pROC: an open-source package for R and S+ to analyze and compare ROC curves.

Science.gov (United States)

Robin, Xavier; Turck, Natacha; Hainard, Alexandre; Tiberti, Natalia; Lisacek, Frédérique; Sanchez, Jean-Charles; Müller, Markus

2011-03-17

Receiver operating characteristic (ROC) curves are useful tools to evaluate classifiers in biomedical and bioinformatics applications. However, conclusions are often reached through inconsistent use or insufficient statistical analysis. To support researchers in their ROC curves analysis we developed pROC, a package for R and S+ that contains a set of tools displaying, analyzing, smoothing and comparing ROC curves in a user-friendly, object-oriented and flexible interface. With data previously imported into the R or S+ environment, the pROC package builds ROC curves and includes functions for computing confidence intervals, statistical tests for comparing total or partial area under the curve or the operating points of different classifiers, and methods for smoothing ROC curves. Intermediary and final results are visualised in user-friendly interfaces. A case study based on published clinical and biomarker data shows how to perform a typical ROC analysis with pROC. pROC is a package for R and S+ specifically dedicated to ROC analysis. It proposes multiple statistical tests to compare ROC curves, and in particular partial areas under the curve, allowing proper ROC interpretation. pROC is available in two versions: in the R programming language or with a graphical user interface in the S+ statistical software. It is accessible at http://expasy.org/tools/pROC/ under the GNU General Public License. It is also distributed through the CRAN and CSAN public repositories, facilitating its installation.

Power of tests for comparing trend curves with application to national immunization survey (NIS).

Science.gov (United States)

Zhao, Zhen

2011-02-28

To develop statistical tests for comparing trend curves of study outcomes between two socio-demographic strata across consecutive time points, and compare statistical power of the proposed tests under different trend curves data, three statistical tests were proposed. For large sample size with independent normal assumption among strata and across consecutive time points, the Z and Chi-square test statistics were developed, which are functions of outcome estimates and the standard errors at each of the study time points for the two strata. For small sample size with independent normal assumption, the F-test statistic was generated, which is a function of sample size of the two strata and estimated parameters across study period. If two trend curves are approximately parallel, the power of Z-test is consistently higher than that of both Chi-square and F-test. If two trend curves cross at low interaction, the power of Z-test is higher than or equal to the power of both Chi-square and F-test; however, at high interaction, the powers of Chi-square and F-test are higher than that of Z-test. The measurement of interaction of two trend curves was defined. These tests were applied to the comparison of trend curves of vaccination coverage estimates of standard vaccine series with National Immunization Survey (NIS) 2000-2007 data. Copyright © 2011 John Wiley & Sons, Ltd.

The Regulation of Market Manipulation in Australia: A Historical Comparative Perspective

Directory of Open Access Journals (Sweden)

Howard Chitimira

2015-07-01

Full Text Available Notably, in Australia, market abuse practices like market manipulation and other market misconduct practices are expressly prohibited under the Corporations Act as amended by the Financial Services Reform Act. In the light of this, and for the purposes of this article, a brief historical analysis of the market manipulation prohibition will be presented first. Secondly, the available penalties and remedies for market manipulation are discussed. Thereafter, possible recommendations and significant Australian anti-market abuse enforcement approaches that may be utilised in South Africa are briefly stated. Lastly, concluding remarks are provided.

Analysis, reconstruction and manipulation using arterial snakes

KAUST Repository

Li, Guo

2010-01-01

Man-made objects often consist of detailed and interleaving structures, which are created using cane, coils, metal wires, rods, etc. The delicate structures, although manufactured using simple procedures, are challenging to scan and reconstruct. We observe that such structures are inherently 1D, and hence are naturally represented using an arrangement of generating curves. We refer to the resultant surfaces as arterial surfaces. In this paper we approach for analyzing, reconstructing, and manipulating such arterial surfaces. The core of the algorithm is a novel deformable model, called arterial snake, that simultaneously captures the topology and geometry of the arterial objects. The recovered snakes produce a natural decomposition of the raw scans, with the decomposed parts often capturing meaningful object sections. We demonstrate the robustness of our algorithm on a variety of arterial objects corrupted with noise, outliers, and with large parts missing. We present a range of applications including reconstruction, topology repairing, and manipulation of arterial surfaces by directly controlling the underlying curve network and the associated sectional profiles, which are otherwise challenging to perform. © 2010 ACM.

Robot training of upper limb in multiple sclerosis: comparing protocols with or without manipulative task components.

Science.gov (United States)

Carpinella, Ilaria; Cattaneo, Davide; Bertoni, Rita; Ferrarin, Maurizio

2012-05-01

In this pilot study, we compared two protocols for robot-based rehabilitation of upper limb in multiple sclerosis (MS): a protocol involving reaching tasks (RT) requiring arm transport only and a protocol requiring both objects' reaching and manipulation (RMT). Twenty-two MS subjects were assigned to RT or RMT group. Both protocols consisted of eight sessions. During RT training, subjects moved the handle of a planar robotic manipulandum toward circular targets displayed on a screen. RMT protocol required patients to reach and manipulate real objects, by moving the robotic arm equipped with a handle which left the hand free for distal tasks. In both trainings, the robot generated resistive and perturbing forces. Subjects were evaluated with clinical and instrumental tests. The results confirmed that MS patients maintained the ability to adapt to the robot-generated forces and that the rate of motor learning increased across sessions. Robot-therapy significantly reduced arm tremor and improved arm kinematics and functional ability. Compared to RT, RMT protocol induced a significantly larger improvement in movements involving grasp (improvement in Grasp ARAT sub-score: RMT 77.4%, RT 29.5%, p=0.035) but not precision grip. Future studies are needed to evaluate if longer trainings and the use of robotic handles would significantly improve also fine manipulation.

Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

Science.gov (United States)

Yang, Z. X.; Yang, W. L.; Du, Z. J.

2018-03-01

Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and actual results proved the rationality of the models.

Lightweight submersed 'Walking' NDE manipulators for PWR and BWR vessel weld inspection

International Nuclear Information System (INIS)

Saernmark, Ivan; Lenz, Herbert

2008-01-01

Three new manipulators developed by WesDyne TRC in Sweden have under the year 2007 performed three very successful inspections in the PWR reactor Ringhals 3 and the BWR reactors Ringhals 1 and Oskarshamn 1. The manipulator systems can be used to perform inspection of circumferential and vertical welds on the reactor pressure vessel, the core shroud, core shroud support in BWR reactors or vessel and core barrel welds in PWR reactors. Most other flat or curved surfaces can be inspected using the new concept through relatively simple mechanical reconfigurations of system modules. The first inspection was performed on the R3 PWR core barrel in June 2007 with a very good result. This Manipulator is designed for access in very narrow gaps and for the type of core barrels with a shield covering the whole area of the perimeter. The manipulator is attached to the inspection area by means of a new unique suction cup system. The current manipulators consist of a curved horizontal beam, with radius similar to the reactor vessel, and a straight vertical beam, forming a T-shaped structure. By alternating the application of suction cup pairs on the horizontal beam and the vertical beam and by driving the scanning motors, the manipulator performs an incremental translational movement upwards/downwards or from side to side. The principles of this system give a well defined and stable platform for global and local positioning accuracy. A combination of advanced sensor solutions provides accurate position information in the absence of other physical reference objects. The system is controlled by the new WesDyne TRC Motor Control Panel and software, the MCP is specifically designed for remote control of submersed manipulators using techniques for cable reduction

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

Full Text Available A mathematical model to describe the dynamics of manipulator robots. Mathematical model are the implementation of the method based on the Lagrange equation and using the transformation matrices of elastic coordinates. Mathematical model make it possible to determine the elastic deviations of manipulator robots from programmed motion trajectories caused by elastic deformations in hinges, which are taken into account in directions of change of the corresponding generalized coordinates. Mathematical model is approximated and makes it possible to determine small elastic quasi-static deviations and elastic vibrations. The results of modeling the dynamics by model are compared to the example of a two-link manipulator system. The considered model can be used when performing investigations of the mathematical accuracy of the manipulator robots.

Electrostatic Transport and Manipulation of Lunar Soil and Dust

International Nuclear Information System (INIS)

Kawamoto, Hiroyuki

2008-01-01

Transport and manipulation technologies of lunar soil and dust are under development utilizing the electrostatic force. Transport of particles is realized by an electrostatic conveyer consisting of parallel electrodes. Four-phase traveling electrostatic wave was applied to the electrodes to transport particles upon the conveyer and it was demonstrated that particles were efficiently transported under conditions of low frequency, high voltage, and the application of rectangular wave. Not only linear but also curved and closed transport was demonstrated. Numerical investigation was carried out with a three-dimensional hard-sphere model of the Distinct Element Method to clarify the mechanism of the transport and to predict performances in the lunar environment. This technology is expected to be utilized not only for the transport of bulk soil but also for the cleaning of a solar panel and an optical lens. Another technology is an electrostatic manipulation system to manipulate single particle. A manipulator consisted of two parallel pin electrodes. When voltage was applied between the electrodes, electrophoresis force generated in non-uniform electrostatic field was applied to the particle near the tip of the electrode. The particle was captured by the application of the voltage and released from the manipulator by turning off the voltage. It was possible to manipulate not only insulative but also conductive particles. Three-dimensional electrostatic field calculation was conducted to calculate the electrophoresis force and the Coulomb force

COMPARING BEHAVIORAL DOSE-EFFECT CURVES FOR HUMANS AND LABORATORY ANIMALS ACUTELY EXPOSED TO TOLUENE.

Science.gov (United States)

The utility of laboratory animal data in toxicology depends upon the ability to generalize the results quantitatively to humans. To compare the acute behavioral effects of inhaled toluene in humans to those in animals, dose-effect curves were fitted by meta-analysis of published...

Master-slave-manipulator 'EMSM I'

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

A master-slave manipulator with electric force transmission and reflection was developed for the first time in the German Federal Republic. The apparatus belongs to the class of 200 N carrying capacity. It is intended mainly for nuclear purposes and especially for use in large hot cells and also for medium and heavy manipulator vehicles. The most innovations compared with previously known foreign electric master-slave manipulators are two additional possibilities of movement and the electric dead weight compensation. (orig.) [de

Master-slave-manipulator EMSM I

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

A master-slave manipulator with electric force transmission and reflection was developed for the first time in the German Federal Republic. The aparatus belongs to the class of 200 N carrying capacity. It is intended mainly for nuclear purposes and especially for use in large hot cells and also for medium and heavy manipulator vehicles. The most obvious innovations compared with previously known foreign electric master-slave manipulators are two additional possibilities of movement and the electric dead weightcompensation. (orig.) [de

Lightweight submersed 'Walking' NDE manipulators for PWR and BWR vessel weld inspection

Energy Technology Data Exchange (ETDEWEB)

Saernmark, Ivan; Lenz, Herbert [WesDyne TRC AB, Stockholm (Sweden)

2008-04-15

Three new manipulators developed by WesDyne TRC in Sweden have under the year 2007 performed three very successful inspections in the PWR reactor Ringhals 3 and the BWR reactors Ringhals 1 and Oskarshamn 1. The manipulator systems can be used to perform inspection of circumferential and vertical welds on the reactor pressure vessel, the core shroud, core shroud support in BWR reactors or vessel and core barrel welds in PWR reactors. Most other flat or curved surfaces can be inspected using the new concept through relatively simple mechanical reconfigurations of system modules. The first inspection was performed on the R3 PWR core barrel in June 2007 with a very good result. This Manipulator is designed for access in very narrow gaps and for the type of core barrels with a shield covering the whole area of the perimeter. The manipulator is attached to the inspection area by means of a new unique suction cup system. The current manipulators consist of a curved horizontal beam, with radius similar to the reactor vessel, and a straight vertical beam, forming a T-shaped structure. By alternating the application of suction cup pairs on the horizontal beam and the vertical beam and by driving the scanning motors, the manipulator performs an incremental translational movement upwards/downwards or from side to side. The principles of this system give a well defined and stable platform for global and local positioning accuracy. A combination of advanced sensor solutions provides accurate position information in the absence of other physical reference objects. The system is controlled by the new WesDyne TRC Motor Control Panel and software, the MCP is specifically designed for remote control of submersed manipulators using techniques for cable reduction.

Visualizing Three-Dimensional Calculus Concepts: The Study of a Manipulative's Effectiveness

Science.gov (United States)

McGee, Daniel, Jr.; Moore-Russo, Deborah; Ebersole, Dennis; Lomen, David O.; Quintero, Maider Marin

2012-01-01

With the help of the National Science Foundation, the Department of Mathematics at the University of Puerto Rico in Mayaguez has developed a set of manipulatives to help students of science and engineering visualize concepts relating to points, surfaces, curves, contours, and vectors in three dimensions. This article will present the manipulatives…

An Analysis of Manipulation Strategies in Stock Markets

OpenAIRE

Rasim Ozcan

2012-01-01

Manipulative transactions, which affect both the supply and demand side of the markets, have been studied by academic circles and it was concluded that manipulation exerts negative impact on markets. A market with manipulation is considered as less trustworthy and credible compared to a market without manipulation, which in turn, affects demand. Manipulations affecting both the supply and demand should be closely monitored by stock market investors as well as legislative, executive, and regul...

The thermoluminescent curve as parameter to compare archaeological ceramics

International Nuclear Information System (INIS)

Dominguez R, I.R.; Ramirez C, G.A.; Gonzalez M, P.R.; Mendoza A, D.; Martinez C, G.

2006-01-01

Most mineral materials, including the constituents of pottery, have the property of thermoluminescence (TL), where part of the energy from radioactive decay in the mineral is stored and later released as light upon strong heating. The intensity of emitted light as a function of temperature is the thermoluminescence glow curve. However, it is well-know the thermoluminescence glow curve form depends of several factors associates with the incident radiation and type of materials. Between the factors associated with the materials, it can be mentioned the quantity and type of crystalline phases, and quantity and type of impurities that they could be present in the material. That is to say, materials with different physicochemical characteristics will produce different thermoluminescence glow curve, although, they have been irradiated under the same conditions. In accordance with the above mentioned, it is possible to identified differences between pre hispanic ceramic belonging to a same site and other sites. In this work a discussion about advantages and disadvantages is presented. Some specific examples in ceramic artifacts belonging to the Matlatzinca and Teotihuacan cultures are included. (Author)

A semiparametric separation curve approach for comparing correlated ROC data from multiple markers

Science.gov (United States)

Tang, Liansheng Larry; Zhou, Xiao-Hua

2012-01-01

In this article we propose a separation curve method to identify the range of false positive rates for which two ROC curves differ or one ROC curve is superior to the other. Our method is based on a general multivariate ROC curve model, including interaction terms between discrete covariates and false positive rates. It is applicable with most existing ROC curve models. Furthermore, we introduce a semiparametric least squares ROC estimator and apply the estimator to the separation curve method. We derive a sandwich estimator for the covariance matrix of the semiparametric estimator. We illustrate the application of our separation curve method through two real life examples. PMID:23074360

Simultaneous realization of slow and fast acoustic waves using a fractal structure of Koch curve.

Science.gov (United States)

Ding, Jin; Fan, Li; Zhang, Shu-Yi; Zhang, Hui; Yu, Wei-Wei

2018-01-24

An acoustic metamaterial based on a fractal structure, the Koch curve, is designed to simultaneously realize slow and fast acoustic waves. Owing to the multiple transmitting paths in the structure resembling the Koch curve, the acoustic waves travelling along different paths interfere with each other. Therefore, slow waves are created on the basis of the resonance of a Koch-curve-shaped loop, and meanwhile, fast waves even with negative group velocities are obtained due to the destructive interference of two acoustic waves with opposite phases. Thus, the transmission of acoustic wave can be freely manipulated with the Koch-curve shaped structure.

Manipulatives Work!

Science.gov (United States)

Moch, Peggy L.

2001-01-01

Fifth graders (n=16) engaged in manipulative activities to improve their grasp of math concepts; one-third were identified as exceptional children. Posttest results after 12 lessons showed the overall class average increased from 49% to 59% and all areas improved compared to pretest scores. Attitude changes were also apparent. (Contains 24…

The function-manipulating-system SERVUS

International Nuclear Information System (INIS)

Thurnay, K.

1985-04-01

SERVUS is a service-utility to store functions resulting from a numerical calculation in specially fitted data sets and display them later on. SERVUS enables also the user to manipulate the stored functions, before displaying them. The functions can be presented either as number-columns, or as a family of curves or as surfaces of functions. The paper describes the steps, needed for allocating a SERVUS-data set, for storing a function in this set, for reading a function from this data set, for cataloguing the functions, stored in the set, for copying a SERVUS-data set, for deleting stored functions, for printing stored functions and for drawing two or three-dimensional pictures of them. (orig.) [de

Evaluation of Remote Collaborative Manipulation for Scientific Data Analysis

OpenAIRE

Fleury , Cédric; Duval , Thierry; Gouranton , Valérie; Steed , Anthony

2012-01-01

International audience; In the context of scientific data analysis, we propose to compare a remote collaborative manipulation technique with a single user manipulation technique. The manipulation task consists in positioning a clipping plane in order to perform cross-sections of scientific data which show several points of interest located inside this data. For the remote collaborative manipulation, we have chosen to use the 3-hand manipulation technique proposed by Aguerreche et al. which is...

Statistical properties of a utility measure of observer performance compared to area under the ROC curve

Science.gov (United States)

Abbey, Craig K.; Samuelson, Frank W.; Gallas, Brandon D.; Boone, John M.; Niklason, Loren T.

2013-03-01

The receiver operating characteristic (ROC) curve has become a common tool for evaluating diagnostic imaging technologies, and the primary endpoint of such evaluations is the area under the curve (AUC), which integrates sensitivity over the entire false positive range. An alternative figure of merit for ROC studies is expected utility (EU), which focuses on the relevant region of the ROC curve as defined by disease prevalence and the relative utility of the task. However if this measure is to be used, it must also have desirable statistical properties keep the burden of observer performance studies as low as possible. Here, we evaluate effect size and variability for EU and AUC. We use two observer performance studies recently submitted to the FDA to compare the EU and AUC endpoints. The studies were conducted using the multi-reader multi-case methodology in which all readers score all cases in all modalities. ROC curves from the study were used to generate both the AUC and EU values for each reader and modality. The EU measure was computed assuming an iso-utility slope of 1.03. We find mean effect sizes, the reader averaged difference between modalities, to be roughly 2.0 times as big for EU as AUC. The standard deviation across readers is roughly 1.4 times as large, suggesting better statistical properties for the EU endpoint. In a simple power analysis of paired comparison across readers, the utility measure required 36% fewer readers on average to achieve 80% statistical power compared to AUC.

Comparative effectiveness of manipulation, mobilisation and the Activator instrument in treatment of non-specific neck pain: a systematic review

Directory of Open Access Journals (Sweden)

Miller Peter

2006-04-01

Full Text Available Abstract Background Neck pain is a common problem and different forms of manual therapy are used in its treatment. The purpose of this systematic review was to critically appraise the literature that directly compared manipulation, mobilisation and the Activator instrument for non-specific neck pain. Methods Electronic databases (MEDLINE, MANTIS and CINAHL were searched from their inception to October 2005 for all English language randomised clinical trials that directly compared manipulation, mobilisation and the Activator instrument. Inclusion and exclusion criteria were applied to select the studies and these studies were then evaluated using validated criteria. Results Five such studies were identified. The methodological quality was mostly poor. Findings from the studies were mixed and no one therapy was shown to be more effective than the others. Conclusion Further high quality research has to be done before a recommendation can be made as to the most effective manual method for non-specific neck pain.

A comparative neutron activation analysis study of common generic manipulated and reference medicines commercialized in Brazil

International Nuclear Information System (INIS)

Leal, A.S.; Menezes, M.A.B.C.; Rodrigues, R.R.; Andonie, O.; Vermaercke, P.; Sneyers, L.

2008-01-01

In this work, a comparative study of neutron activation analysis (NAA) was performed by the nuclear institutes: CDTN/CNEN-Brazil, CCHEN-Chile and the SCK.CEN-Belgium aiming to investigate some generic, manipulated and reference medicines largely commercialized in Brazil. Some impurities such as: As, Ba, Br, Ce, Co, Cr, Eu, Fe, Hf, Sb, Sc, Sm, Ti and Zn were found, and the heterogeneity of the samples pointed out the lack of an efficient public system of quality control

Variable geometry truss manipulators: A new type of robot for site inspection and remediation

International Nuclear Information System (INIS)

Naccarato, F.

1996-01-01

A new type of robotic manipulator has been developed that offers many potential advantages over conventional robot arms for site inspection and remediation. This new robot is based on the variable geometry truss manipulator (VGTM) concept which combines the structural properties of a truss with the dexterous capabilities of a manipulator. By substituting linear actuators for some of the fixed-length members within a truss, the structure can be made to change its overall shape. By coordinating the motion of these actuators appropriately, a VGTM can perform tasks that are relevant to hazardous waste clean-up, including deployment through curved ducts, probing into crevices and obstacle avoidance. Trussarm trademark, a prototype VGTM with twelve degrees-of-freedom, has been constructed by Dynacon Enterprises Limited

Comparing kinetic curves in liquid chromatography

Science.gov (United States)

Kurganov, A. A.; Kanat'eva, A. Yu.; Yakubenko, E. E.; Popova, T. P.; Shiryaeva, V. E.

2017-01-01

Five equations for kinetic curves which connect the number of theoretical plates N and time of analysis t 0 for five different versions of optimization, depending on the parameters being varied (e.g., mobile phase flow rate, pressure drop, sorbent grain size), are obtained by means of mathematical modeling. It is found that a method based on the optimization of a sorbent grain size at fixed pressure is most suitable for the optimization of rapid separations. It is noted that the advantages of the method are limited by an area of relatively low efficiency, and the advantage of optimization is transferred to a method based on the optimization of both the sorbent grain size and the drop in pressure across a column in the area of high efficiency.

A Geometry Deformation Model for Braided Continuum Manipulators

Directory of Open Access Journals (Sweden)

S. M. Hadi Sadati

2017-06-01

Full Text Available Continuum manipulators have gained significant attention in the robotic community due to their high dexterity, deformability, and reachability. Modeling of such manipulators has been shown to be very complex and challenging. Despite many research attempts, a general and comprehensive modeling method is yet to be established. In this paper, for the first time, we introduce the bending effect in the model of a braided extensile pneumatic actuator with both stiff and bendable threads. Then, the effect of the manipulator cross-section deformation on the constant curvature and variable curvature models is investigated using simple analytical results from a novel geometry deformation method and is compared to experimental results. We achieve 38% mean reference error simulation accuracy using our constant curvature model for a braided continuum manipulator in presence of body load and 10% using our variable curvature model in presence of extensive external loads. With proper model assumptions and taking to account the cross-section deformation, a 7–13% increase in the simulation mean error accuracy is achieved compared to a fixed cross-section model. The presented models can be used for the exact modeling and design optimization of compound continuum manipulators by providing an analytical tool for the sensitivity analysis of the manipulator performance. Our main aim is the application in minimal invasive manipulation with limited workspaces and manipulators with regional tunable stiffness in their cross section.

Estimating reaction rate constants: comparison between traditional curve fitting and curve resolution

NARCIS (Netherlands)

Bijlsma, S.; Boelens, H. F. M.; Hoefsloot, H. C. J.; Smilde, A. K.

2000-01-01

A traditional curve fitting (TCF) algorithm is compared with a classical curve resolution (CCR) approach for estimating reaction rate constants from spectral data obtained in time of a chemical reaction. In the TCF algorithm, reaction rate constants an estimated from the absorbance versus time data

Development of one body α-γ type manipulator for hot cell facility

International Nuclear Information System (INIS)

Jung, S. K.; Lee, S. B.; Lee, E. P.

2004-01-01

To handle the high level radioactive materials in a sealed type hot cell, our company has developed the one body alpha-gamma type manipulator and this is an improved model compared with the previously developed beta-gamma and separated alpha-gamma type manipulators. The successful development of one body alpha-gamma type manipulator means our company has a whole capacity to design and fabricate all kinds of manipulators using in hot cells. Until now most of the manipulators in Korea were imported from other countries. The development of Korean manipulators gives us the easier maintenance and lower price compared to the foreign products. It is also possible to export the Korean manipulators to overseas

A preliminary study comparing the use of cervical/upper thoracic mobilization and manipulation for individuals with mechanical neck pain.

Science.gov (United States)

Griswold, David; Learman, Ken; O'Halloran, Bryan; Cleland, Josh

2015-05-01

Neck pain is routinely managed using manual therapy (MT) to the cervical and thoracic spines. While both mobilizations and manipulations to these areas have been shown to reduce neck pain, increase cervical range of motion, and reduce disability, the most effective option remains elusive. The purpose of this preliminary trial was to compare the pragmatic use of cervical and thoracic mobilizations vs. manipulation for mechanical neck pain. This trial included 20 patients with mechanical neck pain. Each patient was randomized to receive either mobilization or manipulation to both the cervical and thoracic spines during their plan of care. Within-group analyses were made with Wilcoxon signed-rank tests and between-group analyses were made with Mann-Whitney U. There were no between-group differences for any of the dependent variables including cervical active range of motion (CAROM) (P = 0.18), deep cervical flexion (DCF) endurance (P = 0.06), numerical pain rating scale (NPRS) (P = 0.26), the neck disability index (NDI, P = 0.33), patient-specific functional scale (PSFS, P = 0.20), or the global rating of change (GROC) scale (P = 0.94). Within-group results were significant for all outcome variables (Ppain.

[Customized and non-customized French intrauterine growth curves. II - Comparison with existing curves and benefits of customization].

Science.gov (United States)

Ego, A; Prunet, C; Blondel, B; Kaminski, M; Goffinet, F; Zeitlin, J

2016-02-01

Our aim is to compare the new French EPOPé intrauterine growth curves, developed to address the guidelines 2013 of the French College of Obstetricians and Gynecologists, with reference curves currently used in France, and to evaluate the consequences of their adjustment for fetal sex and maternal characteristics. Eight intrauterine and birthweight curves, used in France were compared to the EPOPé curves using data from the French Perinatal Survey 2010. The influence of adjustment on the rate of SGA births and the characteristics of these births was analysed. Due to their birthweight values and distribution, the selected intrauterine curves are less suitable for births in France than the new curves. Birthweight curves led to low rates of SGA births from 4.3 to 8.5% compared to 10.0% with the EPOPé curves. The adjustment for maternal and fetal characteristics avoids the over-representation of girls among SGA births, and reclassifies 4% of births. Among births reclassified as SGA, the frequency of medical and obstetrical risk factors for growth restriction, smoking (≥10 cigarettes/day), and neonatal transfer is higher than among non-SGA births (P<0.01). The EPOPé curves are more suitable for French births than currently used curves, and their adjustment improves the identification of mothers and babies at risk of growth restriction and poor perinatal outcomes. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

A Comparative Study of Electric Load Curve Changes in an Urban Low-Voltage Substation in Spain during the Economic Crisis (2008–2013)

Science.gov (United States)

Lara-Santillán, Pedro M.; Mendoza-Villena, Montserrat; Fernández-Jiménez, L. Alfredo; Mañana-Canteli, Mario

2014-01-01

This paper presents a comparative study of the electricity consumption (EC) in an urban low-voltage substation before and during the economic crisis (2008–2013). This low-voltage substation supplies electric power to near 400 users. The EC was measured for an 11-year period (2002–2012) with a sampling time of 1 minute. The study described in the paper consists of detecting the changes produced in the load curves of this substation along the time due to changes in the behaviour of consumers. The EC was compared using representative curves per time period (precrisis and crisis). These representative curves were obtained after a computational process, which was based on a search for days with similar curves to the curve of a determined (base) date. This similitude was assessed by the proximity on the calendar, day of the week, daylight time, and outdoor temperature. The last selection parameter was the error between the nearest neighbour curves and the base date curve. The obtained representative curves were linearized to determine changes in their structure (maximum and minimum consumption values, duration of the daily time slot, etc.). The results primarily indicate an increase in the EC in the night slot during the summer months in the crisis period. PMID:24895677

A Comparative Study of Electric Load Curve Changes in an Urban Low-Voltage Substation in Spain during the Economic Crisis (2008–2013

Directory of Open Access Journals (Sweden)

Pedro M. Lara-Santillán

2014-01-01

Full Text Available This paper presents a comparative study of the electricity consumption (EC in an urban low-voltage substation before and during the economic crisis (2008–2013. This low-voltage substation supplies electric power to near 400 users. The EC was measured for an 11-year period (2002–2012 with a sampling time of 1 minute. The study described in the paper consists of detecting the changes produced in the load curves of this substation along the time due to changes in the behaviour of consumers. The EC was compared using representative curves per time period (precrisis and crisis. These representative curves were obtained after a computational process, which was based on a search for days with similar curves to the curve of a determined (base date. This similitude was assessed by the proximity on the calendar, day of the week, daylight time, and outdoor temperature. The last selection parameter was the error between the nearest neighbour curves and the base date curve. The obtained representative curves were linearized to determine changes in their structure (maximum and minimum consumption values, duration of the daily time slot, etc.. The results primarily indicate an increase in the EC in the night slot during the summer months in the crisis period.

Complexity in Climate Change Manipulation Experiments

DEFF Research Database (Denmark)

Kreyling, Juergen; Beier, Claus

2014-01-01

Climate change goes beyond gradual changes in mean conditions. It involves increased variability in climatic drivers and increased frequency and intensity of extreme events. Climate manipulation experiments are one major tool to explore the ecological impacts of climate change. Until now...... variability in temperature are ecologically important. Embracing complexity in future climate change experiments in general is therefore crucial......., precipitation experiments have dealt with temporal variability or extreme events, such as drought, resulting in a multitude of approaches and scenarios with limited comparability among studies. Temperature manipulations have mainly been focused only on warming, resulting in better comparability among studies...

Closed timelike curves in asymmetrically warped brane universes

Science.gov (United States)

Päs, Heinrich; Pakvasa, Sandip; Dent, James; Weiler, Thomas J.

2009-08-01

In asymmetrically-warped spacetimes different warp factors are assigned to space and to time. We discuss causality properties of these warped brane universes and argue that scenarios with two extra dimensions may allow for timelike curves which can be closed via paths in the extra-dimensional bulk. In particular, necessary and sufficient conditions on the metric for the existence of closed timelike curves are presented. We find a six-dimensional warped metric which satisfies the CTC conditions, and where the null, weak and dominant energy conditions are satisfied on the brane (although only the former remains satisfied in the bulk). Such scenarios are interesting, since they open the possibility of experimentally testing the chronology protection conjecture by manipulating on our brane initial conditions of gravitons or hypothetical gauge-singlet fermions (“sterile neutrinos”) which then propagate in the extra dimensions.

Development and design optimization of water hydraulic manipulator for ITER

International Nuclear Information System (INIS)

Kekaelaeinen, Teemu; Mattila, Jouni; Virvalo, Tapio

2009-01-01

This paper describes one of the research projects carried out in The Preparation of Remote Handling Engineers for ITER (PREFIT) program within the European Fusion Training Scheme (EFTS). This research project is focusing on the design and optimization of water hydraulic manipulators used to test several remote handling tasks of ITER at Divertor Test Platform 2 (DTP2), Tampere, Finland, and later in ITER. In this project, a water hydraulic manipulator designed and build by Department of Intelligent Hydraulics and Automation in Tampere University of Technology, Finland (TUT/IHA) is further optimized as a case study for a given manipulator requirement specification in order to illustrate and verify developed comprehensive design guidelines and performance metrics. Without meaningful manipulator performance parameters, the evaluation of alternative robot manipulators designs remains ad hoc at best. Therefore, more comprehensive design guidelines and performance metrics are needed for comparing and improving different existing manipulators versus task requirements or for comparing different digital prototypes at early design phase of manipulators. In this paper the description of the project, its background and developments are presented and discussed.

Large Display Interaction via Multiple Acceleration Curves and Multifinger Pointer Control

Directory of Open Access Journals (Sweden)

Andrey Esakia

2014-01-01

Full Text Available Large high-resolution displays combine high pixel density with ample physical dimensions. The combination of these factors creates a multiscale workspace where interactive targeting of on-screen objects requires both high speed for distant targets and high accuracy for small targets. Modern operating systems support implicit dynamic control-display gain adjustment (i.e., a pointer acceleration curve that helps to maintain both speed and accuracy. However, large high-resolution displays require a broader range of control-display gains than a single acceleration curve can usably enable. Some interaction techniques attempt to solve the problem by utilizing multiple explicit modes of interaction, where different modes provide different levels of pointer precision. Here, we investigate the alternative hypothesis of using a single mode of interaction for continuous pointing that enables both (1 standard implicit granularity control via an acceleration curve and (2 explicit switching between multiple acceleration curves in an efficient and dynamic way. We evaluate a sample solution that augments standard touchpad accelerated pointer manipulation with multitouch capability, where the choice of acceleration curve dynamically changes depending on the number of fingers in contact with the touchpad. Specifically, users can dynamically switch among three different acceleration curves by using one, two, or three fingers on the touchpad.

Manipulators

International Nuclear Information System (INIS)

Wilcock, P.D.

1984-01-01

The patent concerns a manipulator, which enables operations to be carried out remotely from the operator. The device is suitable for use in handling of radioactive materials and other hazardous liquids or gases. The specifications are given, and the movements of the manipulator arm described. (U.K.)

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

2018-04-04

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

The S-Curve: China versus Its Major Trading Partners

OpenAIRE

Mohsen Bahmani-Oskooee; Ruixin Zhang

2013-01-01

China has been accused of manipulating its currency to gain international competitiveness and enjoy a trade surplus. The S-Curve is a hypothesis that could be used to test the effectiveness of currency devaluation or depreciation. It claims that while future values of the trade balance and current exchange rate are positively correlated, the past values of the trade balance and current exchange rate are negatively correlated. While China¡¯s aggregate trade flows with the rest of the world con...

Part 5: Receiver Operating Characteristic Curve and Area under the Curve

Directory of Open Access Journals (Sweden)

Saeed Safari

2016-04-01

Full Text Available Multiple diagnostic tools are used by emergency physicians,every day. In addition, new tools are evaluated to obtainmore accurate methods and reduce time or cost of conventionalones. In the previous parts of this educationalseries, we described diagnostic performance characteristicsof diagnostic tests including sensitivity, specificity, positiveand negative predictive values, and likelihood ratios. Thereceiver operating characteristics (ROC curve is a graphicalpresentation of screening characteristics. ROC curve is usedto determine the best cutoff point and compare two or moretests or observers by measuring the area under the curve(AUC. In this part of our educational series, we explain ROCcurve and two methods to determine the best cutoff value.

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

Full Text Available Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS is used to autonomously grasp an object from the bottom of a water tank.

Symbolic manipulation methods in general relativity and fluid mechanics

International Nuclear Information System (INIS)

Cohen, I.

1976-03-01

Algebraic manipulation by computer, or automatic symbol manipulation (ASM) has not been used much in theoretical physics, especially if one compares it with numerical methods. Three examples of the use of ASM as a tool in theoretical physics are discussed. (Auth.)

Short-term combined effects of thoracic spine thrust manipulation and cervical spine nonthrust manipulation in individuals with mechanical neck pain: a randomized clinical trial.

Science.gov (United States)

Masaracchio, Michael; Cleland, Joshua A; Hellman, Madeleine; Hagins, Marshall

2013-03-01

Randomized clinical trial. To investigate the short-term effects of thoracic spine thrust manipulation combined with cervical spine nonthrust manipulation (experimental group) versus cervical spine nonthrust manipulation alone (comparison group) in individuals with mechanical neck pain. Research has demonstrated improved outcomes with both nonthrust manipulation directed at the cervical spine and thrust manipulation directed at the thoracic spine in patients with neck pain. Previous studies have not determined if thoracic spine thrust manipulation may increase benefits beyond those provided by cervical nonthrust manipulation alone. Sixty-four participants with mechanical neck pain were randomized into 1 of 2 groups, an experimental or comparison group. Both groups received 2 treatment sessions of cervical spine nonthrust manipulation and a home exercise program consisting of active range-of-motion exercises, and the experimental group received additional thoracic spine thrust manipulations. Outcome measures were collected at baseline and at a 1-week follow-up, and included the numeric pain rating scale, the Neck Disability Index, and the global rating of change. Participants in the experimental group demonstrated significantly greater improvements (Ppain rating scale and Neck Disability Index at the 1-week follow-up compared to those in the comparison group. In addition, 31 of 33 (94%) participants in the experimental group, compared to 11 of 31 participants (35%) in the comparison group, indicated a global rating of change score of +4 or higher at the 1-week follow-up, with an associated number needed to treat of 2. Individuals with neck pain who received a combination of thoracic spine thrust manipulation and cervical spine nonthrust manipulation plus exercise demonstrated better overall short-term outcomes on the numeric pain rating scale, the Neck Disability Index, and the global rating of change.

Currency Manipulation versus Current Account Manipulation

OpenAIRE

Junning Cai

2005-01-01

It is said that a country’s currency peg can become currency manipulation representing protracted government intervention in the foreign exchange market that gives it unfair competitive advantage in international trade yet prevents effective balance of payments in its trade partners. Regarding this widespread fallacy, this paper explains why currency peg is not currency manipulation even when it keeps a country’s currency undervalued. We clarify that 1) government is inherently a major player...

Manipulative therapy in addition to usual medical care accelerates recovery of shoulder complaints at higher costs: economic outcomes of a randomized trial

Directory of Open Access Journals (Sweden)

Bergman Gert JD

2010-09-01

Full Text Available Abstract Background Shoulder complaints are common in primary care and have unfavourable long term prognosis. Our objective was to evaluate the clinical effectiveness of manipulative therapy of the cervicothoracic spine and the adjacent ribs in addition to usual medical care (UMC by the general practitioner in the treatment of shoulder complaints. Methods This economic evaluation was conducted alongside a randomized trial in primary care. Included were 150 patients with shoulder complaints and a dysfunction of the cervicothoracic spine and adjacent ribs. Patients were treated with UMC (NSAID's, corticosteroid injection or referral to physical therapy and were allocated at random (yes/no to manipulative therapy (manipulation and mobilization. Patient perceived recovery, severity of main complaint, shoulder pain, disability and general health were outcome measures. Data about direct and indirect costs were collected by means of a cost diary. Results Manipulative therapy as add-on to UMC accelerated recovery on all outcome measures included. At 26 weeks after randomization, both groups reported similar recovery rates (41% vs. 38%, but the difference between groups in improvement of severity of the main complaint, shoulder pain and disability sustained. Compared to the UMC group the total costs were higher in the manipulative group (€1167 vs. €555. This is explained mainly by the costs of the manipulative therapy itself and the higher costs due sick leave from work. The cost effectiveness ratio showed that additional manipulative treatment is more costly but also more effective than UMC alone. The cost-effectiveness acceptability curve shows that a 50%-probability of recovery with AMT within 6 months after initiation of treatment is achieved at €2876. Conclusion Manipulative therapy in addition to UMC accelerates recovery and is more effective than UMC alone on the long term, but is associated with higher costs. International Standard

Distinguishing manipulated stocks via trading network analysis

Science.gov (United States)

Sun, Xiao-Qian; Cheng, Xue-Qi; Shen, Hua-Wei; Wang, Zhao-Yang

2011-10-01

Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a trading network is constructed to characterize the relations among its investors. In trading networks, nodes represent investors and a directed link connects a stock seller to a buyer with the total trade size as the weight of the link, and the node strength is the sum of all edge weights of a node. For all these trading networks, we find that the node degree and node strength both have tails following a power-law distribution. Compared with non-manipulated stocks, manipulated stocks have a high lower bound of the power-law tail, a high average degree of the trading network and a low correlation between the price return and the seller-buyer ratio. These findings may help us to detect manipulated stocks.

Comparison of dynamic analysis of a Schilling hydraulic manipulator with experimental results

International Nuclear Information System (INIS)

Baker, C.P.; Lew, J.Y.; Evans, M.S.; Magee, D.P.

1993-07-01

Two independent models of the dynamics of a Schilling Titan II hydraulic manipulator were developed and compared in order to obtain an accurate model of the manipulator dynamics. These models will be used in the development of feedback control laws and active damping algorithms. One of the model is an analytical model which was developed open-quotes by handclose quotes with the assistance of computer symbolic manipulation. The other is a numerical model developed using a commercially available dynamics code. The data from these models were then compared with experimental data from an actual Titan II manipulator

Dexterous Manipulation: Making Remote Manipulators Easy to Use

International Nuclear Information System (INIS)

HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

2001-01-01

Perhaps the most basic barrier to the widespread deployment of remote manipulators is that they are very difficult to use. Remote manual operations are fatiguing and tedious, while fully autonomous systems are seldom able to function in changing and unstructured environments. An alternative approach to these extremes is to exploit computer control while leaving the operator in the loop to take advantage of the operator's perceptual and decision-making capabilities. This report describes research that is enabling gradual introduction of computer control and decision making into operator-supervised robotic manipulation systems, and its integration on a commercially available, manually controlled mobile manipulator

Comparison of power curve monitoring methods

Directory of Open Access Journals (Sweden)

Cambron Philippe

2017-01-01

Full Text Available Performance monitoring is an important aspect of operating wind farms. This can be done through the power curve monitoring (PCM of wind turbines (WT. In the past years, important work has been conducted on PCM. Various methodologies have been proposed, each one with interesting results. However, it is difficult to compare these methods because they have been developed using their respective data sets. The objective of this actual work is to compare some of the proposed PCM methods using common data sets. The metric used to compare the PCM methods is the time needed to detect a change in the power curve. Two power curve models will be covered to establish the effect the model type has on the monitoring outcomes. Each model was tested with two control charts. Other methodologies and metrics proposed in the literature for power curve monitoring such as areas under the power curve and the use of statistical copulas have also been covered. Results demonstrate that model-based PCM methods are more reliable at the detecting a performance change than other methodologies and that the effectiveness of the control chart depends on the types of shift observed.

Design and Transmission Analysis of an Asymmetrical Spherical Parallel Manipulator

DEFF Research Database (Denmark)

Wu, Guanglei; Caro, Stéphane; Wang, Jiawei

2015-01-01

analysis and optimal design of the proposed manipulator based on its kinematic analysis. The input and output transmission indices of the manipulator are defined for its optimum design based on the virtual coefficient between the transmission wrenches and twist screws. The sets of optimal parameters......This paper presents an asymmetrical spherical parallel manipulator and its transmissibility analysis. This manipulator contains a center shaft to both generate a decoupled unlimited-torsion motion and support the mobile platform for high positioning accuracy. This work addresses the transmission...... are identified and the distribution of the transmission index is visualized. Moreover, a comparative study regarding to the performances with the symmetrical spherical parallel manipulators is conducted and the comparison shows the advantages of the proposed manipulator with respect to its spherical parallel...

A manipulator

International Nuclear Information System (INIS)

Cole, G.V.; Hofmann, D.A.; Ashby, R.

1984-01-01

A manipulator is described, for remote handling of objects within an enclosure, by an operator outside the enclosure. The manipulator consists of a telescopically extensible arm member, the action of which is controlled by a motor-driven lead screw. (U.K.)

Comparing Angular and Curved Shapes in Terms of Implicit Associations and Approach/Avoidance Responses.

Directory of Open Access Journals (Sweden)

Letizia Palumbo

Full Text Available Most people prefer smoothly curved shapes over more angular shapes. We investigated the origin of this effect using abstract shapes and implicit measures of semantic association and preference. In Experiment 1 we used a multidimensional Implicit Association Test (IAT to verify the strength of the association of curved and angular polygons with danger (safe vs. danger words, valence (positive vs. negative words and gender (female vs. male names. Results showed that curved polygons were associated with safe and positive concepts and with female names, whereas angular polygons were associated with danger and negative concepts and with male names. Experiment 2 used a different implicit measure, which avoided any need to categorise the stimuli. Using a revised version of the Stimulus Response Compatibility (SRC task we tested with a stick figure (i.e., the manikin approach and avoidance reactions to curved and angular polygons. We found that RTs for approaching vs. avoiding angular polygons did not differ, even in the condition where the angles were more pronounced. By contrast participants were faster and more accurate when moving the manikin towards curved shapes. Experiment 2 suggests that preference for curvature cannot derive entirely from an association of angles with threat. We conclude that smoothly curved contours make these abstract shapes more pleasant. Further studies are needed to clarify the nature of such a preference.

Remote inspection manipulators for AGR II: Babcock Power's interstitial manipulator

International Nuclear Information System (INIS)

Whyley, S.R.

