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Sample records for cucumber picking robot

  1. Robust Sliding Mode Control of Cucumber Picking Robot Based on the Upper Bound Estimation

    Directory of Open Access Journals (Sweden)

    Wei Liu

    2015-02-01

    Full Text Available In this study, a robust sliding mode control based on upper bound estimation was applied in position trajectory control of the fruit harvesting robot. It decomposes the manipulator dynamics equation into a constant unknown vector parameter and a known dynamic nonlinear (called the regression vector. This study based on regression design new sliding mode control law. The algorithm ensures the stability of the closed-loop system upper based on unknown upper bound estimation parameters. It shows from robustness analysis that when the system has the time-varying uncertainty, the closed loop system can still be stabilized.

  2. An autonomous robot for harvesting cucumbers in greenhouses

    NARCIS (Netherlands)

    Henten, van E.J.; Hemming, J.; Tuijl, van B.A.J.; Kornet, J.G.; Meuleman, J.; Bontsema, J.; Os, van E.A.

    2002-01-01

    This paper describes the concept of an autonomous robot for harvesting cucumbers in greenhouses. A description is given of the working environment of the robot and the logistics of harvesting. It is stated that for a 2 ha Dutch nursery, 4 harvesting robots and one docking station are needed during t

  3. An autonomous robot for harvesting cucumbers in greenhouses

    NARCIS (Netherlands)

    Henten, van E.J.; Hemming, J.; Tuijl, van B.A.J.; Kornet, J.G.; Meuleman, J.; Bontsema, J.; Os, van E.A.

    2002-01-01

    This paper describes the concept of an autonomous robot for harvesting cucumbers in greenhouses. A description is given of the working environment of the robot and the logistics of harvesting. It is stated that for a 2 ha Dutch nursery, 4 harvesting robots and one docking station are needed during t

  4. The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research

    OpenAIRE

    Leitner, Jürgen; Tow, Adam W.; Dean, Jake E.; Suenderhauf, Niko; Durham, Joseph W.; Cooper, Matthew; Eich, Markus; Lehnert, Christopher; Mangels, Ruben; McCool, Christopher; Kujala, Peter; Nicholson, Lachlan; Van Pham, Trung; Sergeant, James; Wu, Liao

    2016-01-01

    Robotic challenges like the Amazon Picking Challenge (APC) or the DARPA Challenges are an established and important way to drive scientific progress. They make research comparable on a well-defined benchmark with equal test conditions for all participants. However, such challenge events occur only occasionally, are limited to a small number of contestants, and the test conditions are very difficult to replicate after the main event. We present a new physical benchmark challenge for robotic pi...

  5. Robotic vision system for random bin picking with dual-arm robots

    Directory of Open Access Journals (Sweden)

    Kang Sangseung

    2016-01-01

    Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

  6. Vision guided robot bin picking of cylindrical objects

    DEFF Research Database (Denmark)

    Christensen, Georg Kronborg; Dyhr-Nielsen, Carsten

    1997-01-01

    In order to achieve increased flexibility on robotic production lines an investigation of the rovbot bin-picking problem is presented. In the paper, the limitations related to previous attempts to solve the problem are pointed uot and a set of innovative methods are presented. The main elements h...

  7. Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios

    DEFF Research Database (Denmark)

    Andersen, Rasmus S.; Nalpantidis, Lazaros; Krüger, Volker

    2014-01-01

    objects on tabletops and pick them up in a user-specified manner. The programming itself is primarily done through kinesthetic teaching. We show that the skill has robustness towards the location and shape of the object to pick, and that objects from a real industrial production line can be handled. Also......Traditional robots used in manufacturing are very efficient for solving specific tasks that are repeated many times. The robots are, however, difficult to (re-)configure and (re-)program. This can often only be done by expert robotic programmers, computer vision experts, etc., and it requires...... additionally lots of time. In this paper we present and use a skill based framework for robotic programming. In this framework, we develop a flexible pick skill, that can easily be reprogrammed to solve new specific tasks, even by non-experts. Using the pick skill, a robot can detect rotational symmetric...

  8. Integrating Soft Robotics with the Robot Operating System: A Hybrid Pick and Place Arm

    Directory of Open Access Journals (Sweden)

    Ross M. McKenzie

    2017-08-01

    Full Text Available Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the grasping of irregular and delicate objects. Adoption of soft robotics by the informatics community and industry, however, has been slow and this is, in-part, due to the amount of hardware and software that must be developed from scratch for each use of soft system components. In this paper, we detail the design, fabrication, and validation of an open-source framework that we designed to lower the barrier to entry for integrating soft robotic subsystems. This framework is built on the robot operating system (ROS, and we use it to demonstrate a modular, soft–hard hybrid system, which is capable of completing pick and place tasks. By lowering this barrier to entry through our open sourced hardware and software, we hope that system designers and Informatics researchers will find it easy to integrate soft components into their existing ROS-enabled robotic systems.

  9. Manipulator adaptive control by neural networks in an orange picking robot.

    Science.gov (United States)

    Cavalieri, S; Plebe, A

    1996-12-01

    The paper focuses on the use of neural networks for process identification in an orange-picking robot adaptive control system. The results that will be shown in the paper refer to a study carried out under the European Community ESPRIT project "CONNY", dealing with the application of neural networks to robotics. The aim of the research is to verify the possibility of integrating a neural identification module in a traditional system to control the movement of the manipulators of the robot. The paper illustrates integration of neural identification in the existing orange-picking robot control system, highlighting the improvement of performance obtainable. Although the proposal refers to a specific robot, it can be applied to any system with the same dynamic features.

  10. An autonomous robot for de-leafing cucumber plants in a high-wire cultivation system

    NARCIS (Netherlands)

    Henten, van E.J.; Tuijl, van B.A.J.; Hoogakker, G.J.; Weerd, van der M.J.; Hemming, J.; Kornet, J.G.; Bontsema, J.

    2005-01-01

    The paper presents an autonomous robot for removing the leaves from cucumber plants grown in a high-wire cultivation system. Leaves at the lower end of the plants are removed because of their reduced vitality, their negligible contribution to canopy photosynthesis and their increased sensitivity for

  11. Understanding Human Hand Gestures for Learning Robot Pick-and-Place Tasks

    Directory of Open Access Journals (Sweden)

    Hsien-I Lin

    2015-05-01

    Full Text Available Programming robots by human demonstration is an intuitive approach, especially by gestures. Because robot pick-and-place tasks are widely used in industrial factories, this paper proposes a framework to learn robot pick-and-place tasks by understanding human hand gestures. The proposed framework is composed of the module of gesture recognition and the module of robot behaviour control. For the module of gesture recognition, transport empty (TE, transport loaded (TL, grasp (G, and release (RL from Gilbreth's therbligs are the hand gestures to be recognized. A convolution neural network (CNN is adopted to recognize these gestures from a camera image. To achieve the robust performance, the skin model by a Gaussian mixture model (GMM is used to filter out non-skin colours of an image, and the calibration of position and orientation is applied to obtain the neutral hand pose before the training and testing of the CNN. For the module of robot behaviour control, the corresponding robot motion primitives to TE, TL, G, and RL, respectively, are implemented in the robot. To manage the primitives in the robot system, a behaviour-based programming platform based on the Extensible Agent Behavior Specification Language (XABSL is adopted. Because the XABSL provides the flexibility and re-usability of the robot primitives, the hand motion sequence from the module of gesture recognition can be easily used in the XABSL programming platform to implement the robot pick-and-place tasks. The experimental evaluation of seven subjects performing seven hand gestures showed that the average recognition rate was 95.96%. Moreover, by the XABSL programming platform, the experiment showed the cube-stacking task was easily programmed by human demonstration.

  12. Design and Development of an automated Robotic Pick & Stow System for an e-Commerce Warehouse

    OpenAIRE

    Kumar, Swagat; Majumder, Anima; Dutta, Samrat; Raja, Rekha; Jotawar, Sharath; Kumar, Ashish; Soni, Manish; Raju, Venkat; Kundu, Olyvia; Behera, Ehtesham Hassan Laxmidhar; K. S. Venkatesh; Sinha, Rajesh

    2017-01-01

    In this paper, we provide details of a robotic system that can automate the task of picking and stowing objects from and to a rack in an e-commerce fulfillment warehouse. The system primarily comprises of four main modules: (1) Perception module responsible for recognizing query objects and localizing them in the 3-dimensional robot workspace; (2) Planning module generates necessary paths that the robot end- effector has to take for reaching the objects in the rack or in the tote; (3) Calibra...

  13. Design Analysis and Dynamic Modeling of a High-Speed 3T1R Pick-and-Place Parallel Robot

    DEFF Research Database (Denmark)

    2015-01-01

    This paper introduces a four degree-of-freedom parallel robot producing three translation and one rotation (Schönflies motion). This robot can generate a rectangular workspace that is close to the applicable work envelope and suitable for pick-and-place operations. The kinematics of the robot is ...

  14. Parametric Optimal Design of a Parallel Schönflies-Motion Robot under Pick-And-Place Trajectory Constraints

    DEFF Research Database (Denmark)

    Wu, Guanglei; Bai, Shaoping; Hjørnet, Preben

    2015-01-01

    This paper deals with the parametric optimum design of a parallel Schoenflies-motion robot, named "Ragnar", designed for fast and flexible pick-and-place applications. The robot architecture admits a rectangular workspace, which can utilize the shop-floor space efficiently. In this work......-front is obtained, which provides optimal solutions to the robot design. Robot prototyping work based on the optimal results is described....

