystem is one of the most significant parts within the interferometric measurement system of LISA. Arm locking as a proposed frequency stabilization technique synthesizes an adequately filtered linear combination of the interferometry signals as a frequency reference. Until now all the benchtop experiments on arm locking verified only the basic single arm locking configuration with unrealistic short signal travel times. At the University of Florida we developed the hardware-based University of Florida LISA Interferometer Simulator (UFLIS) to study and verify laser frequency noise reduction and suppression techniques under realistic LISA-like conditions. These conditions include the Doppler shifts between the spacecraft, LISA-like signal travel times, realistic laser frequency and timing noise. In this paper we will report about preliminary experiments on advanced arm locking schemes including dual arm locking and modified dual arm locking with realistic 33 s light travel times. In our experiments the implementation of a dual/modified dual arm locking sensor and controller is realized using several digital signal processing boards. We demonstrated the closed-loop stability of arm locking setup and measured the noise suppression in these experiments.

  13. Kinematic strategies for upper arm-forearm coordination in three dimensions.

    Science.gov (United States)

    Medendorp, W P; Crawford, J D; Henriques, D Y; Van Gisbergen, J A; Gielen, C C

    2000-11-01

    This study addressed the question of how the three-dimensional (3-D) control strategy for the upper arm depends on what the forearm is doing. Subjects were instructed to point a laser-attached in line with the upper arm-toward various visual targets, such that two-dimensional (2-D) pointing directions of the upper arm were held constant across different tasks. For each such task, subjects maintained one of several static upper arm-forearm configurations, i. e., each with a set elbow angle and forearm orientation. Upper arm, forearm, and eye orientations were measured with the use of 3-D search coils. The results confirmed that Donders' law (a behavioral restriction of 3-D orientation vectors to a 2-D "surface") does not hold across all pointing tasks, i.e., for a given pointing target, upper arm torsion varied widely. However, for any one static elbow configuration, torsional variance was considerably reduced and was independent of previous arm position, resulting in a thin, Donders-like surface of orientation vectors. More importantly, the shape of this surface (which describes upper arm torsion as a function of its 2-D pointing direction) depended on both elbow angle and forearm orientation. For pointing with the arm fully extended or with the elbow flexed in the horizontal plane, a Listing's-law-like strategy was observed, minimizing shoulder rotations to and from center at the cost of position-dependent tilts in the forearm. In contrast, when the arm was bent in the vertical plane, the surface of best fit showed a Fick-like twist that increased continuously as a function of static elbow flexion, thereby reducing position-dependent tilts of the forearm with respect to gravity. In each case, the torsional variance from these surfaces remained constant, suggesting that Donders' law was obeyed equally well for each task condition. Further experiments established that these kinematic rules were independent of gaze direction and eye orientation, suggesting that

  14. Special audit report on the Department of Energy`s Arms and military-type equipment

    Energy Technology Data Exchange (ETDEWEB)

    Layton, J.C.

    1996-02-01

    Based on the activities associated with the recent recovery of the eight armored personnel carriers, a review was conducted of the Department`s controls over arms and military-type equipment in its possession. The objects were to determine whether (1) the quantity of arms and military-type equipment on hand was justified by mission needs, (2) inventory listings of arms were accurate, (3) property disposals were properly controlled and executed, and (4) loans and borrowed equipment were appropriate and accounted for accurately. The purpose of this report is to summarize the most significant issues identified and point out where the Department needs stronger controls over its inventory of arms and military-type property.

  15. Design of flight control and navigation systems based on two ARM for unmanned helicopter%基于双ARM的无人直升机飞控导航系统设计

    Institute of Scientific and Technical Information of China (English)

    贺天鹏; 王吉东; 胡继忠; 王松

    2010-01-01

    将两片基于ARM(Advanced RISC Machine)内核的微控制器应用于某型共轴式无人直升机飞控导航系统的CPU(Central Processing Unit)模块,连同电源及舵机信号处理模块、信号处理及接口模块形成一个高度集成的嵌入式飞控导航计算机,提供的8路异步串行通讯接口、8路数字信号口,与组合导航设备、信号调理设备、收发电台和姿态稳定系统与舵机等外围设备连接构成一套完整的无人直升机数字式飞控导航系统,另配置了16 MB FLASH(Flash Eeprom)用于任务与飞行状态数据记录,并基于ADS(ARM Developer Suite)集成开发环境编制了系统的飞控与自主导航软件.经地面检测与调试,该系统运行情况良好.

  16. The Asteroid Redirect Mission (ARM)

    Science.gov (United States)

    Abell, Paul; Gates, Michele; Johnson, Lindley; Chodas, Paul; Mazanek, Dan; Reeves, David; Ticker, Ronald

    2016-07-01

    To achieve its long-term goal of sending humans to Mars, the National Aeronautics and Space Administration (NASA) plans to proceed in a series of incrementally more complex human spaceflight missions. Today, human flight experience extends only to Low-Earth Orbit (LEO), and should problems arise during a mission, the crew can return to Earth in a matter of minutes to hours. The next logical step for human spaceflight is to gain flight experience in the vicinity of the Moon. These cis-lunar missions provide a "proving ground" for the testing of systems and operations while still accommodating an emergency return path to the Earth that would last only several days. Cis-lunar mission experience will be essential for more ambitious human missions beyond the Earth-Moon system, which will require weeks, months, or even years of transit time. In addition, NASA has been given a Grand Challenge to find all asteroid threats to human populations and know what to do about them. Obtaining knowledge of asteroid physical properties combined with performing technology demonstrations for planetary defense provide much needed information to address the issue of future asteroid impacts on Earth. Hence the combined objectives of human exploration and planetary defense give a rationale for the Asteroid Re-direct Mission (ARM). Mission Description: NASA's ARM consists of two mission segments: 1) the Asteroid Redirect Robotic Mission (ARRM), the first robotic mission to visit a large (greater than ~100 m diameter) near-Earth asteroid (NEA), collect a multi-ton boulder from its surface along with regolith samples, demonstrate a planetary defense technique, and return the asteroidal material to a stable orbit around the Moon; and 2) the Asteroid Redirect Crewed Mission (ARCM), in which astronauts will take the Orion capsule to rendezvous and dock with the robotic vehicle, conduct multiple extravehicular activities to explore the boulder, and return to Earth with samples. NASA's proposed

  17. Bionic robot arm with compliant actuators

    Science.gov (United States)

    Moehl, Bernhard

    2000-10-01

    Traditional robotics uses non-compliant materials for all components involved in the production of movement. Elasticity is avoided as far as possible, because it leads to hazardous oscillations and makes control of precise movements very difficult. Due to this deliberate stiffness, robots are typically heavy and clumsy structures in comparison to their living counterparts (i.e. man and animals). Yet, moving systems in nature cope not only with the difficulties introduced by compliant materials, they also take advantage of the elasticity in muscles and tendons to produce smooth and even rapid movements. It is understood, that elasticity in a multi-jointed moving system requires sophisticated control mechanisms- as provided by a nervous system or a suitably programmed computer. In this contribution I shall describe a two-jointed robot with purpose-built elasticity in its actuators. This is accomplished by spiral springs places in series with a conventional electric motor and a tendon to the arm. It is shown that, with sufficiently soft elasticity, oscillations can be avoided by active oscillation damping. (Such active oscillation damping presumably also governs movement control in man and animals.) Furthermore, once the major problem has been overcome, elasticity is found to offer a wide spectrum of valuable advantages, as far as the most serious problems in traditional robotics are concerned. They are summarized by terms such as less dangerous, position tolerant, lightweight construction, controlled forces, and ballistic movements. These will be explained in detail and presented for discussion.

  18. Introduction to Reading and Visualizing ARM Data

    Energy Technology Data Exchange (ETDEWEB)

    Mather, James [Pacific Northwest National Laboratory

    2014-02-18

    Atmospheric Radiation Measurement (ARM) Program standard data format is NetCDF 3 (Network Common Data Form). The object of this tutorial is to provide a basic introduction to NetCDF with an emphasis on aspects of the ARM application of NetCDF. The goal is to provide basic instructions for reading and visualizing ARM NetCDF data with the expectation that these examples can then be applied to more complex applications.

  19. Lever arm dysfunction in cerebral palsy gait

    OpenAIRE

    Theologis, Tim

    2013-01-01

    Skeletal structures act as lever arms during walking. Muscle activity and the ground reaction against gravity exert forces on the skeleton, which generate torque (moments) around joints. These lead to the sequence of movements which form normal human gait. Skeletal deformities in cerebral palsy (CP) affect the function of bones as lever arms and compromise gait. Lever arm dysfunction should be carefully considered when contemplating treatment to improve gait in children with CP.

  20. Towards a digital body: the virtual arm illusion

    Directory of Open Access Journals (Sweden)

    2008-08-01

    Full Text Available The integration of the human brain with computers is an interesting new area of applied neuroscience, where one application is replacement of a person’s real body by a virtual representation. Here we demonstrate that a virtual limb can be made to feel part of your body if appropriate multisensory correlations are provided. We report an illusion that is invoked through tactile stimulation on a person’s hidden real right hand with synchronous virtual visual stimulation on an aligned 3D stereo virtual arm projecting horizontally out of their shoulder. An experiment with 21 male participants showed displacement of ownership towards the virtual hand, as illustrated by questionnaire responses and proprioceptive drift. A control experiment with asynchronous tapping was carried out with a different set of 20 male participants who did not experience the illusion. After 5 minutes of stimulation the virtual arm rotated. Evidence suggests that the extent of the illusion was also correlated with the degree of muscle activity onset in the right arm as measured by EMG during this period that the arm was rotating, for the synchronous but not the asynchronous condition. A completely virtual object can therefore be experienced as part of one’s self, which opens up the possibility that an entire virtual body could be felt as one’s own in future virtual reality applications or online games, and be an invaluable tool for the understanding of the brain mechanisms underlying body ownership.

  1. A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation

    Directory of Open Access Journals (Sweden)

    Soumya Kanti Manna

    2013-01-01

    Full Text Available The developed exoskeleton device (Exorn has ten degrees of freedom to control joints starting from shoulder griddle to wrist to provide better redundancy, portability, and flexibility to the human arm motion. A 3D conceptual model is being designed to make the system wearable by human arm. All the joints are simple revolute joints with desired motion limit. A Simulink model of the human arm is being developed with proper mass and length to determine proper torque required for actuating those joints. Forward kinematics of the whole system has been formulated for getting desired dexterous workspace. A proper and simple Graphical User Interface (GUI and the required embedded system have been designed for providing physiotherapy lessons to the patients. In the literature review it has been found that researchers have generally ignored the motion of shoulder griddle. Here we have implemented those motions in our design. It has also been found that people have taken elbow pronation and supination motion as a part of shoulder internal and external rotation though both motions are quite different. A predefined resolved motion rate control structure with independent joint control is used so that all movements can be controlled in a predefined way.

  2. Narrative Arts in A Farewell to Arms

    Institute of Scientific and Technical Information of China (English)

    周鋆

    2015-01-01

    Most of Hemingway's contributions to literature lie in his artistic version,as well as his art of narration.This paper means to give an analysis of A Farewell to Arms from its art of narration.Drawing from theories of narratology,the dissertation focuses on the analysis of narrative time,narrative person and narrative voice as they are presented in A Farewell to Arms.The aim of this dissertation is to make an objective analysis of Hemingway's narrative power in A Farewell to Arms from narrative perspectives,and tries to find out why A Farewell to Arms are enduring and great.