1985-01-01

The interstitial manipulator has been designed and built by Babcock Power for the remote visual inspection of AGR II reactors at Heysham and Torness. Its five drives are operated from a console local to the manipulator on the pile cap, or from a similar console located remotely. The need to operate from an interstitial ISI standpipe has restricted the size of the components entering the reactor, and this has consequently provided the major design constraint. A detailed structural assessment of the manipulator was carried out to demonstrate the ability to operate with payloads in excess of the largest camera weight of 13.6 kg. The manipulator finite element model was also used to determine static deflections, and, as a consequence, has provided data from which the control system is able to predict accurately the camera's position. Other computer aided design techniques have enabled the step by step sequences of manipulator deployment, in the restricted space available, to be successfully demonstrated. (author)

A comparative study for different shielding material composition and beam geometry applied to PET facilities: simulated transmission curves

Energy Technology Data Exchange (ETDEWEB)

Hoff, Gabriela [Pontificia Univ. Catolica do Rio Grande do Sul (PUCRS), Porto Alegre, RS (Brazil). Grupo de Experimentacao e Simulacao Computacional em Fisica Medica; Costa, Paulo Roberto, E-mail: pcosta@if.usp.br [Universidade de Sao Paulo (IF/USP), SP (Brazil). Dept. de Fisica Nuclear. Lab. de Dosimetria das Radiacoes e Fisica Medica

2013-03-15

The aim of this work is to simulate transmission data for different beam geometry and material composition in order to evaluate the effect of these parameters on transmission curves. The simulations are focused on outgoing spectra for shielding barriers used in PET facilities. The behavior of the transmission was evaluated as a function of the shielding material composition and thickness using Geant4 Monte Carlo code, version 9.2 p 03.The application was benchmarked for barited mortar and compared to The American Association of Physicists in Medicine (AAPM) data for lead. Their influence on the transmission curves as well the study of the influence of the shielding material composition and beam geometry on the outgoing spectra were performed. Characteristics of transmitted spectra, such as shape, average energy and Half-Value Layer (HVL), were also evaluated. The Geant4 toolkit benchmark for the energy resulting from the positron annihilation phenomena and its application in transmission curves description shown good agreement between data published by American Association on Physicists in Medicine task group 108 and experimental data published by Brazil. The transmission properties for different material compositions were also studied and have shown low dependency with the considered thicknesses. The broad and narrow beams configuration presented significant differences on the result. The fitting parameter for determining the transmission curves equations, according to Archer model is presented for different material. As conclusion were defined that beam geometry has significant influence and the composition has low influence on transmission curves for shielding design for the range of energy applied to PET. (author)

A comparative study for different shielding material composition and beam geometry applied to PET facilities: simulated transmission curves

International Nuclear Information System (INIS)

Hoff, Gabriela; Costa, Paulo Roberto

2013-01-01

The aim of this work is to simulate transmission data for different beam geometry and material composition in order to evaluate the effect of these parameters on transmission curves. The simulations are focused on outgoing spectra for shielding barriers used in PET facilities. The behavior of the transmission was evaluated as a function of the shielding material composition and thickness using Geant4 Monte Carlo code, version 9.2 p 03.The application was benchmarked for barited mortar and compared to The American Association of Physicists in Medicine (AAPM) data for lead. Their influence on the transmission curves as well the study of the influence of the shielding material composition and beam geometry on the outgoing spectra were performed. Characteristics of transmitted spectra, such as shape, average energy and Half-Value Layer (HVL), were also evaluated. The Geant4 toolkit benchmark for the energy resulting from the positron annihilation phenomena and its application in transmission curves description shown good agreement between data published by American Association on Physicists in Medicine task group 108 and experimental data published by Brazil. The transmission properties for different material compositions were also studied and have shown low dependency with the considered thicknesses. The broad and narrow beams configuration presented significant differences on the result. The fitting parameter for determining the transmission curves equations, according to Archer model is presented for different material. As conclusion were defined that beam geometry has significant influence and the composition has low influence on transmission curves for shielding design for the range of energy applied to PET. (author)

A review of microfabrication techniques and dielectrophoretic microdevices for particle manipulation and separation

International Nuclear Information System (INIS)

Li, M; Li, W H; Zhang, J; Alici, G; Wen, W

2014-01-01

The development of lab-on-a-chip (LOC) devices over the past decade has attracted growing interest. LOC devices aim to achieve the miniaturization, integration, automation and parallelization of biological and chemical assays. One of the applications, the ability to effectively and accurately manipulate and separate micro- and nano-scale particles in an aqueous solution, is particularly appealing in biological, chemical and medical fields. Among the technologies that have been developed and implemented in microfluidic microsystems for particle manipulation and separation (such as mechanical, inertial, hydrodynamic, acoustic, optical, magnetic and electrical methodologies), dielectrophoresis (DEP) may prove to be the most popular because of its label-free nature, ability to manipulate neutral bioparticles, analyse with high selectivity and sensitivity, compatibility with LOC devices, and easy and direct interface with electronics. The required spatial electric non-uniformities for the DEP effect can be generated by patterning microelectrode arrays within microchannels, or placing insulating obstacles within a microchannel and curving the microchannels. A wide variety of electrode- and insulator-based DEP microdevices have been developed, fabricated, and successfully employed to manipulate and separate bioparticles (i.e. DNA, proteins, bacteria, viruses, mammalian and yeast cells). This review provides an overview of the state-of-the-art of microfabrication techniques and of the structures of dielectrophoretic microdevices aimed towards different applications. The techniques used for particle manipulation and separation based on microfluidics are provided in this paper. In addition, we also present the theoretical background of DEP. (topical review)

ROBUST DECLINE CURVE ANALYSIS

Directory of Open Access Journals (Sweden)

Sutawanir Darwis

2012-05-01

Full Text Available Empirical decline curve analysis of oil production data gives reasonable answer in hyperbolic type curves situations; however the methodology has limitations in fitting real historical production data in present of unusual observations due to the effect of the treatment to the well in order to increase production capacity. The development ofrobust least squares offers new possibilities in better fitting production data using declinecurve analysis by down weighting the unusual observations. This paper proposes a robustleast squares fitting lmRobMM approach to estimate the decline rate of daily production data and compares the results with reservoir simulation results. For case study, we usethe oil production data at TBA Field West Java. The results demonstrated that theapproach is suitable for decline curve fitting and offers a new insight in decline curve analysis in the present of unusual observations.

Comparing spatial tuning curves, spectral ripple resolution, and speech perception in cochlear implant users.

Science.gov (United States)

Anderson, Elizabeth S; Nelson, David A; Kreft, Heather; Nelson, Peggy B; Oxenham, Andrew J

2011-07-01

Spectral ripple discrimination thresholds were measured in 15 cochlear-implant users with broadband (350-5600 Hz) and octave-band noise stimuli. The results were compared with spatial tuning curve (STC) bandwidths previously obtained from the same subjects. Spatial tuning curve bandwidths did not correlate significantly with broadband spectral ripple discrimination thresholds but did correlate significantly with ripple discrimination thresholds when the rippled noise was confined to an octave-wide passband, centered on the STC's probe electrode frequency allocation. Ripple discrimination thresholds were also measured for octave-band stimuli in four contiguous octaves, with center frequencies from 500 Hz to 4000 Hz. Substantial variations in thresholds with center frequency were found in individuals, but no general trends of increasing or decreasing resolution from apex to base were observed in the pooled data. Neither ripple nor STC measures correlated consistently with speech measures in noise and quiet in the sample of subjects in this study. Overall, the results suggest that spectral ripple discrimination measures provide a reasonable measure of spectral resolution that correlates well with more direct, but more time-consuming, measures of spectral resolution, but that such measures do not always provide a clear and robust predictor of performance in speech perception tasks. © 2011 Acoustical Society of America

Price Manipulation in an Experimental Asset Market

OpenAIRE

Veiga Helena; Vorsatz Marc

2006-01-01

We analyze in the laboratory whether an uninformed trader is able to manipulate the price of a financial asset. To do so, we compare the results of two different experimental treatments. In the Benchmark Treatment, twelve subjects trade a common value asset that takes either a high or a low value. Information is distributed asymmetrically, only three outof twelve subjects know the actual value of the asset. The Manipulation Treatment is identical to the Benchmark Treatment apart from the fact...

The time optimal trajectory planning with limitation of operating task for the Tokamak inspecting manipulator

Energy Technology Data Exchange (ETDEWEB)

Wang, Hesheng; Lai, Yinping [Department of Automation,Shanghai Jiao Tong University, Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation,Shanghai Jiao Tong University, Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China)

2016-12-15

In this paper, a new optimization model of time optimal trajectory planning with limitation of operating task for the Tokamak inspecting manipulator is designed. The task of this manipulator is to inspect the components of Tokamak, the inspecting velocity of manipulator must be limited in the operating space in order to get the clear pictures. With the limitation of joint velocity, acceleration and jerk, this optimization model can not only get the minimum working time along a specific path, but also ensure the imaging quality of camera through the constraint of inspecting velocity. The upper bound of the scanning speed is not a constant but changes according to the observation distance of camera in real time. The relation between scanning velocity and observation distance is estimated by curve-fitting. Experiment has been carried out to verify the feasibility of optimization model, moreover, the Laplace image sharpness evaluation method is adopted to evaluate the quality of images obtained by the proposed method.

The time optimal trajectory planning with limitation of operating task for the Tokamak inspecting manipulator

International Nuclear Information System (INIS)

Wang, Hesheng; Lai, Yinping; Chen, Weidong

2016-01-01

In this paper, a new optimization model of time optimal trajectory planning with limitation of operating task for the Tokamak inspecting manipulator is designed. The task of this manipulator is to inspect the components of Tokamak, the inspecting velocity of manipulator must be limited in the operating space in order to get the clear pictures. With the limitation of joint velocity, acceleration and jerk, this optimization model can not only get the minimum working time along a specific path, but also ensure the imaging quality of camera through the constraint of inspecting velocity. The upper bound of the scanning speed is not a constant but changes according to the observation distance of camera in real time. The relation between scanning velocity and observation distance is estimated by curve-fitting. Experiment has been carried out to verify the feasibility of optimization model, moreover, the Laplace image sharpness evaluation method is adopted to evaluate the quality of images obtained by the proposed method.

Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

Directory of Open Access Journals (Sweden)

Hossein Sadegh Lafmejani

2014-08-01

Full Text Available In this paper, the modeling, simulation and control of 3 degrees of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

Manipulators in teleoperation

International Nuclear Information System (INIS)

Hamel, W.R.

1985-01-01

Teleoperated manipulators represent a mature technology which has evolved over nearly 40 years of applications experience. The wide range of manipulator concepts developed thus far reflect differing applications, priorities, and philosophies. The technology of teleoperated manipulators is in a rapid state of change (just as are industrial robotics) fueled by microelectronics and materials advances. Large strides in performance and dexterity are now practical and advantageous. Even though improved controls and sensory feedback will increase functionality, overall costs should be reduced as manipulator fabrication and assembly labor costs are reduced through improved manufacturing technology. As these advances begin to materialize, broader applications in nonnuclear areas should occur

Characteristics of manipulative in mathematics laboratory

Science.gov (United States)

Istiandaru, A.; Istihapsari, V.; Prahmana, R. C. I.; Setyawan, F.; Hendroanto, A.

2017-12-01

A manipulative is a teaching aid designed such that students could understand mathematical concepts by manipulating it. This article aims to provide an insight to the characteristics of manipulatives produced in the mathematics laboratory of Universitas Ahmad Dahlan, Indonesia. A case study was conducted to observe the existing manipulatives produced during the latest three years and classified the manipulatives based on the characteristics found. There are four kinds of manipulatives: constructivism manipulative, virtual manipulative, informative manipulative, and game-based manipulative. Each kinds of manipulative has different characteristics and impact towards the mathematics learning.

Manipulators inspired by the tongue of the chameleon.

Science.gov (United States)

Debray, Alexis

2011-06-01

Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s(-1) and accelerations 350 m s(-2), with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s(-1) with an acceleration of 573 m s(-2) while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

Manipulators inspired by the tongue of the chameleon

International Nuclear Information System (INIS)

Debray, Alexis

2011-01-01

Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s -1 and accelerations 350 m s -2 , with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s -1 with an acceleration of 573 m s -2 while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

Manipulators inspired by the tongue of the chameleon

Energy Technology Data Exchange (ETDEWEB)

Debray, Alexis, E-mail: debray.alexis@canon.co.jp [Canon Incorporation, 3-30-2, Shimomaruko, Ohta-ku, Tokyo 146-8501 (Japan)

2011-06-15

Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s{sup -1} and accelerations 350 m s{sup -2}, with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s{sup -1} with an acceleration of 573 m s{sup -2} while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

TOP-DRAWER, Histograms, Scatterplots, Curve-Smoothing

International Nuclear Information System (INIS)

Chaffee, R.B.

1988-01-01

Description of program or function: TOP DRAWER produces histograms, scatterplots, data points with error bars and plots symbols, and curves passing through data points, with elaborate titles. It also does smoothing and calculates frequency distributions. There is little facility, however, for arithmetic manipulation. Because of its restricted applicability, TOP DRAWER can be controlled by a relatively simple set of commands, and this control is further simplified by the choice of reasonable default values for all parameters. Despite this emphasis on simplicity, TOP DRAWER plots are of exceptional quality and are suitable for publication. Input is normally from card-image records, although a set of subroutines is provided to accommodate FORTRAN calls. The program contains switches which can be set to generate code suitable for execution on IBM, DECX VAX, and PRIME computers

Manipulators for production and research

International Nuclear Information System (INIS)

Munro, Ian

1987-01-01

The development of caves or cells and master-slave manipulators to handle radioactive materials is discussed. Some of the most recent advances are described. A manipulator arm, a master-slave manipulator and a servomanipulator mounted on a manipulator are illustrated. Future developments are discussed - these include resolved tip control for the manipulator. (UK)

Lagrangian Curves on Spectral Curves of Monopoles

International Nuclear Information System (INIS)

Guilfoyle, Brendan; Khalid, Madeeha; Ramon Mari, Jose J.

2010-01-01

We study Lagrangian points on smooth holomorphic curves in TP 1 equipped with a natural neutral Kaehler structure, and prove that they must form real curves. By virtue of the identification of TP 1 with the space LE 3 of oriented affine lines in Euclidean 3-space, these Lagrangian curves give rise to ruled surfaces in E 3 , which we prove have zero Gauss curvature. Each ruled surface is shown to be the tangent lines to a curve in E 3 , called the edge of regression of the ruled surface. We give an alternative characterization of these curves as the points in E 3 where the number of oriented lines in the complex curve Σ that pass through the point is less than the degree of Σ. We then apply these results to the spectral curves of certain monopoles and construct the ruled surfaces and edges of regression generated by the Lagrangian curves.

MEMS 6 degrees of freedom parallel micro manipulator for TEM sample manipulation

NARCIS (Netherlands)

Brouwer, Dannis Michel; de Jong, B.R.; Soemers, Herman

2005-01-01

Up till now MEMS actuators acted either only in-plane or only out-of plane restricting to 3 DOF manipulation. A design for a millimeter-sized manipulator with 6 degrees of freedom to manipulate a micron-sized substrate at nanometer resolution over strokes of 10 microns with a position stability

A multi-modular helical magnetic millirobot navigating in curved tubular environments

Directory of Open Access Journals (Sweden)

Seungmun Jeon

2017-05-01

Full Text Available This paper proposes a novel multi-modular helical magnetic millirobot (MHMM able to navigate in curved tubular environments. The proposed MHMM is basically composed of head, middle, and tail modules serially connected by a universal joint, and can employ more modules if necessary. The head module is a helical body with a magnetic rotary tip attached to the front end. Thus, once located in a curved tube filled with a fluid, the MHMM can effectively generate navigating or unclogging motions simply actuated by an external rotating magnetic field. This paper also examines the dynamic characteristics of the MHMM under various working conditions to manipulate the MHMM in a stable and safe manner. Then, it demonstrates various controlled motions of the MHMM in an in-vitro pulsatile flow environment to show the validity of the proposed structure and method.

Laparoscopy Instructional Videos: The Effect of Preoperative Compared With Intraoperative Use on Learning Curves.

Science.gov (United States)

Broekema, Theo H; Talsma, Aaldert K; Wevers, Kevin P; Pierie, Jean-Pierre E N

Previous studies have shown that the use of intraoperative instructional videos has a positive effect on learning laparoscopic procedures. This study investigated the effect of the timing of the instructional videos on learning curves in laparoscopic skills training. After completing a basic skills course on a virtual reality simulator, medical students and residents with less than 1 hour experience using laparoscopic instruments were randomized into 2 groups. Using an instructional video either preoperatively or intraoperatively, both groups then performed 4 repetitions of a standardized task on the TrEndo augmented reality. With the TrEndo, 9 motion analysis parameters (MAPs) were recorded for each session (4 MAPs for each hand and time). These were the primary outcome measurements for performance. The time spent watching the instructional video was also recorded. Improvement in performance was studied within and between groups. Medical Center Leeuwarden, a secondary care hospital located in Leeuwarden, The Netherlands. Right-hand dominant medical student and residents with more than 1 hour experience operating any kind of laparoscopic instruments were participated. A total of 23 persons entered the study, of which 21 completed the study course. In both groups, at least 5 of 9 MAPs showed significant improvements between repetition 1 and 4. When both groups were compared after completion of repetition 4, no significant differences in improvement were detected. The intraoperative group showed significant improvement in 3 MAPs of the left-nondominant-hand, compared with one MAP for the preoperative group. No significant differences in learning curves could be detected between the subjects who used intraoperative instructional videos and those who used preoperative instructional videos. Intraoperative video instruction may result in improved dexterity of the nondominant hand. Copyright © 2016 Association of Program Directors in Surgery. Published by Elsevier Inc

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

Kress, R.L.; Jansen, J.F.; Love, L.J.

1997-01-01

Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL's flexible/prismatic test stand

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States); Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States)

1997-03-01

Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.

Symmetry Properties of Potentiometric Titration Curves.

Science.gov (United States)

Macca, Carlo; Bombi, G. Giorgio

1983-01-01

Demonstrates how the symmetry properties of titration curves can be efficiently and rigorously treated by means of a simple method, assisted by the use of logarithmic diagrams. Discusses the symmetry properties of several typical titration curves, comparing the graphical approach and an explicit mathematical treatment. (Author/JM)

Acoustic Devices for Particle and Cell Manipulation and Sensing

Directory of Open Access Journals (Sweden)

Yongqiang Qiu

2014-08-01

Full Text Available An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed.

Integrality and separability of multitouch interaction techniques in 3D manipulation tasks.

Science.gov (United States)

Martinet, Anthony; Casiez, Géry; Grisoni, Laurent

2012-03-01

Multitouch displays represent a promising technology for the display and manipulation of data. While the manipulation of 2D data has been widely explored, 3D manipulation with multitouch displays remains largely unexplored. Based on an analysis of the integration and separation of degrees of freedom, we propose a taxonomy for 3D manipulation techniques with multitouch displays. Using that taxonomy, we introduce Depth-Separated Screen-Space (DS3), a new 3D manipulation technique based on the separation of translation and rotation. In a controlled experiment, we compared DS3 with Sticky Tools and Screen-Space. Results show that separating the control of translation and rotation significantly affects performance for 3D manipulation, with DS3 performing faster than the two other techniques.

Inverse kinematics for the variable geometry truss manipulator via a Lagrangian dual method

Directory of Open Access Journals (Sweden)

Yanchun Zhao

2016-11-01

Full Text Available This article studies the inverse kinematics problem of the variable geometry truss manipulator. The problem is cast as an optimization process which can be divided into two steps. Firstly, according to the information about the location of the end effector and fixed base, an optimal center curve and the corresponding distribution of the intermediate platforms along this center line are generated. This procedure is implemented by solving a non-convex optimization problem that has a quadratic objective function subject to quadratic constraints. Then, in accordance with the distribution of the intermediate platforms along the optimal center curve, all lengths of the actuators are calculated via the inverse kinematics of each variable geometry truss module. Hence, the approach that we present is an optimization procedure that attempts to generate the optimal intermediate platform distribution along the optimal central curve, while the performance index and kinematic constraints are satisfied. By using the Lagrangian duality theory, a closed-form optimal solution of the original optimization is given. The numerical simulation substantiates the effectiveness of the introduced approach.

Curves and surfaces for computer-aided geometric design a practical guide

CERN Document Server

Farin, Gerald

1992-01-01

A leading expert in CAGD, Gerald Farin covers the representation, manipulation, and evaluation of geometric shapes in this the Third Edition of Curves and Surfaces for Computer Aided Geometric Design. The book offers an introduction to the field that emphasizes Bernstein-Bezier methods and presents subjects in an informal, readable style, making this an ideal text for an introductory course at the advanced undergraduate or graduate level.The Third Edition includes a new chapter on Topology, offers new exercises and sections within most chapters, combines the material on Geometric Continuity i

Control system design concepts for improving bilateral characteristics of master-slave manipulators

International Nuclear Information System (INIS)

Hewitt, J.E.; Siva, K.V.

1986-01-01

The paper concerns control system design concepts for improving bilateral characteristics of master-slave manipulators. In particular, the article concentrates on the identification of the remote manipulative process itself from studying direct manipulation with hand tools. Bilateral servo loop systems in operator controlled manipular systems are discussed, as well as Bond Graph modelling techniques. The performance of different kinds of bilateral servos are compared. (U.K.)

SiFTO: An Empirical Method for Fitting SN Ia Light Curves

Science.gov (United States)

Conley, A.; Sullivan, M.; Hsiao, E. Y.; Guy, J.; Astier, P.; Balam, D.; Balland, C.; Basa, S.; Carlberg, R. G.; Fouchez, D.; Hardin, D.; Howell, D. A.; Hook, I. M.; Pain, R.; Perrett, K.; Pritchet, C. J.; Regnault, N.

2008-07-01

We present SiFTO, a new empirical method for modeling Type Ia supernova (SN Ia) light curves by manipulating a spectral template. We make use of high-redshift SN data when training the model, allowing us to extend it bluer than rest-frame U. This increases the utility of our high-redshift SN observations by allowing us to use more of the available data. We find that when the shape of the light curve is described using a stretch prescription, applying the same stretch at all wavelengths is not an adequate description. SiFTO therefore uses a generalization of stretch which applies different stretch factors as a function of both the wavelength of the observed filter and the stretch in the rest-frame B band. We compare SiFTO to other published light-curve models by applying them to the same set of SN photometry, and demonstrate that SiFTO and SALT2 perform better than the alternatives when judged by the scatter around the best-fit luminosity distance relationship. We further demonstrate that when SiFTO and SALT2 are trained on the same data set the cosmological results agree. Based on observations obtained with MegaPrime/MegaCam, a joint project of CFHT and CEA/DAPNIA, at the Canada-France-Hawaii Telescope (CFHT) which is operated by the National Research Council (NRC) of Canada, the Institut National des Sciences de l'Univers of the Centre National de la Recherche Scientifique (CNRS) of France, and the University of Hawaii. This work is based in part on data products produced at the Canadian Astronomy Data Centre as part of the Canada-France-Hawaii Telescope Legacy Survey, a collaborative project of NRC and CNRS.

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

Science.gov (United States)

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

How verbal and spatial manipulation networks contribute to calculation: An fMRI study

International Nuclear Information System (INIS)

Zago, L.; Petit, L.; Turbelin, M.R.; Anderson, F.; Vigneau, M.; Tzourio-Mazoyer, N.

2008-01-01

The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intra-parietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and non-symbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with non-symbolic material. (authors)

How verbal and spatial manipulation networks contribute to calculation: An fMRI study

Energy Technology Data Exchange (ETDEWEB)

Zago, L.; Petit, L.; Turbelin, M.R.; Anderson, F.; Vigneau, M.; Tzourio-Mazoyer, N. [Univ Paris 05, Univ Caen Basse Normandie, CEA, DSV, CNRS, CI NAPSUMR 6232, Paris (France)

2008-07-01

The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intra-parietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and non-symbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with non-symbolic material. (authors)

The thermoluminescence glow-curve analysis using GlowFit - the new powerful tool for deconvolution

International Nuclear Information System (INIS)

Puchalska, M.; Bilski, P.

2005-10-01

A new computer program, GlowFit, for deconvoluting first-order kinetics thermoluminescence (TL) glow-curves has been developed. A non-linear function describing a single glow-peak is fitted to experimental points using the least squares Levenberg-Marquardt method. The main advantage of GlowFit is in its ability to resolve complex TL glow-curves consisting of strongly overlapping peaks, such as those observed in heavily doped LiF:Mg,Ti (MTT) detectors. This resolution is achieved mainly by setting constraints or by fixing selected parameters. The initial values of the fitted parameters are placed in the so-called pattern files. GlowFit is a Microsoft Windows-operated user-friendly program. Its graphic interface enables easy intuitive manipulation of glow-peaks, at the initial stage (parameter initialization) and at the final stage (manual adjustment) of fitting peak parameters to the glow-curves. The program is freely downloadable from the web site www.ifj.edu.pl/NPP/deconvolution.htm (author)

A Research on the Primary Mirror Manipulator of Large Segmented-mirror Telescope

Science.gov (United States)

Zuo, H.

2012-09-01

Since Galileo firstly used the telescope to observe the sky 400 years ago, the aperture of the telescope has become larger and larger to observe the deeper universe, and the segmented-mirror telescope is becoming more and more popular with increasing aperture. In the early 21st century, a series of segmented-mirror telescopes have been constructed including the Large Sky Area Multi-object Fiber Spectroscopic Telescope (LAMOST) of China. LAMOST is a meridian reflecting Schmidt telescope, and the dimension of the primary mirror is about 6.7 m× 6 m, which is composed of 37 hexagonal sub-mirrors. However, a problem about the mirror installation appears with the increasing aperture. If there are hundreds of sub-mirrors in the telescope, it is a challenging job to mount and dismount them to the truss. This problem is discussed in this paper and a manipulator for the primary mirror of LAMOST is designed to perform the mount and dismount work. In chapter 1, all the segmented-mirror telescopes in the world are introduced and how the sub-mirrors of these telescopes are installed has been investigated. After comparing with the serial and the parallel robot, a serial robot manipulator proposal, which has several redundant degrees of freedom (DOFs), has been chosen from a series of design proposals. In chapter 2, the theoretical analysis has been carried out on the basis of the design proposal, which includes the forward kinematics and the inverse kinematics. Firstly the D-H coordinate is built according to the structure of the manipulator, so it is possible to obtain the end-effector position and orientation from the individual joint motion thanks to the forward kinematics. Because of the redundant DOFs of the manipulator, the inverse kinematics solution can be a very trick task, and the result may not be only, therefore a kind of simulation is carried out to get the numerical solution using ADAMS (Automatic Dynamic Analysis of Mechanical System). In the dynamics analysis the

Multiwavelength light curve parameters of Cepheid variables

Directory of Open Access Journals (Sweden)

Bhardwaj Anupam

2017-01-01

Full Text Available We present a comparative analysis of theoretical and observed light curves of Cepheid variables using Fourier decomposition. The theoretical light curves at multiple wavelengths are generated using stellar pulsation models for chemical compositions representative of Cepheids in the Galaxy and Magellanic Clouds. The observed light curves at optical (VI, near-infrared (JHKs and mid-infrared (3.6 & 4.5-μm bands are compiled from the literature. We discuss the variation of light curve parameters as a function of period, wavelength and metallicity. Theoretical and observed Fourier amplitude parameters decrease with increase in wavelength while the phase parameters increase with wavelength. We find that theoretical amplitude parameters obtained using canonical mass-luminosity levels exhibit a greater offset with respect to observations when compared to non-canonical relations. We also discuss the impact of variation in convective efficiency on the light curve structure of Cepheid variables. The increase in mixing length parameter results in a zero-point offset in bolometric mean magnitudes and reduces the systematic large difference in theoretical amplitudes with respect to observations.

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

Bartelds, T.; Capra, A.; Hamaza, S.

2016-01-01

joints. The approach aims at limiting the influence of impacts on the controlled attitude dynamics in order to allow the aerial manipulator to remain stable during and after impact. The developed concept is intended to convert kinetic energy into potential energy, which is permanently stored into elastic...... elements by means of directional locking mechanisms. The proposed approach has been tested on a 2 d.o.f. manipulator mounted on a quadrotor UAV. The manipulation system has one active rotational d.o.f. compensating for pitch movements of the UAV and one passive linear joint which is in charge of absorbing...... the impact energy. The device has been used to validate the method through experiments, in comparison with a rigid manipulator. The results show that the proposed approach and the developed mechanical system achieve stable impact absorption without bouncing away from the interacting environment. Our work has...

A comparison of force sensing techniques for planetary manipulation

Science.gov (United States)

Helmick, Daniel; Okon, Avi; DiCicco, Matt

2006-01-01

Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability fo each technique is quantified and compared.

Understanding pharmaceutical research manipulation in the context of accounting manipulation.

Science.gov (United States)

Brown, Abigail

2013-01-01

The problem of the manipulation of data that arises when there is both opportunity and incentive to mislead is better accepted and studied - though by no means solved - in financial accounting than in medicine. This article analyzes pharmaceutical company manipulation of medical research as part of a broader problem of corporate manipulation of data in the creation of accounting profits. The article explores how our understanding of accounting fraud and misinformation helps us understand the risk of similar information manipulation in the medical sciences. This understanding provides a framework for considering how best to improve the quality of medical research and analysis in light of the current system of medical information production. I offer three possible responses: (1) use of the Dodd-Frank whistleblower provisions to encourage reporting of medical research fraud; (2) a two-step academic journal review process for clinical trials; and (3) publicly subsidized trial-failure insurance. These would improve the release of negative information about drugs, thereby increasing the reliability of positive information. © 2013 American Society of Law, Medicine & Ethics, Inc.

An evolutionary resolution of manipulation conflict.

Science.gov (United States)

González-Forero, Mauricio

2014-07-01

Individuals can manipulate the behavior of social partners. However, manipulation may conflict with the fitness interests of the manipulated individuals. Manipulated individuals can then be favored to resist manipulation, possibly reducing or eliminating the manipulated behavior in the long run. I use a mathematical model to show that conflicts where manipulation and resistance coevolve can disappear as a result of the coevolutionary process. I find that while manipulated individuals are selected to resist, they can simultaneously be favored to express the manipulated behavior at higher efficiency (i.e., providing increasing fitness effects to recipients of the manipulated behavior). Efficiency can increase to a point at which selection for resistance disappears. This process yields an efficient social behavior that is induced by social partners, and over which the inducing and induced individuals are no longer in conflict. A necessary factor is costly inefficiency. I develop the model to address the evolution of advanced eusociality via maternal manipulation (AEMM). The model predicts AEMM to be particularly likely in taxa with ancestrally imperfect resistance to maternal manipulation. Costly inefficiency occurs if the cost of delayed dispersal is larger than the benefit of exploiting the maternal patch. I discuss broader implications of the process. © 2014 The Author(s). Evolution © 2014 The Society for the Study of Evolution.

Perspectives on object manipulation and action grammar for percussive actions in primates.

Science.gov (United States)

Hayashi, Misato

2015-11-19

The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of object manipulation in naive chimpanzees after nut-cracking demonstrations revealed the cause of difficulties in learning nut-cracking behaviour. Various types of behaviours exhibited within a nut-cracking context can be examined in terms of the application of problem-solving strategies, focusing on their basis in causal understanding or insightful intentionality. Captive chimpanzees also exhibit complex forms of combinatory manipulation, which is the precursor of tool use. A new notation system of object manipulation was invented to assess grammatical rules in manipulative actions. The notation system of action grammar enabled direct comparisons to be made between primates including humans in a variety of object-manipulation tasks, including percussive-tool use. © 2015 The Author(s).

Spinal manipulation and mobilisation for back and neck pain : A blinded review

NARCIS (Netherlands)

Koes, B. W.; Assendelft, W. J J; Van Der Heijden, G. J M G; Bouter, L. M.; Knipschild, P. G.

1991-01-01

Objective - To assess the efficacy of spinal manipulation for patients with back or neck pain. Design - Computer aided search for published papers and blinded assessment of the methods of the studies. Subjects - 35 randomised clinical trials comparing spinal manipulation with other treatments. Main

Upper airway stabilization by osteopathic manipulation of the sphenopalatine ganglion versus sham manipulation in OSAS patients: a proof-of-concept, randomized, crossover, double-blind, controlled study.

Science.gov (United States)

Jacq, Olivier; Arnulf, Isabelle; Similowski, Thomas; Attali, Valérie

2017-12-20

Osteopathic manipulative treatment (OMT) of the sphenopalatine ganglion (SPG) is used empirically for the treatment of rhinitis and snoring and is thought to increase pharyngeal stability. This trial was designed to study the effects of this treatment on pharyngeal stability evaluated by critical closing pressure in obstructive sleep apnoea syndrome. This single-centre, randomized, crossover, double-blind study compared active manipulation and sham manipulation of the SPG. Randomization was computer-generated. Patients each received one active manipulation and one sham manipulation at an interval of 21 days and were evaluated 30 min and 48 h after each session administered by a qualified osteopath. Neither the patients, nor the investigator performing the evaluations were informed about the order of the two techniques (double-blind). The primary endpoint was the percentage of responding patients presenting increased pharyngeal stability defined by a variation of critical closing pressure (Pcrit) of at least -4 cmH 2 O at 30 min. Secondary endpoints were the variation of Pcrit in absolute values, sleepiness and snoring. Others endpoints were lacrimation (Schirmer's test), induced pain, sensations experienced during OMT. Ten patients were included and nine (57 [50; 58] years, comprising 7 men, with an apnoea-hypopnoea index of 31.0 [25.5; 33.2]/h; (values are median [quartiles])) were analysed. Seven patients were analysed for the primary endpoint and nine patients were analysed for secondary endpoints. Five patients responded after active manipulation versus no patients after sham manipulation (p = 0.0209). Active manipulation induced more intense pain (p = 0.0089), increased lacrimation (ns) and more tactile, nociceptive and gustatory sensations (13 versus 1) compared to sham manipulation. No significant difference was observed for the other endpoints. Osteopathic manipulative treatment of the SPG may improve pharyngeal stability in obstructive sleep

A pilot randomized controlled trial comparing the efficacy of exercise, spinal manipulation, and neuro emotional technique for the treatment of pregnancy-related low back pain

Directory of Open Access Journals (Sweden)

Peterson Caroline D

2012-06-01

Full Text Available Abstract Background This pilot randomized controlled trial evaluated the feasibility of conducting a full scale study and compared the efficacy of exercise, spinal manipulation, and a mind-body therapy called Neuro Emotional Technique for the treatment of pregnancy-related low back pain, a common morbidity of pregnancy. Methods Healthy pregnant women with low back pain of insidious onset were eligible to enroll in the study at any point in their pregnancy. Once enrolled, they remained in the study until they had their babies. Women were randomly allocated into one of three treatment groups using opaque envelopes. The treatment schedule paralleled the prenatal care schedule and women received individualized intervention. Our null hypothesis was that spinal manipulation and Neuro Emotional Technique would perform no better than exercise in enhancing function and decreasing pain. Our primary outcome measure was the Roland Morris Disability Questionnaire and our secondary outcome measure was the Numeric Pain Rating Scale. Intention to treat analysis was conducted. For the primary analysis, regression was conducted to compare groups on the outcome measure scores. In a secondary responder analysis, difference in proportions of participants in attaining 30% and 50% improvement were calculated. Feasibility factors for conducting a future larger trial were also evaluated such as recruitment, compliance to study protocols, cost, and adverse events. Results Fifty-seven participants were randomized into the exercise (n = 22, spinal manipulation (n = 15, and Neuro Emotional Technique (n = 20 treatment arms. At least 50% of participants in each treatment group experienced clinically meaningful improvement in symptoms for the Roland Morris Disability Questionnaire. At least 50% of the exercise and spinal manipulation participants also experienced clinically meaningful improvement for the Numeric Pain Rating Scale. There were no clinically

Manipulation, salience, and nudges.

Science.gov (United States)

Noggle, Robert

2018-03-01

Cass Sunstein and Richard Thaler recommend helping people make better decisions by employing 'nudges', which they define as noncoercive methods of influencing choice for the better. Not surprisingly, healthcare practitioners and public policy professionals have become interested in whether nudges might be a promising method of improving health-related behaviors without resorting to heavy-handed methods such as coercion, deception, or government regulation. Many nudges seem unobjectionable as they merely improve the quality and quantity available for the decision-maker. However, other nudges influence decision-making in ways that do not involve providing more and better information. Nudges of this sort raise concerns about manipulation. This paper will focus on noninformational nudges that operate by changing the salience of various options. It will survey two approaches to understanding manipulation, one which sees manipulation as a kind of pressure, and one that sees it as a kind of trickery. On the pressure view, salience nudges do not appear to be manipulative. However, on the trickery view (which the author favors), salience nudges will be manipulative if they increase the salience so that it is disproportionate to that fact's true relevance and importance for the decision at hand. By contrast, salience nudges will not be manipulative if they merely highlight some fact that is true and important for the decision at hand. The paper concludes by providing examples of both manipulative and nonmanipulative salience nudges. © 2017 John Wiley & Sons Ltd.

Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator

Directory of Open Access Journals (Sweden)

Hossein Sadegh Lafmejani

2013-09-01

Full Text Available In this paper, the modeling, simulation and control of 3 degree of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

Cell manipulation in microfluidics

International Nuclear Information System (INIS)

Yun, Hoyoung; Kim, Kisoo; Lee, Won Gu

2013-01-01

Recent advances in the lab-on-a-chip field in association with nano/microfluidics have been made for new applications and functionalities to the fields of molecular biology, genetic analysis and proteomics, enabling the expansion of the cell biology field. Specifically, microfluidics has provided promising tools for enhancing cell biological research, since it has the ability to precisely control the cellular environment, to easily mimic heterogeneous cellular environment by multiplexing, and to analyze sub-cellular information by high-contents screening assays at the single-cell level. Various cell manipulation techniques in microfluidics have been developed in accordance with specific objectives and applications. In this review, we examine the latest achievements of cell manipulation techniques in microfluidics by categorizing externally applied forces for manipulation: (i) optical, (ii) magnetic, (iii) electrical, (iv) mechanical and (v) other manipulations. We furthermore focus on history where the manipulation techniques originate and also discuss future perspectives with key examples where available. (topical review)

Differential inertial focusing of particles in curved low-aspect-ratio microchannels

Energy Technology Data Exchange (ETDEWEB)

Russom, Aman; Gupta, Amit K; Nagrath, Sunitha; Di Carlo, Dino; Edd, Jon F; Toner, Mehmet [BioMEMS Resource Center, Center for Engineering in Medicine and Surgical Services, Massachusetts General Hospital, Shriners Hospital for Children, and Harvard Medical School, Boston, MA 02114 (United States)], E-mail: aman@kth.se

2009-07-15

Microfluidic-based manipulation of particles is of great interest due to the insight it provides into the physics of hydrodynamic forces. Here, we study a particle-size-dependent phenomenon based on differential inertial focusing that utilizes the flow characteristics of curved, low aspect ratio (channel width >> height), microfluidic channels. We report the emergence of two focusing points along the height of the channel (z-plane), where different sized particles are focused and ordered in evenly spaced trains at correspondingly different lateral positions within the channel cross-section. We applied the system for continuous ordering and separation of suspension particles.

Automated curved planar reformation of 3D spine images

International Nuclear Information System (INIS)

Vrtovec, Tomaz; Likar, Bostjan; Pernus, Franjo

2005-01-01

Traditional techniques for visualizing anatomical structures are based on planar cross-sections from volume images, such as images obtained by computed tomography (CT) or magnetic resonance imaging (MRI). However, planar cross-sections taken in the coordinate system of the 3D image often do not provide sufficient or qualitative enough diagnostic information, because planar cross-sections cannot follow curved anatomical structures (e.g. arteries, colon, spine, etc). Therefore, not all of the important details can be shown simultaneously in any planar cross-section. To overcome this problem, reformatted images in the coordinate system of the inspected structure must be created. This operation is usually referred to as curved planar reformation (CPR). In this paper we propose an automated method for CPR of 3D spine images, which is based on the image transformation from the standard image-based to a novel spine-based coordinate system. The axes of the proposed spine-based coordinate system are determined on the curve that represents the vertebral column, and the rotation of the vertebrae around the spine curve, both of which are described by polynomial models. The optimal polynomial parameters are obtained in an image analysis based optimization framework. The proposed method was qualitatively and quantitatively evaluated on five CT spine images. The method performed well on both normal and pathological cases and was consistent with manually obtained ground truth data. The proposed spine-based CPR benefits from reduced structural complexity in favour of improved feature perception of the spine. The reformatted images are diagnostically valuable and enable easier navigation, manipulation and orientation in 3D space. Moreover, reformatted images may prove useful for segmentation and other image analysis tasks

Master-slave manipulator

International Nuclear Information System (INIS)

Haaker, L.W.; Jelatis, D.G.

1981-01-01

A remote control master-slave manipulator for performing work on the opposite side of a barrier wall, is described. The manipulator consists of a rotatable horizontal support adapted to extend through the wall and two longitudinally extensible arms, a master and a slave, pivotally connected one to each end of the support. (U.K.)

Leadership Manipulation and Ethics in Storytelling

OpenAIRE

Auvinen, Tommi; Lämsä, Anna-Maija; Sintonen, Teppo; Takala, Tuomo

2013-01-01

This article focuses on exerting influence in leadership, namely manipulation in storytelling. Manipulation is usually considered an unethical approach to leadership. We will argue that manipulation is a more complex phenomenon than just an unethical way of acting in leadership. We will demonstrate through an empirical qualitative study that there are various types of manipulation through storytelling. This article makes a contribution to the literature on manipulation through leadership stor...

Estimating thumb–index finger precision grip and manipulation potential in extant and fossil primates

Science.gov (United States)

Feix, Thomas; Kivell, Tracy L.; Pouydebat, Emmanuelle; Dollar, Aaron M.

2015-01-01

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb–index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. PMID:25878134

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Additive manufacturing of patient-specific tubular continuum manipulators

Science.gov (United States)

Amanov, Ernar; Nguyen, Thien-Dang; Burgner-Kahrs, Jessica

2015-03-01

Tubular continuum robots, which are composed of multiple concentric, precurved, elastic tubes, provide more dexterity than traditional surgical instruments at the same diameter. The tubes can be precurved such that the resulting manipulator fulfills surgical task requirements. Up to now the only material used for the component tubes of those manipulators is NiTi, a super-elastic shape-memory alloy of nickel and titan. NiTi is a cost-intensive material and fabrication processes are complex, requiring (proprietary) technology, e.g. for shape setting. In this paper, we evaluate component tubes made of 3 different thermoplastic materials (PLA, PCL and nylon) using fused filament fabrication technology (3D printing). This enables quick and cost-effective production of custom, patient-specific continuum manipulators, produced on site on demand. Stress-strain and deformation characteristics are evaluated experimentally for 16 fabricated tubes of each thermoplastic with diameters and shapes equivalent to those of NiTi tubes. Tubes made of PCL and nylon exhibit properties comparable to those made of NiTi. We further demonstrate a tubular continuum manipulator composed of 3 nylon tubes in a transnasal, transsphenoidal skull base surgery scenario in vitro.

Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

Science.gov (United States)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2017-12-01

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

Using Manipulatives in Math Instruction.

Science.gov (United States)

Marzola, Eileen S.

1987-01-01

Guidelines for teachers to better use manipulatives in the teaching of mathematics to learning disabled learners are offered including a rationale for manipulatives, selection crteria, principles underlying productive use of manipulatives, and making the transition from the concrete to the symbolic. Suggested materials and distributors are listed.…

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

Science.gov (United States)

Wang, Mingming; Luo, Jianjun; Fang, Jing; Yuan, Jianping

2018-03-01

The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.

Telerobotic operation of structurally flexible, long-reach manipulators

International Nuclear Information System (INIS)

Kwon, D.S.; Hwang, D.H.; Babcock, S.M.

1994-01-01

As a part of the Department of Energy's Environmental Restoration and Waste Management Program, long-reach manipulators are being considered for the retrieval of waste from large storage tanks. Long-reach manipulators may have characteristics significantly different from those of typical industrial robots because of the flexibility of long links needed to cover the large workspace. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A new approach that uses embedded simulation was developed and compared with others. In the new approach, generation of joint trajectories considering link flexibility was also investigated

Balanced articulated manipulator

International Nuclear Information System (INIS)

Francois, Daniel; Germond, J.-C.; Marchal, Paul; Vertut, Jean.

1976-01-01

The description is given of a manipulator of the type comprising a master arm and a slave arm, capable of working in a containment restricted by a wall fitted with an aperture to introduce the slave arm into the containment. According to the invention this manipulator is permanently balanced irrespective of its distortions when it is secured to the wall of the containment in which it is desired to work. The entire manipulator is also balanced when being set up and when moved outside the containment, in relation to a supporting axle. This result is achieved in a simplified manner by giving homothetic shapes to the various component parts of the slave and master arms, the master arm having at least one balancing weight [fr

Direct Manipulation in Virtual Reality

Science.gov (United States)

Bryson, Steve

2003-01-01

Virtual Reality interfaces offer several advantages for scientific visualization such as the ability to perceive three-dimensional data structures in a natural way. The focus of this chapter is direct manipulation, the ability for a user in virtual reality to control objects in the virtual environment in a direct and natural way, much as objects are manipulated in the real world. Direct manipulation provides many advantages for the exploration of complex, multi-dimensional data sets, by allowing the investigator the ability to intuitively explore the data environment. Because direct manipulation is essentially a control interface, it is better suited for the exploration and analysis of a data set than for the publishing or communication of features found in that data set. Thus direct manipulation is most relevant to the analysis of complex data that fills a volume of three-dimensional space, such as a fluid flow data set. Direct manipulation allows the intuitive exploration of that data, which facilitates the discovery of data features that would be difficult to find using more conventional visualization methods. Using a direct manipulation interface in virtual reality, an investigator can, for example, move a data probe about in space, watching the results and getting a sense of how the data varies within its spatial volume.

Development of manipulator system with good portability and usability

International Nuclear Information System (INIS)

Anon.