  15. Automatic Recognition Of Moving Objects And Its Application To A Robot For Picking Asparagus

    Science.gov (United States)

    Baylou, P.; Amor, B. El Hadj; Bousseau, G.

    1983-10-01

    After a brief description of the robot for picking white asparagus, a statistical study of the different shapes of asparagus tips allowed us to determine certain discriminating parameters to detect the tips as they appear on the silhouette of the mound of earth. The localisation was done stereometrically with the help of two cameras. As the robot carrying the system of vision-localisation moves, the images are altered and decision cri-teria modified. A study of the image from mobile objects produced by both tube and CCD came-ras was carried out. A simulation of this phenomenon has been achieved in order to determine the modifications concerning object shapes, thresholding levels and decision parameters in function of the robot speed.

  16. Automated Trajectory Planner of Industrial Robot for Pick-and-Place Task

    Directory of Open Access Journals (Sweden)

    S. Saravana Perumaal

    2013-02-01

    Full Text Available Industrial robots, due to their great speed, precision and cost-effectiveness in repetitive tasks, now tend to be used in place of human workers in automated manufacturing systems. In particular, they perform the pick-and-place operation, a non-value-added activity which at the same time cannot be eliminated. Hence, minimum time is an important consideration for economic reasons in the trajectory planning system of the manipulator. The trajectory should also be smooth to handle parts precisely in applications such as semiconductor manufacturing, processing and handling of chemicals and medicines, and fluid and aerosol deposition. In this paper, an automated trajectory planner is proposed to determine a smooth, minimum-time and collision-free trajectory for the pick-and-place operations of a 6-DOF robotic manipulator in the presence of an obstacle. Subsequently, it also proposes an algorithm for the jerk-bounded Synchronized Trigonometric S-curve Trajectory (STST and the ‘forbidden-sphere’ technique to avoid the obstacle. The proposed planner is demonstrated with suitable examples and comparisons. The experiments show that the proposed planner is capable of providing a smoother trajectory than the cubic spline based trajectory.

  17. Automating the Process of Work-Piece Recognition and Location for a Pick-and-Place Robot in a SFMS

    OpenAIRE

    R. V. Sharan; G. C. Onwubolu

    2014-01-01

    This paper reports the development of a vision system to automatically classify work-pieces with respect to their shape and color together with determining their location for manipulation by an in-house developed pick-and-place robot from its work-plane. The vision-based pick-and-place robot has been developed as part of a smart flexible manufacturing system for unloading work-pieces for drilling operations at a drilling workstation from an automatic guided vehicle designed to transport the w...

  18. 3D Virtual Glove for Data Logging and Pick and Place Robot

    Directory of Open Access Journals (Sweden)

    Prasanna Muley

    2014-03-01

    Full Text Available Traditional interaction devices such as mouse and keyboard do not adapt very well to 3D environments, since they were not ergonomically designed for it [1]. The user may be standing or in movement and these devices were projected to work on desks. To solve such problems it has been designed a Accelerometer based 3D virtual glove which can be used in various robotic applications [1]. In this project it can be designed a Pick and Place robot which will follow the 3D glove worn by the user. User can design UP, DOWN, LEFT, RIGHT, PICK and PLACE actions via wireless glove. Moreover, in the current interaction model for immersive environments, which is based on wands and 3D mice, a change of context is necessary every time to execute a non-immersive task. These constant context changes from immersive to 2D desktops introduce a rupture in the user interaction with the application [3]. The objective of this work is to develop a device that maps a touch interface in a virtual reality immersive environment. In order to interact in3D virtual reality immersive environments a wireless glove (v-Glove was created, which has two main functionalities: tracking the position of the user’s index finger and vibrate the fingertip when it reaches an area mapped in the interaction space to simulate a touch feeling. Quantitative and qualitative analysis were performed with users to evaluate the v-Glove, comparing it with a gyroscopic 3D mouse [2]. This project is ideally suited for critical applications such as Gas plants, Chemical Plants, Nuclear reactors and for hazardous applications such as Coal mines, Sulphur mines, under sea tunnels Oil mints etc

  19. A novel monocular visual navigation method for cotton-picking robot based on horizontal spline segmentation

    Science.gov (United States)

    Xu, ShengYong; Wu, JuanJuan; Zhu, Li; Li, WeiHao; Wang, YiTian; Wang, Na

    2015-12-01

    Visual navigation is a fundamental technique of intelligent cotton-picking robot. There are many components and cover in the cotton field, which make difficulties of furrow recognition and trajectory extraction. In this paper, a new field navigation path extraction method is presented. Firstly, the color image in RGB color space is pre-processed by the OTSU threshold algorithm and noise filtering. Secondly, the binary image is divided into numerous horizontally spline areas. In each area connected regions of neighboring images' vertical center line are calculated by the Two-Pass algorithm. The center points of the connected regions are candidate points for navigation path. Thirdly, a series of navigation points are determined iteratively on the principle of the nearest distance between two candidate points in neighboring splines. Finally, the navigation path equation is fitted by the navigation points using the least squares method. Experiments prove that this method is accurate and effective. It is suitable for visual navigation in the complex environment of cotton field in different phases.

  20. Pick-up, transport and release of a molecular cargo using a small-molecule robotic arm

    Science.gov (United States)

    Kassem, Salma; Lee, Alan T. L.; Leigh, David A.; Markevicius, Augustinas; Solà, Jordi

    2016-02-01

    Modern-day factory assembly lines often feature robots that pick up, reposition and connect components in a programmed manner. The idea of manipulating molecular fragments in a similar way has to date only been explored using biological building blocks (specifically DNA). Here, we report on a wholly artificial small-molecule robotic arm capable of selectively transporting a molecular cargo in either direction between two spatially distinct, chemically similar, sites on a molecular platform. The arm picks up/releases a 3-mercaptopropanehydrazide cargo by formation/breakage of a disulfide bond, while dynamic hydrazone chemistry controls the cargo binding to the platform. Transport is controlled by selectively inducing conformational and configurational changes within an embedded hydrazone rotary switch that steers the robotic arm. In a three-stage operation, 79-85% of 3-mercaptopropanehydrazide molecules are transported in either (chosen) direction between the two platform sites, without the cargo at any time fully dissociating from the machine nor exchanging with other molecules in the bulk.

  1. Automating the Process of Work-Piece Recognition and Location for a Pick-and-Place Robot in a SFMS

    Directory of Open Access Journals (Sweden)

    R. V. Sharan

    2014-03-01

    Full Text Available This paper reports the development of a vision system to automatically classify work-pieces with respect to their shape and color together with determining their location for manipulation by an in-house developed pick-and-place robot from its work-plane. The vision-based pick-and-place robot has been developed as part of a smart flexible manufacturing system for unloading work-pieces for drilling operations at a drilling workstation from an automatic guided vehicle designed to transport the work-pieces in the manufacturing work-cell. Work-pieces with three different shapes and five different colors are scattered on the work-plane of the robot and manipulated based on the shape and color specification by the user through a graphical user interface. The number of corners and the hue, saturation, and value of the colors are used for shape and color recognition respectively in this work. Due to the distinct nature of the feature vectors for the fifteen work-piece classes, all work-pieces were successfully classified using minimum distance classification during repeated experimentations with work-pieces scattered randomly on the work-plane.

  2. Using Robot Skills for Flexible Reprogramming of Pick Operations in Industrial Scenarios

    DEFF Research Database (Denmark)

    Andersen, Rasmus S.; Nalpantidis, Lazaros; Krüger, Volker

    2014-01-01

    Traditional robots used in manufacturing are very efficient for solving specific tasks that are repeated many times. The robots are, however, difficult to (re-)configure and (re-)program. This can often only be done by expert robotic programmers, computer vision experts, etc., and it requires add...

  3. Cherry Picking Robot Vision Recognition System Based on OpenCV

    Directory of Open Access Journals (Sweden)

    Zhang Qi Rong

    2016-01-01

    Full Text Available Through OpenCV function, the cherry in a natural environment image after image preprocessing, color recognition, threshold segmentation, morphological filtering, edge detection, circle Hough transform, you can draw the cherry’s center and circular contour, to carry out the purpose of the machine picking. The system is simple and effective.

  4. 脐橙采摘机器人运动分析与研究%Kinematic Analysis and Study of Navel Orange Picking Robot

    Institute of Scientific and Technical Information of China (English)

    吴翠琴; 刘祚时

    2014-01-01

    农业采摘机器人是21世纪精准农业的重要装备之一,采用仿真模拟机器人运动,合理规划机器人的运动轨迹成为采摘机器人行业发展的方向。采用D-H方法分析三自由度脐橙采摘机器人的变换矩阵,得到三自由度脐橙采摘机器人执行末端位移。采用微分变换的方法求解三自由度脐橙采摘机器人的雅克比矩阵,得到执行末端线速度和角速度。基于Mat-lab中M语言自编程建立其运动模型,对其运动轨迹及速度进行仿真。通过对脐橙采摘机器人的构造原理分析,为脐橙采摘机器人的调试和实际操作提供仿真模型。%Agricultural picking robot is one of the important equipment of precision agriculture in the 21st century. These has be-come the developing direction of the picking robot industry that the simulation robot movement and the reasonable planning of the robot trajectory. The D-H method was used to analyze three degrees of freedom (3-DOF)of the transformation matrix of navel orange picking robots,and the displacement of end manipulation of 3-DOF navel orange picking robots was obtained. The Jacobi matrix of the 3-DOF navel orange picking robots was solved by using differential transform method,and the angular and linear velocities of end manipulation were obtained. The trajectory and speed were simulated based on M language of MATLAB for self-programming to establish kinematic model of the robot. Through analysis of the theory of the structure of navel orange picking robots,the debugging and actual operation simulation model are provided.