  3. The ARM West Antarctic Radiation Experiment (AWARE)

    Science.gov (United States)

    Lubin, Dan; Bromwich, David; Vogelmann, Andrew; Verlinde, Johannes; Russell, Lynn

    2016-04-01

    . A critical aspect of AWARE is that data from this campaign become publicly available in the DOE ARM archive, with no restrictions or proprietary periods, as soon as the quality control is complete. We therefore encourage maximum use of AWARE data for polar atmospheric process understanding and to help motivate new Antarctic field campaigns.

  4. The Design of Humanoid Robot Arm Based on Morphological and Neurological Analysis of Human Arm

    OpenAIRE

    Moon, Yongseon; Ko, Nak Yong; Bae, Youngchul

    2009-01-01

    In this paper, we have presented the implementation and performance evaluation for SERCOS based humanoid robot arm by using morphological and neurological analysis of human arm. Moreover, we reviewed the possibility of application of these robot arms. First, we proposed robot development methodology of open architecture based on ISO15745 for "opening of humanoid robot." Then, we verified the method of implementation of humanoid robot arm and its application to the real world. We have implemen...

  5. 基于视觉诱发电位脑机接口的四自由度机械手控制系统设计%Design on 4-DOF Robotic Arm Control System Based on Visual Evoked Potential Brain-computer Interface

    Institute of Scientific and Technical Information of China (English)

    王洪涛; 李霆; 黄振锋

    2011-01-01

    Brain-computer interface (BCI) is a novel kind of human computer interface being explored since last decade. A 4-DOF robotic arm control system was designed based on visual evoked potential (VEP) brain-computer interface. In this real time system, electroencephalogram (EEG) was processed online and translated to nine control commands based on bayesian classifier to control the 4-DOF robotic arm. The experimental results demonstrate that the system is able to achieve an average information transfer rate of 20. 3 b/min with an average accuracy of 95%. The realization of the system can provide a new way to enhance the human capability to control robot.%脑机接口是近十年发展起来的一种新颖人机接口方式.设计了基于视觉诱发电位脑机接口四自由度机械手控制系统,该系统实现了脑电信号在线处理,通过贝叶斯分类器提取9个控制指令,完成对机械手4个自由度的实时控制.实验结果表明:该脑机接口控制系统平均传输速率为20.3 b/min,平均识别准确率达到95%.该系统的实现为延伸和提高人类对机器人的行为控制能力提供了一种新的方法.

  6. Asymmetric Bridge Arm of Static Synchronous Compensator Based on Modular Multilevel Converter and Its Control Strategy%基于模块化多电平变换器的静止同步补偿器桥臂不对称及其控制策略

    Institute of Scientific and Technical Information of China (English)

    秦海鸿; 赵海伟; 马策宇; 董耀文; 聂新

    2016-01-01

    在高压大容量无功补偿领域,采用模块化多电平变换器(MMC)作为静止同步补偿器(STATCOM)主电路拓扑,目前已经在工程上得到了应用。在模块化多电平变换器上、下桥臂参数不对称时,基频交流分量在上、下桥臂之间分配不均,同时桥臂电流中的直流分量和二倍频分量也会流入交流侧。建立了桥臂参数不对称 MMC-STATCOM 的交流侧和直流侧模型,分析了不同频率下等效电路中桥臂不对称对稳态电流的影响,提出了抑制基频共模分量及二倍频共模分量并维持上、下桥臂直流电压稳态平衡的控制策略。仿真和实验结果验证了理论分析的正确性和控制策略的有效性。%The modular multilevel converter (MMC) is a suitable topology for high-voltage high-capacity voltage source converter (VSC). The MMC topology has been used in some static synchronous compensator (STATCOM) projects. Under asymmetric bridge-arm parameters, the fundamental-frequency AC currents distribute unequally between the upper and lower arms. Meanwhile, the DC and double-frequency components also flow into the AC side. In the paper, the equivalent models of the AC side and DC side of a three-phase MMC-STATCOM are established under asymmetric bridge-arm parameters. Based on the equivalent sub-circuits at different frequencies, the effects of asymmetric conditions on MMC-STATCOM operation are analyzed in detail. A novel control strategy is further proposed to suppress the common-current of fundamental-frequency and double-frequency while keeping the voltage balance between the upper and lower arms. Both simulation and experimental results validate the feasibility of the proposed method.

  7. Presentation of the Central Office for the Suppression of Trafficking in Arms, Explosives and Sensitive Materials, OCRTAEMS [International conference on safety and security of radioactive sources: Towards a global system for the continuous control of sources throughout their life cycle

    International Nuclear Information System (INIS)

    The Central Office for the Suppression of Trafficking in Arms, Explosives and Sensitive Materials (OCRTAEMS) was created on 13 December 1982. For around twenty years it was no more than a simple group within the Anti-Terrorist Division of the Central Directorate of the Criminal Police (DCPJ). At that time, it was almost exclusively terrorists who had recourse to explosives and weapons of war, hence the name. In April 2002, following the Nanterre massacre (March 2002), where a mad marksman decimated the Municipal Council of the town during a meeting, it was decided to reactivate this office. Its mandate was also redefined to cover general suppression of arms trafficking, whatever the area of crime: organized crime, common law crime, terrorism, crime in sensitive areas, etc. The arms office was removed from the National Anti-Terrorist Division (DNAT) and became a separate office directly under the Subdirectorate for Criminal Affairs. The number of its staff was set at 30. Its function is to promote and coordinate the fight against crime relating to the manufacture and possession of, trading in and illicit use of weapons, ammunition, explosives and sensitive materials (nuclear, radiological, biological and chemical). Its structure is traditional and comprises two inquiry groups, one technical and legal analysis unit and an operational documentation section. It has a ballistics and weapons expert, an explosives specialist and a nuclear, radiological, biological and chemical threat consultant. French investigation procedures and technical resources are discussed. International tensions and the current terrorist situation have prompted the security services to include all kinds of attack hypotheses in their prevention or response plans. The information services (Directorate for National Surveillance or General Information) are responsible at the Ministry of the Interior for collecting information which may be subject to judicial use by such specialized services as the

  8. 基于嵌入式ARM花边电脑钩编机的控制系统设计%Design of the control system of the computer-based lace crochet machine with the built-in ARM

    Institute of Scientific and Technical Information of China (English)

    朱广平; 蒋高明

    2007-01-01

    介绍嵌入式ARM花边电脑钩编机的工作原理及钩编过程中各部件的工作要求.分析电脑钩编机控制系统软、硬件设计的关键技术.采用PHILIPS公司的32位处理器ARM-LPC2214作为主控制器的嵌入式花边电脑钩编机是一种整机性能均较优良的新一代高效经编机,其可靠性和稳定性较高,具有广阔的发展前景.

  9. Application of ARM Embedded System in Off-line Control Card for LED Screen Display%基于ARM的嵌入式系统在LED屏脱机控制卡中的应用

    Institute of Scientific and Technical Information of China (English)

    魏春娟; 郑喜凤; 丁铁夫

    2009-01-01

    介绍了采用ARM7和uClinux嵌入操作系统实现LED屏脱机控制卡的设计方案,该方案可实现与PC机进行10/100 MB以太网和普通串口2种方式的通信.软件采用多任务的编程方法来提高运行速度,描述了网络驱动及网络通信的实现.软硬件的初步调试验证了方案的可行性,比传统的采用8位或16位微处理器的脱机卡在运算速度、存储空间、图像显示效果等方面有很大提高.

  10. The Financial Arm Of The FARC: A Threat Finance Perspective

    OpenAIRE

    Thomas Cook

    2011-01-01

    The FARC (Fuerzas Armadas Revolucionarias de Colombia or Revolutionary Armed Forces of Colombia) transformed from a traditional guerrilla group into a full-fledged insurgency because of its ability to effectively convert the proceeds derived from illegal narcotic trafficking into operational funds. Those financial capabilities allowed the FARC to challenge government authority in large swathes of the Colombian state. The FARC moved into the drug trade, initially controlling production territo...

  11. FIDO Rover Retracted Arm and Camera

    Science.gov (United States)

    1999-01-01

    The Field Integrated Design and Operations (FIDO) rover extends the large mast that carries its panoramic camera. The FIDO is being used in ongoing NASA field tests to simulate driving conditions on Mars. FIDO is controlled from the mission control room at JPL's Planetary Robotics Laboratory in Pasadena. FIDO uses a robot arm to manipulate science instruments and it has a new mini-corer or drill to extract and cache rock samples. Several camera systems onboard allow the rover to collect science and navigation images by remote-control. The rover is about the size of a coffee table and weighs as much as a St. Bernard, about 70 kilograms (150 pounds). It is approximately 85 centimeters (about 33 inches) wide, 105 centimeters (41 inches) long, and 55 centimeters (22 inches) high. The rover moves up to 300 meters an hour (less than a mile per hour) over smooth terrain, using its onboard stereo vision systems to detect and avoid obstacles as it travels 'on-the-fly.' During these tests, FIDO is powered by both solar panels that cover the top of the rover and by replaceable, rechargeable batteries.

  12. Coordinating arms and legs on a hybrid rehabilitation tricycle: the metabolic benefit of asymmetrical compared to symmetrical arm movements

    OpenAIRE

    Meyns, Pieter; Van De Walle, Patricia; Hoogkamer, Wouter; Kiekens, Carlotte; Desloovere, Kaat; Duysens, Jaak

    2014-01-01

    The most commonly used propulsion method for handcycling is moving the arms symmetrically. Previous studies indicated that during outdoor handcycling symmetrical arm movements are more efficient. During locomotor movements, however, arm movements are performed asymmetrically in combination with leg movements. We questioned which combination of arm and leg movements is more efficient during combined arm and leg cycling for stationary use.

  13. A car theft deterrent system research based on ARM9

    Science.gov (United States)

    Zhang, Kaisheng; Liu, Jinhao; Fan, Lijun

    2009-07-01

    The traditional automotive burglarproof systems commonly only rely on the simple remote control to security which measures are not perfect and functions are too single. With the development of society, people tend to concern on the fingerprint recognition technology, GSM /GPRS wireless transmission technology, the idea of ARM9-based design of automobile burglarproof system is dependent on both of them. The S3C2410 microprocessor embedded system is used in this system, which is illuminated the idea of the control system design through the hardware and software. The spot use indicates that the high control precision, steady performance and the humanistic rational design of automotive burglarproof system.

  14. The organized hypocrisy of ethical foreign policy: human rights, democracy and Western arms sales

    OpenAIRE

    Perkins, Richard; Neumayer, Eric

    2010-01-01

    Over the past two decades, Western political leaders have scripted a more ethical foreign policy, wherein far greater weight is given to protecting the rights and freedoms of extra-territorial citizens. Using the example of arms exports to developing countries, the present paper exposes the organized hypocrisy underlying countries’ self-declared ethical turn. We show that the major Western arms supplying states – France, Germany, the UK and the US – have generally not exercised export control...