1990-01-01

Recently, accompanying the development of such elementary technologies as control technology, communication technology and ultrasmall, high accuracy sensor technology, the demand for the development of small, light weight manipulator systems which have the ingenuity comparable with human arms and can be moved and installed in any place becomes high. This time, by combining these elementary technologies with robot technology, the electric multi-articulate manipulator which can be applied to the ultrasonic flaw inspection of the welded parts and others in the various machinery and equipment for nuclear power stations was developed, and in the function confirmation test, the good results were obtained. This manipulator was developed jointly with five electric power companies. It was necessary to solve the subjects for the development. The system is composed of the equipment to be carried to a site and the equipment always installed in a control room, that is, ten components in total. The feature of the system is shown. The design of equipment constitution and control of the manipulator proper, the control technique, the function confirmation test and the results are reported. (K.I.)

Geometric control of manipulators

International Nuclear Information System (INIS)

Thiruarooran, C.

1996-01-01

Resolved motion control enables the end effector to be moved as a rigid body in space without having to work out manually the joint combinations needed. Since a rigid body in space has three independent translational and three independent rotational movements, a manipulator with at least six joints can be controlled in this way. Normally the manipulator has more than six joints providing an infinite number of ways of moving the tip in the desired direction and this redundancy can be exploited in a variety of ways. Resolved motion tests performed on a hydraulically operated heavy duty manipulator at the Dungeness nuclear power plant are described. The results have shown that manipulators with as many as ten joints can be controlled under resolved tip motion and the areas which are critical to the performance of this type of control have been identified. (UK)

Natural frequencies of the frames having curved member

International Nuclear Information System (INIS)

Tekelioglu, M.; Ozyigit, H.A.; Ridvan, H.

2001-01-01

In-plane and out-of-plane vibrations of a frame having a curved member are studied. Although the analysis is carried out on a frame having a straight and a curve beam, it can be applicable for all the frame type structures. Different end conditions are considered for the system. Rotary inertia and extensional effects are included for the curved member. Finite element method is used as analysis tool. Natural frequencies of the curved beams for different end conditions are calculated first, and then the frequencies of the frames are investigated. The transformation from local coordinates to global coordinates for curved beams needs special attention in the analysis. The results are compared with other methods. (author)

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

Science.gov (United States)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Effect of robotic manipulation on unidirectional barbed suture integrity: evaluation of tensile strength and sliding force.

Science.gov (United States)

Kaushik, Dharam; Clay, Kevin; Hossain, S G M; Park, Eugene; Nelson, Carl A; LaGrange, Chad A

2012-06-01

One of the more challenging portions of robot-assisted radical prostatectomy (RARP) is the urethrovesical anastomosis. Because of this, a unidirectional absorbable barbed suture (V-Loc(™)) has been used to complete the anastomosis with better efficiency and less tension. The effect of robotic needle driver manipulation on barbed suture is unknown. Therefore, the aim of this study is to determine whether robotic manipulation decreases the tensile strength and peak sliding force of V-Loc barbed suture. Fifty-six V-Loc sutures were compared with 56 Maxon sutures. All sutures were 3-0 caliber. Half of the sutures in each group were manipulated with a da Vinci(®) robot large needle driver five times over a 5 cm length of suture. The other half was not manipulated. Breaking force was determined by placing sutures in a Bose ElectroForce load testing device. For sliding force testing, 28 V-Loc sutures were manipulated in the same fashion and compared with 28 nonmanipulated V-Loc sutures. Peak force needed to make the suture slip backward in porcine small intestine was determined to be the sliding force. Scanning electron microscopy of the barbs before and after robotic manipulation was also performed. The mean difference in breaking forces for manipulated vs nonmanipulated Maxon sutures was 4.52 N (P=0.004). The mean difference in breaking forces for manipulated vs nonmanipulated V-Loc sutures was 1.30 N (P=0.046). The manipulated V-Loc group demonstrated a lower peak sliding force compared with the nonmanipulated group (0.76 vs 0.88 N, P=0.199). Electron microscopy revealed minor structural damage to the barbs and suture. Tensile strength and peak sliding force of V-Loc suture is decreased by robotic manipulation. This is likely because of structural damage to the suture and barbs. This structural damage, however, is likely not clinically significant.

Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator

CSIR Research Space (South Africa)

Dube, C

2011-11-01

Full Text Available Mobile manipulators are used in a number of different applications such as bomb disposal, mining robotics, and search and rescue operations. These mobile manipulators are highly susceptible to tip over due to the motion of the manipulator...

Speed Choice and Curve Radius on Rural Roads

DEFF Research Database (Denmark)

Rimme, Nicolai; Nielsen, Lea; Kjems, Erik

2016-01-01

with informative speed-calming measures as traffic signs, reflectors or surface painting. However, it has been the hypothesis that people are reducing their speed insufficiently and are driving too fast in most curved alignments – especially when they are driving there frequently. By knowing the speed near...... and in the curved alignments compared to the geometry of the curved alignments, it can be clarified, if and which speed-calming measures that are required. Using GNSS-based floating car data (FCD) from driving cars the speed near and in curved alignments is found. Single observation of FCD are connected to trips...

A design of speed reducer with trapezoidal tooth profile for robot manipulator

Energy Technology Data Exchange (ETDEWEB)

Nam, Won Ki; Oh, Se Hoon [Chung-Ang University, Seoul (Korea, Republic of)

2011-01-15

Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study.

A design of speed reducer with trapezoidal tooth profile for robot manipulator

International Nuclear Information System (INIS)

Nam, Won Ki; Oh, Se Hoon

2011-01-01

Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study

In silico single-molecule manipulation of DNA with rigid body dynamics.

Directory of Open Access Journals (Sweden)

Pascal Carrivain

2014-02-01

Full Text Available We develop a new powerful method to reproduce in silico single-molecule manipulation experiments. We demonstrate that flexible polymers such as DNA can be simulated using rigid body dynamics thanks to an original implementation of Langevin dynamics in an open source library called Open Dynamics Engine. We moreover implement a global thermostat which accelerates the simulation sampling by two orders of magnitude. We reproduce force-extension as well as rotation-extension curves of reference experimental studies. Finally, we extend the model to simulations where the control parameter is no longer the torsional strain but instead the torque, and predict the expected behavior for this case which is particularly challenging theoretically and experimentally.

Estimating thumb-index finger precision grip and manipulation potential in extant and fossil primates.

Science.gov (United States)

Feix, Thomas; Kivell, Tracy L; Pouydebat, Emmanuelle; Dollar, Aaron M

2015-05-06

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb-index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Manual and Instrument Applied Cervical Manipulation for Mechanical Neck Pain: A Randomized Controlled Trial.

Science.gov (United States)

Gorrell, Lindsay M; Beath, Kenneth; Engel, Roger M

2016-06-01

The purpose of this study was to compare the effects of 2 different cervical manipulation techniques for mechanical neck pain (MNP). Participants with MNP of at least 1 month's duration (n = 65) were randomly allocated to 3 groups: (1) stretching (control), (2) stretching plus manually applied manipulation (MAM), and (3) stretching plus instrument-applied manipulation (IAM). MAM consisted of a single high-velocity, low-amplitude cervical chiropractic manipulation, whereas IAM involved the application of a single cervical manipulation using an (Activator IV) adjusting instrument. Preintervention and postintervention measurements were taken of all outcomes measures. Pain was the primary outcome and was measured using visual analogue scale and pressure pain thresholds. Secondary outcomes included cervical range of motion, hand grip-strength, and wrist blood pressure. Follow-up subjective pain scores were obtained via telephone text message 7 days postintervention. Subjective pain scores decreased at 7-day follow-up in the MAM group compared with control (P = .015). Cervical rotation bilaterally (ipsilateral: P = .002; contralateral: P = .015) and lateral flexion on the contralateral side to manipulation (P = .001) increased following MAM. Hand grip-strength on the contralateral side to manipulation (P = .013) increased following IAM. No moderate or severe adverse events were reported. Mild adverse events were reported on 6 occasions (control, 4; MAM, 1; IAM, 1). This study demonstrates that a single cervical manipulation is capable of producing immediate and short-term benefits for MNP. The study also demonstrates that not all manipulative techniques have the same effect and that the differences may be mediated by neurological or biomechanical factors inherent to each technique. Copyright © 2016. Published by Elsevier Inc.

Detecting the manipulation of digital clinical records in dental practice

International Nuclear Information System (INIS)

Díaz-Flores-García, V.; Labajo-González, E.; Santiago-Sáez, A.; Perea-Pérez, B.

2017-01-01

Introduction: Radiography provides many advantages in the diagnosis and management of dental conditions. However, dental X-ray images may be subject to manipulation with malicious intent using easily accessible computer software. Methods: In this study, we sought to evaluate a dentist's ability to identify a manipulated dental X-ray images, when compared with the original, using a variant of the methodology described by Visser and Kruger. Sixty-six dentists were invited to participate and evaluate 20 intraoral dental X-ray images, 10 originals and 10 modified, manipulated using Adobe Photoshop to simulate fillings, root canal treatments, etc. Results: Participating dentists were correct in identifying the manipulated image in 56% of cases, 6% higher than by chance and 10% more than in the study by Visser and Kruger. Conclusion: Malicious changes to dental X-ray images may go unnoticed even by experienced dentists. Professionals must be aware of the legal consequences of such changes. A system of detection/validation should be created for radiographic images. - Highlights: • Fraudulent manipulation of dental X-ray images creates a problem of legal security. • Dentists were able to identify manipulated images on 56% of all occasions. • 6% more than the probability of a person with no dental training. • 10% more than in the study by Visser and Kruger.

Encoding specificity manipulations do affect retrieval from memory.

Science.gov (United States)

Zeelenberg, René

2005-05-01

In a recent article, P.A. Higham (2002) [Strong cues are not necessarily weak: Thomson and Tulving (1970) and the encoding specificity principle revisited. Memory &Cognition, 30, 67-80] proposed a new way to analyze cued recall performance in terms of three separable aspects of memory (retrieval, monitoring, and report bias) by comparing performance under both free-report and forced-report instructions. He used this method to derive estimates of these aspects of memory in an encoding specificity experiment similar to that reported by D.M. Thomson and E. Tulving (1970) [Associative encoding and retrieval: weak and strong cues. Journal of Experimental Psychology, 86, 255-262]. Under forced-report instructions, the encoding specificity manipulation did not affect performance. Higham concluded that the manipulation affected monitoring and report bias, but not retrieval. I argue that this interpretation of the results is problematic because the Thomson and Tulving paradigm is confounded, and show in three experiments using a more appropriate design that encoding specificity manipulations do affect performance in forced-report cued recall. Because in Higham's framework forced-report performance provides a measure of retrieval that is uncontaminated by monitoring and report bias it is concluded that encoding specificity manipulations do affect retrieval from memory.

Anterior Overgrowth in Primary Curves, Compensatory Curves and Junctional Segments in Adolescent Idiopathic Scoliosis.

Science.gov (United States)

Schlösser, Tom P C; van Stralen, Marijn; Chu, Winnie C W; Lam, Tsz-Ping; Ng, Bobby K W; Vincken, Koen L; Cheng, Jack C Y; Castelein, René M

2016-01-01

Although much attention has been given to the global three-dimensional aspect of adolescent idiopathic scoliosis (AIS), the accurate three-dimensional morphology of the primary and compensatory curves, as well as the intervening junctional segments, in the scoliotic spine has not been described before. A unique series of 77 AIS patients with high-resolution CT scans of the spine, acquired for surgical planning purposes, were included and compared to 22 healthy controls. Non-idiopathic curves were excluded. Endplate segmentation and local longitudinal axis in endplate plane enabled semi-automatic geometric analysis of the complete three-dimensional morphology of the spine, taking inter-vertebral rotation, intra-vertebral torsion and coronal and sagittal tilt into account. Intraclass correlation coefficients for interobserver reliability were 0.98-1.00. Coronal deviation, axial rotation and the exact length discrepancies in the reconstructed sagittal plane, as defined per vertebra and disc, were analyzed for each primary and compensatory curve as well as for the junctional segments in-between. The anterior-posterior difference of spinal length, based on "true" anterior and posterior points on endplates, was +3.8% for thoracic and +9.4% for (thoraco)lumbar curves, while the junctional segments were almost straight. This differed significantly from control group thoracic kyphosis (-4.1%; P<0.001) and lumbar lordosis (+7.8%; P<0.001). For all primary as well as compensatory curves, we observed linear correlations between the coronal Cobb angle, axial rotation and the anterior-posterior length difference (r≥0.729 for thoracic curves; r≥0.485 for (thoraco)lumbar curves). Excess anterior length of the spine in AIS has been described as a generalized growth disturbance, causing relative anterior spinal overgrowth. This study is the first to demonstrate that this anterior overgrowth is not a generalized phenomenon. It is confined to the primary as well as the

In Praise of Manipulation

NARCIS (Netherlands)

Dowding, Keith; Van Hees, Martin

Many theorists believe that the manipulation of voting procedures is a serious problem. Accordingly, much of social choice theory examines the conditions under which strategy-proofness can be ensured, and what kind of procedures do a better job of preventing manipulation. This article argues that

Powered manipulator control arm

International Nuclear Information System (INIS)

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

1975-01-01

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

The direct manipulation shell

International Nuclear Information System (INIS)

Allen, M.E.; Christiansen, M.

1992-01-01

Accelerator controls systems provide parameter display pages which allow the operator to monitor and manipulate selected control points in the system. Display pages are generally implemented as either hand-crafted, purpose-built programs; or by using a specialized display page layout tool. These two methods of display page development exhibit the classic trade-off between functionality vs. ease of implementation. In the Direct Manipulation Shell we approach the process of developing a display page in a manifestly object-oriented manner. This is done by providing a general framework for interactively instantiating and manipulating display objects. (author)

Image manipulation as research misconduct.

Science.gov (United States)

Parrish, Debra; Noonan, Bridget

2009-06-01

A growing number of research misconduct cases handled by the Office of Research Integrity involve image manipulations. Manipulations may include simple image enhancements, misrepresenting an image as something different from what it is, and altering specific features of an image. Through a study of specific cases, the misconduct findings associated with image manipulation, detection methods and those likely to identify such manipulations, are discussed. This article explores sanctions imposed against guilty researchers and the factors that resulted in no misconduct finding although relevant images clearly were flawed. Although new detection tools are available for universities and journals to detect questionable images, this article explores why these tools have not been embraced.

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

Webster, D.A.; Challinor, S.F.

1993-01-01

A survey of redundant facilities at Sellafield has identified that in many cases the conventional means of deploying remote handling equipment are not appropriate and that novel means must be employed. However, decommissioning is not a value adding activity and so expensive one off designs must be avoided. The paper will describe BNFL's approach to the synthesis from proprietary parts of a manipulator which can lift 3 te at a horizontal reach of over 5 metres and yet can still perform the dextrous manipulation necessary to remove small items. It will also cover the development of the manipulator control systems and the adaption of commercial handtools to be manipulator friendly. (author)

The Manipulative Discourse of Gandalf

Directory of Open Access Journals (Sweden)

Farid Mohammadi

2014-07-01

Full Text Available The aim of this essay is to investigate discursive, cognitive and social aspects of manipulation in regard to the dialogues of the literary fictional character of Gandalf in the trilogy of The Lord of the Rings. Accordingly, the researcher has taken a multidisciplinary approach to an account of discursive manipulation, and focuses on the cognitive dimensions of manipulation. As a result, the researcher demonstrates meticulously how manipulation involves intensifying the power, moral superiority and the credibility of the speaker(s, while abusing the others (recipients, along with an emotional and attractive way of expression, and supplemented by reasonable facts and documents in regard to a specific issue.

The Comparative Effectiveness of Physical, Virtual, and Virtual-Physical Manipulatives on Third-Grade Students' Science Achievement and Conceptual Understanding of Evaporation and Condensation

Science.gov (United States)

Wang, Tzu-Ling; Tseng, Yi-Kuan

2018-01-01

The purpose of this study was to investigate the relative effectiveness of experimenting with physical manipulatives alone, virtual manipulatives alone, and virtual preceding physical manipulatives (combination environment) on third-grade students' science achievement and conceptual understanding in the domain of state changes of water, focusing…

The effect of spinal manipulation on imbalances in leg strength.

Science.gov (United States)

Chilibeck, Philip D; Cornish, Stephen M; Schulte, Al; Jantz, Nathan; Magnus, Charlene R A; Schwanbeck, Shane; Juurlink, Bernhard H J

2011-09-01

We hypothesized that spinal manipulation (SM) would reduce strength imbalances between legs. Using an un-blinded randomized design, 28 males and 21 females (54 ± 19y) with at least a 15% difference in isometric strength between legs for hip flexion, extension, abduction, or knee flexion were randomized to treatment or placebo (mock spinal manipulation). Strength of the stronger and weaker legs for hip flexion, extension, abduction, and/or knee flexion was assessed before and after the intervention. SM reduced the relative strength difference between legs for knee flexion (mean ± SD 57 ± 53 to 5 ± 14%) and hip flexion (24 ± 12 to 11 ± 15%) compared to placebo (34 ± 29 to 24 ± 36%, and 20 ± 18 to 22 ± 26%, respectively) (p = 0.05). SM also improved strength in the weak leg for hip abduction (104 ± 43 to 116 ± 43 Nm) compared to placebo (84 ± 24 to 85 ± 31 Nm) (p = 0.03). This study suggests that spinal manipulation may reduce imbalances in strength between legs for knee and hip flexion.

Hydraulic manipulator

International Nuclear Information System (INIS)

Sinha, A.K.; Srikrishnamurty, G.

1990-01-01

Successful operation of nuclear plant is largely dependent on safe handling of radio-active material. In order to reduce this handling problem and minimise the exposure of radiation, various handling equipment and manipulators have been developed according to the requirements. Manufacture of nuclear fuel, which is the most important part of the nuclear industry, involves handling of uranium ingots weighing approximately 250 kg. This paper describes a specially designed hydraulic manipulator for handling of the ingots in a limited space. It was designed to grab and handle the ingots in any position. This has following drive motions: (1)gripping and releasing, (2)lifting and lowering (z-motion), (3)rotation about the horizontal axis (azimuth drive), (4)rotation about the job axis, and (5)rotation about the vertical axis. For horizontal motion (X and Y axis motion) this equipment is mounted on a motorised trolley, so that it can move inside the workshop. For all drives except the rotation about the job axis, hydraulic cylinders have been used with a battery operated power pack. Trolley drive is also given power from same battery. This paper describes the design aspects of this manipulator. (author). 4 figs

An Adaptive Pruning Algorithm for the Discrete L-Curve Criterion

DEFF Research Database (Denmark)

Hansen, Per Christian; Jensen, Toke Koldborg; Rodriguez, Giuseppe

2004-01-01

SVD or regularizing CG iterations). Our algorithm needs no pre-defined parameters, and in order to capture the global features of the curve in an adaptive fashion, we use a sequence of pruned L-curves that correspond to considering the curves at different scales. We compare our new algorithm...

Improvement of a Robotic Manipulator Model Based on Multivariate Residual Modeling

Directory of Open Access Journals (Sweden)

Serge Gale

2017-07-01

Full Text Available A new method is presented for extending a dynamic model of a six degrees of freedom robotic manipulator. A non-linear multivariate calibration of input–output training data from several typical motion trajectories is carried out with the aim of predicting the model systematic output error at time (t + 1 from known input reference up till and including time (t. A new partial least squares regression (PLSR based method, nominal PLSR with interactions was developed and used to handle, unmodelled non-linearities. The performance of the new method is compared with least squares (LS. Different cross-validation schemes were compared in order to assess the sampling of the state space based on conventional trajectories. The method developed in the paper can be used as fault monitoring mechanism and early warning system for sensor failure. The results show that the suggested methods improves trajectory tracking performance of the robotic manipulator by extending the initial dynamic model of the manipulator.

Effect of spinal manipulative therapy with stretching compared with stretching alone on full-swing performance of golf players: a randomized pilot trial☆

Science.gov (United States)

Costa, Soraya M.V.; Chibana, Yumi E.T.; Giavarotti, Leandro; Compagnoni, Débora S.; Shiono, Adriana H.; Satie, Janice; Bracher, Eduardo S.B.

2009-01-01

Abstract Objective There has been a steady growth of chiropractic treatment using spinal manipulative therapy (SMT) that aims to increase the performance of athletes in various sports. This study evaluates the effect of SMT by chiropractors on the performance of golf players. Methods Golfers of 2 golf clubs in São Paulo, Brazil, participated in this study. They were randomized to 1 of 2 groups: Group I received a stretch program, and group II received a stretch program in addition to SMT. Participants in both groups performed the same standardized stretching program. Spinal manipulative therapy to dysfunctional spinal segments was performed on group II only. All golfers performed 3 full-swing maneuvers. Ball range was considered as the average distance for the 3 shots. Treatment was performed after the initial measurement, and the same maneuvers were performed afterward. Each participant repeated these procedures for a 4-week period. Student t test, Mann-Whitney nonparametric test, and 1-way analysis of variance for repeated measures with significance level of 5% were used to analyze the study. Results Forty-three golfers completed the protocol. Twenty participants were allocated to group I and 23 to group II. Average age, handicap, and initial swing were comparable. No improvement of full-swing performance was observed during the 4 sessions on group I (stretch only). An improvement was observed at the fourth session of group II (P = .005); when comparing the posttreatment, group II had statistical significance at all phases (P = .003). Conclusions Chiropractic SMT in association with muscle stretching may be associated with an improvement of full-swing performance when compared with muscle stretching alone. PMID:19948307

CLIMAN - a mobile manipulator concept

International Nuclear Information System (INIS)

Noltingk, B.E.; Owen, C.K.V.

With increasing age the integrity of more remote parts of reactors, such as the core restraints, is questioned so there is a need for a means of access to these places to carry out inspection, minor repairs and alterations. Conventional standpipe manipulators are about 20 m long so that extending them further presents difficulties of load capacity, rigidity, dexterity and control which must increase steeply with range. The proposal outlined here is for a mobile manipulator which can climb at the end of a cable (CLImbing MANipulator - CLIMAN) into a reactor and reach well beyond the range of a fixed base machine. In addition to virtually unlimited range such a mobile manipulator has twice as many degrees of freedom as a fixed base machine. Its body or base can be manoeuvred with six degrees of freedom so as to obtain the maximum coverage and obstacle avoidance for its manipulator. It is proposed that it should be manually controlled. (author)

Projection-based curve clustering

International Nuclear Information System (INIS)

Auder, Benjamin; Fischer, Aurelie

2012-01-01

This paper focuses on unsupervised curve classification in the context of nuclear industry. At the Commissariat a l'Energie Atomique (CEA), Cadarache (France), the thermal-hydraulic computer code CATHARE is used to study the reliability of reactor vessels. The code inputs are physical parameters and the outputs are time evolution curves of a few other physical quantities. As the CATHARE code is quite complex and CPU time-consuming, it has to be approximated by a regression model. This regression process involves a clustering step. In the present paper, the CATHARE output curves are clustered using a k-means scheme, with a projection onto a lower dimensional space. We study the properties of the empirically optimal cluster centres found by the clustering method based on projections, compared with the 'true' ones. The choice of the projection basis is discussed, and an algorithm is implemented to select the best projection basis among a library of orthonormal bases. The approach is illustrated on a simulated example and then applied to the industrial problem. (authors)

Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator

Directory of Open Access Journals (Sweden)

Bin Zi

2013-01-01

Full Text Available The design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator (HDCPM are presented. The HDCPM is able to perform high efficiency, heavy load, and high-performance motion due to the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism. The design is performed according to theories of mechanism structure synthesis for cable parallel manipulators. The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method. The workspace of the manipulator is analyzed additionally. As an example, a completely restrained HDCPM with 3 degrees of freedom is studied in simulation in order to verify the validity of the proposed design, workspace, and dynamic analysis. The simulation results, compared with the theoretical analysis, and the case study previously performed show that the manipulator design is reasonable and the mathematical models are correct, which provides the theoretical basis for future physical prototype and control system design.

A systematic review of thrust manipulation for non-surgical shoulder conditions.

Science.gov (United States)

Minkalis, Amy L; Vining, Robert D; Long, Cynthia R; Hawk, Cheryl; de Luca, Katie

2017-01-01

Although many conservative management options are available for patients with non-surgical shoulder conditions, there is little evidence of their effectiveness. This review investigated one manual therapy approach, thrust manipulation, as a treatment option. A systematic search was conducted of the electronic databases from inception to March 2016: PubMed, PEDro, ICL, CINAHL, and AMED. Two independent reviewers conducted the screening process to determine article eligibility. Inclusion criteria were manuscripts published in peer-reviewed journals with human participants of any age. The intervention included was thrust, or high-velocity low-amplitude, manipulative therapy directed to the shoulder and/or the regions of the cervical or thoracic spine. Studies investigating secondary shoulder pain or lacking diagnostic confirmation procedures were excluded. Methodological quality was assessed using the PEDro scale and the Cochrane risk-of-bias tool. The initial search rendered 5041 articles. After screening titles and abstracts, 36 articles remained for full-text review. Six articles studying subacromial impingement syndrome met inclusion criteria. Four studies were randomized controlled trials (RCTs) and 2 were uncontrolled clinical studies. Five studies included 1 application of a thoracic spine thrust manipulation and 1 applied 8 treatments incorporating a shoulder joint thrust manipulation. Statistically significant improvements in pain scores were reported in all studies. Three of 4 RCTs compared a thrust manipulation to a sham, and statistical significance in pain reduction was found within the groups but not between them. Clinically meaningful changes in pain were inconsistent; 3 studies reported that scores met minimum clinically important difference, 1 reported scores did not, and 2 were unclear. Four studies found statistically significant improvements in disability; however, 2 were RCTs and did not find statistical significance between the active and sham

Interpersonal relationship manipulation at a personal level

Directory of Open Access Journals (Sweden)

Andreja Hribernik

2010-12-01

Full Text Available Manipulation is not unknown or strange to any of us. We have all experienced it, or perhaps even practiced it. It is wrong not to recognize it, to find excuses for it, and, above all, it is wrong not to decide to change one’s behaviour. Long-lasting use of manipulation leaves consequences on all the parties involved: the victim, the observer and the perpetrator. Manipulation is a relation between persons which does not consider the needs of everybody involved. It means exploitation and misleading, inhumane and unethical behaviour on the part of the manipulator, which he uses in order gain success, self-confirmation and to achieve his goals. In the act of manipulation personal boundaries of the other person are violated since the manipulator enforces his dominance and subjectedness of the victim. The manipulator invades the victim’s personal integrity, limiting their potential. He isolates, controls and intimidates them; by devises a system to catch the victims, to entangle them in his net and suck them up like a spider. If the manipulation is very successful, the other person does not recognize it as such; they consider themselves happy to be cooperating with the manipulator, as they identify his goals as their own. Therefore, the manipulator can be said to have stolen the manipulated person’s soul.

Spider diffraction: a comparison of curved and straight legs

International Nuclear Information System (INIS)

Richter, J.L.

1984-01-01

It has been known for some time that, if curved legs rather than the usual straight ones are used in the spider that supports the secondary optics in certain telescopes, the visible diffraction effect is reduced. Fraunhofer theory is used to calculate the diffraction effects due to the curved leg spider. Calculated and photographic diffraction patterns are compared for straight and curved leg spiders

The antiproton depth–dose curve in water

CERN Document Server

Bassler, N; Jäkel, O; Knudsen, H V; Kovacevic, S

2008-01-01

We have measured the depth–dose curve of 126 MeV antiprotons in a water phantom using ionization chambers. Since the antiproton beam provided by CERN has a pulsed structure and possibly carries a high-LET component from the antiproton annihilation, it is necessary to correct the acquired charge for ion recombination effects. The results are compared with Monte Carlo calculations and were found to be in good agreement. Based on this agreement we calculate the antiproton depth–dose curve for antiprotons and compare it with that for protons and find a doubling of the physical dose in the peak region for antiprotons.

The South Carolina bridge-scour envelope curves

Science.gov (United States)

Benedict, Stephen T.; Feaster, Toby D.; Caldwell, Andral W.

2016-09-30

The U.S. Geological Survey, in cooperation with the South Carolina Department of Transportation, conducted a series of three field investigations to evaluate historical, riverine bridge scour in the Piedmont and Coastal Plain regions of South Carolina. These investigations included data collected at 231 riverine bridges, which lead to the development of bridge-scour envelope curves for clear-water and live-bed components of scour. The application and limitations of the South Carolina bridge-scour envelope curves were documented in four reports, each report addressing selected components of bridge scour. The current investigation (2016) synthesizes the findings of these previous reports into a guidance manual providing an integrated procedure for applying the envelope curves. Additionally, the investigation provides limited verification for selected bridge-scour envelope curves by comparing them to field data collected outside of South Carolina from previously published sources. Although the bridge-scour envelope curves have limitations, they are useful supplementary tools for assessing the potential for scour at riverine bridges in South Carolina.

Simulation of robot manipulators

International Nuclear Information System (INIS)

Kress, R.L.; Babcock, S.M.; Bills, K.C.; Kwon, D.S.; Schoenwald, D.A.

1995-01-01

This paper describes Oak Ridge National Laboratory's development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratories' Flexible Beam Testbed which is a one-Degree-Of-Freedom, flexible arm with a hydraulic base actuator. Initial results show good agreement between model and experiment

Considerations for reference pump curves

International Nuclear Information System (INIS)

Stockton, N.B.

1992-01-01

This paper examines problems associated with inservice testing (IST) of pumps to assess their hydraulic performance using reference pump curves to establish acceptance criteria. Safety-related pumps at nuclear power plants are tested under the American Society of Mechanical Engineers (ASME) Boiler and Pressure Vessel Code (the Code), Section 11. The Code requires testing pumps at specific reference points of differential pressure or flow rate that can be readily duplicated during subsequent tests. There are many cases where test conditions cannot be duplicated. For some pumps, such as service water or component cooling pumps, the flow rate at any time depends on plant conditions and the arrangement of multiple independent and constantly changing loads. System conditions cannot be controlled to duplicate a specific reference value. In these cases, utilities frequently request to use pump curves for comparison of test data for acceptance. There is no prescribed method for developing a pump reference curve. The methods vary and may yield substantially different results. Some results are conservative when compared to the Code requirements; some are not. The errors associated with different curve testing techniques should be understood and controlled within reasonable bounds. Manufacturer's pump curves, in general, are not sufficiently accurate to use as reference pump curves for IST. Testing using reference curves generated with polynomial least squares fits over limited ranges of pump operation, cubic spline interpolation, or cubic spline least squares fits can provide a measure of pump hydraulic performance that is at least as accurate as the Code required method. Regardless of the test method, error can be reduced by using more accurate instruments, by correcting for systematic errors, by increasing the number of data points, and by taking repetitive measurements at each data point

A six degrees of freedom mems manipulator

NARCIS (Netherlands)

de Jong, B.R.

2006-01-01

This thesis reports about a six degrees of freedom (DOF) precision manipulator in MEMS, concerning concept generation for the manipulator followed by design and fabrication (of parts) of the proposed manipulation concept in MEMS. Researching the abilities of 6 DOF precision manipulation in MEMS is

A control method for manipulators with redundancy

International Nuclear Information System (INIS)

Furusho, Junji; Usui, Hiroyuki

1989-01-01

Redundant manipulators have more ability than nonredundant ones in many aspects such as avoiding obstacles, avoiding singular states, etc. In this paper, a control algorithm for redundant manipulators working under the circumstance in the presence of obstacles is presented. First, the measure of manipulability for robot manipulators under obstacle circumstances is defined. Then, the control algorithm for the obstacle avoidance is derived by using this measure of manipulability. The obstacle avoidance and the maintenance of good posture are simultaneously achieved by this algorithm. Lastly, an experiment and simulation results using an eight degree of freedom manipulator are shown. (author)

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

The Central Electricity Generating Board has a requirement for a manipulator which can deploy to its work location around obstacles. A multilink manipulator has been designed for this purpose. A computer control system designed to ease manipulator operation is described. Using the control program, the manipulator may be deployed using just 2 joysticks. Experience in the use of the program with an inspection manipulator at Sizewell 'A' Nuclear Power Station is discussed. When used to control a manipulator of 9 hydraulically actuated degrees of freedom, a control accuracy of about 1.5% of full extension has been achieved. (author)

DOWNWARD SLOPING DEMAND CURVES FOR STOCK AND LEVERAGE

Directory of Open Access Journals (Sweden)

Liem Pei Fun

2006-01-01

Full Text Available This research attempts to investigate the effect of downward sloping demand curves for stock on firms' financing decisions. For the same size of equity issuance, firms with steeper slope of demand curves for their stocks experience a larger price drop in their share price compare to their counterparts. As a consequence, firms with a steeper slope of demand curves are less likely to issue equity and hence they have higher leverage ratios. This research finds that the steeper the slope of demand curve for firm's stock, the higher the actual leverage of the firm. Furthermore, firms with a steeper slope of demand curves have higher target leverage ratios, signifying that these firms prefer debt to equity financing in order to avoid the adverse price impact of equity issuance on their share price.

Short-term effects of manipulative treatment versus a therapeutic home exercise protocol for chronic cervical pain

DEFF Research Database (Denmark)

Galindez-Ibarbengoetxea, Xabier; Setuain, Igor; Ramírez-Velez, Robinson

2018-01-01

BACKGROUND: While both manipulative treatment and physical exercises are used to treat cervical pain, it remains unclear which is most effective. OBJECTIVE: To compare the short-term effects of high-velocity, low-amplitude manipulation techniques (MT) with those of home-exercise (HE) with stretch......BACKGROUND: While both manipulative treatment and physical exercises are used to treat cervical pain, it remains unclear which is most effective. OBJECTIVE: To compare the short-term effects of high-velocity, low-amplitude manipulation techniques (MT) with those of home-exercise (HE...... scale (VAS); neck disability index (NDI); pressure pain thresholds; cervical spine range of motion and electromyography during the cranio-cervical flexion test was measured before and one week after the intervention. RESULTS: After the intervention, both groups showed improved (P

[A comparative study between inflation and deflation pressure-volume curve in determining the optimal positive end-expiratory pressure].

Science.gov (United States)

Gang, Li; Sun, Xiao-yi; Xu, Jin-quan; Zhang, Xin-li; Kou, Lu-xin; Jiang, Zhi-hong; Zhang, Lei

2012-02-01

To determine the optimal positive end-expiratory pressure (PEEP) according to inflation and deflation pressure-volume curve (P-V curve) in patients with acute respiratory distress syndrome (ARDS). ARDS models were reproduced in 20 dogs, and they were randomly divided into two groups. In both groups, Levenberg-Marquardt iterative algorithm was employed using software to explore parameters fitting with Boltzmann formula, by which the real inflection point of pressure (Pinf d) in deflation limb or lower inflection point pressure (PLip) in inflation limb on P-V curve were defined. For the control group (inflation curve) P-V curve of PLip + 2 cm H(2)O [1 cm H(2)O = 0.098 kPa] was applied as the best PEEP value. In the experimental group (deflation curve) the Pinf d was taken as the best PEEP value. The heart rate (HR), blood pressure (BP), fingertip pulse oxygen saturation [SpO(2)], static lung compliance (Cst), arterial partial pressure of oxygen [PaO(2)] and arterial partial pressure of carbon dioxide [PaCO(2)] were monitored at 0, 2, 6, 12, 24 and 48 hours. Oxygenation index increased significantly both in control and experimental groups. In experimental group, oxygenation index (mm Hg, 1 mm Hg = 0.133 kPa) of 12, 24 and 48 hours was respectively significantly higher than that of the control group (12 hours: 177.63 ± 8.94 vs. 165.60 ± 8.90, 24 hours: 194.19 ± 10.67 vs. 168.70 ± 10.60, 48 hours: 203.15 ± 13.21 vs. 171.26 ± 9.21, all P deflation P-V curve was better than that of inflation curve.

Carbon Lorenz Curves

Energy Technology Data Exchange (ETDEWEB)

Groot, L. [Utrecht University, Utrecht School of Economics, Janskerkhof 12, 3512 BL Utrecht (Netherlands)

2008-11-15

The purpose of this paper is twofold. First, it exhibits that standard tools in the measurement of income inequality, such as the Lorenz curve and the Gini-index, can successfully be applied to the issues of inequality measurement of carbon emissions and the equity of abatement policies across countries. These tools allow policy-makers and the general public to grasp at a single glance the impact of conventional distribution rules such as equal caps or grandfathering, or more sophisticated ones, on the distribution of greenhouse gas emissions. Second, using the Samuelson rule for the optimal provision of a public good, the Pareto-optimal distribution of carbon emissions is compared with the distribution that follows if countries follow Nash-Cournot abatement strategies. It is shown that the Pareto-optimal distribution under the Samuelson rule can be approximated by the equal cap division, represented by the diagonal in the Lorenz curve diagram.

Dynamic Control of Kinematically Redundant Robotic Manipulators

Directory of Open Access Journals (Sweden)

Erling Lunde

1987-07-01

Full Text Available Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.

Theory of titration curves-VII The properties of derivative titration curves for strong acid-strong base and other isovalent ion-combination titrations.

Science.gov (United States)

Meites, T; Meites, L

1970-06-01

This paper deals with isovalent ion-combination titrations based on reactions that can be represented by the equation M(n+) + X(n-) --> MX, where the activity of the product MX is invariant throughout a titration, and with the derivative titration curves obtained by plotting d[M(+)]/dfversus f for such titrations. It describes some of the ways in which such curves can be obtained; it compares and contrasts them both with potentiometric titration curves, which resemble them in shape, and with segmented titration curves, from which they are derived; and it discusses their properties in detail.

Learning Area and Perimeter with Virtual Manipulatives

Science.gov (United States)

Bouck, Emily; Flanagan, Sara; Bouck, Mary

2015-01-01

Manipulatives are considered a best practice for educating students with disabilities, but little research exists which examines virtual manipulatives as tool for supporting students in mathematics. This project investigated the use of a virtual manipulative through the National Library of Virtual Manipulatives--polynominoes (i.e., tiles)--as a…

Detecting the manipulation of digital clinical records in dental practice.

Science.gov (United States)

Díaz-Flores-García, V; Labajo-González, E; Santiago-Sáez, A; Perea-Pérez, B

2017-11-01

Radiography provides many advantages in the diagnosis and management of dental conditions. However, dental X-ray images may be subject to manipulation with malicious intent using easily accessible computer software. In this study, we sought to evaluate a dentist's ability to identify a manipulated dental X-ray images, when compared with the original, using a variant of the methodology described by Visser and Kruger. Sixty-six dentists were invited to participate and evaluate 20 intraoral dental X-ray images, 10 originals and 10 modified, manipulated using Adobe Photoshop to simulate fillings, root canal treatments, etc. Participating dentists were correct in identifying the manipulated image in 56% of cases, 6% higher than by chance and 10% more than in the study by Visser and Kruger. Malicious changes to dental X-ray images may go unnoticed even by experienced dentists. Professionals must be aware of the legal consequences of such changes. A system of detection/validation should be created for radiographic images. Copyright © 2017 The College of Radiographers. Published by Elsevier Ltd. All rights reserved.

Symphysis-fundal height curve in the diagnosis of fetal growth deviations

Directory of Open Access Journals (Sweden)

Djacyr Magna Cabral Freire

2010-12-01

Full Text Available OBJECTIVE: To validate a new symphysis-fundal curve for screening fetal growth deviations and to compare its performance with the standard curve adopted by the Brazilian Ministry of Health. METHODS: Observational study including a total of 753 low-risk pregnant women with gestational age above 27 weeks between March to October 2006 in the city of João Pessoa, Northeastern Brazil. Symphisys-fundal was measured using a standard technique recommended by the Brazilian Ministry of Health. Estimated fetal weight assessed through ultrasound using the Brazilian fetal weight chart for gestational age was the gold standard. A subsample of 122 women with neonatal weight measurements was taken up to seven days after estimated fetal weight measurements and symphisys-fundal classification was compared with Lubchenco growth reference curve as gold standard. Sensitivity, specificity, positive and negative predictive values were calculated. The McNemar χ2 test was used for comparing sensitivity of both symphisys-fundal curves studied. RESULTS: The sensitivity of the new curve for detecting small for gestational age fetuses was 51.6% while that of the Brazilian Ministry of Health reference curve was significantly lower (12.5%. In the subsample using neonatal weight as gold standard, the sensitivity of the new reference curve was 85.7% while that of the Brazilian Ministry of Health was 42.9% for detecting small for gestational age. CONCLUSIONS: The diagnostic performance of the new curve for detecting small for gestational age fetuses was significantly higher than that of the Brazilian Ministry of Health reference curve.

On Virtual Integrated Model of a 6DoF Manipulator Arm for Emergency Cases Interventions

Directory of Open Access Journals (Sweden)

Gigi Naidin

2011-09-01

Full Text Available This research deals with a virtual integrated model for a 6DoF manipulator arm dedicated to use for emergency situations intervention. The virtual model can simulates both the entire structural and mechanical configuration of the manipulator, and the driving system with automated command unit. The basic idea supposes to develop a complex simulator for kinematical and dynamic behavior analysis of 6DoF robot manipulator, and for facilely cross correlation and comparative evaluation between essential parameters and extremely bearing cases defining the manipulator working state. The analysis was developed in Matlab© - SimScape© software. The conclusions dignify the main functional capability of the manipulator supposing the capacity of driving system and mechanical structure.

High precision redundant robotic manipulator

International Nuclear Information System (INIS)

Young, K.K.D.

1998-01-01

A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs

Bioprinting Living Biofilms through Optogenetic Manipulation.

Science.gov (United States)

Huang, Yajia; Xia, Aiguo; Yang, Guang; Jin, Fan

2018-04-18

In this paper, we present a new strategy for microprinting dense bacterial communities with a prescribed organization on a substrate. Unlike conventional bioprinting techniques that require bioinks, through optogenetic manipulation, we directly manipulated the behaviors of Pseudomonas aeruginosa to allow these living bacteria to autonomically form patterned biofilms following prescribed illumination. The results showed that through optogenetic manipulation, patterned bacterial communities with high spatial resolution (approximately 10 μm) could be constructed in 6 h. Thus, optogenetic manipulation greatly increases the range of available bioprinting techniques.

Rotation curves of galaxies by fourth order gravity

International Nuclear Information System (INIS)

Stabile, A.; Scelza, G.

2011-01-01

We investigate the radial behavior of galactic rotation curves by a Fourth Order Gravity adding also the dark matter component. The Fourth Order Gravity is a theory of gravity described by Lagrangian generalizing the one of Hilbert-Einstein containing a generic function of the Ricci scalar, the Ricci and Riemann tensor. A systematic analysis of rotation curves, in the Newtonian Limit of theory, induced by all galactic substructures of ordinary matter is shown. This analysis is presented for Fourth Order Gravity with and without dark matter. The outcomes are compared with respect to the classical outcomes of General Relativity. The gravitational potential of pointlike mass is the usual potential corrected by two Yukawa terms. The rotation curve is higher or also lower than curve of General Relativity if in the Lagrangian the Ricci scalar square is dominant or not with respect to the contribution of the Ricci tensor square. The theoretical spatial behaviors of rotation curve are compared with the experimental data for the Milky Way and the galaxy NGC 3198. Although the Fourth Order Gravity gives more rotational contributions, in the limit of large distances the Keplerian behavior is ever present, and it is missing only if we add the dark matter component. However by modifying the theory of gravity, consequently, also the spatial description of dark matter could undergo a modification and the free parameters of model can assume different values. After an analytical discussion of theoretical behaviors and the comparing with experimental evidence we can claim that any Fourth Order Gravity is not successful to explain the galactic rotation curves. In the last part of paper we analyze the gravitational potential induced by Lagrangian containing only powers of Ricci scalar. In this case we find an inconsistency in the boundary conditions in the passage from matter to the vacuum.

Curve progression after long-term brace treatment in adolescent idiopathic scoliosis: comparative results between over and under 30 Cobb degrees - SOSORT 2017 award winner

Directory of Open Access Journals (Sweden)

Angelo G. Aulisa

2017-10-01

Full Text Available Abstract Background The factors influencing curve behavior following bracing are incompletely understood and there is no agreement if scoliotic curves stop progressing with skeletal maturity. The aim of this study was to evaluate the loss of the scoliotic curve correction in patients treated with bracing during adolescence and to compare patient outcomes of under and over 30 Cobb degrees, 10 years after brace removal. Methods We reviewed 93 (87 female of 200 and nine patients with adolescent idiopathic scoliosis (AIS who were treated with the Lyon or PASB brace at a mean of 15 years (range 10–35. All patients answered a simple questionnaire (including work status, pregnancy, and pain and underwent clinical and radiological examination. The population was divided into two groups based on Cobb degrees ( 30°. Statistical analysis was performed to test the efficacy of our hypothesis. Results The patients underwent a long-term follow-up at a mean age of 184.1 months (±72.60 after brace removal. The pre-brace scoliotic mean curve was 32.28° (± 9.4°; after treatment, the mean was 19.35° and increased to a minimum of 22.12° in the 10 years following brace removal. However, there was no significant difference in the mean Cobb angle between the end of weaning and long term follow-up period (p = 0.105. The curve angle of patients who were treated with a brace from the beginning was reduced by 13° during the treatment, but the curve size lost 3° at the follow-up period. The groups over 30° showed a pre-brace scoliotic mean curve of 41.15°; at the end of weaning, the mean curve angle was 25.85° and increased to a mean of 29.73° at follow-up; instead, the groups measuring ≤ 30° showed a pre-brace scoliotic mean curve of 25.58°; at the end of weaning, it was reduced to a mean of 14.24° and it increased to 16.38° at follow-up. There was no significant difference in the mean progression of curve magnitude between the ≤ 30° and

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

International Nuclear Information System (INIS)

Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

1994-10-01

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)

HoloHands: games console interface for controlling holographic optical manipulation

Science.gov (United States)

McDonald, C.; McPherson, M.; McDougall, C.; McGloin, D.