  5. Robust optimization of robotic pick and place operations for deformable objects through simulation

    DEFF Research Database (Denmark)

    Bo Jorgensen, Troels; Debrabant, Kristian; Kruger, Norbert

    2016-01-01

    This paper discusses various optimization schemes for partly stochastic and bound optimization, particular with application to solve robotic optimization problems, where robustness of the solutions is crucial. The use case revolves around grasping and manipulation of deformable objects. These kin...

  6. Research on Path Planning for Mobile Picking Robot Based on Visual Navigation and RBF%基于视觉导航和 RBF 的移动采摘机器人路径规划研究

    Institute of Scientific and Technical Information of China (English)

    崔维; 丁玲

    2016-01-01

    为了提高采摘机器人自主导航和路径规划能力,提出了基于计算机视觉路径规划和 RBF 神经网络自适应逼近算法的导航方法。使用图像分割、平滑处理和边缘检测技术,根据图像像素灰度值确定了导航线的位置,利用逐行扫描的方法得到了导航离散点。路径规划和跟踪使用RBF神经网络逼近算法,通过逼近误差和权值控制路径跟踪的精度,系统响应的执行端使用液压伺服系统,提高了机器人自主导航的精度。以黄瓜采摘作为研究对象,在日光温室对机器人采摘作业进行了测试,通过测试得到了 RBF 神经网络的路径跟踪误差曲线。测试结果表明:机器人可以很好地逼近跟踪规划路径,其计算精度较高,跟踪效果较好。%In order to improve the ability of autonomous navigation and path planning of picking robot , a navigation meth-od is proposed based on computer vision path planning and RBF neural network adaptive approximation algorithm .The use of image segmentation , smoothing and edge detection technology ,the navigation line positions are determined accord-ing to the image pixel gray value using progressive scan method of navigation discrete points .The path planning and tracking using RBF neural network approximation algorithm , the accuracy of the system response is controlled by the ac-curacy of the error and weight control .Taking cucumber as the research object , it tested the robot picking operation in greenhouse , and obtained the path tracking error curve of RBF neural network .The test results show that the robot can get a good approximation of the path .

  7. 一种多机械手编码控制系统的果蔬采摘机器人设计%Design of Picking Robot for Fruits and Vegetables Based on Encoding Control System for Multi Robot Manipulators

    Institute of Scientific and Technical Information of China (English)

    李素云; 余长庚

    2016-01-01

    为了提高果蔬的采摘效率,对果蔬采摘机器人进行了改进,设计了一种新的多机械手的编码控制采摘机器人. 通过对机器人功能和结构的设计,使机器人具有了利用机器视觉技术的图像边缘提取来划分每个机械手的作业区间的功能,并可以利用编码器对每个机械手进行编码,从而完成多机械手的协同作业. 对机器人的采摘作业性能进行了测试,首先利用机器视觉模块完成了苹果采摘区间的划分,并预设了每个机械手的采摘作业轨迹,利用编码器对预设轨迹进行了追踪. 通过测试发现:机器人多机械手的实际追踪轨迹和预设轨迹的误差很小,满足设计需求,多机械手的协同采摘平均速度可以达到8 0 个/min 以上,具有高效的果蔬采摘性能.%In order to improve the efficiency of picking fruits and vegetables, a new kind of robot with multi robot hand is designed, which is used to improve the picking efficiency of fruits and vegetables.Through the function and structure of robot,the design enables the robot extract the image edge ion based on machine vision technology to divide each manipu -lator the operating range of the function.And it can use the encoder to encode each manipulator, so as to complete the multi robot cooperative working industry.The robot's picking performance were tested.First of all, the machine vision module apple picking interval of the partition, and the default of each manipulator picking operation trajectory,the coder for the preset trajectory tracking.Through the test found that multi robot manipulator of actual trajectory tracking and pre -set trajectory error is very small, meet the design requirements, multi robot cooperative picking average speed can reach more than 80/min, with high fruit and vegetable picking performance.

  8. 基于云计算技术的苹果采摘机器人系统%Apple Based on Cloud Computing Technology Design Picking Robot System

    Institute of Scientific and Technical Information of China (English)

    石建华

    2017-01-01

    近年来,我国水果产业迎来快速发展期,苹果种植面积日益扩大,年产量明显增加,促使我国成为世界上最大的水果生产国家。水果进行种植过程中,成熟的水果采摘操作时必须消耗大量的时间和劳动力。由于进城务工人员日益增多,农村劳动力人口不断减少,此时劳动力成本有一定程度的增长,果农日常经营的成本也有所增加,因此智能采摘机器人顺势而生。为此,针对水果采摘机械研究的不足之处,提出了基于云计算的苹果采摘机器人系统,在机器人处于作业状态下设计了苹果采摘机器人软、硬件设计情况。为验证苹果采摘机器人的采摘效果,在果园中对其采摘性能展开试验,试验结果表明:所设计的采摘机器人运用视觉技术,能很好地克服气候环境等因素的影响,采摘作业中性能稳定,采摘效率高,值得在苹果生产地推广使用。%In recent years , China's fruit industry usher in rapid development , increasing the apple planting area , the an-nual output has been increased significantly , to become the world's largest fruit producing countries .To grow in the process of fruit , ripe fruit picking operation must consume a lot of time and labor .Because more and more rural migrant workers , rural Labour force shrinking labor costs at this time have a certain degree of growth , fruit daily operation cost al-so increased .Development based on the above background , the intelligent picking robot conveniently , aimed at the defi-ciency of fruit harvest machinery research , apple picking robot system based on cloud computing design is put forward , in the robot under a state of operation about apple picking robot software and hardware design .To test and verify the picking of apple picking robot effect , in the orchard to pick performance test , the test results show that the designed picking robot using visual technology , can

  9. Delta 并联机器人抓放轨迹优化%Delta Parallel Robot Pick and Place Trajectory Optimization

    Institute of Scientific and Technical Information of China (English)

    李云辉

    2016-01-01

    On the basis of Delta parallel robot trajectory of gate-shaped picking and placing,we described the method of trajectory planning and gate-shaped path synthesis by using the sinusoidal correcting keystone acceleration curve.From the perspective of mechanical vibration and shock reduction mechanism,taking the initiative to reduce Delta robot arm maximum angular shaft as the goal,the relevant operating parameters of trajectory were optimized.For the presence of jerk mutations on the acceleration curve approach to planning the start and end-side movement,resulting in a flexible shock problem,it is proposed that modified sinusoidal correcting keystone acceleration curve,making the entire operating cycle jerk curve become continuous,eliminating the system flexible impact.%在 Delta 并联机器人门形抓放轨迹的基础上,阐述了采用正弦修正梯形加速度曲线进行轨迹规划和门形路径合成的方法。从减小机构震动和冲击的角度出发,以降低 Delta 机器人主动臂驱动轴端的最大角加速度为目标,对门形轨迹的相关运行参数进行了优化。针对正弦修正梯形加速度曲线规划方式中运动始末端存在跃度突变,导致柔性冲击的问题,提出了改进型的正弦修正梯形加速度曲线,使得整个运行周期内跃度曲线变得连续,消除了系统的柔性冲击。

  10. Design of Intelligent Monitoring and Path Planning in Picking Robot%采摘机器人智能监控和路径规划设计研究

    Institute of Scientific and Technical Information of China (English)

    吴芳; 汪小志

    2016-01-01

    In order to improve the picking robot autonomous navigation and automatic positioning capability and improve the accuracy of path planning for the machine vision, based on MSP430F149 of TI company,it designs a function auto-matic picking robot with the monitoring terminal and GPS navigation, the robot path planning in real-time processing, communication, location and alarm integration and automation control function.Through the test, the MSP430 F149 micro controller has the advantages of low power consumption, small size, simple operation, and easy to maintain the system management and maintenance.5 robot path planning for the overall running accuracy and path planning of mobile time u-tilization, path planning leakage recovery rate were tested, it was found by test that five kinds of path planning method for various index to test the effect best, combined with MSP430F149 MCU and PID algorithm, to realize picking robot, auto-matic picking function, which can improve the robot's picking accuracy and provides a valuable reference for the picking robot intelligent design.%为了提高采摘机器人自主导航和自动化定位能力,提升机器视觉的路径规划精度,基于 TI 公司的MSP430 F149 单片机,设计了一款具有监控终端和GPS导航功能的自动采摘机器人,实现了机器人路径规划实时处理、通讯、定位、报警一体化和自动化控制功能. 通过测试发现,MSP430F149 单片机具有功耗低、体积小、操作简单,便于系统管理维护等优点. 对机器人5 种路径规划的总体行驶精度路、径规划的移动时间利用率、路径规划的漏采率进行了测试,通过测试发现:5 种路径规划中套行法的各种指标测试效果最好. 同时,结合MSP430 F149 单片机和PID算法,实现了采摘机器人高效自动化采摘功能,提高了机器人的采摘精度,为采摘机器人的智能化设计提供了较有价值的参考 .

  11. 用于Pick-and-Place的高速并联机构Par4%High Speed Parallel Robot Par4 for Pick-and-Place

    Institute of Scientific and Technical Information of China (English)

    张树君; 辛莹莹; 陈大千; 何召明; 陈芳芳

    2013-01-01

    介绍了一种用于拾取放置(Pick-and-Place)场合的四自由度并联机构.它是Delta机构的一种演化,在H4和I4并联机构的基础上发展起来的,Par4机构既保留了H4和I4并联机构的优点又克服了其缺点.通过对末端执行器的改进使其实现4个自由度,提高了机器人的力学性能和工作空间,延长了寿命,为Par4并联机器人性能的提升和实际的工程应用提供了理论依据和技术支持.