  15. Development of a multisensory arm for process monitoring in Robot Assisted Polishing

    DEFF Research Database (Denmark)

    Pilny, Lukas; Dalla Costa, Giuseppe; Bissacco, Giuliano;

    Robot Assisted Polishing (RAP) process is capable of achieving surface roughness down to Sa 10 nm on industrial components. In RAP, a robot arm carries a polishing module with controlled contact force utilizing oscillating or rotating tools. In this work a multisensory polishing arm with integrated...... Acoustic Emission (AE), accelerometer and force sensors was developed and the reliability of force measurements for process monitoring in RAP was verified....

  16. Hot Galactic Arms Point To Vicious Cycle

    Science.gov (United States)

    2001-12-01

    NASA's Chandra X-ray Observatory has revealed the aftermath of a titanic explosion that wracked the elliptical galaxy known as NGC 4636. This eruption could be the latest episode in a cycle of violence that is triggered by gas falling into a central massive black hole. Chandra's images of NGC 4636 show spectacular symmetric arms, or arcs, of hot gas extending 25,000 light years into a huge cloud of multimillion-degree-Celsius gas that envelopes the galaxy. At a temperature of 10 million degrees, the arms are 30 percent hotter than the surrounding gas cloud. "The temperature jump, together with the symmetry and scale of the arms, suggests that we are observing the effects of a tremendous outburst that occurred in the center of the galaxy," said Christine Jones of the Harvard-Smithsonian Center for Astrophysics in Cambridge, Mass., lead author of a paper on these observations scheduled for publication in Astrophysical Journal Letters. "The energy of this explosion would be the equivalent of several hundred thousand supernovas." The arms appear to be the leading edges of a galaxy-sized shock wave that is racing outward at 700 kilometers per second, or 1.6 million miles per hour. At this speed, it would take 3 million years for the structures to attain their present size. Cavities detected in the hot gas cloud to the east and west of the center of the galaxy support the shockwave explanation. The authors suggest that the explosion is part of a majestic cosmic feedback process that keeps the galaxy in a state of turmoil. Over a period of a few million years, a hot gas cloud that envelops the stars in the galaxy cools and falls inward toward a central, massive black hole. The feeding of the black hole by the infalling material leads to an explosion that heats the hot gaseous envelope, starting the cycle anew. NGC 4636 NGC 4636 Background Subtracted This feedback cycle may explain one puzzling feature of the galaxy - the lack of a strong radio source of the type that is

  17. Design of a biomimetic robotic octopus arm

    Energy Technology Data Exchange (ETDEWEB)

    Laschi, C; Cianchetti, M [Advanced Robotics Technology and Systems Laboratory, Scuola Superiore Sant' Anna, Pisa (Italy); Mazzolai, B; Dario, P [Italian Institute of Technology, Genova (Italy); Mattoli, V [Centre of Research in Microengineering Laboratory, Scuola Superiore Sant' Anna, Pisa (Italy)], E-mail: cecilia.laschi@sssup.it

    2009-03-01

    This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

  18. Small Arms Marksmanship Manual, NAVPERS 93863.

    Science.gov (United States)

    Bureau of Naval Personnel, Washington, DC.

    The Navy's small arms marksmanship training program is designed to achieve proficiency for Navy personnel in handling the rifle, pistol andshotgun. The minimum objective of this program is to qualify Navy personnel as "Marksman," and ensure that personnel who are issued small arms for security, recreation, or competitions are fully qualified in…

  19. Books in Action: The Armed Services Editions.

    Science.gov (United States)

    Cole, John Y., Ed.

    In an effort to reach a wide audience, the Center for the Book in the Library of Congress presents this book in honor of the 40th anniversary celebration of the Armed Services Editions (ASE), the paperback books distributed during World War II. The titles of the essays and their authors are as follows: "The Armed Services Editions: An…

  20. Gender Integration and the Swedish Armed Forces

    DEFF Research Database (Denmark)

    Gustafsson, Daniel Marcus Sunil

    This paper discusses different gender aspects of the Swedish Armed Forces with specific references to sexual harassment and prostitution. By using the concept of Hegemonic Masculinity, sexual harassment of the women in the Swedish Armed Forces is explained in terms of a need of the men within...

  1. Homosexuality in the Dutch Armed Forces 2006

    NARCIS (Netherlands)

    Anna Adolfsen; Saskia Keuzenkamp; m.m.v. Linda Mans

    2006-01-01

    Original title: Uniform uit de kast. This study looks at the attitudes of defence personnel to homosexuality. How do members of the military view homosexual colleagues? Can gays and lesbians working in the armed forces be open about their sexual preferences? Do they regard the armed forces as a gay

  2. Design and experimental testing of the OctArm soft robot manipulator

    Science.gov (United States)

    Grissom, Michael D.; Chitrakaran, Vilas; Dienno, Dustin; Csencits, Matthew; Pritts, Michael; Jones, Bryan; McMahan, William; Dawson, Darren; Rahn, Chris; Walker, Ian

    2006-05-01

    This paper describes the development of the octopus biology inspired OctArm series of soft robot manipulators. Each OctArm is constructed using air muscle extensors with three control channels per section that provide two axis bending and extension. Within each section, mesh and plastic coupler constraints prevent extensor buckling. OctArm IV is comprised of four sections connected by endplates, providing twelve degrees of freedom. Performance of OctArm IV is characterized in a lab environment. Using only 4.13 bar of air pressure, the dexterous distal section provides 66% extension and 380° of rotation in less than .5 seconds. OctArm V has three sections and, using 8.27 bar of air pressure, the strong proximal section provides 890 N and 250 N of vertical and transverse load capacity, respectively. In addition to the in-lab testing, OctArm V underwent a series of field trials including open-air and in-water field tests. Outcomes of the trials, in which the manipulator demonstrated the ability for adaptive and novel manipulation in challenging environments, are described. OctArm VI is designed and constructed based on the in-lab performance, and the field testing of its predecessors. Implications for the deployment of soft robots in military environments are discussed.

  3. Cardiovascular responses to arm static exercise in men with thoracic spinal cord lesions.

    Science.gov (United States)

    Sakamoto, Keiko; Nakamura, Takeshi; Umemoto, Yasunori; Koike, Yumi; Sasaki, Yusuke; Tajima, Fumihiro

    2012-02-01

    Isometric muscle contraction (static exercise) induces circulatory response. Static exercise in individuals with thoracic spinal cord injury (TSCI) induces cardiovascular response and blood redistribution to the non-exercising muscles. The aim of our study was to determine the circulatory response during arm static exercise in individuals with TSCI and able-bodied (AB) controls. Mean blood pressure (MBP), heart rate (HR), cardiac output (CO), leg skin blood flow (SBF), and leg muscle blood flow (MBF) were recorded noninvasively, total peripheral resistance (TPR) was estimated by dividing MBP by CO, and hormonal changes were measured before, during and after static 35% maximal voluntary contraction (MVC) of the arm flexor muscles in seven male individuals with TSCI (T7-T11) and seven age-comparable AB control (32.2 ± 7.6 and 31.0 ± 4.7 years, respectively). The 35% MVC was similar in TSCI and AB individuals (107.3 ± 28.2 and 101.0 ± 22.5 N, respectively). HR, CO, MBP, TPR, SBF and MBF increased in both groups during arm static exercise. Plasma epinephrine concentration increased during arm static exercise in AB controls only (P responses during 35% MVC of arm static exercise. We conclude that sympathetic vasoconstriction in the resting leg area did not contribute to the pressor reflex during 35% MVC of arm static exercise. PMID:21656231

  4. Exploring Heart and Lung Function in Space: ARMS Experiments

    Science.gov (United States)

    Kuipers, Andre; Cork, Michael; LeGouic, Marine

    2002-01-01

    The Advanced Respiratory Monitoring System (ARMS) is a suite of monitoring instruments and supplies used to study the heart, lungs, and metabolism. Many experiments sponsored by the European Space Agency (ESA) will be conducted using ARMS during STS-107. The near-weightless environment of space causes the body to undergo many physiological adaptations, and the regulation of blood pressure is no exception. Astronauts also experience a decrease in blood volume as an adaptation to microgravity. Reduced blood volume may not provide enough blood pressure to the head during entry or landing. As a result, astronauts often experience light-headedness, and sometimes even fainting, when they stand shortly after returning to Earth. To help regulate blood pressure and heart rate, baroreceptors, sensors located in artery walls in the neck and near the heart, control blood pressure by sending information to the brain and ensuring blood flow to organs. These mechanisms work properly in Earth's gravity but must adapt in the microgravity environment of space. However, upon return to Earth during entry and landing, the cardiovascular system must readjust itself to gravity, which can cause fluctuation in the control of blood pressure and heart rate. Although the system recovers in hours or days, these occurrences are not easily predicted or understood - a puzzle investigators will study with the ARMS equipment. In space, researchers can focus on aspects of the cardiovascular system normally masked by gravity. The STS-107 experiments using ARMS will provide data on how the heart and lungs function in space, as well as how the nervous system controls them. Exercise will also be combined with breath holding and straining (the Valsalva maneuver) to test how heart rate and blood pressure react to different stresses. This understanding will improve astronauts' cardiopulmonary function after return to Earth, and may well help Earthbound patients who experience similar effects after long

  5. Conflits armés et environnement

    OpenAIRE

    Dorsouma, Al–Hamandou; Bouchard, Michel-André

    2013-01-01

    Les conflits armés sont source de catastrophes majeures pour l’environnement. Dans les années 60, la défoliation de la jungle vietnamienne par l’armée américaine a interpellé la conscience collective sur la protection de l’environnement en situation de conflit armé (Pearce, 2000). La guerre du Golfe de 1990-1991, avec l’utilisation des armes à l’uranium appauvri et l’incendie des puits de pétrole a fait de la protection de l’environnement lors des conflits armés une préoccupation internationa...

  6. ICRESH-ARMS 2015 Conference

    CERN Document Server

    Ahmadi, Alireza; Verma, Ajit; Varde, Prabhakar

    2016-01-01

    Containing selected papers from the ICRESH-ARMS 2015 conference in Lulea, Sweden, collected by editors with years of experiences in Reliability and maintenance modeling, risk assessment, and asset management, this work maximizes reader insights into the current trends in Reliability, Availability, Maintainability and Safety (RAMS) and Risk Management. Featuring a comprehensive analysis of the significance of the role of RAMS and Risk Management in the decision making process during the various phases of design, operation, maintenance, asset management and productivity in Industrial domains, these proceedings discuss key issues and challenges in the operation, maintenance and risk management of complex engineering systems and will serve as a valuable resource for those in the field.