2013-03-01

The increasing number of applications for holographic manipulation techniques has sparked the development of more accessible control interfaces. Here, we describe a holographic optical tweezers experiment which is controlled by gestures that are detected by a Microsoft Kinect. We demonstrate that this technique can be used to calibrate the tweezers using the Stokes drag method and compare this to automated calibrations. We also show that multiple particle manipulation can be handled. This is a promising new line of research for gesture-based control which could find applications in a wide variety of experimental situations.

HoloHands: games console interface for controlling holographic optical manipulation

International Nuclear Information System (INIS)

McDonald, C; McPherson, M; McDougall, C; McGloin, D

2013-01-01

The increasing number of applications for holographic manipulation techniques has sparked the development of more accessible control interfaces. Here, we describe a holographic optical tweezers experiment which is controlled by gestures that are detected by a Microsoft Kinect. We demonstrate that this technique can be used to calibrate the tweezers using the Stokes drag method and compare this to automated calibrations. We also show that multiple particle manipulation can be handled. This is a promising new line of research for gesture-based control which could find applications in a wide variety of experimental situations. (paper)

Shaking Table Tests of Curved Bridge considering Bearing Friction Sliding Isolation

Directory of Open Access Journals (Sweden)

Lei Yan

2016-01-01

Full Text Available Specific to severe damage to curved bridges in earthquakes caused by the excessive force of the fixed bearings and piers, a new seismic design method on curved bridges considering bearing friction sliding isolation is proposed in this paper. Seismic model bridge and isolation model bridge with similarity ratio of 1/20 were made and the shaking table comparison test was conducted. The experimental results show that the isolation model curved bridge suffered less seismic damage than the seismic model curved bridge. The fundamental frequencies of the seismic model bridge and isolation model bridge decreased and the damping ratio increased with the increase of seismic intensity. Compared with seismic curved bridge, the maximum reduction rates of peak acceleration along the radial and tangential directions on the top of pier of the isolation model curved bridge were 47.3% and 55.5%, respectively, and the maximum reduction rate of the peak strain on the bottom of pier of the isolation model curved bridge was 43.4%. For the isolation model curved bridge, the maximum reduction rate of peak acceleration on the top of pier was 24.6% compared with that on the bottom of pier. The study results can provide experimental basis for the seismic design of curved bridges.

Using Manipulatives to Teach Elementary Mathematics

Science.gov (United States)

Boggan, Matthew; Harper, Sallie; Whitmire, Anna

2010-01-01

The purpose of this paper is to explain the importance and benefits of math manipulatives. For decades, the National Council of Teachers of Mathematics has encouraged school districts nationwide to use manipulatives in mathematical instruction. The value of manipulatives has been recognized for many years, but some teachers are reluctant to use…

The fiber-optic imaging and manipulation of neural activity during animal behavior.

Science.gov (United States)

Miyamoto, Daisuke; Murayama, Masanori

2016-02-01

Recent progress with optogenetic probes for imaging and manipulating neural activity has further increased the relevance of fiber-optic systems for neural circuitry research. Optical fibers, which bi-directionally transmit light between separate sites (even at a distance of several meters), can be used for either optical imaging or manipulating neural activity relevant to behavioral circuitry mechanisms. The method's flexibility and the specifications of the light structure are well suited for following the behavior of freely moving animals. Furthermore, thin optical fibers allow researchers to monitor neural activity from not only the cortical surface but also deep brain regions, including the hippocampus and amygdala. Such regions are difficult to target with two-photon microscopes. Optogenetic manipulation of neural activity with an optical fiber has the advantage of being selective for both cell-types and projections as compared to conventional electrophysiological brain tissue stimulation. It is difficult to extract any data regarding changes in neural activity solely from a fiber-optic manipulation device; however, the readout of data is made possible by combining manipulation with electrophysiological recording, or the simultaneous application of optical imaging and manipulation using a bundle-fiber. The present review introduces recent progress in fiber-optic imaging and manipulation methods, while also discussing fiber-optic system designs that are suitable for a given experimental protocol. Copyright © 2015 The Authors. Published by Elsevier Ireland Ltd.. All rights reserved.

Optimization in the design and control of robotic manipulators: A survey

International Nuclear Information System (INIS)

Rao, S.S.; Bhatti, P.K.

1989-01-01

Robotics is a relatively new and evolving technology being applied to manufacturing automation and is fast replacing the special-purpose machines or hard automation as it is often called. Demands for higher productivity, better and uniform quality products, and better working environments are primary reasons for its development. An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal design of robot manipulators can include kinematic performance characteristics such as workspace, accuracy, repeatability, and redundancy. The static load capacity as well as dynamic criteria such as generalized inertia ellipsoid, dynamic manipulability, and vibratory response have also been considered in the design stages. The optimal control problems typically involve trajectory planning, time-optimal control, energy-optimal control, and mixed-optimal control. The constraints in a robot manipulator design problem usually involve link stresses, actuator torques, elastic deformation of links, and collision avoidance. This paper presents a review of the literature on the issues of optimum design and control of robotic manipulators and also the various optimization techniques currently available for application to robotics

Experimental R-curve behavior in partially stabilized zirconia using moiracute e interferometry

International Nuclear Information System (INIS)

Perry, K.E.; Okada, H.; Atluri, S.N.

1993-01-01

Moiracute e interferometry is employed to study toughening in partially stabilized zirconia (PSZ). Energy to fracture as a function of crack growth curves (R-curves) is derived from mode I compliance calculations and from near tip fitting of the moiracute e fringes. The effect of the tetragonal to monoclinic phase transformation in the zirconia is found by comparing the bulk compliance R-curves to the locally derived moiracute e R-curve. Localized strain field plots are produced from the moiracute e data for the PSZ zirconia. The observed transformation zone height compares favorably with that predicted by Okada et al. in a companion paper, as does the qualitative nature of the R-curve with predictions by Stump and Budiansky

A comparative study on entrepreneurial attitudes modeled with logistic regression and Bayes nets.

Science.gov (United States)

López Puga, Jorge; García García, Juan

2012-11-01

Entrepreneurship research is receiving increasing attention in our context, as entrepreneurs are key social agents involved in economic development. We compare the success of the dichotomic logistic regression model and the Bayes simple classifier to predict entrepreneurship, after manipulating the percentage of missing data and the level of categorization in predictors. A sample of undergraduate university students (N = 1230) completed five scales (motivation, attitude towards business creation, obstacles, deficiencies, and training needs) and we found that each of them predicted different aspects of the tendency to business creation. Additionally, our results show that the receiver operating characteristic (ROC) curve is affected by the rate of missing data in both techniques, but logistic regression seems to be more vulnerable when faced with missing data, whereas Bayes nets underperform slightly when categorization has been manipulated. Our study sheds light on the potential entrepreneur profile and we propose to use Bayesian networks as an additional alternative to overcome the weaknesses of logistic regression when missing data are present in applied research.

Cocaine Versus Food Choice Procedure in Rats: Environmental Manipulations and Effects of Amphetamine

Science.gov (United States)

Thomsen, Morgane; Barrett, Andrew C.; Negus, S. Stevens; Caine, S. Barak

2014-01-01

We have adapted a nonhuman primate model of cocaine versus food choice to the rat species. To evaluate the procedure, we tested cocaine versus food choice under a variety of environmental manipulations as well as pharmacological pretreatments. Complete cocaine-choice dose-effect curves (0–1.0 mg/kg/infusion) were obtained for each condition under concurrent fixed ratio schedules of reinforcement. Percentage of responding emitted on the cocaine-reinforced lever was not affected significantly by removal of cocaine-associated visual or auditory cues, but it was decreased after removal of response-contingent or response-independent cocaine infusions. Cocaine choice was sensitive to the magnitude and fixed ratio requirement of both the cocaine and food reinforcers. We also tested the effects of acute (0.32, 0.56, 1.0, 1.8 mg/kg) and chronic (0.1, 0.32 mg/kg/hr) d-amphetamine treatment on cocaine choice. Acute and chronic d-amphetamine had opposite effects, with acute increasing and chronic decreasing cocaine choice, similar to observations in humans and in nonhuman primates. The results suggest feasibility and utility of the choice procedure in rats and support its comparability to similar procedures used in humans and monkeys. PMID:23319458

Comparing of the yield curve of the pediatric X-ray equipment using thermoluminescent dosimeters and cylindrical ionization chamber

International Nuclear Information System (INIS)

Filipov, Danielle; Schelin, Hugo R.; Tilly Junior, Joao G.

2014-01-01

The determination of the yield curve of a radiographic equipment should be realized once a year, or when the unit be serviced. Besides being a requirement of ANVISA, through this test is possible to determine the incident air kerma (at a given point in the center of the beam) - INAK. Based on these concepts, the main objective of this work is the comparison of yield curves of the pediatric X-ray apparatus using two different detectors: one cylindrical ionization chamber and thermoluminescent dosimeters type LiF: Mg, Cu, P, as per protocol RLA / 9/057 IAEA. Then the equation of the yield curve (generated by each detector) was used to determine the INAK of 10 pediatric examinations, performed on this equipment. After the process of calibration of both detectors, they were placed side by side at a focus of the tube equipment for determining the performance of the same curve. Finally, using the curves generated by two detectors, INAK values of the 10 tests were calculated (from the kVp values, and mAs focus-patient of each exams), generating difference values at most 5%. As a conclusion, it can be said that the TLD lithium fluoride doped with Mg, Cu and P and the cylindrical ionization chambers may be used satisfactorily to determine the yield curve, whether as quality control or dosimetry

Nano-manipulation of single DNA molecules

International Nuclear Information System (INIS)

Hu Jun; Shanghai Jiaotong Univ., Shanghai; Lv Junhong; Wang Guohua; Wang Ying; Li Minqian; Zhang Yi; Li Bin; Li Haikuo; An Hongjie

2004-01-01

Nano-manipulation of single atoms and molecules is a critical technique in nanoscience and nanotechnology. This review paper will focus on the recent development of the manipulation of single DNA molecules based on atomic force microscopy (AFM). Precise manipulation has been realized including varied manipulating modes such as 'cutting', 'pushing', 'folding', 'kneading', 'picking up', 'dipping', etc. The cutting accuracy is dominated by the size of the AFM tip, which is usually 10 nm or less. Single DNA fragments can be cut and picked up and then amplified by single molecule PCR. Thus positioning isolation and sequencing can be performed. (authors)

A Comparison of Concrete and Virtual Manipulative Use in Third- and Fourth-Grade Mathematics

Science.gov (United States)

Burns, Barbara A.; Hamm, Ellen M.

2011-01-01

The primary purpose of this classroom experiment was to examine the effectiveness of concrete (hands-on) manipulatives as compared with virtual (computer-based) manipulatives on student review of fraction concepts in third grade and introduction of symmetry concepts in fourth grade. A pretest-posttest design was employed with a sample of 91…

Comparing survival curves using rank tests

NARCIS (Netherlands)

Albers, Willem/Wim

1990-01-01

Survival times of patients can be compared using rank tests in various experimental setups, including the two-sample case and the case of paired data. Attention is focussed on two frequently occurring complications in medical applications: censoring and tail alternatives. A review is given of the

Task based synthesis of serial manipulators

Directory of Open Access Journals (Sweden)

Sarosh Patel

2015-05-01

Full Text Available Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified.

Towards more physiological manipulations of hormones in field studies: comparing the release dynamics of three kinds of testosterone implants, silastic tubing, time-release pellets and beeswax.

Science.gov (United States)

Quispe, Rene; Trappschuh, Monika; Gahr, Manfred; Goymann, Wolfgang

2015-02-01

Hormone manipulations are of increasing interest in the areas of physiological ecology and evolution, because hormones are mediators of complex phenotypic changes. Often, however, hormone manipulations in field settings follow the approaches that have been used in classical endocrinology, potentially using supra-physiological doses. To answer ecological and evolutionary questions, it may be important to manipulate hormones within their physiological range. We compare the release dynamics of three kinds of implants, silastic tubing, time-release pellets, and beeswax pellets, each containing 3mg of testosterone. These implants were placed into female Japanese quail, and plasma levels of testosterone measured over a period of 30 days. Testosterone in silastic tubing led to supraphysiological levels. Also, testosterone concentrations were highly variable between individuals. Time-release pellets led to levels of testosterone that were slightly supraphysiological during the first days. Over the period of 30 days, however, testosterone concentrations were more consistent. Beeswax implants led to a physiological increase in testosterone and a relatively constant release. The study demonstrated that hormone implants in 10mm silastic tubing led to a supraphysiological peak in female quail. Thus, the use of similar-sized or even larger silastic implants in males or in other smaller vertebrates needs careful assessment. Time-release pellets and beeswax implants provide a more controlled release and degrade within the body. Thus, it is not necessary to recapture the animal to remove the implant. We propose beeswax implants as an appropriate procedure to manipulate testosterone levels within the physiological range. Hence, such implants may be an effective alternative for field studies. Copyright © 2015 Elsevier Inc. All rights reserved.

Distance of Sample Measurement Points to Prototype Catalog Curve

DEFF Research Database (Denmark)

Hjorth, Poul G.; Karamehmedovic, Mirza; Perram, John

2006-01-01

We discuss strategies for comparing discrete data points to a catalog (reference) curve by means of the Euclidean distance from each point to the curve in a pump's head H vs. flow Qdiagram. In particular we find that a method currently in use is inaccurate. We propose several alternatives...

Collision Detection for Underwater ROV Manipulator Systems

Directory of Open Access Journals (Sweden)

Satja Sivčev

2018-04-01

Full Text Available Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

A study of batch calibrations on 4 inch open faced charcoal adsorbers from four different manufacturers and how they compare to EERF's published calibration curves

International Nuclear Information System (INIS)

Jones, D.L.; Howell, T.E.

1990-01-01

The EERF Standard Operating Procedures for Rn-222 Measurements Using Charcoal Canisters is quite explicit in stating that the calibration tables and curves published in this manual are only typical calibration data that were developed for a particular batch of canisters from a supplier, and that new calibration data are developed and used with each different lot of canisters. In this paper, batch calibrations were performed in the authors' radon chambers on so called EPA style canisters from four different companies. The authors then prepared calibration tables and curves for each batch and compared them to the EERF published tables. it was our premise that EPA never intended for their curves to be considered standard and that with more and more companies manufacturing canisters, the calibration factors could certainly vary and might significantly differ from those derived by EERF several years ago

EVEREST: Pixel Level Decorrelation of K2 Light Curves

Science.gov (United States)

Luger, Rodrigo; Agol, Eric; Kruse, Ethan; Barnes, Rory; Becker, Andrew; Foreman-Mackey, Daniel; Deming, Drake

2016-10-01

We present EPIC Variability Extraction and Removal for Exoplanet Science Targets (EVEREST), an open-source pipeline for removing instrumental noise from K2 light curves. EVEREST employs a variant of pixel level decorrelation to remove systematics introduced by the spacecraft’s pointing error and a Gaussian process to capture astrophysical variability. We apply EVEREST to all K2 targets in campaigns 0-7, yielding light curves with precision comparable to that of the original Kepler mission for stars brighter than {K}p≈ 13, and within a factor of two of the Kepler precision for fainter targets. We perform cross-validation and transit injection and recovery tests to validate the pipeline, and compare our light curves to the other de-trended light curves available for download at the MAST High Level Science Products archive. We find that EVEREST achieves the highest average precision of any of these pipelines for unsaturated K2 stars. The improved precision of these light curves will aid in exoplanet detection and characterization, investigations of stellar variability, asteroseismology, and other photometric studies. The EVEREST pipeline can also easily be applied to future surveys, such as the TESS mission, to correct for instrumental systematics and enable the detection of low signal-to-noise transiting exoplanets. The EVEREST light curves and the source code used to generate them are freely available online.

Real-time multiple image manipulations

International Nuclear Information System (INIS)

Arenson, J.S.; Shalev, S.; Legris, J.; Goertzen, Y.

1984-01-01

There are many situations in which it is desired to manipulate two or more images under real-time operator control. The authors have investigated a number of such cases in order to determine their value and applicability in clinical medicine and laboratory research. Several examples are presented in detail. The DICOM-8 video image computer system was used due to its capability of storing two 512 x 512 x 8 bit images and operating on them, and/or an incoming video frame, with any of a number of real time operations including addition, subtraction, inversion, averaging, logical AND, NAND, OR, NOR, NOT, XOR and XNOR, as well as combinations of these. Some applications involve manipulations of or among the stored images. In others, a stored image is used as a mask or template for positioning or adjusting a second image to be grabbed via a video camera. The accuracy of radiotherapy treatment is verified by comparing port films with the original radiographic planning film, which is previously digitized and stored. Moving the port film on the light box while viewing the real-time subtraction image allows for adjustments of zoom, translation and rotation, together with contrast and edge enhancement

Stainless steel decontamination manipulators

International Nuclear Information System (INIS)

Sullivan, R.J.

1986-01-01

Three, large-volume coverage manipulator systems were designed and built for the Defense Water Processing Facility at the Savannah River Laboratory. These stainless steel systems will be used for high-pressure spray decontamination of waste containers and large process equipment modules. Each system has a manipulator arm, folding boom, and vertical drive and guide structure. Handling capacity is 45 kg, horizontal reach is 4.6 m with a 180-deg swing motion, and the vertical travel is 6 m. The system is remotely removable and replaceable in modules using an overhead crane and an impact wrench. The manipulator arm has seven motions: Shoulder rotation and pivot, elbow pivot, wrist pivot and rotation, and grip open-close. All motions are variable speed and are slip-clutch protected to prevent overloading from external forces (collisions)

A Structure-dependent matrix representation of manipulator kinematics and its inverse solution

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-03-01

In this paper, derivation of kinematic equations for a six-link manipulator is presented using the homogeneous transformation (A i -matrix) based on Denavit-Hartenberg method, and additionally a solution procedure of its inverse problem is outlined. In order to examine the validity of a system of equations, solutions were compared with the exact ones of the inverse kinematics (for the same type of a manipulator) expressed in arbitrarily given co-ordinate systems. Through complete agreement of joint solutions between the two, the present purpose was accomplished. As shown in this paper, an explicit description between adjacent links will give a possible clue to a systematic treatment of the inverse problem for a class of manipulators. (author)

Evaluation of viewing experiences induced by a curved three-dimensional display

Science.gov (United States)

Mun, Sungchul; Park, Min-Chul; Yano, Sumio

2015-10-01

Despite an increased need for three-dimensional (3-D) functionality in curved displays, comparisons pertinent to human factors between curved and flat panel 3-D displays have rarely been tested. This study compared stereoscopic 3-D viewing experiences induced by a curved display with those of a flat panel display by evaluating subjective and objective measures. Twenty-four participants took part in the experiments and viewed 3-D content with two different displays (flat and curved 3-D display) within a counterbalanced and within-subject design. For the 30-min viewing condition, a paired t-test showed significantly reduced P300 amplitudes, which were caused by engagement rather than cognitive fatigue, in the curved 3-D viewing condition compared to the flat 3-D viewing condition at P3 and P4. No significant differences in P300 amplitudes were observed for 60-min viewing. Subjective ratings of realness and engagement were also significantly higher in the curved 3-D viewing condition than in the flat 3-D viewing condition for 30-min viewing. Our findings support that curved 3-D displays can be effective for enhancing engagement among viewers based on specific viewing times and environments.

MANOLA - demonstration of the manipulator and transport vehicle system; MANOLA. Vorstellung des Manipulator- und Transportwagensystems

Energy Technology Data Exchange (ETDEWEB)

Kern, P.; Gentes, S. [Karlsruher Institut fuer Technologie (KIT), Karlsruhe (Germany). Inst. fuer Technologie und Management im Baubetrieb, Technologie und Management des Rueckbaus kerntechnischer Anlagen

2011-07-01

The deconstruction of nuclear facilities has triggered the construction of remote handling systems. For the decontamination of surfaces the use of automatic robotics has significantly decreased the dose rate of the personnel and increased the efficiency. The authors describe the carrier system for the project MANOLA (manipulator controlled laser ablation technology) that can not only move in vertical and horizontal direction but also circumnavigate obstacles. This has reduced the cycle time and increased the efficiency. The weight of the transport vehicle is also reduced compared to the previous system AMANDA.

Manipulating Strings in Python

Directory of Open Access Journals (Sweden)

William J. Turkel

2012-07-01

Full Text Available This lesson is a brief introduction to string manipulation techniques in Python. Knowing how to manipulate strings plays a crucial role in most text processing tasks. If you’d like to experiment with the following lessons, you can write and execute short programs as we’ve been doing, or you can open up a Python shell / Terminal to try them out on the command line.

IMU-based online kinematic calibration of robot manipulator.

Science.gov (United States)

Du, Guanglong; Zhang, Ping

2013-01-01

Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

IMU-Based Online Kinematic Calibration of Robot Manipulator

Directory of Open Access Journals (Sweden)

Guanglong Du

2013-01-01

Full Text Available Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA and Kalman Filter (KF to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

System Integration for Real-time Mobile Manipulation

OpenAIRE

Oftadeh, Reza; Aref, Mohammad M.; Ghabcheloo, Reza; Mattila, Jouni

2014-01-01

Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator ’s mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based con...

Modeling manipulation in medical education.

Science.gov (United States)

Dailey, Jason I

2010-05-01

As residents and medical students progress through their medical training, they are presented with multiple instances in which they feel they must manipulate the healthcare system and deceive others in order to efficiently treat their patients. This, however, creates a culture of manipulation resulting in untoward effects on trainees' ethical and professional development. Yet manipulation need not be a skill necessary to practice medicine, and steps should be taken by both individuals and institutions to combat the view that the way medicine must be practiced "in the real world" is somehow different from what one's affective moral sense implores.

Manipulation and mobilisation for neck pain contrasted against an inactive control or another active treatment

NARCIS (Netherlands)

Gross, Anita; Langevin, Pierre; Burnie, Stephen J.; Bédard-Brochu, Marie-Sophie; Empey, Brian; Dugas, Estelle; Faber-Dobrescu, Michael; Andres, Cristy; Graham, Nadine; Goldsmith, Charles H.; Brønfort, Gert; Hoving, Jan L.; LeBlanc, Francis

2015-01-01

Manipulation and mobilisation are commonly used to treat neck pain. This is an update of a Cochrane review first published in 2003, and previously updated in 2010. To assess the effects of manipulation or mobilisation alone compared wiith those of an inactive control or another active treatment on

Development of the curve of Spee.

Science.gov (United States)

Marshall, Steven D; Caspersen, Matthew; Hardinger, Rachel R; Franciscus, Robert G; Aquilino, Steven A; Southard, Thomas E

2008-09-01

Ferdinand Graf von Spee is credited with characterizing human occlusal curvature viewed in the sagittal plane. This naturally occurring phenomenon has clinical importance in orthodontics and restorative dentistry, yet we have little understanding of when, how, or why it develops. The purpose of this study was to expand our understanding by examining the development of the curve of Spee longitudinally in a sample of untreated subjects with normal occlusion from the deciduous dentition to adulthood. Records of 16 male and 17 female subjects from the Iowa Facial Growth Study were selected and examined. The depth of the curve of Spee was measured on their study models at 7 time points from ages 4 (deciduous dentition) to 26 (adult dentition) years. The Wilcoxon signed rank test was used to compare changes in the curve of Spee depth between time points. For each subject, the relative eruption of the mandibular teeth was measured from corresponding cephalometric radiographs, and its contribution to the developing curve of Spee was ascertained. In the deciduous dentition, the curve of Spee is minimal. At mean ages of 4.05 and 5.27 years, the average curve of Spee depths are 0.24 and 0.25 mm, respectively. With change to the transitional dentition, corresponding to the eruption of the mandibular permanent first molars and central incisors (mean age, 6.91 years), the curve of Spee depth increases significantly (P < 0.0001) to a mean maximum depth of 1.32 mm. The curve of Spee then remains essentially unchanged until eruption of the second molars (mean age, 12.38 years), when the depth increases (P < 0.0001) to a mean maximum depth of 2.17 mm. In the adolescent dentition (mean age, 16.21 years), the depth decreases slightly (P = 0.0009) to a mean maximum depth of 1.98 mm, and, in the adult dentition (mean age 26.98 years), the curve remains unchanged (P = 0.66), with a mean maximum depth of 2.02 mm. No significant differences in curve of Spee development were found between

Pneumatic artificial muscle actuators for compliant robotic manipulators

Science.gov (United States)

Robinson, Ryan Michael

Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

Professional responsibility in relation to cervical spine manipulation.

Science.gov (United States)

Refshauge, Kathryn M; Parry, Sharon; Shirley, Debra; Larsen, Dale; Rivett, Darren A; Boland, Rob

2002-01-01

Manipulation of the cervical spine is one of the few potentially life-threatening procedures performed by physiotherapists. Is it worth the risk? A comparison of risks versus benefits indicates that at present, the risks of cervical manipulation outweigh the benefits: manipulation has yet to be shown to be more effective for neck pain and headache than other interventions such as mobilisation, whereas the risks, although infrequent, are serious. This analysis is of particular concern because the conditions for which manipulation is indicated are benign and usually self-limiting. Because physiotherapists have legal and ethical obligations to the community to avoid foreseeable harm and provide optimum care, it may be prudent to determine who in our profession should perform cervical manipulation. That is, the profession could restrict the practice of cervical spine manipulation. Although all registered physiotherapists in Australia are entitled to perform cervical manipulation, few choose to use this intervention. Therefore, it might be feasible to encourage those practitioners who wish to use cervical manipulation to undertake formal education programs. Such a requirement could be embodied in a code of practice that discourages those without formal training from performing cervical manipulation. By taking such measures, we could ensure that our profession exercises wisdom in its monitoring and use of cervical manipulation.

Laparoscopy Instructional Videos : The Effect of Preoperative Compared With Intraoperative Use on Learning Curves

NARCIS (Netherlands)

Broekema, Theo H.; Talsma, Aaldert K.; Wevers, Kevin P.; Pierie, Jean-Pierre E. N.

OBJECTIVE: Previous studies have shown that the use of intraoperative instructional videos has a positive effect on learning laparoscopic procedures. This study investigated the effect of the timing of the instructional videos on learning curves in laparoscopic skills training. DESIGN: After

Modelling of isothermal remanence magnetisation curves for an assembly of macrospins

International Nuclear Information System (INIS)

Tournus, F.

2015-01-01

We present a robust and efficient framework to compute isothermal remanent magnetisation (IRM) curves for magnetic nanoparticle assemblies. The assembly is modelled by independent, randomly oriented, uniaxial macrospins and we use a Néel model to take into account the thermal relaxation. A simple analytic expression is established for a single size, in a sudden switching approximation, and is compared to more evolved models. We show that for realistic samples (necessarily presenting a size dispersion) the simple model is very satisfactory. With this framework, it is then possible to reliably simulate IRM curves, which can be compared to experimental measurements and used in a best fit procedure. We also examine the influence of several parameters on the IRM curves and we discuss the link between the irreversible susceptibility and the switching field distribution. - Highlights: • A framework to compute IRM curves for nanoparticle assemblies is presented. • A simple analytic expression (for a single size) is compared to more evolved models. • The simple expression can reliably simulate IRM curves for realistic samples. • Irreversible susceptibility and the influence of several parameters is discussed

The Anatomy of Virtual Manipulative Apps: Using Grounded Theory to Conceptualize and Evaluate Educational Apps that Contain Virtual Manipulatives

OpenAIRE

Boyer-Thurgood, Jennifer M.

2017-01-01

This exploratory qualitative study used grounded theory to investigate the anatomy of educational apps that contain virtual manipulatives. For this study 100 virtual manipulatives within educational apps designed for the iPad were observed by the researcher in order to expand the explanations of and build theory about virtual manipulatives within apps. Affordance theory was used to frame all six phases of the study in which the researcher identified virtual manipulatives situated within educa...

Probabilistic approach to manipulator kinematics and dynamics

International Nuclear Information System (INIS)

Rao, S.S.; Bhatti, P.K.

2001-01-01

A high performance, high speed robotic arm must be able to manipulate objects with a high degree of accuracy and repeatability. As with any other physical system, there are a number of factors causing uncertainties in the behavior of a robotic manipulator. These factors include manufacturing and assembling tolerances, and errors in the joint actuators and controllers. In order to study the effect of these uncertainties on the robotic end-effector and to obtain a better insight into the manipulator behavior, the manipulator kinematics and dynamics are modeled using a probabilistic approach. Based on the probabilistic model, kinematic and dynamic performance criteria are defined to provide measures of the behavior of the robotic end-effector. Techniques are presented to compute the kinematic and dynamic reliabilities of the manipulator. The effects of tolerances associated with the various manipulator parameters on the reliabilities are studied. Numerical examples are presented to illustrate the procedures

An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator

Directory of Open Access Journals (Sweden)

Pawel A. LASKI

2014-12-01

Full Text Available The main aim of this study was to use pneumatic muscle actuators in the construction of the delta manipulator with a closed kinematic chain. The paper presents a solid models of the manipulator and the kinematic diagram. Based on the kinematic diagram and using DH notation (Denavit-Hartenberg manipulator kinematic models was determined. On the basis of developed solid model simulation studies were conducted and the shape and size of the workspace determined. On the basis of 3D models prototype of the manipulator was constructed. Experimental studies were performed to select the regulators settings P, PI, PID for one of the pair of BMDS (Bi-Muscular Driving System muscle-type drives. Based on integral quality indicators the used types of regulators were compared and proposed final controller. Performed experimental studies confirm the possibility of muscle control in the BMDS (Bi-Muscular Driving System type system drives and tuning controller settings using the Ziegler-Nichols method.

Nutritional manipulation of feeding behaviour of birds | Ubah ...

African Journals Online (AJOL)

Result from the study indicates that the feeding behaviour of laying hen can be manipulated nutritionally. Bulky diets (10.6 MJ/kg) significantly (P<0.05) increased the eating time of laying hens by 15% compared with normal energy content (11.8 MJ/kg) and this led to consumption of more feed (average 2355g) than those of ...

Comparing the Effectiveness of Virtual and Concrete Manipulatives to Teach Algebra to Secondary Students with Learning Disabilities

Science.gov (United States)

Satsangi, Rajiv; Bouck, Emily C.; Taber-Doughty, Teresa; Bofferding, Laura; Roberts, Carly A.

2016-01-01

A sizable body of literature exists studying various technologies and pedagogical practices for teaching secondary mathematics curriculum to students with a learning disability in mathematics. However, with the growing footprint of computer-based technologies in today's classrooms, some areas of study, such as the use of virtual manipulatives,…

Impaired Curve Negotiation in Drivers with Parkinson’s Disease

Directory of Open Access Journals (Sweden)

Ergun Y Uç

2009-03-01

Full Text Available OBJECTIVE: To assess the ability to negotiate curves in drivers with Parkinson’s disease (PD. METHODS: Licensed active drivers with mild-moderate PD (n= 76; 65 male, 11 female and elderly controls (n= 51; 26 male, 25 female drove on a simulated 2-lane rural highway in a high-fidelity simulator scenario in which the drivers had to negotiate 6 curves during a 37-mile drive. The participants underwent motor, cognitive, and visual testing before the simulator drive. RESULTS: Compared to controls, the drivers with PD had less vehicle control and driving safety, both on curves and straight baseline segments, as measured by significantly higher standard deviation of lateral position (SDLP and lane violation counts. The PD group also scored lower on tests of motor, cognitive, and visual abilities. In the PD group, lower scores on tests of motion perception, visuospatial ability, executive function, postural instability, and general cognition, as well as a lower level of independence in daily activities predicted low vehicle control on curves. CONCLUSION: Drivers with PD had less vehicle control and driving safety on curves compared to controls, which was associated primarily with impairments in visual perception and cognition, rather than motor function

A portable modular architecture for robotic manipulator control

International Nuclear Information System (INIS)

Butler, P.L.

1993-01-01

A control architecture has been developed to provide a framework for robotic manipulator control. This architecture, called the Modular Integrated Control Architecture (MICA), has been successfully applied to two different manipulator systems. MICA is a portable system in two respects. First, it can be used for the control of different types of manipulator systems. Second, the MICA code is portable across several operating environments. This portability allows the sharing of common control code among various systems. A major portion of MICA is the precise control of multiple processors that have to be coordinated to control a manipulator system. By having NUCA control the processor synchronization, the system developer can concentrate on the specific aspects of a new manipulator system. MICA also provides standard functions for trajectory generation that can be used for most manipulators. Custom trajectory generators can be easily added to suit the needs of a particular robotic control system. Another facility that MICA provides is a simulation of the manipulator, allowing the control code to be simulated before trying it on a manipulator system. Using this technique, one can develop code for a manipulator system without risking damage to the arm during development

Light extraction block with curved surface

Science.gov (United States)

Levermore, Peter; Krall, Emory; Silvernail, Jeffrey; Rajan, Kamala; Brown, Julia J.

2016-03-22

Light extraction blocks, and OLED lighting panels using light extraction blocks, are described, in which the light extraction blocks include various curved shapes that provide improved light extraction properties compared to parallel emissive surface, and a thinner form factor and better light extraction than a hemisphere. Lighting systems described herein may include a light source with an OLED panel. A light extraction block with a three-dimensional light emitting surface may be optically coupled to the light source. The three-dimensional light emitting surface of the block may includes a substantially curved surface, with further characteristics related to the curvature of the surface at given points. A first radius of curvature corresponding to a maximum principal curvature k.sub.1 at a point p on the substantially curved surface may be greater than a maximum height of the light extraction block. A maximum height of the light extraction block may be less than 50% of a maximum width of the light extraction block. Surfaces with cross sections made up of line segments and inflection points may also be fit to approximated curves for calculating the radius of curvature.

Managerial Incentives and Stock Price Manipulation

OpenAIRE

Peng, Lin; Röell, Ailsa A

2009-01-01

This paper presents a rational expectations model of optimal executive compensation in a setting where managers are in a position to manipulate short-term stock prices, and managers' propensity to manipulate is uncertain. Stock-based incentives elicit not only productive effort, but also costly information manipulation. We analyze the tradeoffs involved in conditioning pay on long- versus short-term performance and characterize a second-best optimal compensation scheme. The paper shows manipu...

Stenting for curved lesions using a novel curved balloon: Preliminary experimental study.

Science.gov (United States)

Tomita, Hideshi; Higaki, Takashi; Kobayashi, Toshiki; Fujii, Takanari; Fujimoto, Kazuto

2015-08-01

Stenting may be a compelling approach to dilating curved lesions in congenital heart diseases. However, balloon-expandable stents, which are commonly used for congenital heart diseases, are usually deployed in a straight orientation. In this study, we evaluated the effect of stenting with a novel curved balloon considered to provide better conformability to the curved-angled lesion. In vitro experiments: A Palmaz Genesis(®) stent (Johnson & Johnson, Cordis Co, Bridgewater, NJ, USA) mounted on the Goku(®) curve (Tokai Medical Co. Nagoya, Japan) was dilated in vitro to observe directly the behavior of the stent and balloon assembly during expansion. Animal experiment: A short Express(®) Vascular SD (Boston Scientific Co, Marlborough, MA, USA) stent and a long Express(®) Vascular LD stent (Boston Scientific) mounted on the curved balloon were deployed in the curved vessel of a pig to observe the effect of stenting in vivo. In vitro experiments: Although the stent was dilated in a curved fashion, stent and balloon assembly also rotated conjointly during expansion of its curved portion. In the primary stenting of the short stent, the stent was dilated with rotation of the curved portion. The excised stent conformed to the curved vessel. As the long stent could not be negotiated across the mid-portion with the balloon in expansion when it started curving, the mid-portion of the stent failed to expand fully. Furthermore, the balloon, which became entangled with the stent strut, could not be retrieved even after complete deflation. This novel curved balloon catheter might be used for implantation of the short stent in a curved lesion; however, it should not be used for primary stenting of the long stent. Post-dilation to conform the stent to the angled vessel would be safer than primary stenting irrespective of stent length. Copyright © 2014 Japanese College of Cardiology. Published by Elsevier Ltd. All rights reserved.

Kinematic sensitivity of robot manipulators

Science.gov (United States)

Vuskovic, Marko I.

1989-01-01

Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

A links manipulator simulation program interim report

International Nuclear Information System (INIS)

Noble, R.A.

1987-04-01

A computer program to simulate the performance of the Heysham II rail-following manipulator has been developed. The program is being used to develop and test the rail-following control algorithms which will be used to control movements of the manipulator when it is operating below the gas baffle dome. The simulation includes the dynamic responses of the manipulator joint drives, excluding friction, backlash and compliance. It also includes full details of the manipulator's geometry. A method is given whereby the actual manipulator dynamics can be written into the program once these have been established by measurement. The program is written in FORTRAN and runs on a Perkin-Elmer 3220 mini-computer. The simulation program responds to velocity demands on the individual joints. These will normally come from the control program, in which they will be manually controlled by a joystick. A sigma 5664 colour graphics generator is programmed to display the current position of the manipulator. (UK)

Curve Boxplot: Generalization of Boxplot for Ensembles of Curves.

Science.gov (United States)

Mirzargar, Mahsa; Whitaker, Ross T; Kirby, Robert M

2014-12-01

In simulation science, computational scientists often study the behavior of their simulations by repeated solutions with variations in parameters and/or boundary values or initial conditions. Through such simulation ensembles, one can try to understand or quantify the variability or uncertainty in a solution as a function of the various inputs or model assumptions. In response to a growing interest in simulation ensembles, the visualization community has developed a suite of methods for allowing users to observe and understand the properties of these ensembles in an efficient and effective manner. An important aspect of visualizing simulations is the analysis of derived features, often represented as points, surfaces, or curves. In this paper, we present a novel, nonparametric method for summarizing ensembles of 2D and 3D curves. We propose an extension of a method from descriptive statistics, data depth, to curves. We also demonstrate a set of rendering and visualization strategies for showing rank statistics of an ensemble of curves, which is a generalization of traditional whisker plots or boxplots to multidimensional curves. Results are presented for applications in neuroimaging, hurricane forecasting and fluid dynamics.

JUMPING THE CURVE

Directory of Open Access Journals (Sweden)

René Pellissier

2012-01-01

Full Text Available This paper explores the notion ofjump ing the curve,following from Handy 's S-curve onto a new curve with new rules policies and procedures. . It claims that the curve does not generally lie in wait but has to be invented by leadership. The focus of this paper is the identification (mathematically and inferentially ofthat point in time, known as the cusp in catastrophe theory, when it is time to change - pro-actively, pre-actively or reactively. These three scenarios are addressed separately and discussed in terms ofthe relevance ofeach.

Input shaping methods for telerobotic operation of flexible, long-reach manipulators

International Nuclear Information System (INIS)

Kwon, Dong-Soo; Hwang, Dong-Hwan; Babcock, S.M.

1994-01-01

Among the Environmental Restoration and Waste Management Program of the U.S. Department of Energy, the remediation of radioactive waste from the underground storage tank challenges the state-of-the-art equipment and methods. Long-reach manipulators are being considered to be one of the most advantageous approaches for the retrieval of waste from large storage tanks. Because of long-reach manipulator's high payload capacity and high length-to-cross-section ratios, such manipulator system exhibits significant structural flexibility. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A robust notch filtering method and an impulse shaping method were evaluated. In addition to that, a new approach that uses imbedded simulation was developed and compared with others. In the new approach, joint trajectories have been generated considering the flexible link dynamics

Manipulators

International Nuclear Information System (INIS)

Andre, Y.; Routelous, F.; Spina, G.; Perpina, J.; Suquet, J.; Rossi, M.; Zanca, M.; Billiet, A.; Madec, L.; Lemoine, T.; Gaboriaud, G.; Aubert, B.; Rosenwald, J.C.; Neuenschwander, S.; Brisse, H.; Rehel, J.L.; Rebibo, G.; Bensimon, J.L.; Kulski, A.; Serhal, M.; Nguyen, K.V.; Lescure, R.; Cymbalista, M.

2005-01-01

Three articles have for purpose the radiation doses optimization in medical imaging. The first one concerns the radiation protection of manipulators working at a PET scan post, the second one concerns more particularly the optimization of doses delivered in pediatric computerized tomography, the third one is devoted to a comparison between radiation dose and image quality through scanners of adult temporal bone. (N.C.)

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

Hudson, Thomas C.; Heiser, Aron T.; Sonnenwald, Diane H.

2003-01-01

We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high...... level of interactivity as the single user system and the application had to support a user's ability to interleave working privately and working collaboratively. This paper briefly describes the entire collaboration system, but focuses on the shared nanoManipulator application. Based on our experience...... developing the CnM, we present: a method of analyzing applications to characterize the requirements for sharing data between collaborating sites, examples of data structures that support collaboration, and guidelines for selecting appropriate synchronization and concurrency control schemes....

Positional control of space robot manipulator

Science.gov (United States)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

Maximizing the lightshelf performance by interaction between lightshelf geometries and a curved ceiling

Energy Technology Data Exchange (ETDEWEB)

Freewan, Ahmed A. [Jordan University of Science and Technology, Irbid 22110 (Jordan)

2010-08-15

The interaction between different lightshelf geometries combined with a curved ceiling was investigated using radiance to maximize the daylight performance of a lightshelf. Two main performance parameters were investigated; illuminance level and distribution uniformity in a large space located in a sub-tropical climate region like Jordan. It was found that a curved lightshelf could improve the daylight level by 10% compared to a horizontal lightshelf. A curved lightshelf help to bounce more daylight deep into a space thus improve the illuminance level and uniformity level. The best lightshelf shapes found are curved and chamfered lightshelves compared to horizontal lightshelves. (author)

Why do spinal manipulation techniques take the form they do? Towards a general model of spinal manipulation.

Science.gov (United States)

Evans, David W

2010-06-01

For centuries, techniques used to manipulate joints in the spine have been passed down from one generation of manipulators to the next. Today, spinal manipulation is in the curious position that positive clinical effects have now been demonstrated, yet the theoretical base underpinning every aspect of its use is still underdeveloped. An important question is posed in this masterclass: why do spinal manipulation techniques take the form they do? From the available literature, two factors appear to provide an answer: 1. Action of a force upon vertebrae. Any 'direct' spinal manipulation technique requires that the patient be orientated in such a way that force is applied perpendicular to the overlying skin surface so as to act upon the vertebrae beneath. If the vertebral motion produced by 'directly' applied force is insufficient to produce the desired effect (e.g. cavitation), then force must be applied 'indirectly', often through remote body segments such as the head, thorax, abdomen, pelvis, and extremities. 2. Spinal segment morphology. A new hypothesis is presented. Spinal manipulation techniques exploit the morphology of vertebrae by inducing rotation at a spinal segment, about an axis that is always parallel to the articular surfaces of the constituent zygapophysial joints. In doing so, the articular surfaces of one zygapophysial joint appose to the point of contact, resulting in migration of the axis of rotation towards these contacting surfaces, and in turn this facilitates gapping of the other (target) zygapophysial joint. Other variations in the form of spinal manipulation techniques are likely to depend upon the personal style and individual choices of the practitioner.

Reliable lateral manipulation of a single Ag adatom on a Ag(1 1 1) surface with a trimer-apex tip

International Nuclear Information System (INIS)

Xie Yiqun; Shi Wangzhou; Du Guoping

2009-01-01

We study the reliability of the lateral manipulation of a single Ag adatom on a Ag(1 1 1) surface with the single-atom and trimer-apex tips based on molecular statics simulations using surface embedded-atom-method potential. The dependence of the manipulation reliability on tip height and orientation is investigated. For the single-atom tip the manipulation reliability increases monotonically with decreasing tip height, which is owing to the strengthened lateral tip-adatom interaction as the tip height lowers. For the trimer-apex tip, the manipulation reliability is sensitive to the tip orientation in the lower tip-height range, while in the higher tip-height range the manipulation reliability is independent of the tip orientation and moreover can be greatly improved due to the strong vertical attraction of the tip on the adatom as compared to the single-atom tip. We also compare these results to those for manipulating single Cu adatoms on the Cu(1 1 1) surface, reveal the underlying physics, and propose the method to improve the manipulation reliability for different systems.

Dual Smarandache Curves of a Timelike Curve lying on Unit dual Lorentzian Sphere

OpenAIRE

Kahraman, Tanju; Hüseyin Ugurlu, Hasan

2016-01-01

In this paper, we give Darboux approximation for dual Smarandache curves of time like curve on unit dual Lorentzian sphere. Firstly, we define the four types of dual Smarandache curves of a timelike curve lying on dual Lorentzian sphere.

Better with Byzantine: Manipulation-Optimal Mechanisms

Science.gov (United States)

Othman, Abraham; Sandholm, Tuomas

A mechanism is manipulable if it is in some agents’ best interest to misrepresent their private information. The revelation principle establishes that, roughly, anything that can be accomplished by a manipulable mechanism can also be accomplished with a truthful mechanism. Yet agents often fail to play their optimal manipulations due to computational limitations or various flavors of incompetence and cognitive biases. Thus, manipulable mechanisms in particular should anticipate byzantine play. We study manipulation-optimal mechanisms: mechanisms that are undominated by truthful mechanisms when agents act fully rationally, and do better than any truthful mechanism if any agent fails to act rationally in any way. This enables the mechanism designer to do better than the revelation principle would suggest, and obviates the need to predict byzantine agents’ irrational behavior. We prove a host of possibility and impossibility results for the concept which have the impression of broadly limiting possibility. These results are largely in line with the revelation principle, although the considerations are more subtle and the impossibility not universal.