  12. A New Method for Time-Jerk Optimal Trajectory Planning Under Kino-dynamic Constraint of Robot Manipulators in Pick-and-Place Operations

    Directory of Open Access Journals (Sweden)

    Bendali Nadir

    2014-05-01

    Full Text Available A new method for time-jerk optimal planning under Kino-dynamic constraints of robot manipulators in pick-and-place operations is described in this paper. In order to ensure that the resulting trajectory is smooth enough, a cost function containing a term proportional to the integral of the squared jerk (defined as the derivative of the acceleration along the trajectory is considered. Moreover, a second term, proportional to the total execution time, is added to the expression of the cost function. A Cubic Spline functions are then used to compose overall trajectory. This method makes it possible to deal with the kinematic constraints as well as the dynamic constraints imposed on the robot manipulator. The algorithm has been tested in simulation yielding good results.

  13. Design of Underactuated Flexible Robotic Hand for Picking Fruit and Vegetable%果蔬采摘欠驱动灵巧机械手的设计

    Institute of Scientific and Technical Information of China (English)

    杨婕; 赵晓栋; 宋申祥; 张兆德

    2015-01-01

    Underactuated mechanism is a system whose number of control inputs is smaller than the number of degree of freedom. In order to realize non-destructive picking of fruits and vegetables ,a flexible and underactuated robotic hand with simple structure was designed through theoretical analysis,design of finger tip,transmission and drive mechanism,and modeling and simulation. It has shape-adaptability while grasping objects ,which can be completely surrounded to realize non-destructive picking. With small size and low cost ,it is adaptable to application in automatic picking in agriculture field.%欠驱动机构是指驱动器数目少于机构本身自由度数目的机构. 为了实现果蔬的无损采摘,通过理论分析、指端结构设计、传动机构设计和驱动机构设计与建模仿真,设计出一种灵活性高、结构简单的果蔬采摘欠驱动灵巧机械手.该机械手抓取物体时具有形状自适应能力,可完全包络物体实现无损采摘,且体积小、成本低,能够适应农业采摘自动化技术的推广.

  14. Design of Fruit and Vegetable Picking Robot Based on Genetic Algorithm and EDA Technology%基于遗传算法和EDA技术的果蔬采摘机器人设计

    Institute of Scientific and Technical Information of China (English)

    熊琼; 葛蓁; 刘志刚

    2016-01-01

    In order to improve the fruit picking robot obstacle avoidance and path planning capabilities , intelligent robot and lightweight design , the embedded system is introduced into the fruit and vegetable picking robot 's control system , and the control system are encapsulated using EDA technology , embedded robot path planning genetic algorithm .The fruit and vegetable picking robot manipulator was improved and the manipulator structure design to realize picking robot end effect or obstacle avoidance function and using genetic algorithm intelligent control design and implementation of the complex environment in the path search function .For fruit picking robot performance were tested and found by testing , the obstacle recognition rate is as high as more than 99%and the accuracy of path planning is above 95%, which meet the intelligent picking robot design requirements , modern picking robot design provides a reference value .%为了提高果蔬采摘机器人的避障和路径规划能力,实现机器人智能化和轻量化的设计,将嵌入式系统引入到果蔬采摘机器人的控制系统中,并利用EDA 技术对控制系统进行了封装,植入了机器人路径规划的遗传算法. 对果蔬采摘机器人的机械手进行了改进,通过机械手结构设计实现了采摘机器人执行末端的避障功能,利用遗传算法智能控制设计实现了复杂环境中的路径搜索功能. 对果蔬采摘机器人的性能进行了测试,结果表明:障碍物识别率高达99%以上,路径规划的准确率也在95%以上,满足智能化采摘机器人的设计需求,为现代化采摘机器人的设计提供了较有价值的参考.

  15. Research on Trajectory Planning of Six-freedom-degree Picking Robot Based on Ant Colony Algorithm%基于蚁群算法的六自由度采摘机器人轨迹规划研究

    Institute of Scientific and Technical Information of China (English)

    黄轶文; 张梅

    2017-01-01

    In modern agriculture planting picking, picking fruits and vegetables operating in a complex and arduous, picking robot in the process often need to experience thousands of fruit and vegetable picking point, the face of such a huge workload, picking mobile robot path planning is very important. The to picking robot trajectory as the research ob-ject, takes the shortest length of the motion trajectory as the research target, for each robot joint mechanism motion speed changes, combined with robot motion characteristics, the basic ant colony algorithm of six degree of freedom picking robot path planning. The experimental results show that: the design of the picking robot trajectory optimization technology not only has strong ability of path optimization, smooth motion trajectory, but also has the advantages of strong reliability and good stability.%在现代农业生产中,果蔬采摘作业复杂而繁重,采摘机器人在作业过程中常常需要经历成千上万个果蔬采摘点,面对这样巨大的工作量,采摘机器人移动路径规划显得非常重要。为此,以采摘机器人运动轨迹为研究对象,以其运动轨迹总长最短为研究目标,针对机器人各关节机构运动速度变化情况及机器人运动特性,利用基本蚁群原理对六自由度采摘机器人的路径进行规划。实验结果表明:所设计的采摘机器人轨迹优化技术不但路径优化能力强、运动轨迹平滑,还具有可靠性强及稳定性好的优点。

  16. 番茄采摘机器人机械臂结构设计与参数优化%Structural Design and Parameter Optimization for Tomato Picking Robot Arm

    Institute of Scientific and Technical Information of China (English)

    周舟; 王俊

    2012-01-01

    Agricultural picking robot is a kind of advanced robot in non-structural environment, whose fruit picking process can be easily influenced by the harsh environment. The characteristics of the robot arm determine the robot working space directly. Based on the characteristics of tomato and its plant' s distribution space, a robot arm with 4 degree-of-freedoms specified one parallel linkage is designed. Besides, optimization design on structure parameter of robot arm is provided. The kinematics of robot arm is established, and the robot working space is simulated through the Mallab software. Simulation results show that in the premise of meeting the expectation for picking tomatoes, we a-chieved the goal of minimizing invalid robot arm working space. The rationality of the structural design for robot arm is validated.%农业采摘机器人属于非结构环境下作业的特种机器人,果实的采摘易受环境变化的影响,机械臂的结构特点直接决定机器人作业范围.根据番茄的特点及其植株的生长分布,设计了具有平行结构关节的四自由度机械臂,建立了机械臂运动学模型,完成了机械臂的结构参数优化设计,并使用MATLAB平台进行了仿真验证.在满足番茄采摘要求的前提下,实现了实际采摘无效空间最小化,证明了该机械臂结构设计合理.

  17. 基于ATmega128砂糖橘简易采摘机器人的设计%Design of the Simple Picking Sugar Orange Robots Based on ATmega128

    Institute of Scientific and Technical Information of China (English)

    侯义锋

    2013-01-01

    The ATmegal28 is used as the control core of the simple picking sugar orange robot. The robot can recognize the sugar orange by the TCS230 color sensors. And then the mechanical parts of the robot are con trolled by DC motors and step motors to search for the sugar orange. Once the position of sugar orange is determined, it can be picked by the machine hand. The performance test on the whole machine is done on the pick ing manipulator system, which shows that the success ratio of picking is 95%. The robot has certain application value.%应用ATmega128单片机作为砂糖橘简易采摘机器人的控制核心,用TCS230颜色传感器识别砂糖橘.通过多个直流电机和步进电机控制机械手手臂搜索砂糖橘,并确定其位置,再控制机械手手指摘取果实.经实验表明,摘取果实的成功率达到了95%以上,具有一定的应用价值.

  18. 一种基于微分进化的采摘机器人运动反解方法%A Picking Robot Kinematic Inverse Solution Method Based on Differential Evolution

    Institute of Scientific and Technical Information of China (English)

    陈科尹; 邹湘军; 彭红星; 覃德泽

    2016-01-01

    According to the cumbersome and adaptive deficiencies of the picking robot kinematic inverse solution process , a picking robot kinematic inverse solution seeking method was presented based on the differential evolution algorithm . This method first utilizes picking robot motion positive equation to construct the objective function for solving picking robot motion inverse solution , and then uses the generalization and self-adaptive of the differential evolution algorithm to opti-mize the objective function , thus the picking robot kinematic inverse solution was solved .And in order to analyze the per-formance of this methodology , the traditional picking robot kinematic inverse solution and the picking robot kinematic in-verse solution based on the differential evolution algorithm were also respectively tested , which verified the effectiveness and robustness of the method in this paper .%针对传统的采摘机器人运动反解求法的求解过程过于繁琐及自适应性等不足,提出了一种基于微分进化的采摘机器人运动反解求取方法。该方法首先利用采摘机器人运动正解方程构造出求解采摘机器人运动反解的目标函数,然后运用微分进化算法的泛化性和自适应性对该目标函数进行优化处理,从而求解出采摘机器人运动反解。同时,为了分析该方法的性能,还分别对传统的采摘机器人运动反解和基于微分进化的采摘机器人运动反解进行了对比试验,从而验证了该方法的有效性和鲁棒性。

  19. 一种高精度自主导航定位的葡萄采摘机器人设计%A High Precision Autonomous Navigation Positioning Grape Picking Robot Design

    Institute of Scientific and Technical Information of China (English)

    郭素娜; 张丽; 刘志刚

    2016-01-01

    为了提高葡萄采摘机器人自主导航能力,增强对葡萄成熟度的准确识别功能,降低漏采率和误采率,设计了一种新式的基于RSSI 自主导航和颜色特征提取的葡萄采摘机器人. 该机器人使用 RSSI 定位技术,首先对装有无线传感器的葡萄树进行定位,然后利用机器视觉系统对葡萄的成熟度进行判断,并对满足采摘条件的葡萄使用机械手进行采摘. 对葡萄采摘机器人的性能进行了测试,通过测试发现:机器人对装有传感器的葡萄树的准确识别率达到了95%以上,对葡萄成熟度的判断达到了98%以上,是一种相对高效的葡萄采摘机器人.%In order to improve the autonomous navigation capability of grape picking robot, and strengthen the function of accurate identification of the grape maturity, lower leakage rate and error rate, a new type of autonomous navigation and color feature extraction based on RSSI grape picking robot has been designed.Grape picking robot using RSSI positioning technology first fixing the vine with wireless sensors, then use the machine vision system on grape maturity of judgment, and to meet the use conditions of the grapes picked for picking manipulator.Grape picking robot performance was tested, by testing found that the robot with sensors of vine of accurate recognition rate reached more than 95%, their appreciation of the grape maturity reached more than 98%, high recognition rate,which is a relatively efficient grape picking robot.