  7. The Asteroid Redirect Mission (ARM)

    Science.gov (United States)

    Abell, Paul; Gates, Michele; Johnson, Lindley; Chodas, Paul; Mazanek, Dan; Reeves, David; Ticker, Ronald

    2016-07-01

    To achieve its long-term goal of sending humans to Mars, the National Aeronautics and Space Administration (NASA) plans to proceed in a series of incrementally more complex human spaceflight missions. Today, human flight experience extends only to Low-Earth Orbit (LEO), and should problems arise during a mission, the crew can return to Earth in a matter of minutes to hours. The next logical step for human spaceflight is to gain flight experience in the vicinity of the Moon. These cis-lunar missions provide a "proving ground" for the testing of systems and operations while still accommodating an emergency return path to the Earth that would last only several days. Cis-lunar mission experience will be essential for more ambitious human missions beyond the Earth-Moon system, which will require weeks, months, or even years of transit time. In addition, NASA has been given a Grand Challenge to find all asteroid threats to human populations and know what to do about them. Obtaining knowledge of asteroid physical properties combined with performing technology demonstrations for planetary defense provide much needed information to address the issue of future asteroid impacts on Earth. Hence the combined objectives of human exploration and planetary defense give a rationale for the Asteroid Re-direct Mission (ARM). Mission Description: NASA's ARM consists of two mission segments: 1) the Asteroid Redirect Robotic Mission (ARRM), the first robotic mission to visit a large (greater than ~100 m diameter) near-Earth asteroid (NEA), collect a multi-ton boulder from its surface along with regolith samples, demonstrate a planetary defense technique, and return the asteroidal material to a stable orbit around the Moon; and 2) the Asteroid Redirect Crewed Mission (ARCM), in which astronauts will take the Orion capsule to rendezvous and dock with the robotic vehicle, conduct multiple extravehicular activities to explore the boulder, and return to Earth with samples. NASA's proposed

  8. Exact positioning of the robotic arm end effector

    Science.gov (United States)

    Korepanov, Valery; Dudkin, Fedir

    2016-07-01

    Orbital service becomes a new challenge of space exploration. The necessity to introduce it is connected first of all with an attractive opportunity to prolong the exploitation terms of expensive commercial satellites by, e.g., refilling of fuel or changing batteries. Other application area is a fight with permanently increasing amount of space litter - defunct satellites, burnt-out rocket stages, discarded trash and other debris. Now more than few tens of thousands orbiting objects larger than 5-10 cm (or about 1 million junks larger than 1 cm) are a huge problem for crucial and costly satellites and manned vehicles. For example, in 2014 the International Space Station had to change three times its orbit to avoid collision with space debris. So the development of the concepts and actions related to removal of space debris or non-operational satellites with use of robotic arm of a servicing satellite is very actual. Such a technology is also applicable for unmanned exploratory missions in solar system, for example for collecting a variety of samples from a celestial body surface. Naturally, the robotic arm movements should be controlled with great accuracy at influence of its non-rigidity, thermal and other factors. In these circumstances often the position of the arm end effector has to be controlled with high accuracy. The possibility of coordinate determination for the robotic arm end effector with use of a low frequency active electromagnetic system has been considered in the presented report. The proposed design of such a system consists of a small magnetic dipole source, which is mounted inside of the arm end effector and two or three 3-component magnetic field sensors mounted on a servicing satellite body. The data from this set of 3-component magnetic field sensors, which are fixed relatively to the satellite body, allows use of the mathematical approach for determination of position and orientation of the magnetic dipole source. The theoretical

  9. Study on a 7-DOF anthropomorphic weld arm

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    A kind of new obstacle space expression is proposed in this paper, in which a virtual force field (VFF) is built. Using the torque and joint optimization acted by the virtual force field on the anthropomorphic weld arm, the real-time selection of a redundant join (R-joint) is done and its equivalent virtual torque is obtained, thus the redundant joint can be controlled with whose force feedback. An inverse kinematics solution of a 6-DOF robot is applied to other six joints of the arm. Simulation experiments indicate the new inverse kinematics solution has perfect collision avoidance effect, and it is well simplified. Therefore, it can be applied to a welding task in complex operation space.

  10. A sorrow shared is a sorrow halved? A three-arm randomized controlled trial comparing internet-based clinician-guided individual versus group treatment for social anxiety disorder.

    Science.gov (United States)

    Schulz, Ava; Stolz, Timo; Vincent, Alessia; Krieger, Tobias; Andersson, Gerhard; Berger, Thomas

    2016-09-01

    A growing body of evidence suggests that internet-based cognitive behavioural treatments (ICBT) are effective to treat social anxiety disorder (SAD). Whereas the efficacy of clinician-guided ICBT has been established, ICBT in a group format has not yet been systematically investigated. This three-arm RCT compared the efficacy of clinician-guided group ICBT (GT) with clinician guided individual ICBT (IT) and a wait-list (WL). A total of 149 individuals meeting the diagnostic criteria for SAD were randomly assigned to one of three conditions. Primary endpoints were self-report measures of SAD and diagnostic status taken at baseline, after the twelve-week intervention and at six-month follow-up. Secondary endpoints were symptoms of depression, interpersonal problems and general symptomatology. At post-treatment, both active conditions showed superior outcome regarding SAD symptoms (GT vs. WL: d = 0.84-0.74; IT vs. WL: d = 0.94-1.22). The two active conditions did not differ significantly in symptom reduction (d = 0.12-0.26, all ps > 0.63), diagnostic response rate or attrition. Treatment gains were maintained at follow-up. The group format reduced weekly therapist time per participant by 71% (IT: 17 min, GT: 5 min). Findings indicate that a clinician-guided group format is a promising approach in treating SAD. PMID:27423374

  11. Virtual reality aided training of combined arm and leg movements of children with CP.

    Science.gov (United States)

    Riener, Robert; Dislaki, Evangelia; Keller, Urs; Koenig, Alexander; Van Hedel, Hubertus; Nagle, Aniket

    2013-01-01

    Cerebral palsy (CP) occurs in over 2 out of 1000 live births and can impair motor control and cognition. Our goal was to create a robotic rehabilitation environment that mimics real-life situations by allowing simultaneous exercise of upper and lower limbs. We chose to use the Lokomat as a gait robot and added a novel removable arm robot, called PASCAL (pediatric arm support robot for combined arm and leg training), that was integrated into the Lokomat environment. We also added a virtual reality (VR) environment that enables the subject to perform motivating game-like scenarios incorporating combined arm and leg movements. In this paper we summarize the design of PASCAL and present the novel virtual environment including first experimental results. The next step will be to test whether a combined application of the virtual environment and the two simultaneously working robots is feasible in healthy participants, and finally to clinically evaluate the entire system on children with CP. PMID:23400183

  12. Arm locking for space-based laser interferometry gravitational wave observatories

    CERN Document Server

    Yu, Yinan; Mueller, Guido

    2014-01-01

    Laser frequency stabilization is a critical part of the interferometry measurement system of space-based gravitational wave observatories such as the Laser Interferometer Space Antenna (LISA). Arm locking as a proposed frequency stabilization technique, transfers the stability of the long arm lengths to the laser frequency. The arm locking sensor synthesizes an adequately filtered linear combination of the inter-spacecraft phase measurements to estimate the laser frequency noise, which can be used to control the laser frequency. At the University of Florida we developed the hardware-based University of Florida LISA Interferometer Simulator (UFLIS) to study and verify laser frequency noise reduction and suppression techniques under realistic LISA-like conditions. These conditions include the variable Doppler shifts between the spacecraft, LISA-like signal travel times, optical transponders, realistic laser frequency and timing noise. We review the different types of arm locking sensors and discuss their expect...

  13. Revealing the spiral arms through radial migration and the shape of the Metallicity Distribution Function

    CERN Document Server

    Martinez-Medina, L A; Moreno, E; Peimbert, A

    2016-01-01

    Recent observations show that the Milky Way's metallicity distribution function (MDF) changes its shape as a function of radius. This new evidence of radial migration within the stellar disc sets additional constrains on Galactic models. By performing controlled test particle simulations in a very detailed, observationally motivated model of the Milky Way, we demonstrate that, in the inner region of the disc, the MDF is shaped by the joint action of the bar and spiral arms, while at outer radii the MDF is mainly shaped by the spiral arms. We show that the spiral arms are able to imprint their signature in the radial migration, shaping the MDF in the outskirts of the Galactic disc with a minimal participation of the bar. Conversely, this work has the potential to characterize some structural and dynamical parameters of the spiral arms based on radial migration and the shape of the MDF.

  14. Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

    Directory of Open Access Journals (Sweden)

    Mohamed J. Bakari

    2008-11-01

    Full Text Available This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID and Proportional-Integral-Plus (PIP control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

  15. ARM Processor Based Embedded System for Remote Data Acquisition

    Directory of Open Access Journals (Sweden)

    Raj Kumar Tiwari

    2014-01-01

    Full Text Available The embedded systems are widely used for the data acquisition. The data acquired may be used for monitoring various activity of the system or it can be used to control the parts of the system. Accessing various signals with remote location has greater advantage for multisite operation or unmanned systems. The remote data acquisition used in this paper is based on ARM processor. The Cortex M3 processor used in this system has in-built Ethernet controller which facilitate to acquire the remote data using internet. The system developed provides high performance, low power consumption, smaller size {&} high speed

  16. ARM Climate Research Facility Annual Report 2005

    Energy Technology Data Exchange (ETDEWEB)

    J. Voyles

    2005-12-31

    Through the ARM Program, the DOE funded the development of several highly instrumented ground stations for studying cloud formation processes and their influence on radiative transfer, and for measuring other parameters that determine the radiative properties of the atmosphere. This scientific infrastructure, and resultant data archive, is a valuable national and international asset for advancing scientific knowledge of Earth systems. In fiscal year (FY) 2003, the DOE designated ARM sites as a national scientific user facility: the ARM Climate Research (ACRF). The ACRF has enormous potential to contribute to a wide range interdisciplinary science in areas such as meteorology, atmospheric aerosols, hydrology, biogeochemical cycling, and satellite validation, to name only a few.

  17. Arm Swing as a Potential New Prodromal Marker of Parkinson’s Disease

    Science.gov (United States)

    Mirelman, Anat; Bernad-Elazari, Hagar; Thaler, Avner; Giladi-Yacobi, Eytan; Gurevich, Tanya; Gana-Weisz, Mali; Saunders-Pullman, Rachel; Raymond, Deborah; Doan, Nancy; Bressman, Susan B.; Marder, Karen S.; Alcalay, Roy N.; Rao, Ashwini K.; Berg, Daniela; Brockmann, Kathrin; Aasly, Jan; Waro, Bjørg Johanne; Tolosa, Eduardo; Vilas, Dolores; Pont-Sunyer, Claustre; Orr-Urtreger, Avi; Hausdorff, Jeffrey M.; Giladi, Nir

    2016-01-01

    Background Reduced arm swing is a well-known clinical feature of Parkinson’s disease (PD), often observed early in the course of the disease. We hypothesized that subtle changes in arm swing and axial rotation may also be detectable in the prodromal phase. Objective The purpose of this study was to evaluate the relationship between the LRRK2-G2019S mutation, arm swing, and axial rotation in healthy nonmanifesting carriers and noncarriers of the G2019S mutation and in patients with PD. Methods A total of 380 participants (186 healthy nonmanifesting controls and 194 PD patients) from 6 clinical sites underwent gait analysis while wearing synchronized 3-axis body-fixed sensors on the lower back and bilateral wrists. Participants walked for 1 minute under the following 2 conditions: (1) usual walking and (2) dual-task walking. Arm swing amplitudes, asymmetry, variability, and smoothness were calculated for both arms along with measures of axial rotation. Results A total of 122 nonmanifesting participants and 67 PD patients were carriers of the G2019S mutation. Nonmanifesting mutation carriers walked with greater arm swing asymmetry and variability and lower axial rotation smoothness under the dual task condition when compared with noncarriers (P < .04). In the nonmanifesting mutation carriers, arm swing asymmetry was associated with gait variability under dual task (P = .003). PD carriers showed greater asymmetry and variability of movement than PD noncarriers, even after controlling for disease severity (P < .009). Conclusions The G2019S mutation is associated with increased asymmetry and variability among nonmanifesting participants and patients with PD. Prospective studies should determine if arm swing asymmetry and axial rotation smoothness may be used as motor markers of prodromal PD. PMID:27430880