Greater Activity in the Frontal Cortex on Left Curves: A Vector-Based fNIRS Study of Left and Right Curve Driving.

Directory of Open Access Journals (Sweden)

Noriyuki Oka

Full Text Available In the brain, the mechanisms of attention to the left and the right are known to be different. It is possible that brain activity when driving also differs with different horizontal road alignments (left or right curves, but little is known about this. We found driver brain activity to be different when driving on left and right curves, in an experiment using a large-scale driving simulator and functional near-infrared spectroscopy (fNIRS.The participants were fifteen healthy adults. We created a course simulating an expressway, comprising straight line driving and gentle left and right curves, and monitored the participants under driving conditions, in which they drove at a constant speed of 100 km/h, and under non-driving conditions, in which they simply watched the screen (visual task. Changes in hemoglobin concentrations were monitored at 48 channels including the prefrontal cortex, the premotor cortex, the primary motor cortex and the parietal cortex. From orthogonal vectors of changes in deoxyhemoglobin and changes in oxyhemoglobin, we calculated changes in cerebral oxygen exchange, reflecting neural activity, and statistically compared the resulting values from the right and left curve sections.Under driving conditions, there were no sites where cerebral oxygen exchange increased significantly more during right curves than during left curves (p > 0.05, but cerebral oxygen exchange increased significantly more during left curves (p < 0.05 in the right premotor cortex, the right frontal eye field and the bilateral prefrontal cortex. Under non-driving conditions, increases were significantly greater during left curves (p < 0.05 only in the right frontal eye field.Left curve driving was thus found to require more brain activity at multiple sites, suggesting that left curve driving may require more visual attention than right curve driving. The right frontal eye field was activated under both driving and non-driving conditions.

Greater Activity in the Frontal Cortex on Left Curves: A Vector-Based fNIRS Study of Left and Right Curve Driving

Science.gov (United States)

Oka, Noriyuki; Yoshino, Kayoko; Yamamoto, Kouji; Takahashi, Hideki; Li, Shuguang; Sugimachi, Toshiyuki; Nakano, Kimihiko; Suda, Yoshihiro; Kato, Toshinori

2015-01-01

Objectives In the brain, the mechanisms of attention to the left and the right are known to be different. It is possible that brain activity when driving also differs with different horizontal road alignments (left or right curves), but little is known about this. We found driver brain activity to be different when driving on left and right curves, in an experiment using a large-scale driving simulator and functional near-infrared spectroscopy (fNIRS). Research Design and Methods The participants were fifteen healthy adults. We created a course simulating an expressway, comprising straight line driving and gentle left and right curves, and monitored the participants under driving conditions, in which they drove at a constant speed of 100 km/h, and under non-driving conditions, in which they simply watched the screen (visual task). Changes in hemoglobin concentrations were monitored at 48 channels including the prefrontal cortex, the premotor cortex, the primary motor cortex and the parietal cortex. From orthogonal vectors of changes in deoxyhemoglobin and changes in oxyhemoglobin, we calculated changes in cerebral oxygen exchange, reflecting neural activity, and statistically compared the resulting values from the right and left curve sections. Results Under driving conditions, there were no sites where cerebral oxygen exchange increased significantly more during right curves than during left curves (p > 0.05), but cerebral oxygen exchange increased significantly more during left curves (p right premotor cortex, the right frontal eye field and the bilateral prefrontal cortex. Under non-driving conditions, increases were significantly greater during left curves (p right frontal eye field. Conclusions Left curve driving was thus found to require more brain activity at multiple sites, suggesting that left curve driving may require more visual attention than right curve driving. The right frontal eye field was activated under both driving and non-driving conditions

Comparative evaluation of fracture and defect in reciproc and rotary files in severe curved root canals

Directory of Open Access Journals (Sweden)

Mahdis Bagherian

2015-03-01

Full Text Available Introduction: Root canal instrumentation is an important phase in root canal therapy. Since success in endodontic treatment depends on file defect and fracture, the aim of this study was to compare the evaluation of defect and fracture in rotary and reciproc files in severe curved root canals. Materials & Methods: In this experimental study, 60 mesial canals of human closed apex molars with more than 30° canal curvature were randomly divided into two groups. In first group M-two rotary files number# 15, 20, and 25 and in second group R25 reciproc file were used for filing, respectively. A ×8 magnifier was applied to evaluate the defect or fracture presence in each side and if it were observed, a new file would be replaced. Therefore, the number of prepared canals with each file and fractured or defective files and the place of fracture in root canal were recorded. Kaplan Meier curve and log rank test were done by using SPSS v.22. Results: In rotary group, seven and two files were fractured and defected, respectively and four files were fractured and no defect was observed in reciproc group. Although the mean of the number of prepared canals until fracture or defect in rotary and reciproc groups was 3.3 and 7.06, respectively, there were no significant differences between two systems. All file’s fractures occurred in apical regions . Conclusion: The results showed that there was no significant difference in defects or fractures of rotary and reciproc systems. Reciproc instruments can be more effective than rotary ones because the root canal preparation in rotary instruments is longer than in reciproc system.

The TFTR maintenance manipulator

International Nuclear Information System (INIS)

Kungl, D.; Loesser, D.; Heitzenroeder, P.; Cerdan, G.

1989-01-01

TFTR plans to begin D-T experiments in mid 1990. The D-T experimental program will produce approximately one hundred shots, with a neutron generation rate of 10 19 neutrons per shot. This will result in high levels of activation in TFTR, especially in the vacuum vessel. The primary purpose of the Maintenance Manipulator is to provide a means of remotely performing certain defined maintenance and inspection tasks inside the vacuum torus so as to minimize personnel exposure to radiation. The manipulator consists of a six-link folding boom connected to a fixed boom on a movable carriage. The entire manipulator is housed in a vacuum antechamber connected to the vacuum torus, through a port formerly used for a vacuum pumping duct. The configuration extends 180 0 in either direction to provide complete coverage of the torus. The four 3500 l/s turbopumps which were formerly used in the pumping duct will be mounted on the antechamber. The manipulator will utilize two end effectors. The first, called a General Inspection Arm (GIA) provides a movable platform to an inspection camera and an in-vacuum leak detector. The second is a bilateral, force-reflecting pair of slave arms which utilize specially developed tools to perform several maintenance functions. All components except the slave arms are capable of operating in TFTR's vacuum environment and during 150 0 C bakeout of the torus. (orig.)

MANIPULATING CONSUMERS THROUGH ADVERTISING

Directory of Open Access Journals (Sweden)

Nicoleta -Andreea Neacşu

2012-12-01

Full Text Available Marketing communication has evolved steadily in the direction of increasing complexity and increasing volume of funds needed to run their own actions. More than ever, consumers are exposed to an overwhelming variety of sources and communication tehniques, the information received being numerous, diverse and polyvalent. The desire to make more efficient the marketing communication activity urges the broadcasters to encode messages, to use effective means of propagation in order to obtain a high degree of control on receptors and to influence the consumption attitudes. Between the means used for this purpose, manipulation tehniques are well known. This paper highlights the main conclusions drawn as a result of a quantitative marketing research on the adult population from Braşov in order to identify the attitudes and opinions of consumers from Braşov regarding the manipulation techniques used by commercial practices and advertising.The results of the research have shown that 82% of the respondents buy products in promotional offers, and 18% choose not to buy these products and 61% of the respondents consider that they have not been manipulated not even once, while only 39% believe that they have been manipulated at least once through advertising or commercial practices. Advertisements on TV have a strong influence on consumers, 81% of the respondents considering that at least once they have bought a product because of a TV commercial.

ECM using Edwards curves

DEFF Research Database (Denmark)

Bernstein, Daniel J.; Birkner, Peter; Lange, Tanja

2013-01-01

-arithmetic level are as follows: (1) use Edwards curves instead of Montgomery curves; (2) use extended Edwards coordinates; (3) use signed-sliding-window addition-subtraction chains; (4) batch primes to increase the window size; (5) choose curves with small parameters and base points; (6) choose curves with large...

CURVE LSFIT, Gamma Spectrometer Calibration by Interactive Fitting Method

International Nuclear Information System (INIS)

Olson, D.G.

1992-01-01

1 - Description of program or function: CURVE and LSFIT are interactive programs designed to obtain the best data fit to an arbitrary curve. CURVE finds the type of fitting routine which produces the best curve. The types of fitting routines available are linear regression, exponential, logarithmic, power, least squares polynomial, and spline. LSFIT produces a reliable calibration curve for gamma ray spectrometry by using the uncertainty value associated with each data point. LSFIT is intended for use where an entire efficiency curve is to be made starting at 30 KeV and continuing to 1836 KeV. It creates calibration curves using up to three least squares polynomial fits to produce the best curve for photon energies above 120 KeV and a spline function to combine these fitted points with a best fit for points below 120 KeV. 2 - Method of solution: The quality of fit is tested by comparing the measured y-value to the y-value calculated from the fitted curve. The fractional difference between these two values is printed for the evaluation of the quality of the fit. 3 - Restrictions on the complexity of the problem - Maxima of: 2000 data points calibration curve output (LSFIT) 30 input data points 3 least squares polynomial fits (LSFIT) The least squares polynomial fit requires that the number of data points used exceed the degree of fit by at least two

Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance

DEFF Research Database (Denmark)

Wu, Guanglei; Bai, Shaoping; Kepler, Jørgen Asbøl

2012-01-01

In this paper, the stiffness of 3-PPR planar parallel manipulator (PPM) is analyzed with the consideration of nonlinear actuation compliance. The characteristics of the stiffness matrix pertaining to the planar parallel manipulators are analyzed and discussed. Graphic representation of the stiffn...... of the stiffness characteristics by means of translational and rotational stiffness mapping is developed. The developed method is illustrated with an unsymmetrical 3-PPR PPM, being compared with its structure-symmetrical counterpart....

Interaction control of a redundant mobile manipulator

International Nuclear Information System (INIS)

Chung, J.H.; Velinsky, S.A.; Hess, R.A.

1998-01-01

This paper discusses the modeling and control of a spatial mobile manipulator that consists of a robotic manipulator mounted on a wheeled mobile platform. The Lagrange-d'Alembert formulation is used to obtain a concise description of the dynamics of the system, which is subject to nonholonomic constraints. The complexity of the model is increased by introducing kinematic redundancy, which is created when a multilinked manipulator is used. The kinematic redundancy is resolved by decomposing the mobile manipulator into two subsystems: the mobile platform and the manipulator. The redundancy resolution scheme employs a nonlinear interaction-control algorithm, which is developed and applied to coordinate the two subsystems' controllers. The subsystem controllers are independently designed, based on each subsystem's dynamic characteristics. Simulation results show the promise of the developed algorithm

Research on reconfigurable and reliable manipulators: Final report, August 15, 1994-August 14, 1996

International Nuclear Information System (INIS)

Khosla, P.K.; Kanade, Takeo

1996-01-01

To address the need for a more flexible and reliable manipulator, the authors propose the concept of a rapidly deployable fault tolerant manipulator system. Such a system combines a Reconfigurable Modular Manipulator System (RMMS) with support software for rapid programming, trajectory planning, and control. This allows the user to rapidly configure a fault tolerant manipulator custom-tailored for a given task. This thesis investigates all aspects involved in such a system. It describes an RMMS prototype which consists of seven manipulator modules with a total of four degrees-of-freedom. The reconfigurability of the hardware is made transparent to the user by the supporting control software that automatically adapts itself to the current manipulator configuration. To achieve high reliability, a global fault tolerant trajectory planning algorithm is introduced. This algorithm guarantees that a manipulator can continue its task even when one of the manipulator joints fails and is immobilized. Finally, all these aspects are considered simultaneously in the task based design software, that determines the manipulator configuration, its base position, and the fault tolerant joint space trajectory that are optimally suited to perform a given task. The most important contribution of this thesis is a novel agent-based approach to solve the task based design problem. The approach is based on a genetic algorithm for which the modification and evaluation operations are implemented as autonomous asynchronous agents. Finally, the thesis presents a performance analysis of the agent-based design framework by comparing its results with those of exhaustive search, random search, and multiple restart statistical hill-climbing

Research on reconfigurable and reliable manipulators: Final report, August 14, 1994--August 14, 1996

Energy Technology Data Exchange (ETDEWEB)

Khosla, P.K.; Kanade, Takeo

1996-12-31

To address the need for a more flexible and reliable manipulator, the authors propose the concept of a rapidly deployable fault tolerant manipulator system. Such a system combines a Reconfigurable Modular Manipulator System (RMMS) with support software for rapid programming, trajectory planning, and control. This allows the user to rapidly configure a fault tolerant manipulator custom-tailored for a given task. This thesis investigates all aspects involved in such a system. It describes an RMMS prototype which consists of seven manipulator modules with a total of four degrees-of-freedom. The reconfigurability of the hardware is made transparent to the user by the supporting control software that automatically adapts itself to the current manipulator configuration. To achieve high reliability, a global fault tolerant trajectory planning algorithm is introduced. This algorithm guarantees that a manipulator can continue its task even when one of the manipulator joints fails and is immobilized. Finally, all these aspects are considered simultaneously in the task based design software, that determines the manipulator configuration, its base position, and the fault tolerant joint space trajectory that are optimally suited to perform a given task. The most important contribution of this thesis is a novel agent-based approach to solve the task based design problem. The approach is based on a genetic algorithm for which the modification and evaluation operations are implemented as autonomous asynchronous agents. Finally, the thesis presents a performance analysis of the agent-based design framework by comparing its results with those of exhaustive search, random search, and multiple restart statistical hill-climbing.

On stiffening cables of a long reach manipulator

International Nuclear Information System (INIS)

Wang, S.L.; Santiago, P.

1996-01-01

A long reach manipulator will be used for waste remediation in large underground storage tanks. The manipulator's slenderness makes it flexible and difficult to control. A low-cost and effective method to enhance the manipulator's stiffness is proposed in this research by using suspension cables. These cables can also be used to accurately measure the position of the manipulator's wrist

Reactor Pressure Vessel P-T Limit Curve Round Robin

Energy Technology Data Exchange (ETDEWEB)

Jang, C.H.; Moon, H.R.; Jeong, I.S. [Korea Electric Power Research Institute, Taejon (Korea)

2002-07-01

This report is the summary of the analysis results for the P-T Limit Curve construction which have been subjected to the round robin analysis. The purpose of the round robin is to compare the procedure and method used in various organizations to construct P-T limit curve to prevent brittle fracture of reactor pressure vessel of nuclear power plants. Each Participant used its own approach to construct the P-T limit curve and submitted the results, By analyzing the results, the reference procedure for the P-T limit curve could be established. This report include the results of the comparison of the procedure and method used by the participants, and sensitivity study of the key parameters. (author) 23 refs, 88 figs, 17 tabs.

Manipulation Robustness of Collaborative Filtering

OpenAIRE

Benjamin Van Roy; Xiang Yan

2010-01-01

A collaborative filtering system recommends to users products that similar users like. Collaborative filtering systems influence purchase decisions and hence have become targets of manipulation by unscrupulous vendors. We demonstrate that nearest neighbors algorithms, which are widely used in commercial systems, are highly susceptible to manipulation and introduce new collaborative filtering algorithms that are relatively robust.

Atomic and molecular manipulation

CERN Document Server

Mayne, Andrew J

2011-01-01

Work with individual atoms and molecules aims to demonstrate that miniaturized electronic, optical, magnetic, and mechanical devices can operate ultimately even at the level of a single atom or molecule. As such, atomic and molecular manipulation has played an emblematic role in the development of the field of nanoscience. New methods based on the use of the scanning tunnelling microscope (STM) have been developed to characterize and manipulate all the degrees of freedom of individual atoms and molecules with an unprecedented precision. In the meantime, new concepts have emerged to design molecules and substrates having specific optical, mechanical and electronic functions, thus opening the way to the fabrication of real nano-machines. Manipulation of individual atoms and molecules has also opened up completely new areas of research and knowledge, raising fundamental questions of "Optics at the atomic scale", "Mechanics at the atomic scale", Electronics at the atomic scale", "Quantum physics at the atomic sca...

Design, modeling and optimization of an underwater manipulator with four-bar mechanism and compliant linkage

Energy Technology Data Exchange (ETDEWEB)

Jin, Sang Ok; Kim, Ji Hoon; Bae, Jang Ho; Kim, Jong Won [School of Mechanical and Aerospace Engineering, Seoul National University, Seoul (Korea, Republic of); Seo, Tae Won [School of Mechanical Engineering, Yeungnam University, Gyeongsan (Korea, Republic of)

2016-09-15

Underwater manipulators are very important for a robot to perform a specific operation in water. Conventional robot arm manipulators have been suggested for various operations but have not been suitable for repeated motion in gathering something. This paper presents a new underwater manipulator design for gathering things such as starfish on the sea floor. The manipulator is composed of a four-bar linkage to achieve repeated motion along a loop and compliant linkages to enhance the efficiency of the gathering work. Kinematic and quasi-static analyses were performed to calculate the loop path and the reaction force at the actuation point. Based on the analysis, optimal design was performed to maximize the working distance with the height difference and the reaction moments considered as constraints. A prototype was assembled to test the performance of the manipulator, and the empirical loop path was compared to simulation results.

Design, modeling and optimization of an underwater manipulator with four-bar mechanism and compliant linkage

International Nuclear Information System (INIS)

Jin, Sang Ok; Kim, Ji Hoon; Bae, Jang Ho; Kim, Jong Won; Seo, Tae Won

2016-01-01

Underwater manipulators are very important for a robot to perform a specific operation in water. Conventional robot arm manipulators have been suggested for various operations but have not been suitable for repeated motion in gathering something. This paper presents a new underwater manipulator design for gathering things such as starfish on the sea floor. The manipulator is composed of a four-bar linkage to achieve repeated motion along a loop and compliant linkages to enhance the efficiency of the gathering work. Kinematic and quasi-static analyses were performed to calculate the loop path and the reaction force at the actuation point. Based on the analysis, optimal design was performed to maximize the working distance with the height difference and the reaction moments considered as constraints. A prototype was assembled to test the performance of the manipulator, and the empirical loop path was compared to simulation results

Technological change in energy systems. Learning curves, logistic curves and input-output coefficients

International Nuclear Information System (INIS)

Pan, Haoran; Koehler, Jonathan

2007-01-01

Learning curves have recently been widely adopted in climate-economy models to incorporate endogenous change of energy technologies, replacing the conventional assumption of an autonomous energy efficiency improvement. However, there has been little consideration of the credibility of the learning curve. The current trend that many important energy and climate change policy analyses rely on the learning curve means that it is of great importance to critically examine the basis for learning curves. Here, we analyse the use of learning curves in energy technology, usually implemented as a simple power function. We find that the learning curve cannot separate the effects of price and technological change, cannot reflect continuous and qualitative change of both conventional and emerging energy technologies, cannot help to determine the time paths of technological investment, and misses the central role of R and D activity in driving technological change. We argue that a logistic curve of improving performance modified to include R and D activity as a driving variable can better describe the cost reductions in energy technologies. Furthermore, we demonstrate that the top-down Leontief technology can incorporate the bottom-up technologies that improve along either the learning curve or the logistic curve, through changing input-output coefficients. An application to UK wind power illustrates that the logistic curve fits the observed data better and implies greater potential for cost reduction than the learning curve does. (author)

Dynamic whole-body robotic manipulation

Science.gov (United States)

Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

2013-05-01

The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

W-curve alignments for HIV-1 genomic comparisons.

Directory of Open Access Journals (Sweden)

Douglas J Cork

2010-06-01

Full Text Available The W-curve was originally developed as a graphical visualization technique for viewing DNA and RNA sequences. Its ability to render features of DNA also makes it suitable for computational studies. Its main advantage in this area is utilizing a single-pass algorithm for comparing the sequences. Avoiding recursion during sequence alignments offers advantages for speed and in-process resources. The graphical technique also allows for multiple models of comparison to be used depending on the nucleotide patterns embedded in similar whole genomic sequences. The W-curve approach allows us to compare large numbers of samples quickly.We are currently tuning the algorithm to accommodate quirks specific to HIV-1 genomic sequences so that it can be used to aid in diagnostic and vaccine efforts. Tracking the molecular evolution of the virus has been greatly hampered by gap associated problems predominantly embedded within the envelope gene of the virus. Gaps and hypermutation of the virus slow conventional string based alignments of the whole genome. This paper describes the W-curve algorithm itself, and how we have adapted it for comparison of similar HIV-1 genomes. A treebuilding method is developed with the W-curve that utilizes a novel Cylindrical Coordinate distance method and gap analysis method. HIV-1 C2-V5 env sequence regions from a Mother/Infant cohort study are used in the comparison.The output distance matrix and neighbor results produced by the W-curve are functionally equivalent to those from Clustal for C2-V5 sequences in the mother/infant pairs infected with CRF01_AE.Significant potential exists for utilizing this method in place of conventional string based alignment of HIV-1 genomes, such as Clustal X. With W-curve heuristic alignment, it may be possible to obtain clinically useful results in a short time-short enough to affect clinical choices for acute treatment. A description of the W-curve generation process, including a comparison

W-curve alignments for HIV-1 genomic comparisons.

Science.gov (United States)

Cork, Douglas J; Lembark, Steven; Tovanabutra, Sodsai; Robb, Merlin L; Kim, Jerome H

2010-06-01

The W-curve was originally developed as a graphical visualization technique for viewing DNA and RNA sequences. Its ability to render features of DNA also makes it suitable for computational studies. Its main advantage in this area is utilizing a single-pass algorithm for comparing the sequences. Avoiding recursion during sequence alignments offers advantages for speed and in-process resources. The graphical technique also allows for multiple models of comparison to be used depending on the nucleotide patterns embedded in similar whole genomic sequences. The W-curve approach allows us to compare large numbers of samples quickly. We are currently tuning the algorithm to accommodate quirks specific to HIV-1 genomic sequences so that it can be used to aid in diagnostic and vaccine efforts. Tracking the molecular evolution of the virus has been greatly hampered by gap associated problems predominantly embedded within the envelope gene of the virus. Gaps and hypermutation of the virus slow conventional string based alignments of the whole genome. This paper describes the W-curve algorithm itself, and how we have adapted it for comparison of similar HIV-1 genomes. A treebuilding method is developed with the W-curve that utilizes a novel Cylindrical Coordinate distance method and gap analysis method. HIV-1 C2-V5 env sequence regions from a Mother/Infant cohort study are used in the comparison. The output distance matrix and neighbor results produced by the W-curve are functionally equivalent to those from Clustal for C2-V5 sequences in the mother/infant pairs infected with CRF01_AE. Significant potential exists for utilizing this method in place of conventional string based alignment of HIV-1 genomes, such as Clustal X. With W-curve heuristic alignment, it may be possible to obtain clinically useful results in a short time-short enough to affect clinical choices for acute treatment. A description of the W-curve generation process, including a comparison technique of

Unidirectional Wave Vector Manipulation in Two-Dimensional Space with an All Passive Acoustic Parity-Time-Symmetric Metamaterials Crystal

Science.gov (United States)

Liu, Tuo; Zhu, Xuefeng; Chen, Fei; Liang, Shanjun; Zhu, Jie

2018-03-01

Exploring the concept of non-Hermitian Hamiltonians respecting parity-time symmetry with classical wave systems is of great interest as it enables the experimental investigation of parity-time-symmetric systems through the quantum-classical analogue. Here, we demonstrate unidirectional wave vector manipulation in two-dimensional space, with an all passive acoustic parity-time-symmetric metamaterials crystal. The metamaterials crystal is constructed through interleaving groove- and holey-structured acoustic metamaterials to provide an intrinsic parity-time-symmetric potential that is two-dimensionally extended and curved, which allows the flexible manipulation of unpaired wave vectors. At the transition point from the unbroken to broken parity-time symmetry phase, the unidirectional sound focusing effect (along with reflectionless acoustic transparency in the opposite direction) is experimentally realized over the spectrum. This demonstration confirms the capability of passive acoustic systems to carry the experimental studies on general parity-time symmetry physics and further reveals the unique functionalities enabled by the judiciously tailored unidirectional wave vectors in space.

Data manipulation with R

CERN Document Server

Abedin, Jaynal

2014-01-01

This book is a step-by step, example-oriented tutorial that will show both intermediate and advanced users how data manipulation is facilitated smoothly using R.This book is aimed at intermediate to advanced level users of R who want to perform data manipulation with R, and those who want to clean and aggregate data effectively. Readers are expected to have at least an introductory knowledge of R and some basic administration work in R, such as installing packages and calling them when required.

Comparison of two methods to determine fan performance curves using computational fluid dynamics

Science.gov (United States)

Onma, Patinya; Chantrasmi, Tonkid

2018-01-01

This work investigates a systematic numerical approach that employs Computational Fluid Dynamics (CFD) to obtain performance curves of a backward-curved centrifugal fan. Generating the performance curves requires a number of three-dimensional simulations with varying system loads at a fixed rotational speed. Two methods were used and their results compared to experimental data. The first method incrementally changes the mass flow late through the inlet boundary condition while the second method utilizes a series of meshes representing the physical damper blade at various angles. The generated performance curves from both methods are compared with an experiment setup in accordance with the AMCA fan performance testing standard.

Sensorimotor Learning of Acupuncture Needle Manipulation Using Visual Feedback.

Directory of Open Access Journals (Sweden)

Won-Mo Jung

Full Text Available Humans can acquire a wide variety of motor skills using sensory feedback pertaining to discrepancies between intended and actual movements. Acupuncture needle manipulation involves sophisticated hand movements and represents a fundamental skill for acupuncturists. We investigated whether untrained students could improve their motor performance during acupuncture needle manipulation using visual feedback (VF.Twenty-one untrained medical students were included, randomly divided into concurrent (n = 10 and post-trial (n = 11 VF groups. Both groups were trained in simple lift/thrusting techniques during session 1, and in complicated lift/thrusting techniques in session 2 (eight training trials per session. We compared the motion patterns and error magnitudes of pre- and post-training tests.During motion pattern analysis, both the concurrent and post-trial VF groups exhibited greater improvements in motion patterns during the complicated lifting/thrusting session. In the magnitude error analysis, both groups also exhibited reduced error magnitudes during the simple lifting/thrusting session. For the training period, the concurrent VF group exhibited reduced error magnitudes across all training trials, whereas the post-trial VF group was characterized by greater error magnitudes during initial trials, which gradually reduced during later trials.Our findings suggest that novices can improve the sophisticated hand movements required for acupuncture needle manipulation using sensorimotor learning with VF. Use of two types of VF can be beneficial for untrained students in terms of learning how to manipulate acupuncture needles, using either automatic or cognitive processes.

Vacancies und melting curves of metals at high pressure

International Nuclear Information System (INIS)

Gorecki, T.

1977-01-01

The vacancy mechanism of the melting process is utilized as a starting point in derivation of the pressure dependence of melting temperature for metals. The results obtained for the initial slope of the melting curve are compared with experimental data for 45 metals (including U, Np, Pu, rare earths) and in most cases the agreement is very good. An on-linearity of the fusion curve and appearence of the maximum on the melting curve at a pressure approximately equal to the bulk modulus is also predicted with qualitative agreement with existing experimental data. (orig./GSC) [de

Curve fitting for RHB Islamic Bank annual net profit

Science.gov (United States)

Nadarajan, Dineswary; Noor, Noor Fadiya Mohd

2015-05-01

The RHB Islamic Bank net profit data are obtained from 2004 to 2012. Curve fitting is done by assuming the data are exact or experimental due to smoothing process. Higher order Lagrange polynomial and cubic spline with curve fitting procedure are constructed using Maple software. Normality test is performed to check the data adequacy. Regression analysis with curve estimation is conducted in SPSS environment. All the eleven models are found to be acceptable at 10% significant level of ANOVA. Residual error and absolute relative true error are calculated and compared. The optimal model based on the minimum average error is proposed.

Stock Market Manipulation on the Hong Kong Stock Exchange

Directory of Open Access Journals (Sweden)

Dionigi Gerace

2014-10-01

Full Text Available This study is the first to empirically examine stock market manipulation on the Hong Kong Stock Exchange. The dataset contains 40 cases of market manipulation from 1996 to 2009 that were successfully prosecuted by the Hong Kong Securities & Futures Commission. Manipulation is found to negatively impact market efficiency measures such as the bid-ask spread and volatility. Markets appear incapable of efficiently responding to the presence of manipulators and are characterised by information asymmetry. Manipulators were successfully able to raise prices and exit the market. This finding contradicts views that trade-based manipulation is entirely unprofitable and self-deterring. The victimisation of information-seeking investors and the market as a whole provides a strong rationale for all jurisdictions, including Australia, to have effective laws that prohibit manipulation and for robust enforcement of those laws to further deter market manipulation.

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

Hudson, Thomas C.; Helser, Aren T.; Sonnenwald, Diane H.

2004-01-01

We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a distributed, collaborative virtual environment system supporting remote scientific collaboration between users of the nanoManipulator interface to atomic force microscopes. This paper describes the entire...

Tension Stiffened and Tendon Actuated Manipulator

Science.gov (United States)

Doggett, William R. (Inventor); Dorsey, John T. (Inventor); Ganoe, George G. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Mercer, Charles D. (Inventor); Corbin, Cole K. (Inventor)

2015-01-01

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

Deriving Area-storage Curves of Global Reservoirs

Science.gov (United States)

Mu, M.; Tang, Q.

2017-12-01

Basic information including capacity, dam height, and largest water area on global reservoirs and dams is well documented in databases such as GRanD (Global Reservoirs and Dams), ICOLD (International Commission on Large Dams). However, though playing a critical role in estimating reservoir storage variations from remote sensing or hydrological models, area-storage (or elevation-storage) curves of reservoirs are not publicly shared. In this paper, we combine Landsat surface water extent, 1 arc-minute global relief model (ETOPO1) and GRanD database to derive area-storage curves of global reservoirs whose area is larger than 1 km2 (6,000 more reservoirs are included). First, the coverage polygon of each reservoir in GRanD is extended to where water was detected by Landsat during 1985-2015. Second, elevation of each pixel in the reservoir is extracted from resampled 30-meter ETOPO1, and then relative depth and frequency of each depth value is calculated. Third, cumulative storage is calculated with increasing water area by every one percent of reservoir coverage area and then the uncalibrated area-storage curve is obtained. Finally, the area-storage curve is linearly calibrated by the ratio of calculated capacity over reported capacity in GRanD. The derived curves are compared with in-situ reservoir data collected in Great Plains Region in US, and the results show that in-situ records are well captured by the derived curves even in relative small reservoirs (several square kilometers). The new derived area-storage curves have the potential to be employed in global monitoring or modelling of reservoirs storage and area variations.

Cocaine versus food choice procedure in rats: environmental manipulations and effects of amphetamine.

Science.gov (United States)

Thomsen, Morgane; Barrett, Andrew C; Negus, S Stevens; Caine, S Barak

2013-03-01

We have adapted a nonhuman primate model of cocaine versus food choice to the rat species. To evaluate the procedure, we tested cocaine versus food choice under a variety of environmental manipulations as well as pharmacological pretreatments. Complete cocaine-choice dose-effect curves (0-1.0 mg/kg/infusion) were obtained for each condition under concurrent fixed ratio schedules of reinforcement. Percentage of responding emitted on the cocaine-reinforced lever was not affected significantly by removal of cocaine-associated visual or auditory cues, but it was decreased after removal of response-contingent or response-independent cocaine infusions. Cocaine choice was sensitive to the magnitude and fixed ratio requirement of both the cocaine and food reinforcers. We also tested the effects of acute (0.32, 0.56, 1.0, 1.8 mg/kg) and chronic (0.1, 0.32 mg/kg/hr) d-amphetamine treatment on cocaine choice. Acute and chronic d-amphetamine had opposite effects, with acute increasing and chronic decreasing cocaine choice, similar to observations in humans and in nonhuman primates. The results suggest feasibility and utility of the choice procedure in rats and support its comparability to similar procedures used in humans and monkeys. © Society for the Experimental Analysis of Behavior.

Particle Manipulation Methods in Droplet Microfluidics.

Science.gov (United States)

Tenje, Maria; Fornell, Anna; Ohlin, Mathias; Nilsson, Johan

2018-02-06

This Feature describes the different particle manipulation techniques available in the droplet microfluidics toolbox to handle particles encapsulated inside droplets and to manipulate whole droplets. We address the advantages and disadvantages of the different techniques to guide new users.

Characteristics of manipulator for industrial robot with three rotational pairs having parallel axes

Science.gov (United States)

Poteyev, M. I.

1986-01-01

The dynamics of a manipulator with three rotatinal kinematic pairs having parallel axes are analyzed, for application in an industrial robot. The system of Lagrange equations of the second kind, describing the motion of such a mechanism in terms of kinetic energy in generalized coordinates, is reduced to equations of motion in terms of Newton's laws. These are useful not only for either determining the moments of force couples which will produce a prescribed motion or, conversely determining the motion which given force couples will produce but also for solving optimization problems under constraints in both cases and for estimating dynamic errors. As a specific example, a manipulator with all three axes of vertical rotation is considered. The performance of this manipulator, namely the parameters of its motion as functions of time, is compared with that of a manipulator having one rotational and two translational kinematic pairs. Computer aided simulation of their motion on the basis of ideal models, with all three links represented by identical homogeneous bars, has yielded velocity time diagrams which indicate that the manipulator with three rotational pairs is 4.5 times faster.

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

Science.gov (United States)

Hannan, Michael W.; Walker, Ian D.

2003-01-01

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

Manipulation or Mobilisation for Neck Pain

NARCIS (Netherlands)

Gross, Anita; Miller, Jordan; D'Sylva, Jonathan; Burnie, Stephen J.; Goldsmith, Charles H.; Graham, Nadine; Haines, Ted; Brønfort, Gert; Hoving, Jan L.

2010-01-01

Background Manipulation and mobilisation are often used, either alone or combined with other treatment approaches, to treat neck pain. Objectives To assess if manipulation or mobilisation improves pain, function/disability, patient satisfaction, quality of life, and global perceived effect in adults

Manipulation and mobilisation for neck pain contrasted against an inactive control or another active treatment.

Science.gov (United States)

Gross, Anita; Langevin, Pierre; Burnie, Stephen J; Bédard-Brochu, Marie-Sophie; Empey, Brian; Dugas, Estelle; Faber-Dobrescu, Michael; Andres, Cristy; Graham, Nadine; Goldsmith, Charles H; Brønfort, Gert; Hoving, Jan L; LeBlanc, Francis

2015-09-23

Manipulation and mobilisation are commonly used to treat neck pain. This is an update of a Cochrane review first published in 2003, and previously updated in 2010. To assess the effects of manipulation or mobilisation alone compared wiith those of an inactive control or another active treatment on pain, function, disability, patient satisfaction, quality of life and global perceived effect in adults experiencing neck pain with or without radicular symptoms and cervicogenic headache (CGH) at immediate- to long-term follow-up. When appropriate, to assess the influence of treatment characteristics (i.e. technique, dosage), methodological quality, symptom duration and subtypes of neck disorder on treatment outcomes. Review authors searched the following computerised databases to November 2014 to identify additional studies: the Cochrane Central Register of Controlled Trials (CENTRAL), MEDLINE, EMBASE and the Cumulative Index to Nursing and Allied Health Literature (CINAHL). We also searched ClinicalTrials.gov, checked references, searched citations and contacted study authors to find relevant studies. We updated this search in June 2015, but these results have not yet been incorporated. Randomised controlled trials (RCTs) undertaken to assess whether manipulation or mobilisation improves clinical outcomes for adults with acute/subacute/chronic neck pain. Two review authors independently selected studies, abstracted data, assessed risk of bias and applied Grades of Recommendation, Assessment, Development and Evaluation (GRADE) methods (very low, low, moderate, high quality). We calculated pooled risk ratios (RRs) and standardised mean differences (SMDs). We included 51 trials (2920 participants, 18 trials of manipulation/mobilisation versus control; 34 trials of manipulation/mobilisation versus another treatment, 1 trial had two comparisons). Cervical manipulation versus inactive control: For subacute and chronic neck pain, a single manipulation (three trials, no meta

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

Full Text Available This paper presents a method for the autonomous control of differently structured open kinematic chains based on multi-agent system technology. The appropriate level of distributing local autonomy (agents to a manipulative structure is defined, which makes it possible to dynamically change the number, type and structure of manipulative components without modifying their behavioural logic. To achieve fast reconfigurable and scalable manipulative systems, a new multi-agent method is developed for controlling the manipulator kinematics. The new method enables independent manipulator structure from the control system because of its structural and system modularity. The proposed method consists of kinematic equations for use in an agent environment, agent motion-planning algorithms, evaluation functions, agent control logic and kinematic algorithms. The results of simulations and real-world experiments demonstrate the usefulness of the approach for different non-redundant and redundant manipulation structures.

Computerised curve deconvolution of TL/OSL curves using a popular spreadsheet program.

Science.gov (United States)

Afouxenidis, D; Polymeris, G S; Tsirliganis, N C; Kitis, G

2012-05-01

This paper exploits the possibility of using commercial software for thermoluminescence and optically stimulated luminescence curve deconvolution analysis. The widely used software package Microsoft Excel, with the Solver utility has been used to perform deconvolution analysis to both experimental and reference glow curves resulted from the GLOw Curve ANalysis INtercomparison project. The simple interface of this programme combined with the powerful Solver utility, allows the analysis of complex stimulated luminescence curves into their components and the evaluation of the associated luminescence parameters.

Computerised curve deconvolution of TL/OSL curves using a popular spreadsheet program

International Nuclear Information System (INIS)

Afouxenidis, D.; Polymeris, G. S.; Tsirliganis, N. C.; Kitis, G.

2012-01-01

This paper exploits the possibility of using commercial software for thermoluminescence and optically stimulated luminescence curve deconvolution analysis. The widely used software package Microsoft Excel, with the Solver utility has been used to perform deconvolution analysis to both experimental and reference glow curves resulted from the Glow Curve Analysis Intercomparison project. The simple interface of this programme combined with the powerful Solver utility, allows the analysis of complex stimulated luminescence curves into their components and the evaluation of the associated luminescence parameters. (authors)

Application of identification techniques to remote manipulator system flight data

Science.gov (United States)

Shepard, G. D.; Lepanto, J. A.; Metzinger, R. W.; Fogel, E.

1983-01-01

This paper addresses the application of identification techniques to flight data from the Space Shuttle Remote Manipulator System (RMS). A description of the remote manipulator, including structural and control system characteristics, sensors, and actuators is given. A brief overview of system identification procedures is presented, and the practical aspects of implementing system identification algorithms are discussed. In particular, the problems posed by desampling rate, numerical error, and system nonlinearities are considered. Simulation predictions of damping, frequency, and system order are compared with values identified from flight data to support an evaluation of RMS structural and control system models. Finally, conclusions are drawn regarding the application of identification techniques to flight data obtained from a flexible space structure.

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

Full Text Available Abstrak Sistem robot manipulator ini merupakan mekanisme lengan yang terdiri dari serangkaian segmen yang digunakan untuk menangkap dan memindahkan benda dengan beberapa derajat kebebasan. Dalam perkembangannya, robot manipulator telah digunakan dalam melaksanakan misi tertentu dan membantu operasi di ruang angkasa. Robot biasanya berinteraksi dengan sistem tangan, dan dalam kegiatan industri tangan biasanya disebut sebagai gripper. Penulis menggunakan metode simulasi teknik yang dapat menentukan sistem gerak kinematika robot. Simulasi teknik adalah metode yang digunakan untuk mendesain dan menganalisa gerakan robot dimana hasil dari respon gerakan robot yang didapat mendekati hasil dalam keadaan sebenarnya. Simulasi juga dapat menghemat waktu dan biaya yang digunakan dalam mendesain robot gripper manipulator lima jari dengan elemen prismatik. Dengan menggunakan kontrol PID diharapkan respon gerak kinematik dari setiap joint robot manipulator mencapai perfomance yang terbaik seperti overshoot yang kecil, dan kondisi tenang (steady state dalam waktu yang singkat disertai dengan keselahan penggerak yang kecil. Melalui proses Advance tuning pada PID kontrol selesai didapatkan parameter penguat pada PID kontrol yaitu Kp = 0.7194, Ki = 8.306 dan Kd = 0.0061sehingga tercapai performance gerakan kinematika robot gripper manipulator yang terbaik sesuai yang dikehendaki oleh user dengan rise time yang singkat 0.52 detik, waktu puncak yang singkat 0.52 detik, maksimum overshoot yang kecil 1,8%, kesetebailan response dicapai pada 0.76 detik dan kesalahan penggerak yang sangat kecil 0.32%. Kata kunci: Robot gripper manipulator, PID control, gerakan kinematika Abstract A robot gripper manipulator system mechanism comprising a series of segments that are used to capture and move objects with multiple degrees of freedom. In the process, the robot manipulator has been used in carrying out the specific mission and assist operations in space. Robot manipulator

Testing MONDian dark matter with galactic rotation curves

International Nuclear Information System (INIS)

Edmonds, Doug; Farrah, Duncan; Minic, Djordje; Takeuchi, Tatsu; Ho, Chiu Man; Ng, Y. Jack

2014-01-01

MONDian dark matter (MDM) is a new form of dark matter quantum that naturally accounts for Milgrom's scaling, usually associated with modified Newtonian dynamics (MOND), and theoretically behaves like cold dark matter (CDM) at cluster and cosmic scales. In this paper, we provide the first observational test of MDM by fitting rotation curves to a sample of 30 local spiral galaxies (z ≈ 0.003). For comparison, we also fit the galactic rotation curves using MOND and CDM. We find that all three models fit the data well. The rotation curves predicted by MDM and MOND are virtually indistinguishable over the range of observed radii (∼1 to 30 kpc). The best-fit MDM and CDM density profiles are compared. We also compare with MDM the dark matter density profiles arising from MOND if Milgrom's formula is interpreted as Newtonian gravity with an extra source term instead of as a modification of inertia. We find that discrepancies between MDM and MOND will occur near the center of a typical spiral galaxy. In these regions, instead of continuing to rise sharply, the MDM mass density turns over and drops as we approach the center of the galaxy. Our results show that MDM, which restricts the nature of the dark matter quantum by accounting for Milgrom's scaling, accurately reproduces observed rotation curves.

A Molecular Analysis of Training Multiple versus Single Manipulations to Establish a Generalized Manipulative Imitation Repertoire

Science.gov (United States)

Hartley, Breanne K.

2009-01-01

This study evaluates the necessity of training multiple versus single manipulative-imitations per object in order to establish generalized manipulative-imitation. Training took place in Croyden Avenue School's Early Childhood Developmental Delay preschool classroom in Kalamazoo, MI. Two groups of 3 children each were trained to imitate in order to…

Reconfigurable mobile manipulation for accident response

International Nuclear Information System (INIS)

Anderson, Robert J.; Morse, William D.; Shirey, David L.; Cdebaca, DanielL M.; Hoffman, John P. Jr.; Lucy, William E.

2000-01-01

The need for a telerobotic vehicle with hazard sensing and integral manipulation capabilities has been identified for use in transportation accidents where nuclear weapons are involved. The Accident Response Mobile Manipulation System (ARMMS) platform has been developed to provide remote dexterous manipulation and hazard sensing for the Accident Response Group (ARG) at Sandia National Laboratories. The ARMMS' mobility platform is a military HMMWV [High Mobility Multipurpose Wheeled Vehicle] that is teleoperated over RF or Fiber Optic communication channels. ARMMS is equipped with two high strength Schilling Titan II manipulators and a suite of hazardous gas and radiation sensors. Recently, a modular telerobotic control architecture call SMART (Sandia Modular Architecture for Robotic and Teleoperation) has been applied to ARMMS. SMART enables input devices and many system behaviors to be rapidly configured in the field for specific mission needs. This paper summarizes current SMART developments applied to ARMMS

Solar energy captured by a curved collector designed for architectural integration

International Nuclear Information System (INIS)

Rodríguez-Sánchez, D.; Belmonte, J.F.; Izquierdo-Barrientos, M.A.; Molina, A.E.; Rosengarten, G.; Almendros-Ibáñez, J.A.