  20. Pick disease

    Science.gov (United States)

    ... in behavior Failure to show emotional warmth, concern, empathy, sympathy Inappropriate mood Not caring about events or ... and steadily becomes worse. The person becomes totally disabled early in the course of the disease. Pick ...

  1. 采摘机器人执行端机械结构优化和电量模糊控制设计%Mechanical Structuer Optimization and Power Fuzzy Control Design of Picking Robot end Effector

    Institute of Scientific and Technical Information of China (English)

    吕俊霞; 李玉华; 汪小志; 鲍秀兰

    2016-01-01

    The end effector is fruit and vegetable picking robots is another important component , its design is generally considered to be one of the core technology of the robot .In order to improve the picking robot execution at the end of the work efficiency , increase the robot time for the effective operation of the proposed a new optimization method , which will be picking robot end effector is controlled by the servo motor , power of the robot for real-time display , to prepare for the timely charge , and manipulator in kinematics to optimize the design of the fuzzy control theory to realize the terminal out -put power and electric quantity of fuzzy control is performed .Greatly shorten the picking robot to perform at the end of the response time , and reduce the breakage rate of fruit , improve the operation time , provides a valuable reference for picking the modernization and automation design of robot .%末端执行器是果蔬采摘机器人的另一重要部件,通常被认为是机器人的核心技术之一. 为了提高采摘机器人执行末端的工作效率,增加机器人的有效作业时间,提出了一种新的优化方法. 该方法将采摘机器人执行末端采用伺服电机控制,对机器人的电量进行实时显示,以备及时充电;对机械手在运动学上进行优化设计,采用模糊控制理论实现了执行末端输出功率和电量的模糊控制. 该设计缩短了采摘机器人执行末端的响应时间,降低了果实破损率,提高了作业的有效时间,为采摘机器人的现代化和自动化设计提供了较有价值的参考.

  2. Design of Orchard Picking Robot Based on OFDM Channel and Remote Monitoring%基于 OFDM 信道和远程监控的果园采摘机器人设计

    Institute of Scientific and Technical Information of China (English)

    周真真; 李燕杰; 闫瑞雪

    2017-01-01

    With the development of network and remote control technology and intelligent robot based on mobile Internet become the development direction of the robot in the future, and so far, picking robot also rarely used mobile Internet re-mote monitoring, if the mobile Internet applications to the orchard picking machine design, will greatly improve the pick-ing robot real-time online control level, improve multi robot formation control ability. Accordingly, this study proposed a based on OFDM channel estimation and remote monitoring network of orchard picking robot design method, and combined with the fruit image segmentation, normalization, refinement and enhancement techniques, improve the ability to identify the robot fruit image. Through the night of picking robot platform test, it is found that the robot in joined the signal-to-noise ratio of the interference signal by OFDM transmission system of robot signal transmitting end and receiving end of the signal are consistent high and low bit error rate, the new intelligent remote control picking robot research provides a valuable reference.%随着网络和远程控制技术的发展,基于移动互联网的智能机器人成为未来机器人的发展方向。到目前为止,采摘机器人还很少采用移动互联网进行远程监控,如果将移动互联网应用到果园采摘机器人的设计上,将会大幅度地提高采摘机器人的实时在线控制水平,提高多机器人编队控制能力。为此,提出了一种基于 OFDM信道估计和远程监控网络的果园采摘机器人设计方法,并结合果实图像的分割、归一化、细化和增强技术,提高机器人果实图像的识别能力。通过夜间对采摘机器人平台的测试发现:机器人在加入信噪比的干扰信号情况下,采用 OFDM 传输系统的机器人信号发送端和接收端的信号吻合程度很高,误码率很低,为新式智能远程控制采摘机器人的研究提供了较有价值的参考。

  3. ANALYSIS of Control Force Grasping for a Multifunctional Five Fingered Robot to Pick-up Various of Components

    Directory of Open Access Journals (Sweden)

    Widhiada W.

    2016-01-01

    Full Text Available Multi-fingered robot gripper has become popular in the major research topics as grasping an object in robotic systems. The author considers a matter of style-based control model for a multi-fingered robot hand grasping an object with a known geometric characteristics. This paper introduces design process and analysis of contact force the five fingered gripper suitable to handle several of objects. The author applied Simulink/SimMechanics, Support package Arduino and Inventor software packages to facilatate and integrated the design of contact force gripper systems. The advance of PID control is used to control dynamics motions of the five fingered gripper systems. The multifunction finger’s gripper is developed to handle the various components. Contact force between fingertips and object surface is computed using the Hooke law concept. The analysis of experiment result shows the optimum of contact forces are achieved to hold the object. The spring and damper algorithm is used to compute the interaction of force between fingertips and object surface.

  4. Cucumber cookbook

    CERN Document Server

    Garg, Shankar

    2015-01-01

    This book is intended for business and development personnel who want to use Cucumber for behavior-driven development and test automation. Readers with some familiarity with Cucumber will find this book of most benefit. Since the main objective of this book is to create test automation frameworks, previous experience in automation will be helpful.

  5. Design of the Picking Robot Based on the Model of OFDM-MIMO High Speed Mobile Communication System%基于 OFDM-MIMO 移动通信模型的采摘机器人设计

    Institute of Scientific and Technical Information of China (English)

    高伟; 曹昕燕; 张万里; 吉淑娇

    2017-01-01

    In order to improve the fruit picking robot and automation level, improve the robot's real-time communication and online control ability, remote control of robot operation process, has brought the OFDM-MIMO model in communica-tion system of the picking robot, and mobile 4G technology applied to the design of the robot, breaking the robot control distance constraints, the realization of the robot cross regional wireless communication. The robot uses the vision sensor and 4G network to collect and transmit the image, and the image data can be displayed on the remote browser side in real time, so it is easy to grasp the robot operation information. When a signal when the robot collision sensor, you can use the OFDM-MIMO channel model for image, transmission, and collected by the vision sensor image information is trans-mitted to the remote control end, picking errors when can timely adjust the robot state, to achieve control of the fruit picking online. Finally design the experimental prototype robot, and the robot's fruit localization ability and communica-tion ability is studied by experiment and simulation. From the experiment and the simulation results show that, the robot can effectively identify the common fruit and bagging fruit and communication test, simulation and measurement test re-sults are in good agreement, thus validating the reliability results, verify the OFDM-MIMO model in picking robot com-munication system the feasibility.%为了提高果树采摘机器人的智能化和自动化水平,提高机器人的实时通信和在线控制能力,实现机器人作业过程的远程控制,在采摘机器人通信系统中引入了 OFDM-MIMO 模型,并将移动4 G 技术应用到了机器人的设计中,突破了机器人控制距离限制,实现了机器人的跨区域无线通信。机器人采用视觉传感器和4G 网络采集并传输图像,图像数据可以在远程浏览器端实时显示,便于掌握机器人作业信息。当机

  6. Obstacle-avoidance Path Planning of Robot Arm for Tomato-picking Robot%番茄采摘机器人机械臂避障路径规划

    Institute of Scientific and Technical Information of China (English)

    尹建军; 武传宇; Yang Simon X; Gauri S Mittal; 毛罕平

    2012-01-01

    It is chosen as research object that joint robot arm avoids erect stem or strut to pick tomatoes, and a kind of obstacle-avoidance path planning method based on configuration space of joint robot arm was presented. Space mapping principle was used to transform obstacle-avoidance problem of joint robot arm in 3-D workspace into avoiding obstacle circle problem of planar R — R robot arm. Critical collision joint angle was used to build up mapping computation models of configuration obstacle space of planar R - R robot arm, and obstacle-avoidance position computation of joint robot arm in 3-D workspace was transformed into joint angles computation of linkages in configuration space. After terminal joint angles of obstacle-avoidance path planning were optimized according to optimal energy function, the obstacle-avoidance joint angle path of planar R — R robot arm based on A * arithmetic was computed. A series of intersectant erect planes described space link position were obtained and the planning of other joint was carried out in the intersectant erect planes. The test of avoiding erect obstacle to pick tomatoes showed that joint robot arm carried with the gripper can move round linear obstacle and guide the gripper to reach object position. The test proved that mapping computation models of configuration obstacle space of planar R- R robot arm were correct. It validated that the obstacle-avoidance path planning method was feasible and may be applied into automatic harvesting of tomato.%以关节型机械臂避开垂直茎秆或撑杆采摘番茄为研究对象,提出了一种基于构形空间的关节型机械臂避障路径规划方法.利用空间映射原理,将关节型机械臂工作空间的三维避障问题转换为平面R-R机械臂避开障碍圆的问题,用临界碰撞关节角建立C-障碍空间的映射计算模型,将工作空间的位置避障转换为构形空间连杆关节角的计算.以能量最优函数优选避障规划的关