  18. On the nature of motor planning variables during arm pointing movement: Compositeness and speed dependence.

    Science.gov (United States)

    Vu, Van Hoan; Isableu, Brice; Berret, Bastien

    2016-07-22

    The purpose of this study was to investigate the nature of the variables and rules underlying the planning of unrestrained 3D arm reaching. To identify whether the brain uses kinematic, dynamic and energetic values in an isolated manner or combines them in a flexible way, we examined the effects of speed variations upon the chosen arm trajectories during free arm movements. Within the optimal control framework, we uncovered which (possibly composite) optimality criterion underlays at best the empirical data. Fifteen participants were asked to perform free-endpoint reaching movements from a specific arm configuration at slow, normal and fast speeds. Experimental results revealed that prominent features of observed motor behaviors were significantly speed-dependent, such as the chosen reach endpoint and the final arm posture. Nevertheless, participants exhibited different arm trajectories and various degrees of speed dependence of their reaching behavior. These inter-individual differences were addressed using a numerical inverse optimal control methodology. Simulation results revealed that a weighted combination of kinematic, energetic and dynamic cost functions was required to account for all the critical features of the participants' behavior. Furthermore, no evidence for the existence of a speed-dependent tuning of these weights was found, thereby suggesting subject-specific but speed-invariant weightings of kinematic, energetic and dynamic variables during the motor planning process of free arm movements. This suggested that the inter-individual difference of arm trajectories and speed dependence was not only due to anthropometric singularities but also to critical differences in the composition of the subjective cost function. PMID:27132233

  19. New developments in prosthetic arm systems

    Directory of Open Access Journals (Sweden)

    Vujaklija I

    2016-07-01

    Full Text Available Ivan Vujaklija,1 Dario Farina,1 Oskar C Aszmann2 1Institute of Neurorehabilitation Systems, Bernstein Focus Neurotechnology Göttingen, University Medical Center Göttingen, Georg-August University, Göttingen, Germany; 2Christian Doppler Laboratory for Restoration of Extremity Function, Division of Plastic and Reconstructive Surgery, Department of Surgery, Medical University of Vienna, Vienna, Austria Abstract: Absence of an upper limb leads to severe impairments in everyday life, which can further influence the social and mental state. For these reasons, early developments in cosmetic and body-driven prostheses date some centuries ago, and they have been evolving ever since. Following the end of the Second World War, rapid developments in technology resulted in powered myoelectric hand prosthetics. In the years to come, these devices were common on the market, though they still suffered high user abandonment rates. The reasons for rejection were trifold – insufficient functionality of the hardware, fragile design, and cumbersome control. In the last decade, both academia and industry have reached major improvements concerning technical features of upper limb prosthetics and methods for their interfacing and control. Advanced robotic hands are offered by several vendors and research groups, with a variety of active and passive wrist options that can be articulated across several degrees of freedom. Nowadays, elbow joint designs include active solutions with different weight and power options. Control features are getting progressively more sophisticated, offering options for multiple sensor integration and multi-joint articulation. Latest developments in socket designs are capable of facilitating implantable and multiple surface electromyography sensors in both traditional and osseointegration-based systems. Novel surgical techniques in combination with modern, sophisticated hardware are enabling restoration of dexterous upper limb

  20. Didier Combeau, Des Américains et des armes à feux. Violence et démocratie aux Etats-Unis. Saul Cornell, A Well-Regulated Militia : The Founding Fathers and the Origins of Gun Control in America.

    OpenAIRE

    Renaud Pacoud

    2008-01-01

    Deux ouvrages différents dans leur approche mais également passionnants permettent de saisir l’évolution du débat sur les armes à feu aux États-Unis. Des Américains et des armes à feux. Violence et démocratie aux Etats Unis de Didier Combeau rend compte de la relation complexe que les Américains entretiennent avec les armes à feu depuis la fondation de la nation et de la polémique contemporaine sur la question du droit aux armes. A Well-Regulated Militia : The Founding Fathers and the Origins...

  1. Didier Combeau, Des Américains et des armes à feux. Violence et démocratie aux Etats-Unis. Saul Cornell, A Well-Regulated Militia : The Founding Fathers and the Origins of Gun Control in America.

    Directory of Open Access Journals (Sweden)

    Renaud Pacoud

    2008-07-01

    Full Text Available Deux ouvrages différents dans leur approche mais également passionnants permettent de saisir l’évolution du débat sur les armes à feu aux États-Unis. Des Américains et des armes à feux. Violence et démocratie aux Etats Unis de Didier Combeau rend compte de la relation complexe que les Américains entretiennent avec les armes à feu depuis la fondation de la nation et de la polémique contemporaine sur la question du droit aux armes. A Well-Regulated Militia : The Founding Fathers and the Origins...

  2. Virtual sine arm kinematic mount system

    International Nuclear Information System (INIS)

    A novel kinematic mount system for a vertical focusing mirror of the soft x-ray spectroscopy beamline at the Advanced Photon Source is described. The system contains three points in a horizontal plane. Each point consists of two horizontal linear precision stages, a spherical ball bearing, and a vertical precision stage. The horizontal linear stages are aligned orthogonally and are conjoined by a spherical ball bearing, supported by the vertical linear stage at each point. The position of each confined horizontal stage is controlled by a motorized micrometer head by spring-loading the flat tip of the micrometer head onto a tooling ball fixing on the carriage of the stage. A virtual sine arm is formed by tilting the upstream horizontal stage down and the two downstream horizontal stages up by a small angle. The fine pitch motion is achieved by adjusting the upstream stage. This supporting structure is extremely steady due to a relatively large span across the supporting points and yields extremely high resolution on the pitch motion. With a one degree tilt and a microstepping motor, the authors achieved a 0.4 nanoradian resolution on the mirror pitch motion

  3. The spiral arms of the Milky Way: The relative location of each different arm tracer within a typical spiral arm width

    Energy Technology Data Exchange (ETDEWEB)

    Vallée, Jacques P., E-mail: jacques.vallee@nrc-cnrc.gc.ca [National Research Council Canada, National Science Infrastructure portfolio, Herzberg Astronomy and Astrophysics, 5071 West Saanich Road, Victoria, B.C., V9E 2E7 (Canada)

    2014-07-01

    From the Sun's location in the Galactic disk, different arm tracers (CO, H I, hot dust, etc.) have been employed to locate a tangent to each spiral arm. Using all various and different observed spiral arm tracers (as published elsewhere), we embark on a new goal, namely the statistical analysis of these published data (data mining) to statistically compute the mean location of each spiral arm tracer. We show for a typical arm cross-cut, a separation of 400 pc between the mid-arm and the dust lane (at the inner edge of the arm, toward the Galactic center). Are some arms major and others minor? Separating arms into two sets, as suggested by some, we find the same arm widths between the two sets. Our interpretation is that we live in a multiple (four-arm) spiral (logarithmic) pattern (around a pitch angle of 12°) for the stars and gas in the Milky Way, with a sizable interarm separation (around 3 kpc) at the Sun's location and the same arm width for each arm (near 400 pc from mid-arm to dust lane).

  4. The arms race between fishers

    Science.gov (United States)

    Rijnsdorp, Adriaan D.; Poos, Jan Jaap; Quirijns, Floor J.; HilleRisLambers, Reinier; De Wilde, Jan W.; Den Heijer, Willem M.

    An analysis of the changes in the Dutch demersal fishing fleet since the 1950s revealed that competitive interactions among vessels and gear types within the constraints imposed by biological, economic and fisheries management factors are the dominant processes governing the dynamics of fishing fleets. Double beam trawling, introduced in the early 1960s, proved a successful fishing method to catch deep burying flatfish, in particular sole. In less than 10 years, the otter trawl fleet was replaced by a highly specialised beam trawling fleet, despite an initial doubling of the loss rate of vessels due to stability problems. Engine power, size of the beam trawl, number of tickler chains and fishing speed rapidly increased and fishing activities expanded into previously lightly fished grounds and seasons. Following the ban on flatfish trawling within the 12 nautical mile zone for vessels of more than 300 hp in 1975 and with the restriction of engine power to 2000 hp in 1987, the beam trawl fleet bifurcated. Changes in the fleet capacity were related to the economic results and showed a cyclic pattern with a period of 6-7 years. The arms race between fishers was fuelled by competitive interactions among fishers: while the catchability of the fleet more than doubled in the ten years following the introduction of the beam trawl, a decline in catchability was observed in reference beam trawlers that remained the same. Vessel performance was not only affected by the technological characteristics but also by the number and characteristics of competing vessels.

  5. Molecular clouds in the Carina arm

    Science.gov (United States)

    Cohen, R. S.; Grabelsky, D. A.; May, J.; Alvarez, H.; Bronfman, L.; Thaddeus, P.

    1985-01-01

    From a new survey of the 2.6 mm line of CO in the southern Milky Way, 37 molecular clouds were identified along the Carina arm from l = 282 deg to 336 deg with masses generally greater than 10 to the 5th solar mass. The clouds lie approximately every 700 pc along a spiral segment that is nearly 25 kpc long and has a pitch of about 10 deg. The total mass of these clouds is 40 x 10 to the 6th solar mass, or rougly 1 x 10 to the 6th solar mass each on average. The abrupt tangent point in molecular clouds at l = 280 deg and the characteristic loop structure in the l-v diagram are unmistakable evidence of a CO spiral arm in Carina. This arm apparently connects with the northern hemisphere Sagittarius arm to form a single 10 deg spiral which extends more than two-thirds of the way around the Galaxy.

  6. 78 FR 30731 - Armed Forces Day, 2013

    Science.gov (United States)

    2013-05-22

    ... hundred and thirty- seventh. (Presidential Sig.) [FR Doc. 2013-12402 Filed 5-21-13; 11:15 am] Billing code..., liberty, and the pursuit of happiness. And on Armed Forces Day, we honor those who serve bravely...

  7. Arming and firing system for DISTANT RUNNER

    International Nuclear Information System (INIS)

    Sandia A and F systems Division 1132 provided arming and firing support for the DISTANT RUNNER Test Program at White Sands Missile Range. This report describes the field support and the firing system that was used

  8. 78 FR 40630 - International Traffic in Arms Regulations: Canadian Firearms Components Exemption

    Science.gov (United States)

    2013-07-08

    ... licensing for export to Canada of firearms components not exceeding $500 in value. DATES: This rule is... Appropriations Act 2013 (Pub. L. 113-6). The Department has the authority to regulate the export control program pursuant to the Arms Export Control Act, 22 U.S.C. 2778. Pursuant to section 520, the Department...

  9. Comparison of Arm and Interarm Molecular Clouds

    Science.gov (United States)

    Lee, Y.; Kim, H. G.; Moon, D. S.; Stark, A. A.