2014-01-01

Highlights: • We present a new prototype of solar collector for architectural integration. • Equations of the solar radiation on a curved surface. • We compare the energy intercepted by the prototype with the energy intercepted by conventional collectors. • The prototype can be competitive compared with conventional collectors. - Abstract: In this paper we present a prototype for a new type of solar thermal collector designed for architectural integration. In this proposal, the conventional geometry of a flat solar thermal collector is changed to a curved geometry, to improve its visual impact when mounted on a building facade or roof. The mathematical equations for the beam and diffuse solar radiation received by a collector with this geometry are developed for two different orientations, horizontal and vertical. The performance of this curved prototype, in terms of solar radiation received, is compared with a conventional tilted-surface collector for different orientations in Madrid (Spain). The comparison is made for typical clear-sky days in winter and summer as well as for an entire year. The results demonstrate that the curved collector only receives between 12% and 25% less radiation than the conventional tilted-surface collectors when oriented horizontally, depending on the azimuth of the curved surface, although these percentages are reduced to approximately 50% when the collector is oriented vertically

Phenomena of Inter-age Manipulations in Interaction "Teacher-Student"

Directory of Open Access Journals (Sweden)

Miklyaeva A.V.,

2017-01-01

Full Text Available Thearticlepresentsthe results of studies of the phenomenon empirical inter-age manipulation in the pedagogical interaction. Inter-age manipulation is considered a form of manipulation carried out on the basis of an appeal to the participants in the interaction age roles. Based on the results of a survey 109 teenagers 13-15 years, using a questionnaire, color test of relations and projective drawing shows that inter-age manipulation is a common way to impact on the students, elected teacher. Teachers are the subjects of inter-age manipulation more often than students. It was revealed that the effectiveness of inter-age manipulation in pedagogical interaction increases if it is meaningful is consistent with the normative content of age roles, as well as «inter-age distance" between the teacher and the students. The greatest effectiveness of have inter-age manipulation undertaken for older teachers, and manipulation "from below" from young teachers

Reactionless robust finite-time control for manipulation of passive objects by free-floating space robots

International Nuclear Information System (INIS)

Guo Sheng-Peng; Li Dong-Xu; Meng Yun-He; Fan Cai-Zhi

2014-01-01

On-orbit servicing requires efficient techniques for manipulating passive objects. The paper aims at developing a reactionless control method that drives the manipulator to manipulate passive objects with high precision, while inducing no disturbances to its base attitude. To this end, decomposition of the target dynamics from the base dynamics is discussed, so that they can be considered as two independent subsystems. A reactionless nonlinear controller is presented, which ensures high-precision manipulation of the targets and that the base orientation is unchanged. This is achieved by combining the robust finite-time control with the reaction null space. Finally, the performance of the proposed method is examined by comparing it with that of a reactionless PD controller and a pure finite-time controller. (electromagnetism, optics, acoustics, heat transfer, classical mechanics, and fluid dynamics)

Evaluation of the uncertainty for the efficiency curve determination of 210Pb by liquid scintillation

International Nuclear Information System (INIS)

Sampaio, C.S.; Sousa, W.O.; Dantas, B.M.

2014-01-01

Methodologies for the evaluation of uncertainties associated with the determination of the efficiency curve of 210 Pb by liquid scintillation counting (LSC) are presented. No statistical difference were found when compared the uncertainties of the curves that represented the counting net before and after the secular equilibrium between 210 Pb and 210 Bi, nether when compared the curves when counting only 210 Pb and the curve with the total count of 210 Pb and 210 Bi, for the same time interval after precipitation. (author)

Maximum allowable load on wheeled mobile manipulators

International Nuclear Information System (INIS)

Habibnejad Korayem, M.; Ghariblu, H.

2003-01-01

This paper develops a computational technique for finding the maximum allowable load of mobile manipulator during a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints applied to resolving the redundancy are the most important factors. To resolve extra D.O.F introduced by the base mobility, additional constraint functions are proposed directly in the task space of mobile manipulator. Finally, in two numerical examples involving a two-link planar manipulator mounted on a differentially driven mobile base, application of the method to determining maximum allowable load is verified. The simulation results demonstrates the maximum allowable load on a desired trajectory has not a unique value and directly depends on the additional constraint functions which applies to resolve the motion redundancy

Laser Diode Beam Basics, Manipulations and Characterizations

CERN Document Server

Sun, Haiyin

2012-01-01

Many optical design technical books are available for many years which mainly deal with image optics design based on geometric optics and using sequential raytracing technique. Some books slightly touched laser beam manipulation optics design. On the other hand many books on laser diodes have been published that extensively deal with laser diode physics with little touching on laser diode beam manipulations and characterizations. There are some internet resources dealing with laser diode beams. However, these internet resources have not covered enough materials with enough details on laser diode beam manipulations and characterizations. A technical book concentrated on laser diode beam manipulations and characterizations can fit in to the open and provide useful information to laser diode users. Laser Diode Beam Basics, Manipulations and  Characterizations is concentrated on the very practical side of the subject, it only discusses the basic physics and mathematics that are necessary for the readers in order...

Extracorporeal shock wave lithotripsy (ESWL) vs. ureterorenoscopic (URS) manipulation in proximal ureteric stone.

Science.gov (United States)

Manzoor, Salman; Hashmi, Altaf Hussain; Sohail, Muhammad Ali; Mahar, Feroz; Bhatti, Shahid; Khuhro, Abdul Qayoom

2013-10-01

To compare the stone free rate at one week after extracorporeal shock wave lithotripsy (ESWL) and ureterorenoscopic (URS) manipulation for proximal ureteric stone (10 - 15 mm size). Randomized controlled trial. Sindh Institute of Urology and Transplantation (SIUT), Karachi, from August 2010 to February 2011. One hundred and ninety patients with 10 - 15 mm proximal urteric stone, in each group were treated with ESWL and ureterorenoscopic manipulation by using an 8.0 or 8.5 Fr semi rigid ureteroscope. Intracorporeal lithotripsy was performed by using pneumatic lithoclast. The stone free rate were compared between groups by considering size of stone at one week after procedure. The success rate, retreatment rate, auxiliary procedure and complication rate were compared in each group. Success rate was 49.2% for ESWL and 57.8% for URS (p = 0.008). The re-treatment rate was significantly higher in ESWL group than in URS group (40% vs. 11 and 18% in URS group). Although ESWL is regarded as the preferred choice of treatment for proximal ureteric stone, the present results suggest that ureterorenoscopic manipulation with intracorporeal lithotripsy is a safe alternative, with an advantage of obtaining an earlier or immediate stone-free status. Laparoscopic approaches are reasonable alternatives in cases, where ESWL and URS have failed.

SAMSIN: the next-generation servo-manipulator

International Nuclear Information System (INIS)

Adams, R.H.; Jennrich, C.E.; Korpi, K.W.

1985-01-01

The Central Research Laboratories (CRL) Division of Sargent Industries is now developing SAMSIN, a next-generation servo-manipulator. SAMSIN is an acronym for Servo-Actuated Manipulator Systems with Intelligent Networks. This paper discusses the objectives of this development and describes the key features of the servo-manipulator system. There are three main objectives in the SAMSIN development: adaptability, reliability, and maintainability. SAMSIN utilizes standard Sargent/CRL sealed master and slave manipulator arms as well as newly developed compact versions. The mechanical arms have more than 20 yr of successful performance in industrial applications such as hot cells, high vacuums, fuel pools, and explosives handling. The servo-actuator package is in a protective enclosure, which may be sealed in various ways from the remote environment. The force limiting characteristics of the servo-actuators extend motion tendon life. Protective bootings increase the reliability of the arms in an environment that is high in airborne contamination. These bootings also simplify the decontamination of the system. The modularity in construction permits quick removal and replacement of slave arms, wrist joints, tong fingers, and actuator packages for maintenance. SAMSIN utilizes readily available off-the-shelf actuator and control system components. Each manipulator motion uses the same actuator and control system components

Seismic qualification of existing safety class manipulators

International Nuclear Information System (INIS)

Wu, Ting-shu; Moran, T.J.

1992-01-01

There are two bridge type electromechanical manipulators within a nuclear fuel handling facility which were constructed over twenty-five years ago. At that time, there were only minimal seismic considerations. These manipulators together with the facility are being reactivated. Detailed analyses have shown that the manipulators will satisfy the requirements of ANSI/AISC N690-1984 when they are subjected to loadings including the site specific design basis earthquake. 4 refs

Control of master-slave manipulator using virtual force

International Nuclear Information System (INIS)

Kosuge, Kazuhiro; Fukuda, Toshio; Itoh, Tomotaka; Sakamoto, Keizoh; Noma, Yasuo.

1994-01-01

We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system. (author)

Comparison of 21G curved and straight phacotips designs in transversal microcoaxial phacoemulsification

Directory of Open Access Journals (Sweden)

Süleyman Demircan

2015-12-01

Full Text Available AIM:To compare the intraoperative performance and postoperative outcomes after microcoaxial torsional phacoemulsification using the straight and the curved phacotip configurations.METHODS:Cataracts were treated using 2.2mm microcoaxial transversal phacoemulsification with either a 30°straight or 30° curved phaco tip. Intraoperative measurements analyzed included the average ultrasound(U/Spower, the total phacoemulsification time, and the effective phacoemulsification time(EPT. The central endothelial cell density(ECDand the central corneal thickness(CCTwere evaluated preoperatively and postoperatively at 1, 7 and 30d after surgery using noncontact specular microscopy. RESULTS:The study enrolled a total of 190 eyes(190 patients, 95 eyes in the curved tip group and 95 eyes in straight tip group. Intraoperative measurements showed significantly reduced total phacoemulsification time, and EPT in the curved-tip group, compared to the straight-tip group(Pst-3rd quartilesand 18.0(9.0-30.0s in curved-tip group, and 38.8(16.5-73.5s and 26.0(11.0-49.0s in the straight-tip group, respectively. CONCLUSION:Transversal phacoemulsification performed with a curved tip provided more effective lens removal with a less total UST and EPT in all grades, except for grades IV, compared to a straight tip.

How to Make the Most of Math Manipulatives.

Science.gov (United States)

Burns, Marilyn

1996-01-01

A discussion of how to use math manipulatives to teach elementary students focuses on essential program elements: what math manipulatives are and why they are used, common questions about math manipulatives, how one teacher introduced the geoboard into the classroom, and pattern block activities. (SM)

Light Curve Solution of the Contact Binary AW UMa

Directory of Open Access Journals (Sweden)

J. H. Jeong

1997-12-01

Full Text Available A total of 1088 observations (272 in B,272 in V, 272 in R, and 272 in I were made from January to February in 1995 at Chungbuk National University observatory(CbNUO. We constructed BVRI light curves with our data. The photometric solution of these light curves was obtained by means of the Wilson-Devinney method. Our result was compared with those by previous investigators.

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

Leal, Alexandre S.; Campos, Tarcisio P.R.

1995-01-01

Robotic application for industrial plants is discussed and a computational model for a mechanical manipulator of three links is presented. A neural network feed-forward type has been used to model the dynamic control of the manipulator. A graphic interface was developed in C programming language as a virtual world in order to visualize and simulate the arm movements handling radioactive waste environment. (author). 7 refs, 5 figs

Wheelset curving guidance using H∞ control

Science.gov (United States)

Qazizadeh, Alireza; Stichel, Sebastian; Feyzmahdavian, Hamid Reza

2018-03-01

This study shows how to design an active suspension system for guidance of a rail vehicle wheelset in curve. The main focus of the study is on designing the controller and afterwards studying its effect on the wheel wear behaviour. The controller is designed based on the closed-loop transfer function shaping method and ? control strategy. The study discusses designing of the controller for both nominal and uncertain plants and considers both stability and performance. The designed controllers in Simulink are then applied to the vehicle model in Simpack to study the wheel wear behaviour in curve. The vehicle type selected for this study is a two-axle rail vehicle. This is because this type of vehicle is known to have very poor curving performance and high wheel wear. On the other hand, the relative simpler structure of this type of vehicle compared to bogie vehicles make it a more economic choice. Hence, equipping this type of vehicle with the active wheelset steering is believed to show high enough benefit to cost ratio to remain attractive to rail vehicle manufacturers and operators.

Advanced manipulator system for large hot cells

International Nuclear Information System (INIS)

Vertut, J.; Moreau, C.; Brossard, J.P.

1981-01-01

Large hot cells can be approached as extrapolated from smaller ones as wide, higher or longer in size with the same concept of using mechanical master slave manipulators and high density windows. This concept leads to a large number of working places and corresponding equipments, with a number of penetrations through the biological protection. When the large cell does not need a permanent operation of number of work places, as in particular to serve PIE machines and maintain the facility, use of servo manipulators with a large supporting unit and extensive use of television appears optimal. The advance on MA 23 and supports will be described including the extra facilities related to manipulators introduction and maintenance. The possibility to combine a powered manipulator and MA 23 (single or pair) on the same boom crane system will be described. An advance control system to bring the minimal dead time to control support movement, associated to the master slave arm operation is under development. The general television system includes over view cameras, associated with the limited number of windows, and manipulators camera. A special new system will be described which brings an automatic control of manipulator cameras and saves operator load and dead time. Full scale tests with MA 23 and support will be discussed. (author)

Site-selective substitutional doping with atomic precision on stepped Al (111) surface by single-atom manipulation.

Science.gov (United States)

Chen, Chang; Zhang, Jinhu; Dong, Guofeng; Shao, Hezhu; Ning, Bo-Yuan; Zhao, Li; Ning, Xi-Jing; Zhuang, Jun

2014-01-01

In fabrication of nano- and quantum devices, it is sometimes critical to position individual dopants at certain sites precisely to obtain the specific or enhanced functionalities. With first-principles simulations, we propose a method for substitutional doping of individual atom at a certain position on a stepped metal surface by single-atom manipulation. A selected atom at the step of Al (111) surface could be extracted vertically with an Al trimer-apex tip, and then the dopant atom will be positioned to this site. The details of the entire process including potential energy curves are given, which suggests the reliability of the proposed single-atom doping method.

Digital Manipulation in Scientific Images: Some Ethical Considerations.

Science.gov (United States)

Hayden, James E.

2000-01-01

Discusses the importance of images in the publishing and presentation of scientific research. Explains the use of photographs as scientific data in research. Lists some reasons for the manipulation of images, and clarifies the acceptable and unacceptable limits of manipulation and image manipulation policy. (Author/YDS)

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

Manipulating stored phonological input during verbal working memory

Science.gov (United States)

Cogan, Gregory B.; Iyer, Asha; Melloni, Lucia; Thesen, Thomas; Friedman, Daniel; Doyle, Werner; Devinsky, Orrin; Pesaran, Bijan

2016-01-01

Verbal working memory (vWM), involves storing and manipulating information in phonological sensory input. An influential theory of vWM proposes that manipulation is carried out by a central executive while storage is performed by two interacting systems: A phonological input buffer that captures sound-based information and an articulatory rehearsal system that controls speech motor output. Whether, when, and how neural activity in the brain encodes these components remains unknown. Here, we read-out the contents of vWM from neural activity in human subjects as they manipulate stored speech sounds. As predicted, we identify storage systems that contain both phonological sensory and articulatory motor representations. Surprisingly however, we find that manipulation does not involve a single central executive but rather involves two systems with distinct contributions to successful manipulation. We propose, therefore, that multiple subsystems comprise the central executive needed to manipulate stored phonological input for articulatory motor output in vWM. PMID:27941789

Approximation by planar elastic curves

DEFF Research Database (Denmark)

Brander, David; Gravesen, Jens; Nørbjerg, Toke Bjerge

2016-01-01

We give an algorithm for approximating a given plane curve segment by a planar elastic curve. The method depends on an analytic representation of the space of elastic curve segments, together with a geometric method for obtaining a good initial guess for the approximating curve. A gradient......-driven optimization is then used to find the approximating elastic curve....

Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

Directory of Open Access Journals (Sweden)

Ryan M. Robinson

2014-04-01

Full Text Available Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired motions of a manipulator actuated by pneumatic artificial muscles. The manipulator is intended for lifting humans in nursing assistance or casualty extraction scenarios; hence, the control strategy must be capable of responding to large variations in payload over a large range of motion. The present work first investigates the feasibility of two output feedback controllers (proportional-integral-derivative and fuzzy logic, but due to the limitations of pure output feedback control, a model-based feedforward controller is developed and combined with output feedback to achieve improved closed-loop performance. The model upon which the controller is based incorporates the internal airflow dynamics, the physical parameters of the pneumatic muscles and the manipulator dynamics. Simulations were performed in order to validate the control algorithms, guide controller design and predict optimal gains. Using real-time interface software and hardware, the controllers were implemented and experimentally tested on the manipulator, demonstrating the improved capability.

Adsorption and manipulation of carbon onions on highly oriented pyrolytic graphite studied with atomic force microscopy

International Nuclear Information System (INIS)

Zhou Jianfeng; Shen Ziyong; Hou Shimin; Zhao Xingyu; Xue Zengquan; Shi Zujin; Gu Zhennan

2007-01-01

Carbon onions produced by DC arc discharge method were deposited on highly oriented pyrolytic graphite (HOPG) surface and their adsorption and manipulation was studied using an atomic force microscopy (AFM). Well-dispersed adsorption of carbon onions on HOPG surface was obtained and aggregations of onions were not observed. The van der Waals interaction between the onion and HOPG surface and that between two onions, were calculated and discussed using Hamaker's theory. The manipulation of adsorbed onions on HOPG surface was realized using the AFM in both the raster mode and the vector mode. The controllability and precision of two manipulation modes were compared and the vector mode manipulation was found superior, and is a useful technique for the construction of nano-scale devices based on carbon onions

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

International Nuclear Information System (INIS)

Geisinger, Joseph W. Ph.D.

2001-01-01

ARM Automation, Inc. is developing a FR-amework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator FR-om these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC(trademark)s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost

Manipulation of biological samples using micro and nano techniques.

Science.gov (United States)

Castillo, Jaime; Dimaki, Maria; Svendsen, Winnie Edith

2009-01-01

The constant interest in handling, integrating and understanding biological systems of interest for the biomedical field, the pharmaceutical industry and the biomaterial researchers demand the use of techniques that allow the manipulation of biological samples causing minimal or no damage to their natural structure. Thanks to the advances in micro- and nanofabrication during the last decades several manipulation techniques offer us the possibility to image, characterize and manipulate biological material in a controlled way. Using these techniques the integration of biomaterials with remarkable properties with physical transducers has been possible, giving rise to new and highly sensitive biosensing devices. This article reviews the different techniques available to manipulate and integrate biological materials in a controlled manner either by sliding them along a surface (2-D manipulation), by grapping them and moving them to a new position (3-D manipulation), or by manipulating and relocating them applying external forces. The advantages and drawbacks are mentioned together with examples that reflect the state of the art of manipulation techniques for biological samples (171 references).

Improvement of the M/S manipulator maintenance at OSL

International Nuclear Information System (INIS)

Kuwana, Koichi; Ouchi, Hiroshi; Ito, Yutaka; Sato, Yoshihiro; Midorikawa, Mituhiro; Hayakawa, Tuyoshi

2010-01-01

The safeguards inspection samples from the JNFL Rokkasho Reprocessing Plant (RRP) are received and analyzed at the On Site Laboratory (OSL). Since the samples from the input accountancy tank of the RRP contain a lot of fission products, they are treated in a hot-cell line with a M/S (Master /Slave) manipulator. Special equipment and tools were used for the maintenance of the M/S manipulator, especially for the exchange of the M/S manipulator. However, the manipulator exchange work was not easy due to the limitation of the space in the OSL. For solution to this problem, a monorail and monorail hoist equipment was installed onto wall surface of analytical room close to each M/S manipulator, and then it made the exchange of M/S manipulator easy without special equipment and tools. Additionally, operator was freed from the burden of working space arranging for the exchange of M/S manipulator such as removing of analytical equipments. This report represents the improvement of operation for the exchange of M/S manipulator with installation of monorail and hoist equipment. (author)

Estimating Corporate Yield Curves

OpenAIRE

Antionio Diaz; Frank Skinner

2001-01-01

This paper represents the first study of retail deposit spreads of UK financial institutions using stochastic interest rate modelling and the market comparable approach. By replicating quoted fixed deposit rates using the Black Derman and Toy (1990) stochastic interest rate model, we find that the spread between fixed and variable rates of interest can be modeled (and priced) using an interest rate swap analogy. We also find that we can estimate an individual bank deposit yield curve as a spr...

Manipulations of Totalitarian Nazi Architecture

Science.gov (United States)

Antoszczyszyn, Marek

2017-10-01

The paper takes under considerations controversies surrounding German architecture designed during Nazi period between 1933-45. This architecture is commonly criticized for being out of innovation, taste & elementary sense of beauty. Moreover, it has been consequently wiped out from architectural manuals, probably for its undoubted associations with the totalitarian system considered as the most maleficent in the whole history. But in the meantime the architecture of another totalitarian system which appeared to be not less sinister than Nazi one is not stigmatized with such verve. It is Socrealism architecture, developed especially in East Europe & reportedly containing lots of similarities with Nazi architecture. Socrealism totalitarian architecture was never condemned like Nazi one, probably due to politically manipulated propaganda that influenced postwar public opinion. This observation leads to reflection that maybe in the same propaganda way some values of Nazi architecture are still consciously dissembled in order to hide the fact that some rules used by Nazi German architects have been also consciously used after the war. Those are especially manipulations that allegedly Nazi architecture consisted of. The paper provides some definitions around totalitarian manipulations as well as ideological assumptions for their implementation. Finally, the register of confirmed manipulations is provided with use of photo case study.

Lazy motion planning for robotic manipulators

NARCIS (Netherlands)

Andrien, A.R.P.; van de Molengraft, M.J.G.; Bruyninckx, H.P.J.

2017-01-01

Robotic manipulators are making a shift towards mobile bases in both industry and domestic environments, which puts high demands on efficient use of the robot’s limited energy resources. In this work, the problem of reducing energy usage of a robot manipulator during a task is investigated. We

Bragg Curve Spectroscopy

International Nuclear Information System (INIS)

Gruhn, C.R.

1981-05-01

An alternative utilization is presented for the gaseous ionization chamber in the detection of energetic heavy ions, which is called Bragg Curve Spectroscopy (BCS). Conceptually, BCS involves using the maximum data available from the Bragg curve of the stopping heavy ion (HI) for purposes of identifying the particle and measuring its energy. A detector has been designed that measures the Bragg curve with high precision. From the Bragg curve the range from the length of the track, the total energy from the integral of the specific ionization over the track, the dE/dx from the specific ionization at the beginning of the track, and the Bragg peak from the maximum of the specific ionization of the HI are determined. This last signal measures the atomic number, Z, of the HI unambiguously

Comparison of Paired ROC Curves through a Two-Stage Test.

Science.gov (United States)

Yu, Wenbao; Park, Eunsik; Chang, Yuan-Chin Ivan

2015-01-01

The area under the receiver operating characteristic (ROC) curve (AUC) is a popularly used index when comparing two ROC curves. Statistical tests based on it for analyzing the difference have been well developed. However, this index is less informative when two ROC curves cross and have similar AUCs. In order to detect differences between ROC curves in such situations, a two-stage nonparametric test that uses a shifted area under the ROC curve (sAUC), along with AUCs, is proposed for paired designs. The new procedure is shown, numerically, to be effective in terms of power under a wide range of scenarios; additionally, it outperforms two conventional ROC-type tests, especially when two ROC curves cross each other and have similar AUCs. Larger sAUC implies larger partial AUC at the range of low false-positive rates in this case. Because high specificity is important in many classification tasks, such as medical diagnosis, this is an appealing characteristic. The test also implicitly analyzes the equality of two commonly used binormal ROC curves at every operating point. We also apply the proposed method to synthesized data and two real examples to illustrate its usefulness in practice.

Can earnings manipulation create value?

OpenAIRE

Anton Miglo

2008-01-01

Existing literature usually considers earnings manipulation to be a negative social phenomenon. We argue that earnings manipulation can be a part of the equilibrium relationships between firm's insiders and outsiders. We consider an optimal contract between an entrepreneur and an investor where the entrepreneur is subject to a double moral hazard problem (one being the choice of production effort and the other being intertemporal substitution, which consists of transferring cash flows between...

Learning Curve? Which One?

Directory of Open Access Journals (Sweden)

Paulo Prochno

2004-07-01

Full Text Available Learning curves have been studied for a long time. These studies provided strong support to the hypothesis that, as organizations produce more of a product, unit costs of production decrease at a decreasing rate (see Argote, 1999 for a comprehensive review of learning curve studies. But the organizational mechanisms that lead to these results are still underexplored. We know some drivers of learning curves (ADLER; CLARK, 1991; LAPRE et al., 2000, but we still lack a more detailed view of the organizational processes behind those curves. Through an ethnographic study, I bring a comprehensive account of the first year of operations of a new automotive plant, describing what was taking place on in the assembly area during the most relevant shifts of the learning curve. The emphasis is then on how learning occurs in that setting. My analysis suggests that the overall learning curve is in fact the result of an integration process that puts together several individual ongoing learning curves in different areas throughout the organization. In the end, I propose a model to understand the evolution of these learning processes and their supporting organizational mechanisms.

Maximum safe speed estimation using planar quintic Bezier curve with C2 continuity

Science.gov (United States)

Ibrahim, Mohamad Fakharuddin; Misro, Md Yushalify; Ramli, Ahmad; Ali, Jamaludin Md

2017-08-01

This paper describes an alternative way in estimating design speed or the maximum speed allowed for a vehicle to drive safely on a road using curvature information from Bezier curve fitting on a map. We had tested on some route in Tun Sardon Road, Balik Pulau, Penang, Malaysia. We had proposed to use piecewise planar quintic Bezier curve while satisfying the curvature continuity between joined curves in the process of mapping the road. By finding the derivatives of quintic Bezier curve, the value of curvature was calculated and design speed was derived. In this paper, a higher order of Bezier Curve had been used. A higher degree of curve will give more freedom for users to control the shape of the curve compared to curve in lower degree.

Contractibility of curves

Directory of Open Access Journals (Sweden)

Janusz Charatonik

1991-11-01

Full Text Available Results concerning contractibility of curves (equivalently: of dendroids are collected and discussed in the paper. Interrelations tetween various conditions which are either sufficient or necessary for a curve to be contractible are studied.

The detection and prevention of manipulations in the balance sheet and the cash flow statement

Directory of Open Access Journals (Sweden)

Dragomir Dimitrijevic

2015-08-01

Full Text Available Financial statements which consist of objective, real and reliable information represent the key basis for making many business decisions. If, when writing financial statements, certain manipulation techniques are used for displaying the best possible results of transactions, the quality of financial reports will be endangered. Many financial frauds have led to a great mistrust in the system of financial reporting and the profession of accounting and auditing, which are often accused of the emergence of fraud and losing trust in the reliability of financial information by many users and economic decision makers. These are the reasons why the paper discusses the techniques of manipulation in financial statements, especially in balance sheets and cash flow statements, since these forms of manipulation are harder to detect and prevent when compared to manipulations of revenues and expenses in the income statement.

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Directory of Open Access Journals (Sweden)

Albert Lester Balmaceda-Santamaría

2016-02-01

Full Text Available This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.

The hidden X-ray breaks in afterglow light curves

International Nuclear Information System (INIS)

Curran, P. A.; Wijers, R. A. M. J.; Horst, A. J. van der; Starling, R. L. C.

2008-01-01

Gamma-Ray Burst (GRB) afterglow observations in the Swift era have a perceived lack of achromatic jet breaks compared to the BeppoSAX, or pre-Swift era. Specifically, relatively few breaks, consistent with jet breaks, are observed in the X-ray light curves of these bursts. If these breaks are truly missing, it has serious consequences for the interpretation of GRB jet collimation and energy requirements, and the use of GRBs as standard candles.Here we address the issue of X-ray breaks which are possibly 'hidden' and hence the light curves are misinterpreted as being single power-laws. We show how a number of precedents, including GRB 990510 and GRB 060206, exist for such hidden breaks and how, even with the well sampled light curves of the Swift era, these breaks may be left misidentified. We do so by synthesising X-ray light curves and finding general trends via Monte Carlo analysis. Furthermore, in light of these simulations, we discuss how to best identify achromatic breaks in afterglow light curves via multi-wavelength analysis

The application of manipulator robot for nuclear plant maintenance

International Nuclear Information System (INIS)

Kohata, Yukifumi; Fujita, Jun; Onishi, Ken; Tsuhari, Hiroyuki; Hosoe, Fumihiro

2010-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. Various robots are needed because there is various maintenance works. This is inefficiency. As the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. We achieved efficiency improvement and the reliability improvement by developing a high generality manipulator. (author)

Roc curves for continuous data

CERN Document Server

Krzanowski, Wojtek J

2009-01-01

Since ROC curves have become ubiquitous in many application areas, the various advances have been scattered across disparate articles and texts. ROC Curves for Continuous Data is the first book solely devoted to the subject, bringing together all the relevant material to provide a clear understanding of how to analyze ROC curves.The fundamental theory of ROC curvesThe book first discusses the relationship between the ROC curve and numerous performance measures and then extends the theory into practice by describing how ROC curves are estimated. Further building on the theory, the authors prese

Features and perspectives of automatized construction crane-manipulators

Science.gov (United States)

Stepanov, Mikhail A.; Ilukhin, Peter A.

2018-03-01

Modern construction industry still has a high percentage of manual labor, and the greatest prospects of improving the construction process are lying in the field of automatization. In this article automatized construction manipulator-cranes are being studied in order to achieve the most rational design scheme. This is done through formulating a list of general conditions necessary for such cranes and a set of specialized kinematical conditions. A variety of kinematical schemes is evaluated via these conditions, and some are taken for further dynamical analisys. The comparative dynamical analisys of taken schemes was made and the most rational scheme was defined. Therefore a basis for a more complex and practical research of manipulator-cranes design is given and ways to implement them on practical level can now be calculated properly. Also, the perspectives of implementation of automated control systems and informational networks on construction sites in order to boost the quality of construction works, safety of labour and ecological safety are shown.

On market manipulation and umboðssvik/mandatsvig

DEFF Research Database (Denmark)

Werlauff, Erik

2017-01-01

of the criminal cases in the aftermath of the financial crisis: market manipulation, governed by EEA/EU law, however here in a national context for criminal law purposes, and fraud of agent (umboðssvik, mandatsvig) governed by national criminal law, however in the article compared with the Danish concept...... of mandatsvig and its demands for a certain proof of intent. - The conclusions of the article are: 1. On market manipulation: 1.2 Market making by a financial undertaking in own shares is not illegal as such, but special care must be taken. 1.3 When the issuing company chooses to conduct market making in its...... own shares by itself, it is important that the issuer adapts its orders to the trades that have taken place on the stock exchange between independent parties with opposite interests. The price of the bank’s shares must not reach a level that is “artificial” or “not normal”. 1.4 The Danish Financial...

Physics Based Vision Systems for Robotic Manipulation

Data.gov (United States)

National Aeronautics and Space Administration — With the increase of robotic manipulation tasks (TA4.3), specifically dexterous manipulation tasks (TA4.3.2), more advanced computer vision algorithms will be...

Daylight calculations using constant luminance curves

Energy Technology Data Exchange (ETDEWEB)

Betman, E. [CRICYT, Mendoza (Argentina). Laboratorio de Ambiente Humano y Vivienda

2005-02-01

This paper presents a simple method to manually estimate daylight availability and to make daylight calculations using constant luminance curves calculated with local illuminance and irradiance data and the all-weather model for sky luminance distribution developed in the Atmospheric Science Research Center of the University of New York (ARSC) by Richard Perez et al. Work with constant luminance curves has the advantage that daylight calculations include the problem's directionality and preserve the information of the luminous climate of the place. This permits accurate knowledge of the resource and a strong basis to establish conclusions concerning topics related to the energy efficiency and comfort in buildings. The characteristics of the proposed method are compared with the method that uses the daylight factor. (author)

Vacancies and a generalised melting curve of metals

International Nuclear Information System (INIS)

Gorecki, T.

1979-01-01

The vacancy mechanism of the melting process is used as a starting point for deriving an expression for the pressure dependence of the melting temperature of metals. The results obtained for the initial slope of the melting curve are compared with experimental data for 45 metals and in most cases the agreement is very good. The nonlinearity of the melting curve and the appearance of a maximum on the melting curve at a pressure approximately equal to the bulk modules is also predicted, with qualitative agreement with experimental data. A relation between bonding energy, atomic volume, and bulk modulus of metals is established. On the basis of this relation and the proposed vacancy mechanism, a generalised equation for the pressure dependence of the melting temperature of metals is derived. (author)

Using commercial simulators for determining flash distillation curves for petroleum fractions

Directory of Open Access Journals (Sweden)

Eleonora Erdmann

2008-01-01

Full Text Available This work describes a new method for estimating the equilibrium flash vaporisation (EFV distillation curve for petro-leum fractions by using commercial simulators. A commercial simulator was used for implementing a stationary mo-del for flash distillation; this model was adjusted by using a distillation curve obtained from standard laboratory ana-lytical assays. Such curve can be one of many types (eg ASTM D86, D1160 or D2887 and involves an experimental procedure simpler than that required for obtaining an EFV curve. Any commercial simulator able to model petroleum can be used for the simulation (HYSYS and CHEMCAD simulators were used here. Several types of petroleum and fractions were experimentally analysed for evaluating the proposed method; this data was then put into a process si-mulator (according to the proposed method to estimate the corresponding EFV curves. HYSYS- and CHEMCAD-estimated curves were compared to those produced by two traditional estimation methods (Edmister’s and Maswell’s methods. Simulation-estimated curves were close to average Edmister and Maxwell curves in all cases. The propo-sed method has several advantages; it avoids the need for experimentally obtaining an EFV curve, it does not de-pend on the type of experimental curve used to fit the model and it enables estimating several pressures by using just one experimental curve as data.

System Integration for Real-Time Mobile Manipulation

Directory of Open Access Journals (Sweden)

Reza Oftadeh

2014-03-01

Full Text Available Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator's mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based controls, and proposes a systematic solution based on code generation products of MATLAB and Simulink. The remote development environment described here is used to develop real-time controller software and modules for the mobile manipulator under a POSIX-compliant, real-time Linux operating system. Our approach enables developers to reliably design controller modules that meet the hard real-time constraints of the entire low-level system architecture. Moreover, it provides a systematic framework for the development and integration of hardware devices with various communication mediums and protocols, which facilitates the development and integration process of the software controller.

Development of a maintenance manipulator for TFTR

International Nuclear Information System (INIS)

Holloway, C.

1986-01-01

The maintenance manipulator is a device permanently connected to the Tokamak Fusion Test Reactor (TFTR) vacuum vessel and is located in close proximity to the tokamak. It is used for the inspection and maintenance of in-vessel components whilst the machine remains under vacuum. The total system comprises a vacuum vessel ante-chamber that houses the manipulator, an articulated boom and carriage that transports and positions a dexterous end-effector, and end-effector that supports maintenance tooling, and an inspection system. Because of the maintenance manipulator's operating environment, there are many challenging engineering features, i.e., temperatures up to 150 0 C, changing magnetic fields in space and time that act on the manipulator whilst it is at rest, neutron neutron fluxes of up to 10/sup 11/cm/sup -2/s/sup -1/, and, last but not least, UHV conditions. This paper describes the development of the vacuum system, the maintenance manipulator, and inspective devices. It includes the methods employed to overcome the engineering difficulties and the application of information gained from other advanced technology programs, such as space and nuclear fission

Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks

Directory of Open Access Journals (Sweden)

Rocco Furferi

2016-10-01

Full Text Available An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments. Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment and it is transported by four underwater mobile robots, each one provided with a seven-degrees-of-freedom robotic arm. The simulation results are optimized thanks to the ANNs used for the potentials tuning.

Three-dimensional holographic optical manipulation through a high-numerical-aperture soft-glass multimode fibre

Science.gov (United States)

Leite, Ivo T.; Turtaev, Sergey; Jiang, Xin; Šiler, Martin; Cuschieri, Alfred; Russell, Philip St. J.; Čižmár, Tomáš

2018-01-01

Holographic optical tweezers (HOT) hold great promise for many applications in biophotonics, allowing the creation and measurement of minuscule forces on biomolecules, molecular motors and cells. Geometries used in HOT currently rely on bulk optics, and their exploitation in vivo is compromised by the optically turbid nature of tissues. We present an alternative HOT approach in which multiple three-dimensional (3D) traps are introduced through a high-numerical-aperture multimode optical fibre, thus enabling an equally versatile means of manipulation through channels having cross-section comparable to the size of a single cell. Our work demonstrates real-time manipulation of 3D arrangements of micro-objects, as well as manipulation inside otherwise inaccessible cavities. We show that the traps can be formed over fibre lengths exceeding 100 mm and positioned with nanometric resolution. The results provide the basis for holographic manipulation and other high-numerical-aperture techniques, including advanced microscopy, through single-core-fibre endoscopes deep inside living tissues and other complex environments.

Sliding Mode Tracking Control of Manipulator Based on the Improved Reaching Law

Directory of Open Access Journals (Sweden)

Wei-Na ZHAI

2013-04-01

Full Text Available Due to the mechanical hand often have serious uncertainty, as the state in which the different and external changes, also its parameters are changing, this is very adverse to achieve precise control. In this paper, the traditional sliding mode variable structure was improved, the sign function is replaced by saturated function based on the double power reaching law, by adjusting the values of e1, e2, a, b, g and k to effectively improve the manipulator joint reaching speed, track expected trajectory fast and shorten the system response time. Finally, the method is used for simulation of manipulator trajectory tracking, compared to two reaching law control algorithms. The simulation results show that the control algorithm has good dynamic performance, which can effectively restrain the chattering and quickly track the desired trajectory. Therefore, the improved reaching law can effectively improve the performance of robotic manipulator.

Transformation-invariant and nonparametric monotone smooth estimation of ROC curves.

Science.gov (United States)

Du, Pang; Tang, Liansheng

2009-01-30

When a new diagnostic test is developed, it is of interest to evaluate its accuracy in distinguishing diseased subjects from non-diseased subjects. The accuracy of the test is often evaluated by receiver operating characteristic (ROC) curves. Smooth ROC estimates are often preferable for continuous test results when the underlying ROC curves are in fact continuous. Nonparametric and parametric methods have been proposed by various authors to obtain smooth ROC curve estimates. However, there are certain drawbacks with the existing methods. Parametric methods need specific model assumptions. Nonparametric methods do not always satisfy the inherent properties of the ROC curves, such as monotonicity and transformation invariance. In this paper we propose a monotone spline approach to obtain smooth monotone ROC curves. Our method ensures important inherent properties of the underlying ROC curves, which include monotonicity, transformation invariance, and boundary constraints. We compare the finite sample performance of the newly proposed ROC method with other ROC smoothing methods in large-scale simulation studies. We illustrate our method through a real life example. Copyright (c) 2008 John Wiley & Sons, Ltd.

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

Lee, J. Y.; Kim, S. H.; Song, T. K.; Park, B. S.; Yoon, J. S.

2002-01-01

To handle the high level radioactive materials such as spent fuels remotely, the master-slave manipulator is generally used as a remote handling equipment in the hot cell. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual work cell is implemented in the graphical environment which is the same as the real environment and the path planning method using the function of the collision detection for a manipulator are proposed. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management

Atlas of stress-strain curves

CERN Document Server

2002-01-01

The Atlas of Stress-Strain Curves, Second Edition is substantially bigger in page dimensions, number of pages, and total number of curves than the previous edition. It contains over 1,400 curves, almost three times as many as in the 1987 edition. The curves are normalized in appearance to aid making comparisons among materials. All diagrams include metric (SI) units, and many also include U.S. customary units. All curves are captioned in a consistent format with valuable information including (as available) standard designation, the primary source of the curve, mechanical properties (including hardening exponent and strength coefficient), condition of sample, strain rate, test temperature, and alloy composition. Curve types include monotonic and cyclic stress-strain, isochronous stress-strain, and tangent modulus. Curves are logically arranged and indexed for fast retrieval of information. The book also includes an introduction that provides background information on methods of stress-strain determination, on...

Lateral manipulation of small clusters on the Cu and Ag(1 1 1) surfaces with the single-atom and trimer-apex tips: Reliability study

International Nuclear Information System (INIS)

Xie Yiqun; Liu Fen; Huang Lei

2010-01-01

We study the reliability of the lateral manipulation of small Cu clusters (dimer and trimer) on the flat Cu(1 1 1) surface with both the single-atom and trimer-apex tips and that for the Ag/Ag(1 1 1) system, and compare the results between the two systems as well as with the single-atom manipulation on these surfaces. Manipulations are simulated using molecular statics method with semi-empirical potentials. The dependence of the manipulation reliability on the tip height and tip orientation are investigated. Overall, the manipulation reliability increases with decreasing tip height although it depends obviously on the tip orientation. For the Cu/Cu(1 1 1) system, the manipulation of the dimmer and trimer can be successful with both tips. The manipulation reliability can be improved by the trimer-apex tip, and the tip-height range for the successful manipulation is also broader, as compared to the single-atom apex tip. Differently from the single-atom manipulation, the tip orientation has a noticeable influence on the manipulation reliability even for the single-atom tip due to the stronger tip-cluster and surface-adatom interactions in cluster manipulation. For the Ag/Ag(1 1 1) system, successful manipulations only be achieved with the trimer-apex tip, and the manipulation reliability is worse than that of the Cu/Cu(1 1 1) system, indicating the difference in mechanic properties between the two surfaces at the atomic level.

Pose Space Surface Manipulation

Directory of Open Access Journals (Sweden)

Yusuke Yoshiyasu

2012-01-01

Full Text Available Example-based mesh deformation techniques produce natural and realistic shapes by learning the space of deformations from examples. However, skeleton-based methods cannot manipulate a global mesh structure naturally, whereas the mesh-based approaches based on a translational control do not allow the user to edit a local mesh structure intuitively. This paper presents an example-driven mesh editing framework that achieves both global and local pose manipulations. The proposed system is built with a surface deformation method based on a two-step linear optimization technique and achieves direct manipulations of a model surface using translational and rotational controls. With the translational control, the user can create a model in natural poses easily. The rotational control can adjust the local pose intuitively by bending and twisting. We encode example deformations with a rotation-invariant mesh representation which handles large rotations in examples. To incorporate example deformations, we infer a pose from the handle translations/rotations and perform pose space interpolation, thereby avoiding involved nonlinear optimization. With the two-step linear approach combined with the proposed multiresolution deformation method, we can edit models at interactive rates without losing important deformation effects such as muscle bulging.

Modeling Patterns of Activities using Activity Curves.

Science.gov (United States)

Dawadi, Prafulla N; Cook, Diane J; Schmitter-Edgecombe, Maureen

2016-06-01

Pervasive computing offers an unprecedented opportunity to unobtrusively monitor behavior and use the large amount of collected data to perform analysis of activity-based behavioral patterns. In this paper, we introduce the notion of an activity curve , which represents an abstraction of an individual's normal daily routine based on automatically-recognized activities. We propose methods to detect changes in behavioral routines by comparing activity curves and use these changes to analyze the possibility of changes in cognitive or physical health. We demonstrate our model and evaluate our change detection approach using a longitudinal smart home sensor dataset collected from 18 smart homes with older adult residents. Finally, we demonstrate how big data-based pervasive analytics such as activity curve-based change detection can be used to perform functional health assessment. Our evaluation indicates that correlations do exist between behavior and health changes and that these changes can be automatically detected using smart homes, machine learning, and big data-based pervasive analytics.

Transmission Characteristics on Wire-Driven Links of a Bridge Transported Servo Manipulator for the ACP Equipment Maintenance

International Nuclear Information System (INIS)

Park, Byung Suk; Jin, Jae Hyun; Song, Tae Gil; Kim, Sung Hyun; Yoon, Ji Sup

2004-01-01

A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tube sets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan and tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations

Development of an optimum end-effector with a nano-scale uneven surface for non-adhesion cell manipulation using a micro-manipulator

International Nuclear Information System (INIS)

Horade, M; Kojima, M; Kamiyama, K; Kurata, T; Mae, Y; Arai, T

2015-01-01

In order to realize effective micro-manipulation using a micro-manipulator system, an optimum end-effector is proposed. Cell-manipulation experiments using mouse fibroblast cells are conducted, and the usability of the proposed end-effector is confirmed. A key advantage of the micro-manipulator is high-accuracy, high-speed 3D micro- and nano-scale positioning. Micro-manipulation has often been used in research involving biological cells. However, there are two important concerns with the micro-manipulator system: gripping efficiency and the release of gripped objects. When it is not possible to grip a micro-object, such as a cell, near its center, the object may be dropped during manipulation. Since the acquisition of exact position information for a micro-object in the vertical direction is difficult using a microscope, the gripping efficiency of the end-effector should be improved. Therefore, technical skill or operational support is required. Since, on the micro-scale, surface forces such as the adsorption force are greater than body forces, such as the gravitational force, the adhesion force between the end-effector and the object is strong. Therefore, manipulation techniques without adhesion are required for placed an object at an arbitrary position. In the present study, we consider direct physical contact between the end-effector and objects. First, the design and materials of the end-effector for micro-scale manipulation were optimized, and an end-effector with an optimum shape to increase the grip force was fabricated. Second, the surface of the end-effector tip was made uneven, and the adhesion force from increasing on the micro-scale was prevented. When an end-effector with an uneven surface was used, release without adhesion was successful 85.0% of the time. On the other hand, when an end-effector without an uneven surface was used, release without adhesion was successful 6.25% of the time. Therefore, the superiority of a structure with an uneven

Tornado-Shaped Curves

Science.gov (United States)

Martínez, Sol Sáez; de la Rosa, Félix Martínez; Rojas, Sergio

2017-01-01

In Advanced Calculus, our students wonder if it is possible to graphically represent a tornado by means of a three-dimensional curve. In this paper, we show it is possible by providing the parametric equations of such tornado-shaped curves.

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

Energy Technology Data Exchange (ETDEWEB)

Joseph W. Geisinger, Ph.D.

2001-07-31

ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

Judging Nudging : Answering the Manipulation Objection

NARCIS (Netherlands)

Nys, Thomas; Engelen, Bart

2017-01-01

Is it ever justified to ‘nudge’ people towards their own health? In this article, we argue that it is. We do so by arguing (1) that nudges are not necessarily – as is commonly thought – manipulative; (2) that even those nudges that are manipulative can be justified, for instance, when they preserve

Surgical manipulation of mammalian embryos in vitro.

Science.gov (United States)

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

Whole-embryo culture systems are useful in the fields of not only embryology but also teratology, toxicology, pharmacology, and physiology. Of the many advantages of whole-embryo culture, we focus here on the surgical manipulation of mammalian embryos. Whole-embryo culture allows us to manipulate mammalian embryos, similarly to fish, amphibian and avian embryos. Many surgical experiments have been performed in mammalian embryos in vitro. Such surgical manipulation alters the destiny of morphogenesis of the embryos and can answer many questions concerning developmental issues. As an example of surgical manipulation using whole-embryo culture systems, one of our experiments is described. Microsurgical electrocauterization of the deep preaxial mesodermal programmed cell death zone (fpp) in the footplate prevented the manifestation of polydactyly in genetic polydactyly mouse embryos (Pdn/Pdn), in which fpp was abolished.