  7. Research on Vision Measurement and Obstacle Avoidance Control System of Picking Robot Based on Embedded System%嵌入式采摘机器人视觉测量与避障控制系统研究

    Institute of Scientific and Technical Information of China (English)

    孙承庭; 胡平

    2016-01-01

    采摘机器人拥有自主收集信息并进行有效判断的能力,可以独立完成对果实的采摘作业,对满足水果种植需求、减小水果种植的劳动力投入及降低生产成本有着很重要的实际应用价值。为此,以嵌入式 ARM 智控系统为基础平台,设计了采摘机器人视觉测量与避障控制系统。该系统集机器视觉、视觉传感感知、伺服电机驱动和ARM智控模块于一体,建立了采摘机器人采摘运动学的数学模型,并通过 BP 网络神经型迭代学习算法测量果实的距离和球心坐标,对成熟果实进行精准识别和定位采摘。试验结果表明:采摘机器人能准确地进行自主采摘,成功率比较高,躲避障碍物的能力很强,更适合在复杂未知的果园中进行收获作业。%Harvesting robot has the ability to collect information and carry out effective judgment .It can be used to com-plete the picking of fruit .It is very important to have a very important practical application value for fruit growing de-mand, reducing the labor input and reducing production cost .This paper takes the embedded intelligence control system as the basic platform to design and research the picking robot vision measurement and obstacle avoidance control system , the system in machine vision , sensory perception , servo motor drive and arm intellectual control module in one , estab-lished picking picking robot kinematics mathematical model , and through BP neural network type iterative learning algo-rithm for measuring fruit distance and center coordinates , to mature fruits were accurate identification and localization of picking .The experimental results show that the picking robot can carry out self picking accurately , the success rate is relatively high , and the ability of avoiding obstacles is also very strong , and it is more suitable for harvesting operations in complex unknown orchard .

  8. 五自由度采摘机械臂运动学通用算法应用%Application for the General Kinematics of 5DOF Picking Robot Manipulator

    Institute of Scientific and Technical Information of China (English)

    汪雨萌; 钱桦; 谭月胜; 周满平

    2012-01-01

    通过建立通用采摘机械臂运动学模型,构造初始矢量方程,完成求解,验证了基于Groebner基法的运动学算法的可行性,为采摘机械臂结构设计与控制研究提供了参考数据.%Through establishing the general kinematics module of the 5DOF picking robot manipulator, vector equation is established and'can be solved by separating the Groebner Basis of the equation. This has proved the feasibility of the algorithm, which provides reference data for the research of picking robot manipulator' s structuring and controlling.

  9. 基于单片机和智能监测的采摘机器人调速系统设计%Design of Speed Control System for Picking Robot Based on Single Chip Microcomputer and Intelligent Monitoring

    Institute of Scientific and Technical Information of China (English)

    胡国顺; 乔琳; 刘志刚

    2016-01-01

    Because picking robot moves very frequently,the speed control is the main factors that affects the efficiency in the moving process of robot,which will be poor research with large inertia and delay.The control signal is output and the motor response to the process will also have a certain delay , picking machine inertia will make picking robots not be good in a predetermined fruit picking place to stop.In order to solve this problem and improve the picking efficiency, a new ro-bot speed regulation system is designed.The speed of the system is collected by the sensor.The control of the robot is controlled by the frequency conversion.The closed-loop control system is designed.Finally, the performance of the pick-ing robot is tested.The test shows that the picking robot can recognize the mature fruit accurately, and the control algo-rithm runs well and the reliability is high.%由于采摘机器人的移动非常频繁,因此其速度控制是影响工作效率的主要因素,在机器人的移动过程中会产生较大的惯性和时延,在控制信号的输出和电机响应过程中也会有一定的延迟,采摘机器人的惯性会使采摘机器人不能很好地在预定的果实采摘位置停下。为了解决这个问题,提高机器人的采摘效率,设计了一种新的机器人调速系统。该系统速度由传感器进行采集,通过电机的变频调节实现移动速度的控制。为了使机器人的控制平稳,以STC89 C52单片机为控制核心,设计了采摘机器人的闭环控制系统。最后,对采摘机器人的性能进行了测试,通过测试发现:采摘机器人可以准确地识别成熟果实,控制算法运行良好,可靠性高,实现了采摘机器人的自动调速功能。

  10. Cucurbits [Cucumber, melon, pumpkin and squash

    Science.gov (United States)

    The focus of this chapter is on the edible members of the Cucurbitaceae family. The three important food-grade cucurbit genera Citrullus, Cucumis, and Cucurbita include the species Citrullus lanatus watermelons), Cucumis melo (cantaloupes and other sweet melons), Cucumis sativa (cucumbers and pick...

  11. Research on Motion Trajectory Control of Fruit and Vegetable Picking Robot Based on RBF Network%基于RBF网络的果蔬采摘机器人运动轨迹控制研究

    Institute of Scientific and Technical Information of China (English)

    薛亮; 樊卫国; 汪小志

    2016-01-01

    In order to improve the accuracy of robot manipulator movement and improve the efficiency of robot movement, a methodis proposed based on genetic algorithm and RBF neural network .The robot manipulator's movement and the whole trajectory are optimized.In order to verify the design of the picking robot reliability, in the experimental green-house on the robot's picking performance were tested, test items include robot path planning of mobile and manipulator path planning.Through the test, we found that using the RBF neural network algorithm can effectively control of manipu-lator motion in the three-dimensional space, in under the control of the genetic algorithm, the robot can with less amount of calculation using neural network algorithm search to get the optimal path, and the calculation precision is above 99%, for its high accuracy, which provides a valuable reference for the fast computational efficiency and effect of high vegetable production picking robot design.%为了提高果蔬采摘机器人机械手运动的精确性,提高机器人移动的效率,提出了一种基于遗传算法和RBF网络的机器人运动轨迹控制方法,并对果蔬机器人机械手的活动和整体的移动轨迹进行优化,有效地提高了果蔬采摘机器人的工作精度和作业效率。为了验证设计的采摘机器人的可靠性,在大棚内对机器人的采摘性能进行了测试,包括机器人移动路径规划和机械手路径规划。通过测试发现:使用 RBF 神经网络算法可以有效地控制机械手在三维空间内的运动;在遗传算法控制下,机器人可以通过较少的计算次数利用神经网络算法搜索得到最优路径,计算精度达到了99%以上。其计算精度及效率高,为高效果蔬采摘机器人的设计提供了较有价值的参考。

  12. The Application of Single Chip Microcomputer in the Portable Intelligent Small Picking Robot%单片机在便携式智能小型采摘作业机器人的应用

    Institute of Scientific and Technical Information of China (English)

    侯文芳; 曹国华

    2016-01-01

    In order to meet the needs of small area fruit picking , a new type of portable intelligent picking robot is developed,and the infrared vision and motion control system of robot is designed .It uses RT-Thread to realize the design of the embedded system , and develop the Builder RT-Thread integrated environment .The use of Gcc compiler can realize the real-time control of the embedded system .In order to verify the reliability of portable robot , the robot infrared and wireless control system and embedded microcontroller system were tested , and it was found that picking robot thread scheduling and serial communication can be normal work , the portable picking robot can be successfully locked target the picking area with infrared ray tracing .And it can move the time-consuming and artificial mobile compared greatly ,also can save time and enhance the operational efficiency of picking ,which can meet the mountain and the hills picking opera-tion demand .%为了满足山地和丘陵地带的小面积果蔬采摘作业需求,开发了一种新型的便携式智能采摘机器人,并利用单片机设计了机器人的红外线视觉和运动控制系统,降低了机器人的本体体积,节约了设计成本。采用 RT-Thread 实现了单片机嵌入式系统的设计,并开发了 RT-Thread Builder 集成环境,利用 Gcc 编译器可以实现单片机嵌入式系统的实时控制。为了验证便携式机器人工作的可靠性,对机器人的红外线和无线控制系统及单片机嵌入式系统进行了测试。结果表明:采摘机器人线程调度和串口通信可以正常工作,便携式采摘机器人利用红外线追踪可以成功地锁定指定目标采摘区域,并且移动耗时与人工移动相比大大节省了时间,提高了采摘的作业效率,可以满足山区和丘陵地带采摘作业的需求。

  13. Design for Apple-picking Robot Based on MSP430 F149 Intelligent Monitoring%基于MSP430F149智能监控的苹果采摘机器人设计

    Institute of Scientific and Technical Information of China (English)