    1999-01-01

    The physical properties of the molecular clouds in the arm and interarm region of the inner Galalxy are compared. We used Bell Laboratories Galactic Plane 13CO Survey data and UMSB Galactic Plane 12CO Survey data. The LCO/M of the interarm molecular clouds is much smaller that of arm molecular clouds. Several physical properties, including abundance ratio of molecular clouds in two regions are discussed.

  10. Assemble four-arm DNA junctions into nanoweb

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    DNA is of structural polymorphism, which is useful in nanoarchitecture; especially, four-arm DNA junc tions can be used to assemble nanowebs. The static four-arm DNA junctions were designed and synthesized. One-arm DNA and two-arm DNA came out simultaneously with the four-arm DNA junction's formation. A new method, termed the two-step method, was proposed and the productivity of four-arm DNA junctions was increased. A nanoweb was assembled successfully, but it showed irregularity itself. It was not the same as we expected. We consider that it is aresult from the flexibility of four-arm DNA junction.

  11. Arm & Interarm Star Formation in Spiral Galaxies

    CERN Document Server

    Foyle, Kelly; Walter, Fabian; Leroy, Adam

    2010-01-01

    We investigate the relationship between spiral arms and star formation in the grand-design spirals NGC 5194 and NGC 628 and in the flocculent spiral NGC 6946. Filtered maps of near-IR (3.6 micron) emission allow us to identify "arm regions" that should correspond to regions of stellar mass density enhancements. The two grand-design spirals show a clear two-armed structure, while NGC 6946 is more complex. We examine these arm and interarm regions, looking at maps that trace recent star formation - far-ultraviolet (GALEX NGS) and 24 micron emission (Spitzer, SINGS) - and cold gas - CO (Heracles) and HI (Things). We find the star formation tracers and CO more concentrated in the spiral arms than the stellar 3.6 micron flux. If we define the spiral arms as the 25% highest pixels in the filtered 3.6 micron images, we find that the majority (60%) of star formation tracers occurs in the interarm regions; this result persists qualitatively even when considering the potential impact of finite data resolution and diffu...

  12. ARM assembly language with hardware experiments

    CERN Document Server

    Elahi, Ata

    2015-01-01

    This book provides a hands-on approach to learning ARM assembly language with the use of a TI microcontroller. The book starts with an introduction to computer architecture and then discusses number systems and digital logic. The text covers ARM Assembly Language, ARM Cortex Architecture and its components, and Hardware Experiments using TILM3S1968. Written for those interested in learning embedded programming using an ARM Microcontroller. ·         Introduces number systems and signal transmission methods   ·         Reviews logic gates, registers, multiplexers, decoders and memory   ·         Provides an overview and examples of ARM instruction set   ·         Uses using Keil development tools for writing and debugging ARM assembly language Programs   ·         Hardware experiments using a Mbed NXP LPC1768 microcontroller; including General Purpose Input/Output (GPIO) configuration, real time clock configuration, binary input to 7-segment display, creating ...

  13. Patient education with or without manual therapy compared to a control group in patients with osteoarthritis of the hip. A proof-of-principle three-arm parallel group randomized clinical trial

    DEFF Research Database (Denmark)

    Poulsen, E; Hartvigsen, J; Christensen, H W;

    2013-01-01

    To investigate the effectiveness of a patient education (PE) program with or without the added effect of manual therapy (MT) compared to a minimal control intervention (MCI).......To investigate the effectiveness of a patient education (PE) program with or without the added effect of manual therapy (MT) compared to a minimal control intervention (MCI)....

  14. Soft robotic arm inspired by the octopus: I. From biological functions to artificial requirements.

    Science.gov (United States)

    Margheri, L; Laschi, C; Mazzolai, B

    2012-06-01

    Octopuses are molluscs that belong to the group Cephalopoda. They lack joints and rigid links, and as a result, their arms possess virtually limitless freedom of movement. These flexible appendages exhibit peculiar biomechanical features such as stiffness control, compliance, and high flexibility and dexterity. Studying the capabilities of the octopus arm is a complex task that presents a challenge for both biologists and roboticists, the latter of whom draw inspiration from the octopus in designing novel technologies within soft robotics. With this idea in mind, in this study, we used new, purposively developed methods of analysing the octopus arm in vivo to create new biologically inspired design concepts. Our measurements showed that the octopus arm can elongate by 70% in tandem with a 23% diameter reduction and exhibits an average pulling force of 40 N. The arm also exhibited a 20% mean shortening at a rate of 17.1 mm s(-1) and a longitudinal stiffening rate as high as 2 N (mm s)(-1). Using histology and ultrasounds, we investigated the functional morphology of the internal tissues, including the sinusoidal arrangement of the nerve cord and the local insertion points of the longitudinal and transverse muscle fibres. The resulting information was used to create novel design principles and specifications that can in turn be used in developing a new soft robotic arm.

  15. Kinematics of symmetric Galactic longitudes to probe the spiral arms of the Milky Way with Gaia

    CERN Document Server

    Antoja, T; de Bruijne, J; Prusti, T

    2016-01-01

    We model the effects of the spiral arms on the disk stellar kinematics by using both controlled orbital integrations in analytic potentials and self-consistent simulations. We compare the stellar kinematics of symmetric Galactic longitudes (+l and -l). This approach does not require the assumption of an axisymmetric model. The differences of the median transverse velocity, i.e. from parallaxes and proper motions, show clear trends that depend strongly on the properties of the spiral arms. Thus, this method can be used to quantify the importance of the spiral arms effects on the stellar orbits in the different regions of the disk and also constrain the location of the arms, their main resonances and, thus, their pattern speed. Moreover, the method give us indications of the dynamical nature of the spiral structure (e.g. grand-design versus transient multiple arms) and, therefore, allow us to test different origin scenarios of spiral arms. The typical differences of the measured kinematics in symmetric longitud...

  16. 动态规划求解空间双臂机器人非完整运动最优控制问题%Dynamic Programming for Solving the Optimal Nonholonomic Motion Control Problem of the Bi-Arm Space Robot

    Institute of Scientific and Technical Information of China (English)

    赵金刚; 戈新生

    2016-01-01

    In this paper the optimal nonholonomic motion planning of the free-floating space robot system with two arms is solved using adaptive dynamic programming.Based on the principle of the translational and rotational momentum conservations in the multi-body dynamics theorem,the nonholonomic motion equations of the bi-arm space robot system are established,which are then transferred into the state equations of the optimal control for the system.In this way,the nonholonomic motion planning of the robot system is translated into the solution of a canonical nonlinear control problem.Based on the network of adaptive dynamic programming,the performance index function can be approximated within the neural network,and the state variables can be solved using Runge-Kutta integration algorithm.In addition,we provide an explicit expression of the utility function which is suitable for this kind of problem.The objective of the optimal control of nonholonomic motion planning is achieved that the investigated bi-arm space robot no longer move once it reaches the desired location.The effectiveness of optimal control of nonholonomic motion planning for free-floating space robot system using ADP is verified by the numerical simulation experiments.%通过自适应动态规划研究自由漂浮空间双臂机器人运动的最优控制问题.针对空间双臂机器人的非完整性运动,采用自适应动态规划(Adaptive Dynamic Programming,ADP)方法求解其最优控制问题.根据多体动力学理论,推导了载体位置、姿态均无控制条件下,双臂空间机器人满足的系统动量守恒关系的非完整约束方程,并将其转化为控制系统的状态方程,从而将双臂空间机器人的非完整运动规划问题转化为对非线性系统的控制问题.文中根据自适应动态规划网络结构,利用神经网络来近似性能指标函数,进而用龙格库塔法求解状态变量.并给出了适合该类问题的一种效用函数具体表达式,保

  17. An arms race is coming to the Asia-Pacific region

    International Nuclear Information System (INIS)

    After nearly half a century of the Cold War, the USA and Russia have finally come to carrying out their arms control agreements, drastically cutting their nuclear and conventional weapons as well as military personnel. One would imagine that the world would gradually cease to manufacture and sell weapons. The reality has seen quite the opposite. The Asia-Pacific region needs to establish urgently a forum for dialogue in security and cooperation negotiations in order to resolve peacefully outstanding territorial and political disputes. Certain arms control measures should be initiated by the Asia-Pacific nations, otherwise they will face the 21st century with the prospect of many military confrontations

  18. Motor adaptation to Coriolis force perturbations of reaching movements: endpoint but not trajectory adaptation transfers to the nonexposed arm

    Science.gov (United States)

    Dizio, P.; Lackner, J. R.

    1995-01-01

    1. Reaching movements made in a rotating room generate Coriolis forces that are directly proportional to the cross product of the room's angular velocity and the arm's linear velocity. Such Coriolis forces are inertial forces not involving mechanical contact with the arm. 2. We measured the trajectories of arm movements made in darkness to a visual target that was extinguished at the onset of each reach. Prerotation subjects pointed with both the right and left arms in alternating sets of eight movements. During rotation at 10 rpm, the subjects reached only with the right arm. Postrotation, the subjects pointed with the left and right arms, starting with the left, in alternating sets of eight movements. 3. The initial perrotary reaching movements of the right arm were highly deviated both in movement path and endpoint relative to the prerotation reaches of the right arm. With additional movements, subjects rapidly regained straight movement paths and accurate endpoints despite the absence of visual or tactile feedback about reaching accuracy. The initial postrotation reaches of the left arm followed straight paths to the wrong endpoint. The initial postrotation reaches of the right arm had paths with mirror image curvature to the initial perrotation reaches of the right arm but went to the correct endpoint. 4. These observations are inconsistent with current equilibrium point models of movement control. Such theories predict accurate reaches under our experimental conditions. Our observations further show independent implementation of movement and posture, as evidenced by transfer of endpoint adaptation to the nonexposed arm without transfer of path adaptation. Endpoint control may occur at a relatively central stage that represents general constraints such as gravitoinertial force background or egocentric direction relative to both arms, and control of path may occur at a more peripheral stage that represents moments of inertia and muscle dynamics unique to each

  19. Neuromechanical considerations for incorporating rhythmic arm movement in the rehabilitation of walking

    Science.gov (United States)

    Klimstra, Marc D.; Thomas, Evan; Stoloff, Rebecca H.; Ferris, Daniel P.; Zehr, E. Paul

    2009-06-01

    We have extensively used arm cycling to study the neural control of rhythmic movements such as arm swing during walking. Recently rhythmic movement of the arms has also been shown to enhance and shape muscle activity in the legs. However, restricted information is available concerning the conditions necessary to maximally alter lumbar spinal cord excitability. Knowledge on the neuromechanics of a task can assist in the determination of the type, level, and timing of neural signals, yet arm swing during walking and arm cycling have not received a detailed neuromechanical comparison. The purpose of this research was to provide a combined neural and mechanical measurement approach that could be used to assist in the determination of the necessary and sufficient conditions for arm movement to assist in lower limb rehabilitation after stroke and spinal cord injury. Subjects performed three rhythmic arm movement tasks: (1) cycling (cycle); (2) swinging while standing (swing); and (3) swinging while treadmill walking (walk). We hypothesized that any difference in neural control between tasks (i.e., pattern of muscle activity) would reflect changes in the mechanical constraints unique to each task. Three-dimensional kinematics were collected simultaneously with force measurement at the hand and electromyography from the arms and trunk. All data were appropriately segmented to allow a comparison between and across conditions and were normalized and averaged to 100% movement cycle based on shoulder excursion. Separate mathematical principal components analysis of kinematic and neural variables was performed to determine common task features and muscle synergies. The results highlight important neural and mechanical features that distinguish differences between tasks. For example, there are considerable differences in the anatomical positions of the arms during each task, which relate to the moments experienced about the elbow and shoulder. Also, there are differences between