Growth curves in Down syndrome with congenital heart disease

Directory of Open Access Journals (Sweden)

Caroline D’Azevedo Sica

Full Text Available SUMMARY Introduction: To assess dietary habits, nutritional status and food frequency in children and adolescents with Down syndrome (DS and congenital heart disease (CHD. Additionally, we attempted to compare body mass index (BMI classifications according to the World Health Organization (WHO curves and curves developed for individuals with DS. Method: Cross-sectional study including individuals with DS and CHD treated at a referral center for cardiology, aged 2 to 18 years. Weight, height, BMI, total energy and food frequency were measured. Nutritional status was assessed using BMI for age and gender, using curves for evaluation of patients with DS and those set by the WHO. Results: 68 subjects with DS and CHD were evaluated. Atrioventricular septal defect (AVSD was the most common heart disease (52.9%. There were differences in BMI classification between the curves proposed for patients with DS and those proposed by the WHO. There was an association between consumption of vitamin E and polyunsaturated fatty acids. Conclusion: Results showed that individuals with DS are mostly considered normal weight for age, when evaluated using specific curves for DS. Reviews on specific curves for DS would be the recommended practice for health professionals so as to avoid precipitated diagnosis of overweight and/or obesity in this population.

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

Stoughton, R.S.; Martin, H.L.; Bentz, R.R.

1984-07-01

The problem of automatic camera tracking of mobile objects is addressed with specific reference to remote manipulators and using either fixed or mobile cameras. The technique uses a kinematic approach employing 4 x 4 coordinate transformation matrices to solve for the needed camera PAN and TILT angles. No vision feedback systems are used, as the required input data are obtained entirely from position sensors from the manipulator and the camera-positioning system. All hardware requirements are generally satisfied by currently available remote manipulator systems with a supervisory computer. The system discussed here implements linear plus on/off (bang-bang) closed-loop control with a +-2-deg deadband. The deadband area is desirable to avoid operator seasickness caused by continuous camera movement. Programming considerations for camera control, including operator interface options, are discussed. The example problem presented is based on an actual implementation using a PDP 11/34 computer, a TeleOperator Systems SM-229 manipulator, and an Oak Ridge National Laboratory (ORNL) camera-positioning system. 3 references, 6 figures, 2 tables

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

Stoughton, R.S.; Martin, H.L.; Bentz, R.R.

1984-04-01

The problem of automatic camera tracking of mobile objects is addressed with specific reference to remote manipulators and using either fixed or mobile cameras. The technique uses a kinematic approach employing 4 x 4 coordinate transformation matrices to solve for the needed camera PAN and TILT angles. No vision feedback systems are used, as the required input data are obtained entirely from position sensors from the manipulator and the camera-positioning system. All hardware requirements are generally satisfied by currently available remote manipulator systems with a supervisory computer. The system discussed here implements linear plus on/off (bang-bang) closed-loop control with a +-2 0 deadband. The deadband area is desirable to avoid operator seasickness caused by continuous camera movement. Programming considerations for camera control, including operator interface options, are discussed. The example problem presented is based on an actual implementation using a PDP 11/34 computer, a TeleOperator Systems SM-229 manipulator, and an Oak Ridge National Laboratory (ORNL) camera-positioning system. 3 references, 6 figures, 2 tables

A versatile curve-fit model for linear to deeply concave rank abundance curves

NARCIS (Netherlands)

Neuteboom, J.H.; Struik, P.C.

2005-01-01

A new, flexible curve-fit model for linear to concave rank abundance curves was conceptualized and validated using observational data. The model links the geometric-series model and log-series model and can also fit deeply concave rank abundance curves. The model is based ¿ in an unconventional way

From laboratory manipulations to Earth system models: scaling calcification impacts of ocean acidification

Directory of Open Access Journals (Sweden)

J. R. Young

2009-11-01

Full Text Available The observed variation in the calcification responses of coccolithophores to changes in carbonate chemistry paints a highly incoherent picture, particularly for the most commonly cultured "species", Emiliania huxleyi. The disparity between magnitude and potentially even sign of the calcification change under simulated end-of-century ocean surface chemical changes (higher pCO₂, lower pH and carbonate saturation, raises challenges to quantifying future carbon cycle impacts and feedbacks because it introduces significant uncertainty in parameterizations used for global models. Here we compile the results of coccolithophore carbonate chemistry manipulation experiments and review how ocean carbon cycle models have attempted to bridge the gap from experiments to global impacts. Although we can rule out methodological differences in how carbonate chemistry is altered as introducing an experimental bias, the absence of a consistent calcification response implies that model parameterizations based on small and differing subsets of experimental observations will lead to varying estimates for the global carbon cycle impacts of ocean acidification. We highlight two pertinent observations that might help: (1 the degree of coccolith calcification varies substantially, both between species and within species across different genotypes, and (2 the calcification response across mesocosm and shipboard incubations has so-far been found to be relatively consistent. By analogy to descriptions of plankton growth rate vs. temperature, such as the "Eppley curve", which seek to encapsulate the net community response via progressive assemblage change rather than the response of any single species, we posit that progressive future ocean acidification may drive a transition in dominance from more to less heavily calcified coccolithophores. Assemblage shift may be more important to integrated community calcification response than species

A systematic review of the use of dosage form manipulation to obtain required doses to inform use of manipulation in paediatric practice.

Science.gov (United States)

Richey, Roberta H; Hughes, Clare; Craig, Jean V; Shah, Utpal U; Ford, James L; Barker, Catrin E; Peak, Matthew; Nunn, Anthony J; Turner, Mark A

2017-02-25

This study sought to determine whether there is an evidence base for drug manipulation to obtain the required dose, a common feature of paediatric clinical practice. A systematic review of the data sources, PubMed, EMBASE, CINAHL, IPA and the Cochrane database of systematic reviews, was used. Studies that considered the dose accuracy of manipulated medicines of any dosage form, evidence of safety or harm, bioavailability, patient experience, tolerability, contamination and comparison of methods of manipulation were included. Case studies and letters were excluded. Fifty studies were eligible for inclusion, 49 of which involved tablets being cut, split, crushed or dispersed. The remaining one study involved the manipulation of suppositories of one drug. No eligible studies concerning manipulation of oral capsules or liquids, rectal enemas, nebuliser solutions, injections or transdermal patches were identified. Twenty four of the tablet studies considered dose accuracy using weight and/or drug content. In studies that considered weight using adapted pharmacopoeial specifications, the percentage of halved tablets meeting these specifications ranged from 30% to 100%. Eighteen studies investigated bioavailability, pharmacokinetics or clinical outcomes following manipulations which included nine delayed or modified release formulations. In each of these nine studies the entirety of the dosage form was administered. Only one of the 18 studies was identified where drugs were manipulated to obtain a proportion of the dosage form, and that proportion administered. The five studies that considered patient perception found that having to manipulate the tablets did not have a negative impact on adherence. Of the 49 studies only two studies reported investigating children. This review yielded limited evidence to support manipulation of medicines for children. The results cannot be extrapolated between dosage forms, methods of manipulation or between different brands of the same

Curved Josephson junction

International Nuclear Information System (INIS)

Dobrowolski, Tomasz

2012-01-01

The constant curvature one and quasi-one dimensional Josephson junction is considered. On the base of Maxwell equations, the sine–Gordon equation that describes an influence of curvature on the kink motion was obtained. It is showed that the method of geometrical reduction of the sine–Gordon model from three to lower dimensional manifold leads to an identical form of the sine–Gordon equation. - Highlights: ► The research on dynamics of the phase in a curved Josephson junction is performed. ► The geometrical reduction is applied to the sine–Gordon model. ► The results of geometrical reduction and the fundamental research are compared.

Manipulators in deep ocean environments, needs versus technology

International Nuclear Information System (INIS)

Mackey, L.A.; Stenovec, G.M.

1984-01-01

As exploration and production proceed into deeper water, remotely operated vehicles (ROVs) and their manipulators acquire many of the tasks now performed by divers in shallower water. The resulting increased complexity of work tasks requires more dexterious manipulators. Even the most sophisticated of the manipulators today cannot perform many of the work tasks now performed by divers in shallower waters. Manipulators cannot yet duplicate the functions of the human hand. How much technology must be improved to perform the desired tasks, and how much adapting of the work task or equipment must be done to achieve a workable underwater robotics environment?

Mass transfer and power characteristics of stirred tank with Rushton and curved blade impeller

Directory of Open Access Journals (Sweden)

Thiyam Tamphasana Devi

2017-04-01

Full Text Available Present work compares the mass transfer coefficient (kLa and power draw capability of stirred tank employed with Rushton and curved blade impeller using computational fluid dynamics (CFD techniques in single and double impeller cases. Comparative analysis for different boundary conditions and mass transfer model has been done to assess their suitability. The predicted local kLa has been found higher in curved blade impeller than the Rushton impeller, whereas stirred tank with double impeller does not show variation due to low superficial gas velocity. The global kLa predicted has been found higher in curved blade impeller than the Rushton impeller in double and single cases. Curved blade impeller also exhibits higher power draw capability than the Rushton impeller. Overall, stirred tank with curved blade impeller gives higher efficiency in both single and double cases than the Rushton turbine

Extracorporeal Shock Wave Lithotripsy (ESWL) vs. Ureterorenoscopic (URS) Manipulation in Proximal Ureteric Stone

International Nuclear Information System (INIS)

Manzoor, S.; Khuhro, A.Q.; Hashmi, A.H.; Sohail, M.A.; Mahar, F.; Bhatti, S.

2013-01-01

Objective: To compare the stone free rate at one week after extracorporeal shock wave lithotripsy (ESWL) and ureterorenoscopic (URS) manipulation for proximal ureteric stone (10 - 15 mm size). Study Design: Randomized controlled trial. Place and Duration of Study: Sindh Institute of Urology and Transplantation (SIUT), Karachi, from August 2010 to February 2011. Methodology: One hundred and ninety patients with 10 - 15 mm proximal urteric stone, in each group were treated with ESWL and ureterorenoscopic manipulation by using an 8.0 or 8.5 Fr semi rigid ureteroscope. Intracorporeal lithotripsy was performed by using pneumatic lithoclast. The stone free rate were compared between groups by considering size of stone at one week after procedure. The success rate, retreatment rate, auxiliary procedure and complication rate were compared in each group. Results: Success rate was 49.2% for ESWL and 57.8% for URS (p = 0.008). The re-treatment rate was significantly higher in ESWL group than in URS group (40% vs. 11 and 18% in URS group). Conclusion: Although ESWL is regarded as the preferred choice of treatment for proximal ureteric stone, the present results suggest that ureterorenoscopic manipulation with intracorporeal lithotripsy is a safe alternative, with an advantage of obtaining an earlier or immediate stone-free status. Laparoscopic approaches are reasonable alternatives in cases, where ESWL and URS have failed. (author)

Interpersonal relationship manipulation at a personal level

OpenAIRE

Andreja Hribernik

2010-01-01

Manipulation is not unknown or strange to any of us. We have all experienced it, or perhaps even practiced it. It is wrong not to recognize it, to find excuses for it, and, above all, it is wrong not to decide to change one’s behaviour. Long-lasting use of manipulation leaves consequences on all the parties involved: the victim, the observer and the perpetrator. Manipulation is a relation between persons which does not consider the needs of everybody involved. It means exploitation and mislea...

W-026, acceptance test report manipulator system

International Nuclear Information System (INIS)

Watson, T.L.

1997-01-01

The purpose of the WRAP Manipulator System Acceptance Test Plan (ATP) is to verify that the 4 glovebox sets of WRAP manipulator components, including rail/carriage, slave arm, master controller and auxiliary equipment, meets the requirements of the functional segments of 14590 specification. The demonstration of performance elements of the ATP are performed as a part of the Assembly specifications. Manipulator integration is integrated in the performance testing of the gloveboxes. Each requirement of the Assembly specification will be carried out in conjunction with glovebox performance tests

Self-Efficacy Manipulation Influences Physical Activity Enjoyment in Chinese Adolescents.

Science.gov (United States)

Hu, Liang; Cheng, Shoubin; Lu, Jiaying; Zhu, Lele; Chen, Ling

2016-02-01

In this study, we examined the effect of the manipulation of exercise self-efficacy on the enjoyment of physical activity in a sample of 44 Chinese adolescents (age = 14.27 ± .87 y), including 22 boys and 22 girls. The participants were randomized into a low-efficacy or high-efficacy condition, and their self-efficacy beliefs for engaging in moderate-intensity physical activity were manipulated by providing false feedback after a submaximal exercise test. The participants' self-efficacy was measured and compared before and after the exercise test and the participants' enjoyment of physical activity was assessed after the exercise test. It was found that exercise self-efficacy was successfully manipulated in the expected direction in both conditions, which significantly influenced the participants' enjoyment of physical activity. After the exercise test, the participants in the low-efficacy condition reported lower enjoyment scores relative to the high-efficacy participants. These results suggest that self-efficacy may have an important influence on the enjoyment of physical activity among Chinese adolescents. We recommend that physical activity promotion programs should be tailored to enhance adolescents' self-efficacy beliefs and enjoyment of the experience of physical activity.

Free and open source software for the manipulation of digital images.

Science.gov (United States)

Solomon, Robert W

2009-06-01

Free and open source software is a type of software that is nearly as powerful as commercial software but is freely downloadable. This software can do almost everything that the expensive programs can. GIMP (gnu image manipulation program) is the free program that is comparable to Photoshop, and versions are available for Windows, Macintosh, and Linux platforms. This article briefly describes how GIMP can be installed and used to manipulate radiology images. It is no longer necessary to budget large amounts of money for high-quality software to achieve the goals of image processing and document creation because free and open source software is available for the user to download at will.

In-Vehicle Dynamic Curve-Speed Warnings at High-Risk Rural Curves

Science.gov (United States)

2018-03-01

Lane-departure crashes at horizontal curves represent a significant portion of fatal crashes on rural Minnesota roads. Because of this, solutions are needed to aid drivers in identifying upcoming curves and inform them of a safe speed at which they s...

Thermal effect on water retention curve of bentonite: experiment and thermodynamic modeling

International Nuclear Information System (INIS)

Qin Bing; Chen Zhenghai; Sun Faxin; Liu Yuemiao; Wang Ju

2012-01-01

The thermal effects on water retention curve of GMZ bentonite were investigated experimentally and theoretically. Water retention tests were conducted on GMZ bentonite at five temperatures ranging from 20℃ to 100℃. Test results showed that the water retention capacity and the hysteresis of the water retention curve decreased with increasing temperature, and that the water retention curves at different temperatures were almost parallel to each other. Based on the thermodynamics of sorption, a model was established to describe the temperature influence on the water retention curve. The model was validated by comparing the model predictions and the test results. (authors)

Design and Performance Test of Locking Curved-Nut

Energy Technology Data Exchange (ETDEWEB)

Cha, Min Cheol; Kang, Ho Sung; Kim, Do Yeop; Lee, Suk Yong; Lee, Eung Suk [Chungbuk Nat’l Univ., Cheongju (Korea, Republic of); Jeong, Hui Jong [Viblock Company, Cheongwon (Korea, Republic of)

2017-03-15

Many types of locking nut are commercializing in the various industries where has heavy vibration. Because Nut's loosing causes a serious accident. But the most locking nuts are too expensive as the complicate manufacturing process. In this study, we design the new type of locking nut, 'Curved-Nut' that is relatively simple making process. We study a relation between the elastic energy and the nut loosing mechanism. So it is analysed, the elastic energy of Curved-Nut comparing with the locking test. The Curved-Nut was manufactured on the commercial nut using a milling tool with horizontal cutting, one or two time under the nut. As the result, the more elastic energy the more prevent the loosing of the nut. We verified the performance of the loosing nut using the vibration testing equipment (NAS3350).

Autonomous Industrial Mobile Manipulation (AIMM)

DEFF Research Database (Denmark)

Hvilshøj, Mads; Bøgh, Simon; Nielsen, Oluf Skov

2012-01-01

Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry......) with a quick and gentle overview of AIMM. Furthermore, the paper identifies key open issues and promising research directions to realize real-world integration and maturation of the AIMM technology. Originality/value - This paper reviews the interdisciplinary research field Autonomous Industrial Mobile...

ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

Directory of Open Access Journals (Sweden)

Camelia PAVEL

2014-04-01

Full Text Available The article provides a number of issues involved in defining manipulation, because both in the current language as in the specialty literature, the manipulation notion is used with multiple significations, often contradictory ones, and that it’s not firmly delimited by other notions from the same sphere, like persuasion or propaganda. The aim of the article will be, in the end, removing ambiguity that surrounds this concept and offering a better understanding of its very real effects on human lives. We advance and sustain the hypothesis that manipulation is an illegitimate process, justified by the structure of the human conscience and by the mechanisms of the social life. In addition, the paper provides a concrete example of manipulation of public through advertising contracts offered by Roşia Montană Gold Corporation. Finally conclusions were outlined.

SPITZER SPACE TELESCOPE MID-IR LIGHT CURVES OF NEPTUNE

Energy Technology Data Exchange (ETDEWEB)

Stauffer, John; Rebull, Luisa; Carey, Sean J.; Krick, Jessica; Ingalls, James G.; Lowrance, Patrick; Glaccum, William [Spitzer Science Center (SSC), California Institute of Technology, Pasadena, CA 91125 (United States); Marley, Mark S. [NASA Ames Research Center, Space Sciences and Astrobiology Division, MS245-3, Moffett Field, CA 94035 (United States); Gizis, John E. [Department of Physics and Astronomy, University of Delaware, Newark, DE 19716 (United States); Kirkpatrick, J. Davy [Infrared Processing and Analysis Center, MS 100-22, California Institute of Technology, Pasadena, CA 91125 (United States); Simon, Amy A. [NASA Goddard Space Flight Center, Solar System Exploration Division (690.0), 8800 Greenbelt Road, Greenbelt, MD 20771 (United States); Wong, Michael H. [University of California, Department of Astronomy, Berkeley CA 94720-3411 (United States)

2016-11-01

We have used the Spitzer Space Telescope in 2016 February to obtain high cadence, high signal-to-noise, 17 hr duration light curves of Neptune at 3.6 and 4.5 μ m. The light curve duration was chosen to correspond to the rotation period of Neptune. Both light curves are slowly varying with time, with full amplitudes of 1.1 mag at 3.6 μ m and 0.6 mag at 4.5 μ m. We have also extracted sparsely sampled 18 hr light curves of Neptune at W1 (3.4 μ m) and W2 (4.6 μ m) from the Wide-feld Infrared Survey Explorer ( WISE )/ NEOWISE archive at six epochs in 2010–2015. These light curves all show similar shapes and amplitudes compared to the Spitzer light curves but with considerable variation from epoch to epoch. These amplitudes are much larger than those observed with Kepler / K 2 in the visible (amplitude ∼0.02 mag) or at 845 nm with the Hubble Space Telescope ( HST ) in 2015 and at 763 nm in 2016 (amplitude ∼0.2 mag). We interpret the Spitzer and WISE light curves as arising entirely from reflected solar photons, from higher levels in Neptune’s atmosphere than for K 2. Methane gas is the dominant opacity source in Neptune’s atmosphere, and methane absorption bands are present in the HST 763 and 845 nm, WISE W1, and Spitzer 3.6 μ m filters.

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

Full Text Available This paper addresses the energy-inefficiency problem of four-degrees-of-freedom (4-DOF hydraulic manipulators through redundancy resolution in robotic closed-loop controlled applications. Because conventional methods typically are local and have poor performance for resolving redundancy with respect to minimum hydraulic energy consumption, global energy-optimal redundancy resolution is proposed at the valve-controlled actuator and hydraulic power system interaction level. The energy consumption of the widely popular valve-controlled load-sensing (LS and constant-pressure (CP systems is effectively minimised through cost functions formulated in a discrete-time dynamic programming (DP approach with minimum state representation. A prescribed end-effector path and important actuator constraints at the position, velocity and acceleration levels are also satisfied in the solution. Extensive field experiments performed on a forestry hydraulic manipulator demonstrate the performance of the proposed solution. Approximately 15–30% greater hydraulic energy consumption was observed with the conventional methods in the LS and CP systems. These results encourage energy-optimal redundancy resolution in future robotic applications of hydraulic manipulators.

Experiments with conjugate gradient algorithms for homotopy curve tracking

Science.gov (United States)

Irani, Kashmira M.; Ribbens, Calvin J.; Watson, Layne T.; Kamat, Manohar P.; Walker, Homer F.

1991-01-01

There are algorithms for finding zeros or fixed points of nonlinear systems of equations that are globally convergent for almost all starting points, i.e., with probability one. The essence of all such algorithms is the construction of an appropriate homotopy map and then tracking some smooth curve in the zero set of this homotopy map. HOMPACK is a mathematical software package implementing globally convergent homotopy algorithms with three different techniques for tracking a homotopy zero curve, and has separate routines for dense and sparse Jacobian matrices. The HOMPACK algorithms for sparse Jacobian matrices use a preconditioned conjugate gradient algorithm for the computation of the kernel of the homotopy Jacobian matrix, a required linear algebra step for homotopy curve tracking. Here, variants of the conjugate gradient algorithm are implemented in the context of homotopy curve tracking and compared with Craig's preconditioned conjugate gradient method used in HOMPACK. The test problems used include actual large scale, sparse structural mechanics problems.

MA-23-6000: underwater bilateral servo master slave manipulator

International Nuclear Information System (INIS)

Vertut, Jean

The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

Advanced Bimanual Manipulation Results from the DEXMART Project

CERN Document Server

2012-01-01

Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Statistical re-evaluation of the ASME KIC and KIR fracture toughness reference curves

International Nuclear Information System (INIS)

Wallin, K.

1999-01-01

Historically the ASME reference curves have been treated as representing absolute deterministic lower bound curves of fracture toughness. In reality, this is not the case. They represent only deterministic lower bound curves to a specific set of data, which represent a certain probability range. A recently developed statistical lower bound estimation method called the 'master curve', has been proposed as a candidate for a new lower bound reference curve concept. From a regulatory point of view, the master curve is somewhat problematic in that it does not claim to be an absolute deterministic lower bound, but corresponds to a specific theoretical failure probability that can be chosen freely based on application. In order to be able to substitute the old ASME reference curves with lower bound curves based on the master curve concept, the inherent statistical nature (and confidence level) of the ASME reference curves must be revealed. In order to estimate the true inherent level of safety, represented by the reference curves, the original database was re-evaluated with statistical methods and compared to an analysis based on the master curve concept. The analysis reveals that the 5% lower bound master curve has the same inherent degree of safety as originally intended for the K IC -reference curve. Similarly, the 1% lower bound master curve corresponds to the K IR -reference curve. (orig.)

Statistical re-evaluation of the ASME KIC and KIR fracture toughness reference curves

International Nuclear Information System (INIS)

Wallin, K.; Rintamaa, R.

1998-01-01

Historically the ASME reference curves have been treated as representing absolute deterministic lower bound curves of fracture toughness. In reality, this is not the case. They represent only deterministic lower bound curves to a specific set of data, which represent a certain probability range. A recently developed statistical lower bound estimation method called the 'Master curve', has been proposed as a candidate for a new lower bound reference curve concept. From a regulatory point of view, the Master curve is somewhat problematic in that it does not claim to be an absolute deterministic lower bound, but corresponds to a specific theoretical failure probability that can be chosen freely based on application. In order to be able to substitute the old ASME reference curves with lower bound curves based on the master curve concept, the inherent statistical nature (and confidence level) of the ASME reference curves must be revealed. In order to estimate the true inherent level of safety, represented by the reference curves, the original data base was re-evaluated with statistical methods and compared to an analysis based on the master curve concept. The analysis reveals that the 5% lower bound Master curve has the same inherent degree of safety as originally intended for the K IC -reference curve. Similarly, the 1% lower bound Master curve corresponds to the K IR -reference curve. (orig.)

Comparative study between different simple methods manipulating ratio spectra for the analysis of alogliptin and metformin co-formulated with highly different concentrations.

Science.gov (United States)

Zaghary, Wafaa A; Mowaka, Shereen; Hassan, Mostafa A; Ayoub, Bassam M

2017-11-05

Different simple spectrophotometric methods were developed for simultaneous determination of alogliptin and metformin manipulating their ratio spectra with successful application on recently approved combination, Kazano® tablets. Spiking was implemented to detect alogliptin in spite of its low contribution in the pharmaceutical formulation as low quantity in comparison to metformin. Linearity was acceptable over the concentration range of 2.5-25.0μg/mL and 2.5-15.0μg/mL for alogliptin and metformin, respectively using derivative ratio, ratio subtraction coupled with extended ratio subtraction and spectrum subtraction coupled with constant multiplication. The optimized methods were compared using one-way analysis of variance (ANOVA) and proved to be accurate for assay of the investigated drugs in their pharmaceutical dosage form. Copyright © 2017 Elsevier B.V. All rights reserved.

POSSIBLE RECESSION CURVE APPLICATIONS FOR RETENTION EVALUATION

Directory of Open Access Journals (Sweden)

Daniel Liberacki

2015-11-01

Full Text Available The objective of the article was to present possible applications of recession flow curve in a small lowland watershed retention discharge size evaluation. The examined woodland micro catchment area of 0.52 sq km is located in Puszcza Zielonka in central Wielkopolska. The Hutka catchment is typically woody with high retention abilities. The catchment of the Hutka watercourse is forested in 89%, the other 11% is covered by swamps and wasteland. The predominant sites are fresh mixed coniferous forest (BMśw, fresh coniferous forest (Bśw and alder carr forest (Ol. Landscape in catchment is characterized by a large number of interior depressions, filled partly with rainwater or peatbogs, with poorly developed natural drainage. The watercourses do not exceed 1 km in length, the mean width is approx. 0.5 m, while mean depth ranges from 0.2 to 0.3 m. During hydrological research conducted in 1997/1998–1999/2000, 35 major (characteristic raised water stages were observed in Hutka after substantial precipitation. The recession curve dating from 18–24 September 2000 has the α and n rates nearest to average. Comparing the model curve and the curve created by observing watercourse flow, one can notice their resemblance and that they have similar ordinate values as well as shape. In the case of other recession curves, the maximum differences of ordinate values are also about 0.1–0.2 l/s/km2. The measuured α and n rates do not reveal any regularities. There are no significant statistical Horton model parameter (for recession flow curves dependencies between α and n and e.g. initial flows (Qo or the whole period of high water waves (Qp. Consequently, calculated relation between these parameters is only an approximation for the general evaluation of the retention discharge in the catchment area towards retention with flow function.

Analysis of singularity in redundant manipulators

International Nuclear Information System (INIS)

Watanabe, Koichi

2000-03-01

In the analysis of arm positions and configurations of redundant manipulators, the singularity avoidance problems are important themes. This report presents singularity avoidance computations of a 7 DOF manipulator by using a computer code based on human-arm models. The behavior of the arm escaping from the singular point can be identified satisfactorily through the use of 3-D plotting tools. (author)

Study on force mechanism for therapeutic effect of pushing manipulation with one-finger meditation base on similarity analysis of force and waveform.

Science.gov (United States)

Fang, Lei; Fang, Min; Guo, Min-Min

2016-12-27

To reveal the force mechanism for therapeutic effect of pushing manipulation with one-finger meditation. A total of 15 participants were recruited in this study and assigned to an expert group, a skilled group and a novice group, with 5 participants in each group. Mechanical signals were collected from a biomechanical testing platform, and these data were further observed via similarity analysis and cluster analysis. Comparing the force waveforms of manipulation revealed that the manipulation forces were similar between the expert group and the skilled group (P>0.05). The mean value of vertical force was 9.8 N, and 95% CI rang from 6.37 to 14.70 N, but there were significant differences compared with the novice group (PPushing manipulation with one-finger meditation is a kind of light stimulation manipulation on the acupoint, and force characteristics of double waveforms continuously alternated during manual operation.

I-V Curves from Photovoltaic Modules Deployed in Tucson

Science.gov (United States)

Kopp, Emily; Brooks, Adria; Lonij, Vincent; Cronin, Alex

2011-10-01

More than 30 Mega Watts of photo-voltaic (PV) modules are connected to the electric power grid in Tucson, AZ. However, predictions of PV system electrical yields are uncertain, in part because PV modules degrade at various rates (observed typically in the range 0% to 3 %/yr). We present I-V curves (PV output current as a function of PV output voltage) as a means to study PV module efficiency, de-ratings, and degradation. A student-made I-V curve tracer for 100-Watt modules will be described. We present I-V curves for several different PV technologies operated at an outdoor test yard, and we compare new modules to modules that have been operated in the field for 10 years.

Automatic generation and analysis of solar cell IV curves

Science.gov (United States)

Kraft, Steven M.; Jones, Jason C.

2014-06-03

A photovoltaic system includes multiple strings of solar panels and a device presenting a DC load to the strings of solar panels. Output currents of the strings of solar panels may be sensed and provided to a computer that generates current-voltage (IV) curves of the strings of solar panels. Output voltages of the string of solar panels may be sensed at the string or at the device presenting the DC load. The DC load may be varied. Output currents of the strings of solar panels responsive to the variation of the DC load are sensed to generate IV curves of the strings of solar panels. IV curves may be compared and analyzed to evaluate performance of and detect problems with a string of solar panels.

Observational evidence of dust evolution in galactic extinction curves

Energy Technology Data Exchange (ETDEWEB)

Cecchi-Pestellini, Cesare [INAF-Osservatorio Astronomico di Palermo, P.zza Parlamento 1, I-90134 Palermo (Italy); Casu, Silvia; Mulas, Giacomo [INAF-Osservatorio Astronomico di Cagliari, Via della Scienza, I-09047 Selargius (Italy); Zonca, Alberto, E-mail: cecchi-pestellini@astropa.unipa.it, E-mail: silvia@oa-cagliari.inaf.it, E-mail: gmulas@oa-cagliari.inaf.it, E-mail: azonca@oa-cagliari.inaf.it [Dipartimento di Fisica, Università di Cagliari, Strada Prov.le Monserrato-Sestu Km 0.700, I-09042 Monserrato (Italy)

2014-04-10

Although structural and optical properties of hydrogenated amorphous carbons are known to respond to varying physical conditions, most conventional extinction models are basically curve fits with modest predictive power. We compare an evolutionary model of the physical properties of carbonaceous grain mantles with their determination by homogeneously fitting observationally derived Galactic extinction curves with the same physically well-defined dust model. We find that a large sample of observed Galactic extinction curves are compatible with the evolutionary scenario underlying such a model, requiring physical conditions fully consistent with standard density, temperature, radiation field intensity, and average age of diffuse interstellar clouds. Hence, through the study of interstellar extinction we may, in principle, understand the evolutionary history of the diffuse interstellar clouds.

Kinematics at the Main Mechanism of a Railbound Forging Manipulator

Directory of Open Access Journals (Sweden)

Florian Ion Tiberiu Petrescu

2015-09-01

Full Text Available Normal 0 false false false EN-US X-NONE X-NONE MicrosoftInternetExplorer4 Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationship between outputs and inputs will greatly influence the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper we analyze the general kinematics of the main mechanism from a such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed. These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators.

Optical Manipulation System Using a Plurality of Optical Traps

DEFF Research Database (Denmark)

2006-01-01

The present invention relates to an optical manipulation system (10) for generation of a plurality of optical traps for manipulation of micro-objects including nano-objects using electromagnetic radiation forces in a micro-object manipulation volume (14), the system comprising a spatially modulat...

WORKSPACE DRAWING FROM A MANIPULATOR ARM WITH 6 DOF

Directory of Open Access Journals (Sweden)

NAIDIN Gigi

2011-06-01

Full Text Available Modelling and simulation is an important aspect in robotic field. Knowing of the workspace is very important to the operation of manipulators arm. This paper investigates operational performance of space manipulator arm destined for industrial manufacturing, by defining and analyzing their workspace and manipulability measure. The authors show that manipulator arm developing requires the consideration of more efficient dynamic models and use of dedicated processing techniques such as Autodesk-Inventor 9, MATLAB, WorkSpace software.

Comparison of L-curve and LOOCV depth profiles from TAARXPS data

Energy Technology Data Exchange (ETDEWEB)

Paynter, R.W., E-mail: royston_paynter@emt.inrs.ca

2017-01-15

Highlights: • Regularized profiles were extracted from TAARXPS data. • The L-curve and LOO cross-validation were used to choose the regularization parameter. • The two parameter choice methods were compared. - Abstract: Time and angle resolved X-ray photoelectron spectroscopy (TAARXPS) data, obtained from polystyrene samples exposed to an oxygen/helium plasma, have been interpreted using 1st order Tikhonov regularization to smooth the extracted depth profiles. Two methods for the choice of the regularization parameter, namely the L-curve method and leave-one-out cross-validation (LOOCV), are compared and contrasted.

Vehicle-manipulator systems modeling for simulation, analysis, and control

CERN Document Server

From, Pal Johan; Pettersen, Kristin Ytterstad

2014-01-01

Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas.  The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain glob...

The algebraic curve of 1-loop planar N=4 SYM

International Nuclear Information System (INIS)

Schaefer-Nameki, S.

2004-12-01

The algebraic curve for the psu(2,2 vertical stroke 4) quantum spin chain is determined from the thermodynamic limit of the algebraic Bethe ansatz. The Hamiltonian of this spin chain has been identified with the planar 1-loop dilatation operator of N=4 SYM. In the dual AdS 5 x S 5 string theory, various properties of the data defining the curve for the gauge theory are compared to the ones obtained from semiclassical spinning-string configurations, in particular for the case of strings on AdS 5 x S 1 and the su(2,2) spin chain agreement of the curves is shown. (orig.)

The diversity effect of inductive reasoning under segment manipulation of complex cognition.

Science.gov (United States)

Chen, Antao; Li, Hong; Feng, Tingyong; Gao, Xuemei; Zhang, Zhongming; Li, Fuhong; Yang, Dong

2005-12-01

The present study proposed the idea of segment manipulation of complex cognition (SMCC), and technically made it possible the quantitative treatment and systematical manipulation on the premise diversity. The segment manipulation of complex cognition divides the previous inductive strengths judgment task into three distinct steps, attempting to particularly distinguish the psychological processes and their rules. The results in Experiment 1 showed that compared with the traditional method, the quantitative treatment and systematical manipulation of SMCC on the diversity did not change the task's nature, and remain rational and a good measurement of inductive strength judgment. The results in Experiment 2 showed that the participants' response rules in the triple-step task were expected from our proposal, and that in Step 2 the "feeling of surprise" (FOS), which seems implausible but predicted from the diversity premises, was measured, and its component might be the critical part that produced the diversity effect. The "feeling of surprise" may reflect the impact of emotion on cognition, representing a strong revision to premise probability principle of pure rational hypothesis proposed by Lo et al., and its roles in the diversity effect are worthy of further research. In this regards were discussed the mistakes that the premise probability principle makes when it takes posterity probability as prior probability.

The curve shortening problem

CERN Document Server

Chou, Kai-Seng

2001-01-01

Although research in curve shortening flow has been very active for nearly 20 years, the results of those efforts have remained scattered throughout the literature. For the first time, The Curve Shortening Problem collects and illuminates those results in a comprehensive, rigorous, and self-contained account of the fundamental results.The authors present a complete treatment of the Gage-Hamilton theorem, a clear, detailed exposition of Grayson''s convexity theorem, a systematic discussion of invariant solutions, applications to the existence of simple closed geodesics on a surface, and a new, almost convexity theorem for the generalized curve shortening problem.Many questions regarding curve shortening remain outstanding. With its careful exposition and complete guide to the literature, The Curve Shortening Problem provides not only an outstanding starting point for graduate students and new investigations, but a superb reference that presents intriguing new results for those already active in the field.

Wave Manipulation by Topology Optimization

DEFF Research Database (Denmark)

Andkjær, Jacob Anders

topology optimization can be used to design structures for manipulation of the electromagnetic and acoustic waves. The wave problems considered here fall within three classes. The first class concerns the design of cloaks, which when wrapped around an object will render the object undetectable...... for the cloak is to delay the waves in regions of higher permittivity than the background and subsequently phase match them to the waves outside. Directional acoustic cloaks can also be designed using the topology optimization method. Aluminum cylinders constitutes the design and their placement and size...... concerns the design of planar Fresnel zone plate lenses for focusing electromagnetic waves. The topology optimized zone plates improve the focusing performance compared to results known from the literature....

Protozoa manipulation by ultrasound

Directory of Open Access Journals (Sweden)

Yancy Milena Porras Rodríguez

2004-01-01

Full Text Available Microorganism manipulation, considered as controlled motion and positioning, is one of the most important activities in microbiology and medicine. To achieve this goal there are some techniques such as those which and optical forces, among others. These techniques are usually sophisticated, and some of them can induce irreversible alterations on the microorganisms which prevents their use in another tests. Thus, there is justified the study of technological alternatives to manipulate microorganisms in an easy and cost-effective way. This work shows the interaction between protozoa and air microbubbles when they are under the influence of an ultrasonic field of 5.8 mW. At the microbubbles resonant frequencies, microorganisms were attracted toward the bubbles' frontier remaining there while the ultrasonic field was applied. Once the ultrasound disappears, protozoa recover their freedom of movement. The observed effects could be used as the actuation principle of devices capable to trap, hold and release microorganisms of high mobility without any apparent damage. Microbubbles are generated by electrolysis which take place on the surface of an electrode array, while the ultrasound is originated by means of a piezoelectric transducer. As microorganisms there were employed those present in stagnated water, and were observed through an stereomicroscope. Key words: manipulator; protozoa; ultrasonic; transducer; piezoelectric.

Comparative study of dose-response curve for chromosome aberrations induced in human lymphocytes by {sup 60}Co and X-Rays

Energy Technology Data Exchange (ETDEWEB)

Mendes, Mariana E.; Mendonça, Julyanne C.G.; Andrade, Aida M.G.; Silva, Laís M.; Hwang, Suy; Melo, Ana M.M.A.; Santos, Neide; Lima, Fabiana F., E-mail: mendes_sb@hotmail.com [Centro Regional de Ciencias Nucleares (CRCN-NE/CNEN-PE), Recife, PE (Brazil); Universidade Federal de Pernambuco (UFPE), Recife, PE (Brazil)

2017-11-01

Biodosimetry represents a biological marker to the estimation of health risks after accidental overexposure to ionizing radiation. Chromosomal dicentric in peripheral blood lymphocytes have been the most reliable biomarker of exposure to IR during the last several decades. This technique could be used to support physical dosimetry or when it is impossible to achieve it. A reliable measurement of the absorbed dose is critical for medical decision, including the assessment of long-term health consequences. The aim of this research is to compare dose-response curves for dicentric aberration induced in human lymphocytes by {sup 60}Co and X-Rays. For both quality of radiation, the samples were exposed to at least eight different absorbed doses. The X-rays with dose rate of 0,275 Gy/min at Laboratory of Metrology (CRCN/NE - PE - Brazil) and the second one was exposed to cobalt source with dose rate of 0.055 Gy/min ({sup 60}Co Gammacell 220) located at Department of Nuclear Energy (UFPE-DEN-BRASIL). Mitotic metaphase cells were obtained by lymphocyte culture for chromosomal analysis and slides were stained with Giemsa 5%. The frequencies of dicentrics were counted in more than 18.000 metaphases for this comparison. After that, all frequencies and distributions of dicentrics were tested to analyze their conformity with Poisson distribution and then each quality of radiation were used for build the calibration curves using Dose Estimate program. These results showed that both curves followed the Poisson distribution and coefficients of each one are: YX-rays = 0,0013 (± 0,0006) + 0,0271 (± 0,0086)⁎D + 0,0556(±0,0050))⁎D{sup 2} and Y{sub Co-60} = 0,0014 (± 0,0010) + 0,0081 (± 0,0073))⁎D + 0,0451 (± 0,0046))⁎D{sup 2} (Y = frequency of dicentrics and D = absorbed dose). It was expected that there was no significant difference between this two types of radiation because both were low LET. We believed that dose rate have been a principal factor to produce this

Modeling and simulation of three dimensional manipulations of biological micro/nanoparticles by applying cylindrical contact mechanics models by means of AFM

International Nuclear Information System (INIS)

Korayem, M. H.; Saraee, M. B.; Mahmoodi, Z.; Dehghani, S.

2015-01-01

This paper has attempted to investigate the effective forces in 3D manipulation of biological micro/nano particles. Most of the recent researches have only examined 2D spherical geometries but in this paper, the cylindrical geometries, which are much closer to the real geometries, were considered. For achieving a more accurate modeling, manipulation dynamics was also considered to be three dimensional which have been done for the first time. Because of the sensibility to the amount of endurable applied forces, manipulation process of biological micro/nano particles has some restrictions. Therefore, applied forces exerted on the particles in all different directions were simulated in order to restrict all those possible damages cause by operator of the AFM. Those data from simulated forces will bring a more accurate and sensible understanding for the operator to operate. For the validation of results, the proposed model was compared with the model presented for manipulation of gold nanoparticle and then, by reducing the effective parameters in the 3D manipulation, the results were compared with those obtained for the 2D cylindrical model and with the experimental results of spherical nanoparticle in the 2D manipulation

Postural Effects of Vestibular Manipulation Depend on the Physical Activity Status.

Directory of Open Access Journals (Sweden)

Julien Maitre

Full Text Available The purpose of this study was to compare the effects of galvanic vestibular stimulation (GVS on postural control for participants of different physical activity status (i.e. active and non-active. Two groups of participants were recruited: one group of participants who regularly practised sports activities (active group, n = 17, and one group of participants who did not practise physical and/or sports activities (non-active group, n = 17. They were compared in a reference condition (i.e bipedal stance with eyes open and four vestibular manipulation condition (i.e. GVS at 0.5 mA and 3 mA, in accordance with two designs lasting 20 seconds. The centre of foot pressure displacement velocities were compared between the two groups. The main results indicate that the regular practice of sports activities counteracts postural control disruption caused by GVS. The active group demonstrated better postural control than the non-active group when subjected to higher vestibular manipulation. The active group may have developed their ability to reduce the influence of inaccurate vestibular signals. The active participants could identify the relevant sensory input, thought a better central integration, which enables them to switch faster between sensory inputs.

Getting Manipulative about Math.

Science.gov (United States)

Scheer, Janet K.; And Others

1984-01-01

Math manipulatives that are made from inexpensive, common items help students understand basic mathematics concepts. Learning activities using Cheerios, jellybeans, and clay as teaching materials are suggested. (DF)

Nonparametric estimation of age-specific reference percentile curves with radial smoothing.

Science.gov (United States)

Wan, Xiaohai; Qu, Yongming; Huang, Yao; Zhang, Xiao; Song, Hanping; Jiang, Honghua

2012-01-01

Reference percentile curves represent the covariate-dependent distribution of a quantitative measurement and are often used to summarize and monitor dynamic processes such as human growth. We propose a new nonparametric method based on a radial smoothing (RS) technique to estimate age-specific reference percentile curves assuming the underlying distribution is relatively close to normal. We compared the RS method with both the LMS and the generalized additive models for location, scale and shape (GAMLSS) methods using simulated data and found that our method has smaller estimation error than the two existing methods. We also applied the new method to analyze height growth data from children being followed in a clinical observational study of growth hormone treatment, and compared the growth curves between those with growth disorders and the general population. Copyright © 2011 Elsevier Inc. All rights reserved.

Pushing typists back on the learning curve: revealing chunking in skilled typewriting.

Science.gov (United States)

Yamaguchi, Motonori; Logan, Gordon D

2014-04-01

Theories of skilled performance propose that highly trained skills involve hierarchically structured control processes. The present study examined and demonstrated hierarchical control at several levels of processing in skilled typewriting. In the first two experiments, we scrambled the order of letters in words to prevent skilled typists from chunking letters, and compared typing words and scrambled words. Experiment 1 manipulated stimulus quality to reveal chunking in perception, and Experiment 2 manipulated concurrent memory load to reveal chunking in short-term memory (STM). Both experiments manipulated the number of letters in words and nonwords to reveal chunking in motor planning. In the next two experiments, we degraded typing skill by altering the usual haptic feedback by using a laser-projection keyboard, so that typists had to monitor keystrokes. Neither the number of motor chunks (Experiment 3) nor the number of STM items (Experiment 4) was influenced by the manipulation. The results indicate that the utilization of hierarchical control depends on whether the input allows chunking but not on whether the output is generated automatically. We consider the role of automaticity in hierarchical control of skilled performance.

A novel six-degrees-of-freedom series-parallel manipulator

Energy Technology Data Exchange (ETDEWEB)

Gallardo-Alvarado, J.; Rodriguez-Castro, R.; Aguilar-Najera, C. R.; Perez-Gonzalez, L. [Instituto Tecnologico de Celaya, Celaya (Mexico)

2012-06-15

This paper addresses the description and kinematic analyses of a new non-redundant series-parallel manipulator. The primary feature of the robot is to have a decoupled topology consisting of a lower parallel manipulator, for controlling the orientation of the coupler platform, assembled in series connection with a upper parallel manipulator, for controlling the position of the output platform, capable to provide arbitrary poses to the output platform with respect to the fixed platform. The forward displacement analysis is carried-out in semi-closed form solutions by resorting to simple closure equations. On the other hand; the velocity, acceleration and singularity analyses of the manipulator are approached by means of the theory of screws. Simple and compact expressions are derived here for solving the infinitesimal kinematics by taking advantage of the concept of reciprocal screws. Furthermore, the analysis of the Jacobians of the robot shows that the lower parallel manipulator is practically free of singularities. In order to illustrate the performance of the manipulator, a numerical example which consists of solving the inverse/forward kinematics of the series-parallel manipulator as well as its singular configurations is provided.