    宣峰; 朱清智; 张毅

    2016-01-01

    At present, as the lack of rural labor,it has become a major trend that agricultural robots are used to be in-stead of workers.The vast majority of picking robots is a professional industrial PC intelligent control platform, which has a large space, high power consumption,high price and cost, the resistance to agricultural extension.This paper takes MSP430F149 as the core processor, combined with the theory of machine vision technology, it designs a set of intelligent control system for picking robot, which can process the collected images in real time, and guide the picking robot to ad-vance and pick the fruits.In order to realize the work of human computer interaction, the LCD display circuit is de-signed, and the working state of the picking robot can be understood through its use, and the manufacturing cost is great-ly reduced.The experimental results show that the recognition error rate of the robot vision system is low to 3.72%, which improves the reliability and efficiency of picking robot.%目前,农村劳动力的匮乏,农业机器人代替工人作业已经成为一大趋势。绝大部分采摘机器人都是以专业的工业PC 机为智能控制平台,所占空间大、功耗高且价格十分高昂,使得智能机器人成本太高,推广的阻力很大。为此,以MSP430 F149为核心处理器,结合机器视觉理论技术,设计了一套智能监控的采摘机器人控制系统,可以实时处理采集到的图像,指导采摘机器人前进及采摘目标果实。为了实现人机交互工作,设计了 LCD显示电路,可以通过其实时了解采摘机器人的工作状态,且极大地降低了制造成本。实验结果表明:该采摘机器人视觉系统识别错误率低至3.72%,提高了采摘机器人的可靠性和采摘效率,具有很好的应用前景。

  14. Three Dimensional Path Planning of Fruit and Vegetable Picking Robot Based on Improved Ant Colony Algorithm%基于改进蚁群算法的果蔬采摘机器人三维路径规划

    Institute of Scientific and Technical Information of China (English)

    黄玲; 胡蔚蔚

    2016-01-01

    In recent years, the"shortage of farmer"problem plays more more strong in our country,and a large number of young workers migrant workers, rural land fallow more and more.China's population aging is serious, the agricultural population is reduced, the labor gap is too large, which leads to the demand of agricultural robot very urgent.With the rapid development of agricultural machinery and automation technology , agricultural robots are constantly developing , which can better adapt to the development of biotechnology, the past the traditional picking methods will be greatly changed, the focus of farmers planting is about to improve.Based on the improved ant colony algorithm, this paper de-signs and plans the 3D path of fruit picking robot walking, and increases the adaptive adjustment function in the process of advancing.Experimental simulation results show that the improved ant colony algorithm based 3D space path planning of fruit and vegetable picking robot is the best way to meet the requirements of the picking robot.%近年来,我国“农民荒”问题越演越烈,大量年轻劳动力外出务工,农村土地荒置越来越多。我国人口高龄化严重,农业人口的减少,劳动力缺口过大,导致对农业机器人的需求极为迫切。随着农业机械和自动化技术的快速发展,农业机器人也在不断发展,其可以更好地适应生物技术种植产业发展,过去传统的采摘方式将会有很大改变,农民种植的侧重点即将改善。为此,基于改进蚁群算法,设计和规划了果蔬采摘机器人行走的三维路径,并增加在前进过程中的自适应调整功能。实验仿真结果表明:基于改进蚁群算法的果蔬采摘移动机器人三维空间路径规划在路径和转弯个数上都做到了最小化,能够很好地满足采摘机器人运行需求。

  15. 基于 SingalR 和 Web 的采摘机器人远程编队控制研究%Research on Remote Formation Control of Picking Robot Based on SingalR and Web

    Institute of Scientific and Technical Information of China (English)

    唐惠康; 郑宝林

    2017-01-01

    The coordination of multiple mobile robots is an important direction of the development of the robot technolo-gy, but not many applications in agriculture, in order to improve the picking robots, improve work efficiency, multi robot collaborative real-time control, and puts forward a kind of control system based on web remote robot formation. In view of the current real-time web application technology, build the a SingalR the real-time web application framework based on, the framework can achieve dynamic logic, and execution of the task and real-time update of data regularly sent to all the connected clients. Combining the multi-agent networks, the picking robot formation control is studied, according to the specific of the multi robot system, experimental test, the formation control of multi robot path planning, to calculate the residual accuracy of multi robot control, and finally tested on more than picking the work efficiency of the machine, verification based on SingalR real-time web application framework in more than picking the feasibility of using robots in formation control.%多移动机器人协调是当前机器人技术的一个重要发展方向,但是在农业上的应用并不多。为了提高采摘机器人的智能化程度及作业效率,实现多机器人的协同实时控制,提出了一种基于 Web 的多机器人远程编队控制系统。针对当前 Web 实时应用程序技术的不足,构建了一种基于 SingalR 的 Web 实时应用程序框架,该框架可以实现逻辑和动态的执行任务,并将实时更新的数据定时地发送到所有连接的客户端。结合多智能体网络对采摘机器人的编队控制进行了研究,根据具体的多机器人系统,进行了实验测试,得到了多机器人编队控制的规划路径,计算了多机器人控制的残差精度,最后对多采摘机器人的工作效率进行了测试,验证了基于 SingalR 的Web 实时应用程序框架在多采摘机

  16. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  17. Laser detection method for cotton orientation in robotic cotton picking%面向采摘机器人的棉花激光定位算法

    Institute of Scientific and Technical Information of China (English)

    王玲; 刘思瑶; 卢伟; 顾宝兴; 朱镕杰; 朱宏超

    2014-01-01

    Euclidean distance, and the centroid distance was chosen, which was also decided among several other different distances like closest distance, longest distance, and sums of squares of deviations, as the between-class distance according to the Cophenetic correlation coefficient. And due to the fact that branches that were 45° to each other usually at least had two more branches in between them vertically, and the minimum vertical distance of two neighboring branches was about 0.05 m, correspondingly the minimum vertical distance of two pieces of overlapped cotton was about 0.17 m, so the cotton image clustered at the threshold of 0.17 m. Then the adhesion or overlapped cotton was segmented, and the three-dimensional coordinate values of a single cotton plant were acquired. The result of a series of experiments showed that the recognition rate of a single cotton plant was as high as 96.67%, the mean measurement error of the cotton was 0.015 m, and the relative error was 2.43%. The correlation coefficient between the laser measurement and manual measurement results was up to 0.9934, which was high enough to provide the picking robot with needed parameters that could be used to determine its movement locus.%为了定位棉株上的棉花,设计了1个激光测距试验装置,利用计算机图像处理技术和模式识别理论结合棉花的农学特性测量了单朵棉花的三维坐标。以0.004m为X、Y轴的采样间距,获取传感器至棉株表面点云的距离图像;以传感器至棉花上表面的最长距离0.9m为阈值对棉株距离图像进行二值化处理,去除地面背景;以棉枝的宽度0.01~0.02m为结构元素尺寸,对二值图进行形态学开运算,去除棉枝,提取棉花区域。用欧氏距离计算像素之间的相似度,用Cophenetic相关系数选择质心距离为类间距离,以呈45°夹角棉枝的最小纵向间距0.17m为阈值,对棉花距离图像进行层次聚类,分割粘连重叠的棉花,求

  18. Fast visual part inspection for bin picking

    DEFF Research Database (Denmark)

    Rofalis, Nikolaos; Olesen, Anders Sig; Jakobsen, Michael Linde

    2016-01-01

    In this paper we present a novel 3D sensing approach for industrial bin-picking applications that is low-cost, fast and precise. The system uses a simple laser-line emitter. While a robot arm moves the object through the laser light, a synchronized camera captures the laser line image on the object...

  19. Niemann-Pick Disease

    Science.gov (United States)

    ... Disease] National Niemann-Pick Disease Foundation, Inc. National Tay-Sachs and Allied Diseases Association See all related ... Disease] National Niemann-Pick Disease Foundation, Inc. National Tay-Sachs and Allied Diseases Association See all related ...

  20. 果蔬采摘机器人末端执行器的柔顺抓取力控制%Compliance grasp force control for end-effector of fruit-vegetable picking robot

    Institute of Scientific and Technical Information of China (English)

    姬伟; 罗大伟; 李俊乐; 杨俊; 赵德安

    2014-01-01

    characteristics to the ramp error that consists of force tracking error and constant disturbance, the integral reconstructor does not change the characteristic of the closed-loop. The computation of time derivatives can cause many common problems, such as a noisy signal, output delays, etc. In order to avoid these problems, making full use of integral reconstructor to design GPI force feedback controller, the force deviation converted to the input voltage control of the motor, this way needn’t to derivate torque tracking error, so avoiding system time-delay and noise problem results from derivation. Making use of simulation software of MATLAB, taking sine signal and ramp signal as reference forces respectively, the force trajectory tracking error and the force output are analysed, the simulation result shows that the unit of force tracking error is 10-3, the real output force trajectory is close to the reference force trajectory, only having a little disturbance in the beginning, the output force trajectory reach a steady tracking status within 1 s, then the real output force trajectory smoothly tracks the reference force trajectory. Simulation results show that the GPI torque control has good torque tracking capability, which can decrease the damage of fruits and vegetables caused by end-effector grasping, and it is suitable for compliance grasp control of fruit-vegetable. Generalized proportional integral controller was applied to a fruit-picking robot to grasp apples and pears, after several the experiment of grasping fruits, the experimental results indicated that the method has a good performance and the fruit-picking robot can grasp and release fruit steadily and harmlessly. The ratio of successful grasping is 90%. Comparing with the situation that adopted traditional proportional integral control, the damage of fruits and vegetables caused by the end-effector grasping is reduced, fulfilling the demand of fruit picking. The research can provide a reference for the

  1. [Robotics].

    Science.gov (United States)

    Bier, J

    2000-05-01

    Content of this paper is the current state of the art of robots in surgery and the ongoing work on the field of surgical robotics at the Clinic for Maxillofacial Surgery at the Charité. Robots in surgery allows the surgeon to transform the accuracy of the imaging systems directly during the intervention and to plan an intervention beforehand. In this paper firstly the state of the art is described. Subsequently the scientific work at the clinic is described in detail. The paper closes with a outlook for future applications of robotics systems in maxillofacial surgery.