  20. Core Muscle Activation in One-Armed and Two-Armed Kettlebell Swing.

    Science.gov (United States)

    Andersen, Vidar; Fimland, Marius S; Gunnarskog, Aril; Jungård, Georg-Andrè; Slåttland, Roy-Andrè; Vraalsen, Øyvind F; Saeterbakken, Atle H

    2016-05-01

    The aim of the study was to compare the electromyographic activity of rectus abdominis, oblique external, and lower and upper erector spinae at both sides of the truncus in 1-armed and 2-armed kettlebell swing. Sixteen healthy men performed 10 repetitions of both exercises using a 16-kg kettlebell in randomized order. For the upper erector spinae, the activation of the contralateral side during 1-armed swing was 24% greater than that of the ipsilateral side during 1-armed swing (p kettlebell swing with 1 arm resulted in greater neuromuscular activity for the contralateral side of the upper erector spinae and ipsilateral side of the rectus abdominis, and lower activation of the opposite side of the respective muscles. PMID:26473519

  1. ARM Airborne Carbon Measurements (ARM-ACME) and ARM-ACME 2.5 Final Campaign Reports

    Energy Technology Data Exchange (ETDEWEB)

    Biraud, S. C. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Tom, M. S. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Sweeney, C. [NOAA Earth Systems Research Lab., Boulder, CO (United States)

    2016-01-01

    We report on a 5-year multi-institution and multi-agency airborne study of atmospheric composition and carbon cycling at the Atmospheric Radiation Measurement (ARM) Climate Research Facility’s Southern Great Plains (SGP) site, with scientific objectives that are central to the carbon-cycle and radiative-forcing goals of the U.S. Global Change Research Program and the North American Carbon Program (NACP). The goal of these measurements is to improve understanding of 1) the carbon exchange of the Atmospheric Radiation Measurement (ARM) SGP region; 2) how CO2 and associated water and energy fluxes influence radiative-forcing, convective processes, and CO2 concentrations over the ARM SGP region, and 3) how greenhouse gases are transported on continental scales.

  2. End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

    Directory of Open Access Journals (Sweden)

    Jolly Atit Shah

    2013-03-01

    Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Pravak Robot Arm is a simple and safe robotic system designed for laboratory training and research applications. This robot allows to gain theoretical and practical experience in robotics, automation and control systems. The MATLAB R2007 is used to analyse end effectors position for a set of joint parameter.

  3. Spiral arms as cosmic ray source distributions

    Science.gov (United States)

    Werner, M.; Kissmann, R.; Strong, A. W.; Reimer, O.

    2015-04-01

    The Milky Way is a spiral galaxy with (or without) a bar-like central structure. There is evidence that the distribution of suspected cosmic ray sources, such as supernova remnants, are associated with the spiral arm structure of galaxies. It is yet not clearly understood what effect such a cosmic ray source distribution has on the particle transport in our Galaxy. We investigate and measure how the propagation of Galactic cosmic rays is affected by a cosmic ray source distribution associated with spiral arm structures. We use the PICARD code to perform high-resolution 3D simulations of electrons and protons in galactic propagation scenarios that include four-arm and two-arm logarithmic spiral cosmic ray source distributions with and without a central bar structure as well as the spiral arm configuration of the NE2001 model for the distribution of free electrons in the Milky Way. Results of these simulation are compared to an axisymmetric radial source distribution. Also, effects on the cosmic ray flux and spectra due to different positions of the Earth relative to the spiral structure are studied. We find that high energy electrons are strongly confined to their sources and the obtained spectra largely depend on the Earth's position relative to the spiral arms. Similar finding have been obtained for low energy protons and electrons albeit at smaller magnitude. We find that even fractional contributions of a spiral arm component to the total cosmic ray source distribution influences the spectra on the Earth. This is apparent when compared to an axisymmetric radial source distribution as well as with respect to the Earth's position relative to the spiral arm structure. We demonstrate that the presence of a Galactic bar manifests itself as an overall excess of low energy electrons at the Earth. Using a spiral arm geometry as a cosmic ray source distributions offers a genuine new quality of modeling and is used to explain features in cosmic ray spectra at the Earth

  4. Spiral Arms as Cosmic Ray Source Distributions

    CERN Document Server

    Werner, M; Strong, A W; Reimer, O

    2014-01-01

    There is evidence that the distribution of suspected cosmic ray sources are associated with the spiral arm structure of galaxies. It is yet not clearly understood what effect such a cosmic ray source distribution has on the particle transport in our Galaxy. We use the PICARD code to perform high-resolution 3D simulations of electrons and protons in galactic propagation scenarios that include four-arm and two-arm logarithmic spiral cosmic ray source distributions with and without a central bar structure as well as the spiral arm configuration of the NE2001 model for the distribution of free electrons in the Milky Way. Results of these simulation are compared to an axisymmetric radial source distribution. Also, effects on the cosmic ray flux and spectra due to different positions of the Earth relative to the spiral structure are studied. We find that high energy electrons are strongly confined to their sources and the obtained spectra largely depend on the Earth's position relative to the spiral arms. Similar f...

  5. Are substrate use during exercise and mitochondrial respiratory capacity decreased in arm and leg muscle in type 2 diabetes?

    DEFF Research Database (Denmark)

    Larsen, Steen; Ara, I; Rabøl, R;

    2009-01-01

    AIM/HYPOTHESIS: The aim of the study was to investigate mitochondrial function, fibre type distribution and substrate oxidation in arm and leg muscle during exercise in patients with type 2 diabetes and in obese and lean controls. METHODS: Indirect calorimetry was used to calculate fat and...... carbohydrate oxidation during both progressive arm-cranking and leg-cycling exercises. Muscle biopsies from arm and leg were obtained. Fibre type, as well as O(2) flux capacity of saponin-permeabilised muscle fibres were measured, the latter by high resolution respirometry, in patients with type 2 diabetes...

  6. Light duty utility arm walkdown report

    Energy Technology Data Exchange (ETDEWEB)

    Smalley, J.L.

    1998-09-25

    This document is a report of the Light Duty Utility Arm (LDUA) drawing walkdown. The purpose of this walkdown was to validate the essential configuration of the LDUA in preparation of deploying the equipment in a Hanford waste tank. The LDUA system has, over the course of its development, caused the generation of a considerable number of design drawings. The number of drawings is estimated to be well over 1,000. A large number consist of vendor type drawings, furnished by both Pacific Northwest National Laboratory (PNNL) and SPAR Aerospace Limited (SPAR). A smaller number, approximately 200, are H-6 type drawing sheets in the Project Hanford Management Contract (PHMC) document control system. A preliminary inspection of the drawings showed that the physical configuration of the LDUA did not match the documented configuration. As a result of these findings, a scoping walkdown of 20 critical drawing sheets was performed to determine if a problem existed in configuration management of the LDUA system. The results of this activity showed that 18 of the 20 drawing sheets were found to contain errors or omissions of varying concern. Given this, Characterization Engineering determined that a walkdown of the drawings necessary and sufficient to enable safe operation and maintenance of the LDUA should be performed. A review team was assembled to perform a review of all of the drawings and determine the set which would need to be verified through an engineering walkdown. The team determined that approximately 150 H-6 type drawing sheets would need to be verified, 12 SPAR/PNNL drawing sheets would need to be verified and converted to H-6 drawings, and three to six new drawings would be created (see Appendix A). This report documents the results of that walkdown.

  7. ARM Cloud Retrieval Ensemble Data Set (ACRED)

    Energy Technology Data Exchange (ETDEWEB)

    Zhao, C; Xie, S; Klein, SA; McCoy, R; Comstock, JM; Delanoë, J; Deng, M; Dunn, M; Hogan, RJ; Jensen, MP; Mace, GG; McFarlane, SA; O’Connor, EJ; Protat, A; Shupe, MD; Turner, D; Wang, Z

    2011-09-12

    This document describes a new Atmospheric Radiation Measurement (ARM) data set, the ARM Cloud Retrieval Ensemble Data Set (ACRED), which is created by assembling nine existing ground-based cloud retrievals of ARM measurements from different cloud retrieval algorithms. The current version of ACRED includes an hourly average of nine ground-based retrievals with vertical resolution of 45 m for 512 layers. The techniques used for the nine cloud retrievals are briefly described in this document. This document also outlines the ACRED data availability, variables, and the nine retrieval products. Technical details about the generation of ACRED, such as the methods used for time average and vertical re-grid, are also provided.

  8. Fusion of hand and arm gestures

    Science.gov (United States)

    Coquin, D.; Benoit, E.; Sawada, H.; Ionescu, B.

    2005-12-01

    In order to improve the link between an operator and its machine, some human oriented communication systems are now using natural languages like speech or gesture. The goal of this paper is to present a gesture recognition system based on the fusion of measurements issued from different kind of sources. It is necessary to have some sensors that are able to capture at least the position and the orientation of the hand such as Dataglove and a video camera. Datagloge gives a measure of the hand posture and a video camera gives a measure of the general arm gesture which represents the physical and spatial properties of the gesture, and based on the 2D skeleton representation of the arm. The measurements used are partially complementary and partially redundant. The application is distributed on intelligent cooperating sensors. The paper presents the measurement of the hand and the arm gestures, the fusion processes, and the implementation solution.

  9. Characterizing spiral arm and interarm star formation

    CERN Document Server

    Kreckel, K; Schinnerer, E; Groves, B; Adamo, A; Hughes, A; Meidt, S

    2016-01-01

    Interarm star formation contributes significantly to a galaxy's star formation budget, and provides an opportunity to study stellar birthplaces unperturbed by spiral arm dynamics. Using optical integral field spectroscopy of the nearby galaxy NGC 628 with VLT/MUSE, we identify 391 HII regions at 35pc resolution over 12 kpc^2. Using tracers sensitive to the underlying gravitational potential, we associate HII regions with either arm (271) or interarm (120) environments. We find that most HII region physical properties (luminosity, size, metallicity, ionization parameter) are independent of environment. We calculate the fraction of Halpha luminosity due to the diffuse ionized gas (DIG) background contaminating each HII region, and find the DIG surface brightness to be higher within HII regions compared to the surroundings, and slightly higher within arm HII regions. Use of the temperature sensitive [SII]/Halpha line ratio map instead of the Halpha surface brightness to identify HII region boundaries does not ch...

  10. Characterizing Spiral Arm and Interarm Star Formation

    Science.gov (United States)

    Kreckel, K.; Blanc, G. A.; Schinnerer, E.; Groves, B.; Adamo, A.; Hughes, A.; Meidt, S.