Manipulation of the Commodity Futures Market Delivery Process.

OpenAIRE

Pirrong, Stephen Craig

1993-01-01

An analysis of the futures market delivery 'end game' specifies necessary and sufficient conditions for long and short traders to manipulate futures prices at contract expiration. The empirical and welfare implications of manipulation are derived as well. Manipulation is most likely to occur in markets where economic frictions (such as transportation and transactions costs) make it inefficient to return excessive deliveries to their original owners. These consumption distortions induce price ...

Dataglove-based interface for impedance control of manipulators in cooperative human–robot environments

International Nuclear Information System (INIS)

Paredes-Madrid, L; Gonzalez de Santos, P

2013-01-01

A dataglove-based interface is presented for tracking the forces applied by the hand during contact tasks with a 6-degree-of-freedom (DOF) manipulator. The interface uses 11 force sensors carefully placed on the palm-side fabric of a 16 DOF dataglove. The force sensors use piezoresistive technology to measure the individual force components from the hand. Based on the dataglove measurements, these components are transformed and summed to assemble the resultant force vector. Finally, this force vector is translated into the manipulator frame using orientation measurements from an inertial measurement unit placed on the dorsal side of the dataglove. Static tests show that the dataglove-based interface can effectively measure the applied hand force, but there are inaccuracies in orientation and magnitude when compared to the load cell measurements used as the reference for error calculation. Promising results were achieved when controlling the 6 DOF manipulator based on the force readings acquired from the dataglove interface; the decoupled dynamics of the dataglove interface with respect to the robot structure yielded smooth force readings of the human intention that could be effectively used in the impedance control of the manipulator. (paper)

An investigation into the kinematics of 2 cervical manipulation techniques.

Science.gov (United States)

Williams, Jonathan M; Cuesta-Vargas, Antonio I

2013-01-01

The purpose of this study was to quantify the kinematics of the premanipulative position, the angular displacement, and velocity of thrust of 2 commonly used cervical spine manipulative procedures using inertial sensor technology. Thirteen asymptomatic subjects (7 females; mean age, 25.3 years; mean height, 170.9 cm; mean weight, 65.3 kg) received a right-handed and left-handed downslope and upslope manipulation, aimed at C4/5 while cervical kinematics were measured using an inertial sensor mounted on the forehead of the subject. One therapist used the upslope, and another therapist, the downslope, as was their preferred method. t tests were used to compare techniques and handiness. The results demonstrated differences in the kinematics between the 2 techniques. The downslope manipulation was associated with a mean premanipulative position of 24.8° side bending and 2.7° rotation, thrust displacement magnitude comprising of 4.5° side bending and 5.4° rotation with thrust velocity comprising, on average, of 57.5°/s side bending and 74.8°/s rotation. Upslope premanipulation was on average comprised of 30.1° side bending and 8.4° rotation, thrust displacement comprised of 4.5° side bending and 12.7° rotation with thrust velocity comprising of 75.9°/s side bending and 194.7°/s rotation. The results of this study demonstrate that there are different kinematic patterns for these 2 manipulative techniques. Copyright © 2013 National University of Health Sciences. Published by Mosby, Inc. All rights reserved.

PLOTTAB, Curve and Point Plotting with Error Bars

International Nuclear Information System (INIS)

1999-01-01

1 - Description of program or function: PLOTTAB is designed to plot any combination of continuous curves and/or discrete points (with associated error bars) using user supplied titles and X and Y axis labels and units. If curves are plotted, the first curve may be used as a standard; the data and the ratio of the data to the standard will be plotted. 2 - Method of solution: PLOTTAB: The program has no idea of what data is being plotted and yet by supplying titles, X and Y axis labels and units the user can produce any number of plots with each plot containing almost any combination of curves and points with each plot properly identified. In order to define a continuous curve between tabulated points, this program must know how to interpolate between points. By input the user may specify either the default option of linear x versus linear y interpolation or alternatively log x and/or log Y interpolation. In all cases, regardless of the interpolation specified, the program will always interpolate the data to the plane of the plot (linear or log x and y plane) in order to present the true variation of the data between tabulated points, based on the user specified interpolation law. Tabulated points should be tabulated at a sufficient number of x values to insure that the difference between the specified interpolation and the 'true' variation of a curve between tabulated values is relatively small. 3 - Restrictions on the complexity of the problem: A combination of up to 30 curves and sets of discrete points may appear on each plot. If the user wishes to use this program to compare different sets of data, all of the data must be in the same units

Even Middle Graders Can Learn with Manipulatives.

Science.gov (United States)

Holden, Linda

1987-01-01

Math manipulatives let students see the components of an abstract problem, help build a concrete language for talking about math concepts, and encourage students to gain confidence in their ability to figure things out. Many suggestions for using manipulatives in math instruction are offered. (MT)

Tools for Manipulation and Characterisation of Nanostructures

DEFF Research Database (Denmark)

Mølhave, Kristian; Bøggild, Peter

grippers, which were then successfully used for pick-and-place manipulation of silicon nanowires. For increased gripping force and control over the manipulation process, microfabricated grippers with integrated force-feedback were also demonstrated. Environmental electron beam deposition (EEBD...... components that are some 10000 times smaller....

Developing Novel Reservoir Rule Curves Using Seasonal Inflow Projections

Science.gov (United States)

Tseng, Hsin-yi; Tung, Ching-pin

2015-04-01

Due to significant seasonal rainfall variations, reservoirs and their flexible operational rules are indispensable to Taiwan. Furthermore, with the intensifying impacts of climate change on extreme climate, the frequency of droughts in Taiwan has been increasing in recent years. Drought is a creeping phenomenon, the slow onset character of drought makes it difficult to detect at an early stage, and causes delays on making the best decision of allocating water. For these reasons, novel reservoir rule curves using projected seasonal streamflow are proposed in this study, which can potentially reduce the adverse effects of drought. This study dedicated establishing new rule curves which consider both current available storage and anticipated monthly inflows with leading time of two months to reduce the risk of water shortage. The monthly inflows are projected based on the seasonal climate forecasts from Central Weather Bureau (CWB), which a weather generation model is used to produce daily weather data for the hydrological component of the GWLF. To incorporate future monthly inflow projections into rule curves, this study designs a decision flow index which is a linear combination of current available storage and inflow projections with leading time of 2 months. By optimizing linear relationship coefficients of decision flow index, the shape of rule curves and the percent of water supply in each zone, the best rule curves to decrease water shortage risk and impacts can be developed. The Shimen Reservoir in the northern Taiwan is used as a case study to demonstrate the proposed method. Existing rule curves (M5 curves) of Shimen Reservoir are compared with two cases of new rule curves, including hindcast simulations and historic seasonal forecasts. The results show new rule curves can decrease the total water shortage ratio, and in addition, it can also allocate shortage amount to preceding months to avoid extreme shortage events. Even though some uncertainties in

Development of the heavy manipulator vehicle system

International Nuclear Information System (INIS)

Herbst, C.; Paustian, P.; Kruger, W.

1993-01-01

After the severe reactor accident of Tschernobyl in 1986 MaK System started to develop a Heavy Manipulator Vehicle System under contract from German nuclear technology assistance company ''KHG'' (Kerntechnische Hilfsdienst GmbH). The system comprises a remote controlled manipulator vehicle, a mobile mission control stand as well as a transport/service unit. In order to fulfill the high demands of this complex system a couple of new developments had to be started. The paper describes some of these developments and gives an overview about the main features of the Heavy Manipulator Vehicle System (HMV). (author)

Completion of the Heysham 2 peripheral manipulator

International Nuclear Information System (INIS)

Shipp, R.; Ewen, R.O.

1996-01-01

The in-service inspection strategy for the AGR power station at Heysham 2 envisaged a suite of five manipulators to be used for inserting TRIUMPH television cameras into the reactor vessel. Prior to power raising, four of the five had been successfully commissioned and have been in regular use during the subsequent statutory outages. The final device, the Peripheral Manipulator (PM), was eventually completed prior to the 1994 outage and has been successfully deployed on reactor for both the 1994 and 1995 outages. The paper describes the design of the manipulator, its operation and scope of use in the Heysham 2 reactors. (Author)

Power curve of the AWEC-60 wind turbine

International Nuclear Information System (INIS)

Avia, F.

1992-01-01

The experimental wind turbine AWEC-60 was developed to evaluate the possibilities of the Large Wind turbines, from the technical and economical point of view. The project was developed by a spanish-german group, integrated by Union Fenosa, Asinel, M.A.N. Neue Technologie and the Instituto de Energias Renovables from CIEMAT, starting the operation during the year 1990. In this paper, the obtention of the wind turbine's power curve is presented, which has been obtained in agreement with the 'Recommended Practices for Wind Turbine Testing and Evaluation' from the Executive Committee for the Research and Development on Wind Energy, of the International Energy Agency (AIE). Using the functioning data of the wind turbine corresponding to the first quarter of the year 1991, the power curves have been obtained, and the results have been compared with the curves measured in other similar large windturbines. (author)

Power Curve of the AWEC-60 wind turbine

International Nuclear Information System (INIS)

Avia, F.

1992-01-01

The experimental wind turbine AWEC-60 was developed to evaluate the possibilities of the Large Wind turbines, from the technical and economical point of view. The project was developed by a spanish-german group, integrated by Union Fenosa, Asinel, M.A.N. Neue Technologie and the Instituto de Energias Renovables from CIEMAT, starting the operation during the year 1990. In this paper, the obtention of the wind turbine power curve is presented, which has been obtained in agreement with the Recommended Practices for Wind Turbine Testing and Evaluation from the Executive Committee for the Research and Development on Wind Energy, of the International Energy Agency (AIE). Using the functioning data of the wind turbine correspondig to the first quarter of the year 1991, the power curves have been obtained, and the results have been compared with the curves measured in other similar Large wind turbines. (Author) 7 refs

A digital joint controller for manipulators

International Nuclear Information System (INIS)

Holt, E.J.; Palmer, D.E.B.

1993-01-01

Nuclear Electric's hydraulic heavy duty manipulators are used at a number of Magnox Power Stations for a wide variety of tasks. In recent years there has been a trend towards the use of manipulators for tasks requiring increasing precision of tip positioning. In order to meet this requirement, a digital controller has been designed to replace the analogue controller board used in almost all manipulator control systems. The new controller allows the programming of a wide range of closed loop control algorithms. Position and drive signal data may be passed to and from the controller by digital means, allowing direct connection to a graphical display system and/or a computer executing a guidance algorithm. The hardware and software design are outlined and performance in the laboratory and the field is reported. (author)

Polymer micro-grippers with an integrated force sensor for biological manipulation

International Nuclear Information System (INIS)

Mackay, R E; Le, H R; Clark, S; Williams, J A

2013-01-01

The development of a novel micro-system integrating SU-8 polymer micro-grippers with a tensile force sensor for handling and characterizing the mechanical properties of delicate biological materials, such as fibrils, is presented. The micro-grippers are actuated by the electro-thermal effect and have gripping forces comparable to the common ‘hot-and-cold-arm’ grippers. A robust finite element model was developed to investigate system performance and validated experimentally. A new micro-mechanical calibration method using a piezoelectric manipulator with a micro-force measurement system was successfully applied to test the structure. Both FEA simulation and micro-mechanical testing results indicated that the system could fulfil the requirements for micro-object manipulation within a biological environment. (paper)

Comparing passive angle-torque curves recorded simultaneously with a load cell versus an isokinetic dynamometer during dorsiflexion stretch tolerance assessments.

Science.gov (United States)

Buckner, Samuel L; Jenkins, Nathaniel D M; Costa, Pablo B; Ryan, Eric D; Herda, Trent J; Cramer, Joel T

2015-05-01

The purpose of the present study was to compare the passive angle-torque curves and the passive stiffness (PS, N m °(-)(1)) values recorded simultaneously from a load cell versus an isokinetic dynamometer during dorsiflexion stretch tolerance assessments in vivo. Nine healthy men (mean ± SD age = 21.4 ± 1.6 years) completed stretch tolerance assessments on a custom-built apparatus where passive torque was measured simultaneously from an isokinetic dynamometer and a load cell. Passive torque values that corresponded with the last 10° of dorsiflexion, verified by surface electromyographic amplitude, were analyzed for each device (θ1, θ2, θ3, …, θ10). Passive torque values measured with the load cell were greater (p ≤ 0.05) than the dynamometer torque values for θ4 through θ10. There were more statistical differentiations among joint angles for passive torque measured by the load cell, and the load cell measured a greater (p ≤ 0.01) increase in passive torque and PS than the isokinetic dynamometer. These findings suggested that when examining the angle-torque curves from passive dorsiflexion stretch tolerance tests, a load cell placed under the distal end of the foot may be more sensitive than the torque recorded from an isokinetic dynamometer. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

Pre-nebular Light Curves of SNe I

Energy Technology Data Exchange (ETDEWEB)

Arnett, W. David [Steward Observatory, University of Arizona, 933 N. Cherry Avenue, Tucson, AZ 85721 (United States); Fryer, Christopher [Los Alamos National Laboratory, Los Alamos, NM (United States); Matheson, Thomas [National Optical Astronomy Observatory, Tucson, AZ (United States)

2017-09-01

We compare analytic predictions of supernova light curves with recent high-quality data from SN2011fe (Ia), KSN2011b (Ia), and the Palomar Transient Factory and the La Silla-QUEST variability survey (LSQ) (Ia). Because of the steady, fast cadence of observations, KSN2011b provides unique new information on SNe Ia: the smoothness of the light curve, which is consistent with significant large-scale mixing during the explosion, possibly due to 3D effects (e.g., Rayleigh–Taylor instabilities), and provides support for a slowly varying leakage (mean opacity). For a more complex light curve (SN2008D, SN Ib), we separate the luminosity due to multiple causes and indicate the possibility of a radioactive plume. The early rise in luminosity is shown to be affected by the opacity (leakage rate) for thermal and non-thermal radiation. A general derivation of Arnett’s rule again shows that it depends upon all processes heating the plasma, not just radioactive ones, so that SNe Ia will differ from SNe Ibc if the latter have multiple heating processes.

The thermoluminescent curve as parameter to compare archaeological ceramics; La curva termoluminiscente como parametro para comparar ceramica arqueologica

Energy Technology Data Exchange (ETDEWEB)

Dominguez R, I.R.; Ramirez C, G.A. [Centro INAH Estado de Mexico. Morelos Ote. 502, Col. San Sebastian, 50090 Toluca, Estado de Mexico (Mexico); Gonzalez M, P.R.; Mendoza A, D. [lNIN, Carr. Mexico-Toluca S/N, La Marquesa, 52750 Ocoyoacac, Estado de Mexico (Mexico); Martinez C, G. [Coordinacion Nacional de Conservacion del Patrimonio Cultural, INAH, Mexico D.F. (Mexico)

2006-07-01

Most mineral materials, including the constituents of pottery, have the property of thermoluminescence (TL), where part of the energy from radioactive decay in the mineral is stored and later released as light upon strong heating. The intensity of emitted light as a function of temperature is the thermoluminescence glow curve. However, it is well-know the thermoluminescence glow curve form depends of several factors associates with the incident radiation and type of materials. Between the factors associated with the materials, it can be mentioned the quantity and type of crystalline phases, and quantity and type of impurities that they could be present in the material. That is to say, materials with different physicochemical characteristics will produce different thermoluminescence glow curve, although, they have been irradiated under the same conditions. In accordance with the above mentioned, it is possible to identified differences between pre hispanic ceramic belonging to a same site and other sites. In this work a discussion about advantages and disadvantages is presented. Some specific examples in ceramic artifacts belonging to the Matlatzinca and Teotihuacan cultures are included. (Author)

Manipulator techniques and problems of their application in primary circuit maintenance

International Nuclear Information System (INIS)

Kertscher, F.; Popp, P.

1985-01-01

The fundamental structure and specifications of manipulators (in particular of industrial robots) are presented in order to derive the application conditions and fields for manipulators in primary circuit maintenance. The necessity of applying process-specific manipulator technique in the primary circuit maintenance is based on nuclear safety requirements and on decreasing of the radiation exposure of maintenance personnel. Synchronous manipulators and industrial robots are the types of manipulators used in materials testing, repairing and scrapping. The technical requirements of manipulators are discussed

A universal microscope manipulator

Directory of Open Access Journals (Sweden)

Peter S. Boyadzhiev

2012-03-01

Full Text Available A modified and improved model of a mechanical manipulator for observation of pinned and mounted insects is described. This device allows movement of the observed object around three perpendicular axes in the field of vision at all magnifications of stereomicroscopes. The main improvement of this new model is positioning of the guiding knobs for rotating around two of the axes next to each other, allowing faster and easier manipulation of the studied object. Thus, one of the main advantages of this device is the possibility to rotate the specimen without the need to refocus. The device enables easily reaching a precession deviation in the intersection point of axes up to 0.5 mm in the process of assembling.

Optoelectronic Tweezers for Microparticle and Cell Manipulation

Science.gov (United States)

Wu, Ming Chiang (Inventor); Chiou, Pei-Yu (Inventor); Ohta, Aaron T. (Inventor)

2014-01-01

An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 micromillimeters or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or group of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

The Effects on Students' Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives within a Physical Manipulatives-Oriented Curriculum

Science.gov (United States)

Zacharia, Zacharias C.; de Jong, Ton

2014-01-01

This study investigates whether Virtual Manipulatives (VM) within a Physical Manipulatives (PM)-oriented curriculum affect conceptual understanding of electric circuits and related experimentation processes. A pre-post comparison study randomly assigned 194 undergraduates in an introductory physics course to one of five conditions: three…

Manipulating Combinatorial Structures.

Science.gov (United States)

Labelle, Gilbert

This set of transparencies shows how the manipulation of combinatorial structures in the context of modern combinatorics can easily lead to interesting teaching and learning activities at every level of education from elementary school to university. The transparencies describe: (1) the importance and relations of combinatorics to science and…

Signature Curves Statistics of DNA Supercoils

OpenAIRE

Shakiban, Cheri; Lloyd, Peter

2004-01-01

In this paper we describe the Euclidean signature curves for two dimensional closed curves in the plane and their generalization to closed space curves. The focus will be on discrete numerical methods for approximating such curves. Further we will apply these numerical methods to plot the signature curves related to three-dimensional simulated DNA supercoils. Our primary focus will be on statistical analysis of the data generated for the signature curves of the supercoils. We will try to esta...

Method of construction spatial transition curve

Directory of Open Access Journals (Sweden)

S.V. Didanov

2013-04-01

Full Text Available Purpose. The movement of rail transport (speed rolling stock, traffic safety, etc. is largely dependent on the quality of the track. In this case, a special role is the transition curve, which ensures smooth insertion of the transition from linear to circular section of road. The article deals with modeling of spatial transition curve based on the parabolic distribution of the curvature and torsion. This is a continuation of research conducted by the authors regarding the spatial modeling of curved contours. Methodology. Construction of the spatial transition curve is numerical methods for solving nonlinear integral equations, where the initial data are taken coordinate the starting and ending points of the curve of the future, and the inclination of the tangent and the deviation of the curve from the tangent plane at these points. System solutions for the numerical method are the partial derivatives of the equations of the unknown parameters of the law of change of torsion and length of the transition curve. Findings. The parametric equations of the spatial transition curve are calculated by finding the unknown coefficients of the parabolic distribution of the curvature and torsion, as well as the spatial length of the transition curve. Originality. A method for constructing the spatial transition curve is devised, and based on this software geometric modeling spatial transition curves of railway track with specified deviations of the curve from the tangent plane. Practical value. The resulting curve can be applied in any sector of the economy, where it is necessary to ensure a smooth transition from linear to circular section of the curved space bypass. An example is the transition curve in the construction of the railway line, road, pipe, profile, flat section of the working blades of the turbine and compressor, the ship, plane, car, etc.

Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator

Directory of Open Access Journals (Sweden)

Yong-Lin Kuo

2014-01-01

Full Text Available This paper implements the model predictive control to fulfill the position control of a 3-DOF 3-RRR planar parallel manipulator. The research work covers experimental and numerical studies. First, an experimental hardware-in-the-loop system to control the manipulator is constructed. The manipulator is driven by three DC motors, and each motor has an encoder to measure the rotating angles of the motors. The entire system is designed as a semiclosed-loop control system. The controller receives the encoder signals as inputs to produce signals driving the motors. Secondly, the motor parameters are obtained by system identification, and the controllers are designed based on these parameters. Finally, the numerical simulations are performed by incorporating the manipulator kinematics and the motor dynamics; the results are compared with those from the experiments. Both results show that they are in good agreement at steady state. There are two main contributions in this paper. One is the application of the model predictive control to the planar parallel manipulator, and the other one is to overcome the effects of the uncertainties of the DC motors and the performance of the position control due to the dynamic behavior of the manipulator.

Manipulation of Biofilm Microbial Ecology

Energy Technology Data Exchange (ETDEWEB)

White, D.C.; Palmer, R.J., Jr.; Zinn, M.; Smith, C.A.; Burkhalter, R.; Macnaughton, S.J.; Whitaker, K.W.; Kirkegaard, R.D.

1998-08-15

The biofilm mode of growth provides such significant advantages to the members of the consortium that most organisms in important habitats are found in biofilms. The study of factors that allow manipulation of biofilm microbes in the biofilm growth state requires that reproducible biofilms be generated. The most effective monitoring of biofilm formation, succession and desaturation is with on-line monitoring of microbial biofilms with flowcell for direct observation. The biofilm growth state incorporates a second important factor, the heterogeneity in distribution in time and space of the component members of the biofilm consortium. This heterogeneity is reflected not only in the cellular distribution but in the metabolic activity within a population of cells. Activity and cellular distribution can be mapped in four dimensions with confocal microscopy, and function can be ascertained by genetically manipulated reporter functions for specific genes or by vital stains. The methodology for understanding the microbial ecology of biofilms is now much more readily available and the capacity to manipulate biofilms is becoming an important feature of biotechnology.

Manipulation Robustness of Collaborative Filtering Systems

OpenAIRE

Benjamin Van Roy; Xiang Yan

2009-01-01

A collaborative filtering system recommends to users products that similar users like. Collaborative filtering systems influence purchase decisions, and hence have become targets of manipulation by unscrupulous vendors. We provide theoretical and empirical results demonstrating that while common nearest neighbor algorithms, which are widely used in commercial systems, can be highly susceptible to manipulation, two classes of collaborative filtering algorithms which we refer to as linear and a...

Remote Decontamination Facility and Repair Station for hot-cell manipulators

International Nuclear Information System (INIS)

Ryz, M.A.

1977-01-01

Increasingly high radiation levels on manipulators at the Whiteshell Nuclear Research Establishment, Pinawa, Manitoba, Canada, necessitated design and construction of a Remote Decontamination Facility and Repair Station. This facility reduces radiation levels on manipulators by an order of magnitude over previous hand decontamination techniques. The reduced radiation levels have allowed superior manipulator repair and maintenance, resulting in 50% fewer manipulator breakdowns

Photoelectic BV Light Curves of Algol and the Interpretations of the Light Curves

Directory of Open Access Journals (Sweden)

Ho-Il Kim

1985-06-01

Full Text Available Standardized B and V photoelectric light curves of Algol are made with the observations obtained during 1982-84 with the 40-cm and the 61-cm reflectors of Yonsei University Observatory. These light curves show asymmetry between ascending and descending shoulders. The ascending shoulder is 0.02 mag brighter than descending shoulder in V light curve and 0.03 mag in B light curve. These asymmetric light curves are interpreted as the result of inhomogeneous energy distribution on the surface of one star of the eclipsing pair rather than the result of gaseous stream flowing from KOIV to B8V star. The 180-year periodicity, so called great inequality, are most likely the result proposed by Kim et al. (1983 that the abrupt and discrete mass losses of cooler component may be the cause of this orbital change. The amount of mass loss deduced from these discrete period changes turned out to be of the order of 10^(-6 - 10^(-5 Msolar.

Experimental and simulated beam-foil decay curves for some transitions in Zn II

International Nuclear Information System (INIS)

Hultberg, S.; Liljeby, L.; Mannervik, S.; Veje, E.; Lindgaard, A.

1980-01-01

Experimental beam-foil decay curves for the 4s-4p, 4p-4d, 4d-4f, and the 4p-5s transitions in Zn II are compared to decay curves synthesized from transition probabilities calculated in the numerical Coulomb approximation and either measured initial level populations or population models. Good agreement exists between experimental curves and those based on the measured initial level populations for the 5s, 4d, and 4f levels while certain deviations are noted for the 4p term. None of the applied population models reproduce all experimental curves satisfyingly well. In addition, lifetimes are determined experimentally for 7 terms in Zn II, and good agreement with the numerical Coulomb approximation lifetimes is generally found except for some p terms. Beam-foil excitation-mechanism results for zinc are presented and compared to previous results from light projectiles. (Auth.)

A Journey Between Two Curves

Directory of Open Access Journals (Sweden)

Sergey A. Cherkis

2007-03-01

Full Text Available A typical solution of an integrable system is described in terms of a holomorphic curve and a line bundle over it. The curve provides the action variables while the time evolution is a linear flow on the curve's Jacobian. Even though the system of Nahm equations is closely related to the Hitchin system, the curves appearing in these two cases have very different nature. The former can be described in terms of some classical scattering problem while the latter provides a solution to some Seiberg-Witten gauge theory. This note identifies the setup in which one can formulate the question of relating the two curves.

A new approach to adaptive control of manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Manipulator for rotating and translating a sample holder

Science.gov (United States)

van de Water, Jeroen [Breugel, NL; van den Oetelaar, Johannes [Eindhoven, NL; Wagner, Raymond [Gorinchem, NL; Slingerland, Hendrik Nicolaas [Venlo, NL; Bruggers, Jan Willem [Eindhoven, NL; Ottevanger, Adriaan Huibert Dirk [Malden, NL; Schmid, Andreas [Berkeley, CA; Olson, Eric A [Champaign, IL; Petrov, Ivan G [Champaign, IL; Donchev, Todor I [Urbana, IL; Duden, Thomas [Kensington, CA

2011-02-08

A manipulator for use in e.g. a Transmission Electron Microscope (TEM) is described, said manipulator capable of rotating and translating a sample holder (4). The manipulator clasps the round sample holder between two members (3A, 3B), said members mounted on actuators (2A, 2B). Moving the actuators in the same direction results in a translation of the sample holder, while moving the actuators in opposite directions results in a rotation of the sample holder.

Machine Learnig for Robotic Manipulation in cluttered environments

OpenAIRE

Alet Puig, Ferran

2016-01-01

In this thesis we focus on designing the planner for MIT s entry in the Amazon Picking Challenge, a robotic competition aiming at pushing the frontiers of manipulation until robots can substitute human pickers in warehouses. Given a set of manipulation primitives (such as grasping, suction, scooping, placing or pushing) we designed a system capable of learning a planner from a set of manipulation experiments. After learning, given any configuration of objects, the planner can come up with the...

Innovation & evaluation of tangible direct manipulation digital drawing pens for children.

Science.gov (United States)

Lee, Tai-Hua; Wu, Fong-Gong; Chen, Huei-Tsz

2017-04-01

Focusing on the theme of direct manipulation, in this study, we proposed a new and innovative tangible user interface (TUI) design concept for a manipulative digital drawing pen. Based on interviews with focus groups brainstorming and experts and the results of a field survey, we selected the most suitable tangible user interface for children between 4 and 7 years of age. Using the new tangible user interface, children could choose between the brush tools after touching and feeling the various patterns. The thickness of the brush could be adjusted by changing the tilt angle. In a subsequent experimental process we compared the differences in performance and subjective user satisfaction. A total of sixteen children, aged 4-7 years participated in the experiment. Two operating system experiments (the new designed tangible digital drawing pen and traditional visual interface-icon-clicking digital drawing pens) were performed at random and in turns. We assessed their manipulation performance, accuracy, brush stroke richness and subjective evaluations. During the experimental process we found that operating functions using the direct manipulation method, and adding shapes and semantic models to explain the purpose of each function, enabled the children to perform stroke switches relatively smoothly. By using direct manipulation digital pens, the children could improve their stroke-switching performance for digital drawing. Additionally, by using various patterns to represent different brushes or tools, the children were able to make selections using their sense of touch, thereby reducing the time required to move along the drawing pens and select icons (The significant differences (p = 0.000, p drawing thick lines using the crayon function of the two (new and old) drawing pens (new 5.8750 drawing operations enhanced the drawing results, thereby increasing the children's enjoyment of drawing with tangible digital drawing pens. Copyright © 2016 Elsevier Ltd. All

Influence of horizontally curved roadway section characteristics on motorcycle-to-barrier crash frequency.

Science.gov (United States)

Gabauer, Douglas J; Li, Xiaolong

2015-04-01

The purpose of this study was to investigate motorcycle-to-barrier crash frequency on horizontally curved roadway sections in Washington State using police-reported crash data linked with roadway data and augmented with barrier presence information. Data included 4915 horizontal curved roadway sections with 252 of these sections experiencing 329 motorcycle-to-barrier crashes between 2002 and 2011. Negative binomial regression was used to predict motorcycle-to-barrier crash frequency using horizontal curvature and other roadway characteristics. Based on the model results, the strongest predictor of crash frequency was found to be curve radius. This supports a motorcycle-to-barrier crash countermeasure placement criterion based, at the very least, on horizontal curve radius. With respect to the existing horizontal curve criterion of 820 feet or less, curves meeting this criterion were found to increase motorcycle-to-barrier crash frequency rate by a factor of 10 compared to curves not meeting this criterion. Other statistically significant predictors were curve length, traffic volume and the location of adjacent curves. Assuming curves of identical radius, the model results suggest that longer curves, those with higher traffic volume, and those that have no adjacent curved sections within 300 feet of either curve end would likely be better candidates for a motorcycle-to-barrier crash countermeasure. Copyright © 2015 Elsevier Ltd. All rights reserved.

Bond yield curve construction

Directory of Open Access Journals (Sweden)

Kožul Nataša

2014-01-01

Full Text Available In the broadest sense, yield curve indicates the market's view of the evolution of interest rates over time. However, given that cost of borrowing it closely linked to creditworthiness (ability to repay, different yield curves will apply to different currencies, market sectors, or even individual issuers. As government borrowing is indicative of interest rate levels available to other market players in a particular country, and considering that bond issuance still remains the dominant form of sovereign debt, this paper describes yield curve construction using bonds. The relationship between zero-coupon yield, par yield and yield to maturity is given and their usage in determining curve discount factors is described. Their usage in deriving forward rates and pricing related derivative instruments is also discussed.

Serial position curves in free recall.

Science.gov (United States)

Laming, Donald

2010-01-01

The scenario for free recall set out in Laming (2009) is developed to provide models for the serial position curves from 5 selected sets of data, for final free recall, and for multitrial free recall. The 5 sets of data reflect the effects of rate of presentation, length of list, delay of recall, and suppression of rehearsal. Each model accommodates the serial position curve for first recalls (where those data are available) as well as that for total recalls. Both curves are fit with the same parameter values, as also (with 1 exception) are all of the conditions compared within each experiment. The distributions of numbers of recalls are also examined and shown to have variances increased above what would be expected if successive recalls were independent. This is taken to signify that, in those experiments in which rehearsals were not recorded, the retrieval of words for possible recall follows the same pattern that is observed following overt rehearsal, namely, that retrieval consists of runs of consecutive elements from memory. Finally, 2 sets of data are examined that the present approach cannot accommodate. It is argued that the problem with these data derives from an interaction between the patterns of (covert) rehearsal and the parameters of list presentation.

Nonlinear Dynamics of Controlled Synchronizations of Manipulator System

Directory of Open Access Journals (Sweden)

Qingkai Han

2014-01-01

Full Text Available The nonlinear dynamics of the manipulator system which is controlled to achieve the synchronization motions is investigated in the paper. Firstly, the control strategies and modeling approaches of the manipulator system are given, in which the synchronization goal is defined by both synchronization errors and its derivatives. The synchronization controllers applied on the manipulator system include neuron synchronization controller, improved OPCL synchronization controller, and MRAC-PD synchronization controller. Then, an improved adaptive synchronized control strategy is proposed in order to estimate online the unknown structure parameters and state variables of the manipulator system and to realize the needed synchronous compensation. Furthermore, a robust adaptive synchronization controller is also researched to guarantee the dynamic stability of the system. Finally, the stability of motion synchronizations of the manipulator system possessing nonlinear component is discussed, together with the effect of control parameters and joint friction and others. Some typical motions such as motion bifurcations and the loss of synchronization of it are obtained and illustrated as periodic, multiperiodic, and/or chaotic motion patterns.

Curve Digitizer – A software for multiple curves digitizing

Directory of Open Access Journals (Sweden)

Florentin ŞPERLEA

2010-06-01

Full Text Available The Curve Digitizer is software that extracts data from an image file representing a graphicand returns them as pairs of numbers which can then be used for further analysis and applications.Numbers can be read on a computer screen stored in files or copied on paper. The final result is adata set that can be used with other tools such as MSEXCEL. Curve Digitizer provides a useful toolfor any researcher or engineer interested in quantifying the data displayed graphically. The image filecan be obtained by scanning a document

Particle manipulation techniques in AEgIS

Energy Technology Data Exchange (ETDEWEB)

Canali, C., E-mail: canali@ge.infn.it; Carraro, C.; Di Noto, L.; Krasnicky, D.; Lagomarsino, V.; Testera, G.; Zavatarelli, S. [Istituto Nazionale Fisica Nucleare Sez. Genova (Italy)

2011-07-15

The AEgIS experiment (http://aegis.web.cern.chhttp://aegis.web.cern.ch) will measure the gravitational acceleration g of antihydrogen. Once performed this could be the first direct test of the gravitational interaction between matter and antimatter. In the AEgIS experiment a beam of antihydrogen will travel horizontally along a path of about 1 m trough a moire deflectometer followed by a position sensitive detector. The g value will be obtained measuring the vertical displacement of the annihilation patterns. Before producing the beam, several tasks have to be performed mainly involving positron and electron plasma manipulation and particles cooling in Malmberg-Penning traps. The AEgIS experiment is currently under construction at CERN, meanwhile several tests involving particle manipulation and particle cooling are in progress. In this report some experimental results involving diocotron manipulation of plasma will be presented.

Design of airborne imaging spectrometer based on curved prism

Science.gov (United States)

Nie, Yunfeng; Xiangli, Bin; Zhou, Jinsong; Wei, Xiaoxiao

2011-11-01

A novel moderate-resolution imaging spectrometer spreading from visible wavelength to near infrared wavelength range with a spectral resolution of 10 nm, which combines curved prisms with the Offner configuration, is introduced. Compared to conventional imaging spectrometers based on dispersive prism or diffractive grating, this design possesses characteristics of small size, compact structure, low mass as well as little spectral line curve (smile) and spectral band curve (keystone or frown). Besides, the usage of compound curved prisms with two or more different materials can greatly reduce the nonlinearity inevitably brought by prismatic dispersion. The utilization ratio of light radiation is much higher than imaging spectrometer of the same type based on combination of diffractive grating and concentric optics. In this paper, the Seidel aberration theory of curved prism and the optical principles of Offner configuration are illuminated firstly. Then the optical design layout of the spectrometer is presented, and the performance evaluation of this design, including spot diagram and MTF, is analyzed. To step further, several types of telescope matching this system are provided. This work provides an innovational perspective upon optical system design of airborne spectral imagers; therefore, it can offer theoretic guide for imaging spectrometer of the same kind.

Peak oil analyzed with a logistic function and idealized Hubbert curve

International Nuclear Information System (INIS)

Gallagher, Brian

2011-01-01

A logistic function is used to characterize peak and ultimate production of global crude oil and petroleum-derived liquid fuels. Annual oil production data were incrementally summed to construct a logistic curve in its initial phase. Using a curve-fitting approach, a population-growth logistic function was applied to complete the cumulative production curve. The simulated curve was then deconstructed into a set of annual oil production data producing an 'idealized' Hubbert curve. An idealized Hubbert curve (IHC) is defined as having properties of production data resulting from a constant growth-rate under fixed resource limits. An IHC represents a potential production curve constructed from cumulative production data and provides a new perspective for estimating peak production periods and remaining resources. The IHC model data show that idealized peak oil production occurred in 2009 at 83.2 Mb/d (30.4 Gb/y). IHC simulations of truncated historical oil production data produced similar results and indicate that this methodology can be useful as a prediction tool. - Research Highlights: →Global oil production data were analyzed by a simple curve fitting method. →Best fit-curve results were obtained using two logistic functions on select data. →A broad potential oil production peak is forecast for the years from 2004 to 2014. →Similar results were obtained using historical data from about 10 to 30 years ago. →Two potential oil production decline scenarios were presented and compared.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

Energy Technology Data Exchange (ETDEWEB)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

International Nuclear Information System (INIS)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon

2016-01-01

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control

The application of manipulator robot for nuclear power plant maintenance

International Nuclear Information System (INIS)

Fujita, Jun; Onishi, Ken

2009-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. In light of manufacture period, cost and reliability, various maintenance works are requested to be done by one robot. As one of the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. The manipulator technologies in this study are able to apply to robotization needed under radiation environment. (author)

Manipulator vehicles and loading shovels

International Nuclear Information System (INIS)

Brudermueller, G.; Krueger, W.

1992-01-01

Kerntechnische Hilfsdienst GmbH (KHG) is an institution jointly founded by electricity utilities, fuel cycle industries, and national research centers to provide specialist equipment for removing the consequences of accidents inside plants and recognizing damage in the immediate vicinity of such plants, maintain such equipment in an operational condition, and provide personnel instructed in work of this kind. The specialized technical equipment developed includes carriages, carrier vehicles for manipulators, grabs, TV cameras or measuring gear. In addition to manipulator vehicles, especially loading shovels are used. Radio-controlled vehicles are used where cable operation is either not reliable enough or has failed. (orig.) [de

Modelling precipitation extremes in the Czech Republic: update of intensity–duration–frequency curves

Directory of Open Access Journals (Sweden)

Michal Fusek

2016-11-01

Full Text Available Precipitation records from six stations of the Czech Hydrometeorological Institute were subject to statistical analysis with the objectives of updating the intensity–duration–frequency (IDF curves, by applying extreme value distributions, and comparing the updated curves against those produced by an empirical procedure in 1958. Another objective was to investigate differences between both sets of curves, which could be explained by such factors as different measuring instruments, measuring stations altitudes and data analysis methods. It has been shown that the differences between the two sets of IDF curves are significantly influenced by the chosen method of data analysis.

Application of model based control to robotic manipulators

Science.gov (United States)

Petrosky, Lyman J.; Oppenheim, Irving J.

1988-01-01

A robot that can duplicate humam motion capabilities in such activities as balancing, reaching, lifting, and moving has been built and tested. These capabilities are achieved through the use of real time Model-Based Control (MBC) techniques which have recently been demonstrated. MBC accounts for all manipulator inertial forces and provides stable manipulator motion control even at high speeds. To effectively demonstrate the unique capabilities of MBC, an experimental robotic manipulator was constructed, which stands upright, balancing on a two wheel base. The mathematical modeling of dynamics inherent in MBC permit the control system to perform functions that are impossible with conventional non-model based methods. These capabilities include: (1) Stable control at all speeds of operation; (2) Operations requiring dynamic stability such as balancing; (3) Detection and monitoring of applied forces without the use of load sensors; (4) Manipulator safing via detection of abnormal loads. The full potential of MBC has yet to be realized. The experiments performed for this research are only an indication of the potential applications. MBC has no inherent stability limitations and its range of applicability is limited only by the attainable sampling rate, modeling accuracy, and sensor resolution. Manipulators could be designed to operate at the highest speed mechanically attainable without being limited by control inadequacies. Manipulators capable of operating many times faster than current machines would certainly increase productivity for many tasks.

Dynamics three-tier hydraulic crane-manipulators

OpenAIRE

Lagerev I.A.; Lagerev A.V.

2018-01-01

The methods and generalized recommendations for modeling dynamic loading of load-bearing elements of steel structures of three-tier hydraulic cranes-manipulators are considered. Mathematical models have been developed to study the dynamics of moving elements of the crane-manipulator, the movement of the load-lifting machine on a stochastic uneven surface with a suspended load. The presented approaches can be used to calculate other types of jib cranes equipped with hydraulic drive.

Counterweight system for master-slave manipulator

International Nuclear Information System (INIS)

Haaker, L.W.; Jelatis, D.G.

1981-01-01

A counterweight system is described for use in a remote control master-slave manipulator. The manipulator consists of a rotatable horizontal support adapted to extend through the wall and two longitudinally extensible arms, a master and a slave, pivotally connected one to each end of the support. Within the support there is a means of translating linear motion to rotary motion for transfer through the barrier wall and retranslating to linear motion. (U.K.)

Test for the statistical significance of differences between ROC curves

International Nuclear Information System (INIS)

Metz, C.E.; Kronman, H.B.

1979-01-01

A test for the statistical significance of observed differences between two measured Receiver Operating Characteristic (ROC) curves has been designed and evaluated. The set of observer response data for each ROC curve is assumed to be independent and to arise from a ROC curve having a form which, in the absence of statistical fluctuations in the response data, graphs as a straight line on double normal-deviate axes. To test the significance of an apparent difference between two measured ROC curves, maximum likelihood estimates of the two parameters of each curve and the associated parameter variances and covariance are calculated from the corresponding set of observer response data. An approximate Chi-square statistic with two degrees of freedom is then constructed from the differences between the parameters estimated for each ROC curve and from the variances and covariances of these estimates. This statistic is known to be truly Chi-square distributed only in the limit of large numbers of trials in the observer performance experiments. Performance of the statistic for data arising from a limited number of experimental trials was evaluated. Independent sets of rating scale data arising from the same underlying ROC curve were paired, and the fraction of differences found (falsely) significant was compared to the significance level, α, used with the test. Although test performance was found to be somewhat dependent on both the number of trials in the data and the position of the underlying ROC curve in the ROC space, the results for various significance levels showed the test to be reliable under practical experimental conditions

Using spatial uncertainty to manipulate the size of the attention focus.

Science.gov (United States)

Huang, Dan; Xue, Linyan; Wang, Xin; Chen, Yao

2016-09-01

Preferentially processing behaviorally relevant information is vital for primate survival. In visuospatial attention studies, manipulating the spatial extent of attention focus is an important question. Although many studies have claimed to successfully adjust attention field size by either varying the uncertainty about the target location (spatial uncertainty) or adjusting the size of the cue orienting the attention focus, no systematic studies have assessed and compared the effectiveness of these methods. We used a multiple cue paradigm with 2.5° and 7.5° rings centered around a target position to measure the cue size effect, while the spatial uncertainty levels were manipulated by changing the number of cueing positions. We found that spatial uncertainty had a significant impact on reaction time during target detection, while the cue size effect was less robust. We also carefully varied the spatial scope of potential target locations within a small or large region and found that this amount of variation in spatial uncertainty can also significantly influence target detection speed. Our results indicate that adjusting spatial uncertainty is more effective than varying cue size when manipulating attention field size.

Wind turbine performance: Methods and criteria for reliability of measured power curves

Energy Technology Data Exchange (ETDEWEB)

Griffin, D.A. [Advanced Wind Turbines Inc., Seattle, WA (United States)

1996-12-31

In order to evaluate the performance of prototype turbines, and to quantify incremental changes in performance through field testing, Advanced Wind Turbines (AWT) has been developing methods and requirements for power curve measurement. In this paper, field test data is used to illustrate several issues and trends which have resulted from this work. Averaging and binning processes, data hours per wind-speed bin, wind turbulence levels, and anemometry methods are all shown to have significant impacts on the resulting power curves. Criteria are given by which the AWT power curves show a high degree of repeatability, and these criteria are compared and contrasted with current published standards for power curve measurement. 6 refs., 5 figs., 5 tabs.

Techniques applied in design optimization of parallel manipulators

CSIR Research Space (South Africa)

Modungwa, D

2011-11-01

Full Text Available the desired dexterous workspace " Robot.Comput.Integrated Manuf., vol. 23, pp. 38 - 46, 2007. [12] A.P. Murray, F. Pierrot, P. Dauchez and J.M. McCarthy, "A planar quaternion approach to the kinematic synthesis of a parallel manipulator " Robotica, vol... design of a three translational DoFs parallel manipulator " Robotica, vol. 24, pp. 239, 2005. [15] J. Angeles, "The robust design of parallel manipulators," in 1st Int. Colloquium, Collaborative Research Centre 562, 2002. [16] S. Bhattacharya, H...

Evidence of market manipulation in the financial crisis

OpenAIRE

Vedant Misra; Marco Lagi; Yaneer Bar-Yam

2011-01-01

We provide direct evidence of market manipulation at the beginning of the financial crisis in November 2007. The type of manipulation, a "bear raid," would have been prevented by a regulation that was repealed by the Securities and Exchange Commission in July 2007. The regulation, the uptick rule, was designed to prevent manipulation and promote stability and was in force from 1938 as a key part of the government response to the 1929 market crash and its aftermath. On November 1, 2007, Citigr...

Manipulating Tournaments in Cup and Round Robin Competitions