    2016-08-01

    Interarm star formation contributes significantly to a galaxy’s star formation budget and provides an opportunity to study stellar birthplaces unperturbed by spiral arm dynamics. Using optical integral field spectroscopy of the nearby galaxy NGC 628 with VLT/MUSE, we construct Hα maps including detailed corrections for dust extinction and stellar absorption to identify 391 H ii regions at 35 pc resolution over 12 kpc2. Using tracers sensitive to the underlying gravitational potential, we associate H ii regions with either arm (271) or interarm (120) environments. Using our full spectral coverage of each region, we find that most physical properties (luminosity, size, metallicity, ionization parameter) of H ii regions are independent of environment. We calculate the fraction of Hα luminosity due to the background of diffuse ionized gas (DIG) contaminating each H ii region, and find the DIG surface brightness to be higher within H ii regions than in the surroundings, and slightly higher within arm H ii regions. Use of the temperature-sensitive [S ii]/Hα line ratio instead of the Hα surface brightness to identify the boundaries of H ii regions does not change this result. Using the dust attenuation as a tracer of the gas, we find depletion times consistent with previous work (2 × 109 yr) with no differences between the arm and interarm, but this is very sensitive to the DIG correction. Unlike molecular clouds, which can be dynamically affected by the galactic environment, we see fairly consistent properties of H ii regions in both arm and interarm environments. This suggests either a difference in star formation and feedback in arms or a decoupling of dense star-forming clumps from the more extended surrounding molecular gas.

  11. Evolution of prehension ability in an anthropomorphic neurorobotic arm

    Directory of Open Access Journals (Sweden)

    Gianluca Massera

    2007-11-01

    Full Text Available In this paper, we show how a simulated anthropomorphic robotic arm controlled by an artificial neural network can develop effective reaching and grasping behaviour through a trial and error process in which the free parameters encode the control rules which regulate the fine-grained interaction between the robot and the environment and variations of the free parameters are retained or discarded on the basis of their effects at the level of the global behaviour exhibited by the robot situated in the environment. The obtained results demonstrate how the proposed methodology allows the robot to produce effective behaviours thanks to its ability to exploit the morphological properties of the robot's body (i.e. its anthropomorphic shape, the elastic properties of its muscle-like actuators and the compliance of its actuated joints and the properties which arise from the physical interaction between the robot and the environment mediated by appropriate control rules.

  12. Offset between stellar spiral arms and gas arms of the Milky Way

    CERN Document Server

    Hou, L G

    2015-01-01

    Spiral arms shown by different components may not be spatially coincident, which can constrain formation mechanisms of spiral structure in a galaxy. We reassess the spiral arm tangency directions in the Milky Way through identifying the bump features in the longitude plots of survey data for infrared stars, radio recombination lines (RRLs), star formation sites, CO, high density regions in clouds, and HI. The bump peaks are taken as indications for arm tangencies, which are close to the real density peaks near the spiral arm tangency point but often have $\\sim$ 1$^\\circ$ offset to the interior of spiral arms. The arm tangencies identified from the longitudes plots for RRLs, HII regions, methanol masers, CO, high density gas regions, and HI gas appear nearly the same Galactic longitude, and therefore there is no obvious offset for spiral arms traced by different gas components. However, we find obvious displacements of 1.3$^\\circ-$ 5.8$^\\circ$ between gaseous bump peaks from the directions of the maximum densi...

  13. The ARM unpiloted aerospace vehicle (UAV) program

    Energy Technology Data Exchange (ETDEWEB)

    Sowle, D. [Mission Research Corporation, Santa Barbara, CA (United States)

    1995-09-01

    Unmanned aerospace vehicles (UAVs) are an important complement to the DOE`s Atmospheric Radiation Measurement (ARM) Program. ARM is primarily a ground-based program designed to extensively quantify the radiometric and meteorological properties of an atmospheric column. There is a need for airborne measurements of radiative profiles, especially flux at the tropopause, cloud properties, and upper troposphere water vapor. There is also a need for multi-day measurements at the tropopause; for example, in the tropics, at 20 km for over 24 hours. UAVs offer the greatest potential for long endurance at high altitudes and may be less expensive than piloted flights. 2 figs.

  14. Homosexuality in the Dutch Armed Forces 2006

    OpenAIRE

    Anna Adolfsen; Saskia Keuzenkamp; m.m.v. Linda Mans

    2006-01-01

    Original title: Uniform uit de kast. This study looks at the attitudes of defence personnel to homosexuality. How do members of the military view homosexual colleagues? Can gays and lesbians working in the armed forces be open about their sexual preferences? Do they regard the armed forces as a gay-friendly workplace, or do they have lots of negative experiences? At the request of the State Secretary for Defence, the Netherlands Institute for Social Research/SCP carried out a study on the acc...

  15. Simulations of tidally induced spiral arms

    CERN Document Server

    Semczuk, Marcin

    2015-01-01

    The origin of grand design spiral structure in galaxies is still under debate but one of promising scenarios involves tidal interactions. We use N-body simulations to study the evolution of a Milky Way-size galaxy in a Virgo-like cluster. The galaxy is placed on a typical eccentric orbit and evolved for 10 Gyr. We find that grand design spiral arms are triggered by pericenter passages and later on they wind up and dissipate. The arms formed in the simulations are approximately logarithmic, but are also dynamic, transient and recurrent.

  16. The quest for the bionic arm.

    Science.gov (United States)

    Hutchinson, Douglas T

    2014-06-01

    The current state of research of upper extremity prosthetic devices is focused on creating a complete prosthesis with full motor and sensory function that will provide amputees with a near-normal human arm. Although advances are being made rapidly, many hurdles remain to be overcome before a functional, so-called bionic arm is a reality. Acquiring signals via nerve or muscle inputs will require either a reliable wireless device or direct wiring through an osseous-integrated implant. The best way to tap into the "knowledge" present in the peripheral nerve is yet to be determined.

  17. Efficacy and Safety of Biphasic Insulin Aspart 30/70 in Type 2 Diabetes Suboptimally Controlled on Oral Antidiabetic Therapy in Korea: A Multicenter, Open-Label, Single-Arm Study

    Directory of Open Access Journals (Sweden)

    Kee-Ho Song

    2013-04-01

    Full Text Available BackgroundThe purpose of this study was to evaluate change in glycosylated hemoglobin (HbA1c, side effects, and quality of life (QOL after a 16-week treatment period with Biphasic insulin aspart 30/70 (BIasp30 in patients with type 2 diabetes mellitus (T2DM who had been suboptimally controlled with oral antidiabetic drugs (OADs.MethodsThe study consisted of a 4-week titration period when concurrent OAD(s were replaced with BIasp30 and followed by a 12-week maintenance period. All patients completed the Diabetes Treatment Satisfaction Questionnaire at the beginning and the end of the trial. Hypoglycemic episodes were recorded by the patient throughout the trial.ResultsSixty patients were included, of whom 55 patients (92% completed the full 16-week treatment period. Seven-point blood glucose was significantly improved as compared with the baseline, except for the postlunch blood glucose level. HbA1c at the end of period was significantly improved from 9.2% to 8.2% (P<0.001. Eleven percent (n=6 of patients achieved HbA1c values ≤6.5% and 22% (n=12 of patients achieved <7.0%. There were 3.4 episodes/patients-year of minor hypoglycemia and 0.05 episodes/patients-year of major hypoglycemia. QOL showed significant changes only in the acceptability of high blood glucose category (P=0.003.ConclusionTreatment with once or twice daily BIasp30 may be an option for the patients with T2DM suboptimally controlled with OADs in Korea. However, considering the low number of patients achieving the HbA1c target and the high postlunch blood glucose levels, additional management with another modality may be required for optimal control.

  18. Efficacy and Safety of Biphasic Insulin Aspart 30/70 in Type 2 Diabetes Suboptimally Controlled on Oral Antidiabetic Therapy in Korea: A Multicenter, Open-Label, Single-Arm Study

    OpenAIRE

    Kee-Ho Song; Jung Min Kim; Jung-Hyun Noh; Yongsoo Park; Hyun-Shik Son; Kyong Wan Min; Kyung Soo Ko

    2013-01-01

    Background The purpose of this study was to evaluate change in glycosylated hemoglobin (HbA1c), side effects, and quality of life (QOL) after a 16-week treatment period with Biphasic insulin aspart 30/70 (BIasp30) in patients with type 2 diabetes mellitus (T2DM) who had been suboptimally controlled with oral antidiabetic drugs (OADs). Methods The study consisted of a 4-week titration period when concurrent OAD(s) were replaced with BIasp30 and followed by a 12-week maintenance period. All pat...

  19. Asynchronous Control System for the LED Screen Based on the ARM Cortex-M3 Processor%基于ARMCortex-M3的LED显示屏异步控制卡

    Institute of Scientific and Technical Information of China (English)

    朱迁虎; 姜文斌; 葛燕; 汪萍

    2014-01-01

    随着LED显示技术的飞速发展,LED显示屏作为一种新的传播媒介,应用领域不断扩大。与之相对应的控制器应运而生。为了解决本公司原有产品带载范围小、分立元件多、器件昂贵、开发难度等问题,本文提出了一种新型的LED显示方案,该方案采用ARMCortex-M3内核,运用嵌入式开发技术,开发了低成本、高显示效果、多功能的显示屏异步控制卡。包括核心的硬件电路图及DMA控制器工作原理,部分系统软件流程图,RS485与RS232自适应通信电路及自动波特率的实现。%With the rapid development of LED display technology, LED screen as a new media has been applied to many more and more fields. Correspondingly, the stronger controller is made. However, the load range of traditional controller is small, with massive multiple discrete components. Besides, it costs money and is difficult to develop. Here, we present a new LED display method. In this method embedded development technology is applied and an ARMCortex-M3 core is equipped. Which is low-cost with an enjoying display effect. Moreover a multi-function asynchronous control center is created. In addition, circuit of hardware, working machanism of the DMA controller, part of the progress chart of the system software are detailed described. And this paper introduces how RS485 and RS232 communication circuit and how the automatic baud rate realized.

  20. The effect of yoga on women with secondary arm lymphoedema from breast cancer treatment

    Directory of Open Access Journals (Sweden)

    Loudon Annette

    2012-05-01

    Full Text Available Abstract Background Women who develop secondary arm lymphoedema subsequent to treatment associated with breast cancer require life-long management for a range of symptoms including arm swelling, heaviness, tightness in the arm and sometimes the chest, upper body impairment and changes to a range of parameters relating to quality of life. While exercise under controlled conditions has had positive outcomes, the impact of yoga has not been investigated. The aim of this study is to determine the effectiveness of yoga in the physical and psycho-social domains, in the hope that women can be offered another safe, holistic modality to help control many, if not all, of the effects of secondary arm lymphoedema. Methods and design A randomised controlled pilot trial will be conducted in Hobart and Launceston with a total of 40 women receiving either yoga intervention or current best practice care. Intervention will consist of eight weeks of a weekly teacher-led yoga class with a home-based daily yoga practice delivered by DVD. Primary outcome measures will be the effects of yoga on lymphoedema and its associated symptoms and quality of life. Secondary outcome measures will be range of motion of the arm and thoracic spine, shoulder strength, and weekly and daily physical activity. Primary and secondary outcomes will be measured at baseline, weeks four, eight and a four week follow up at week twelve. Range of motion of the spine, in a self-nominated group, will be measured at baseline, weeks eight and twelve. A further outcome will be the women’s perceptions of the yoga collected by interview at week eight. Discussion The results of this trial will provide information on the safety and effectiveness of yoga for women with secondary arm lymphoedema from breast cancer treatment. It will also inform methodology for future, larger trials. Trial registration ACTRN12611000202965