  2. Path Planning of Fruit Picking Robot Based on Genetic Algorithms%基于遗传算法的采摘机器人轨迹规划

    Institute of Scientific and Technical Information of China (English)

    陈天宏; 崔天时; 李广军

    2010-01-01

    以总距离最短作为性能指标,以6自由度采摘机器人作为研究对象,在考虑各关节速度、加速度和加速度变化约束的基础上,采用遗传算法对机器人所经过各点的进行路径规划.运用robotics toolbox 工具箱进行仿真,结果表明:所设计的机器人轨迹规划方法既能保证总路径最优,又可使机器人的轨迹平滑.

  3. Application of Picking and Setting Robot Delta Based on Virtual Solutions in PC%基于PC的视觉解决方案在Delta机器人抓放中的应用

    Institute of Scientific and Technical Information of China (English)

    袁道香

    2016-01-01

    In the application of camera basler in robot delta, the camera act as eyes of robot need to pick and set objects quickly. By using an image processing software DA4, coordinates, types and angles of the object can be distinguished under the robot coordinate system from real-time images of the camera. Due to uneven illumination in the external environment, the object cannot be identified easily in images. Firstly, pre-processing should be taken to make the camera to get a high robustness in the recognition; secondly, by using template matching method, the object can be recognized; then sorting date from the results of the template search and sending the compatible data according to the prescribed format of twincat; finally, establishing a communication between PC and twincat. The results show that the camera can recognize the object quickly, at the same time, the coordinates, angles and attribute parameters can be given, and it is worth mentioning that the positioning accuracy can be controlled within 2mm.%Basler相机在delta机器人抓放中的应用中,basler相机作为机器人的眼睛引导机器人快速抓放目标物体。从相机实时拍摄的图像中通过PC中的DA4图像处理软件能够识别当前目标物体在机器人坐标系下的坐标、种类、角度信息。由于外部环境中光照不均匀,造成图像中的目标物体不一致,首先需对图像进行预处理,使得相机在识别目标物体中具有较高的鲁棒性;其次,通过模板匹配方法查找目标物体;然后,通过模板查找的结果为整理数据,按照 twincat 规定的格式发送相适应的的数据;最后,建立 PC 与twincat通讯。结果显示,能够快速识别目标物体,并给出坐标、角度、属性参数,定位精度在2mm之内。

  4. Skin Picking Disorder

    Directory of Open Access Journals (Sweden)

    Pinar Cetinay Aydin

    2014-08-01

    Full Text Available Skin picking disorder is not a dermatological disorder and it is a table characterized with picking skin excessively and repetitively, leading to damage in skin tissue. Unlike normal picking behaviour, psychogenic skin picking is repetitive and it can lead to severe damage in the skin and even complications which constitute vital danger. While some patients define frequent but short lasting picking attacks, others define rarer attacks which last a few hours. Skin picking disorder, which is not included in the classification systems up to DSM-5 as a separate diagnosis category, is included as an independent diagnosis in Obsessive Compulsive Disorder and Associated Disorders category in DSM-5. In case reports, open label studies and double blind studies selective serotonin reuptake inhibitors are shown to be effective in the treatment of skin picking disorder. Mostly, cognitive-behaviourial techniques are used and have been proven to be useful in psychotherapy. Habit reversal is one of the behaviourial techniques which are frequently applied, give positive results in which well-being state can be maintained. [Psikiyatride Guncel Yaklasimlar - Current Approaches in Psychiatry 2014; 6(4.000: 401-428

  5. Grasp Densities for Grasp Refinement in Industrial Bin Picking

    DEFF Research Database (Denmark)

    Hupfauf, Benedikt; Hahn, Heiko; Bodenhagen, Leon

    Automatic picking of randomly distributed objects from a bin has been denoted the "Holy Grail" in the world of robot automation. A particular property of the bin-picking scenario (in contrast to most other industrial robot applications) is that grasp errors are allowed to occur: Usually bin...... generated in industrial bin-picking for grasp learning. This aim is achieved by using the novel concept of grasp densities (Detry et al., 2010). Grasp densities can describe the full variety of grasps that apply to specific objects using specific grippers. They represent the likelihood of grasp success...... in terms of object-relative gripper pose, can be learned from empirical experience, and allow the automatic choice of optimal grasps in a given scene context (object pose, workspace constraints, etc.). We will show grasp densities extracted from empirical data in a real industrial bin picking context...

  6. Skin picking disorder.

    Science.gov (United States)

    Grant, Jon E; Odlaug, Brian L; Chamberlain, Samuel R; Keuthen, Nancy J; Lochner, Christine; Stein, Dan J

    2012-11-01

    Although skin picking has been documented in the medical literature since the 19th century, only now is it receiving serious consideration as a DSM psychiatric disorder in discussions for DSM-5. Recent community prevalence studies suggest that skin picking disorder appears to be as common as many other psychiatric disorders, with reported prevalences ranging from 1.4% to 5.4%. Clinical evaluation of patients with skin picking disorder entails a broad physical and psychiatric examination, encouraging an interdisciplinary approach to evaluation and treatment. Approaches to treatment should include cognitive-behavioral therapy (including habit reversal or acceptance-enhanced behavior therapy) and medication (serotonin reuptake inhibitors, N-acetylcysteine, or naltrexone). Based on clinical experience and research findings, the authors recommend several management approaches to skin picking disorder.

  7. Robots

    Institute of Scientific and Technical Information of China (English)

    驷萍

    1997-01-01

    一篇介绍机器人的文章写得如此耐读,如此清新! 首先.我们弄清了robot一词的来历: It was used first in 1920 in a play by Czcchoslovak writer Karel Capek.The wordrobot comes from the Czech word for slave. 上句提供了一个时间:1920。文章接着便抓住这个时间做文章: 且The word robot.and robots themselves are less than 100 years old.But humanshave been dreaming of real and imaginary copies of themselves for thousands of years. 文章就这样写出了波澜,1920年和 thousands of years自然而然构成了强烈对比。1954年和1960s是两个谈及机器人时不得不一提的时间: In 1954,the world’s first robot was produced in the United States. During the 1960s,the first industrial robots appeared beside human workers infactories.下面这句让我们体味到 the Czech word for slave中的 slave不仅言之有理,而且影视和小说里的机器人“造反”,进而 killed the humans who made them的情节也“事出有因”: What do today’s robots do?Robots do work.Work that human consideruninteresting or dangerous.…do many jobs that people consider tiring. 本文将机器人的“功过”放在一起写,笔

  8. [Skin-picking disorder].

    Science.gov (United States)

    Niemeier, V; Peters, E; Gieler, U

    2015-10-01

    The disorder is characterized by compulsive repetitive skin-picking (SP), resulting in skin lesions. The patients must have undertaken several attempts to reduce or stop SP. The disorder must have led to clinically significant limitations in social, professional, or other important areas of life. The symptoms cannot be better explained by another emotional disorder or any other dermatological disease. In the new DSM-V, skin-picking disorder has been included in the diagnostic system as an independent disorder and describes the self-injury of the skin by picking or scratching with an underlying emotional disorder. SP is classified among the impulse-control disorders and is, thus, differentiated from compulsive disorders as such. There are often emotional comorbidities. In cases of pronounced psychosocial limitation, interdisciplinary cooperation with a psychotherapist and/or psychiatrist is indicated.

  9. Optical Absorption and Scattering Properties of Normal and Defective Pickling Cucumbers for 700-1000 nm

    Science.gov (United States)

    Internal defect in pickling cucumbers can cause bloater damage during brining, which lowers the quality of final pickled products and results in economic loss for the pickle industry. Hence it is important to have an effective optical inspection system for detection and segregation of defective pick...

  10. Characterization of the Optical Properties of Normal and Defective Pickling Cucumbers and Whole Pickles

    Science.gov (United States)

    Internal defect in pickling cucumbers can cause bloater damage during brining, which lowers the quality of final pickled products and results in economic loss for the pickle industry. Hence it is important to have an effective optical inspection system for detection and segregation of defective pick...

  11. Application of Fuzzy Self-Adapting Kalman Filter in Control System of Pinecone Picking Robot%模糊自适应卡尔曼滤波技术在球果采集机器人控制系统中的应用

    Institute of Scientific and Technical Information of China (English)

    郭秀丽; 亓占丰

    2015-01-01

    In order to pick cones automatically,RBF neural network based on fuzzy self-adapting Kalman filter is applied to control the manipulator motion of robot. By programming with MATLAB and solidifying the program to a chip,the data obtained from the three-dimension laser scanner and the sensors on line are processed so as to control the operation of picking cone automatically. The test shows that the automatic control system of RBF neural network is effective and the cones picked by the robot is about 700 ~1 000 kg per day,its efficiency is about 1 . 4~2 . 0 times than that of the robot without RBF control system and about 40~60 times than that of a picker by hand.%为实现自动采果,采用基于模糊自适应卡尔曼滤波的RBF神经网络对机械手动作进行控制.通过MATLAB编程固化到芯片中,将在线获得的三维激光扫描仪及传感器数据进行实时处理并控制采果运动.试验表明:采用的神经网络控制系统工作有效,采果机器人每天可采落叶松球果700~1000 kg,效率为未采用神经网络控制时的1.4~2.0倍,为人工采集的40~60倍.

  12. [Effects of bio-fertilizer on organically cultured cucumber growth and soil biological characteristics].

    Science.gov (United States)

    Cao, Dan; Zong, Liang-gang; Xiao, Jun; Zhang, Qian; Zhao, Yan

    2010-10-01

    Field trials of organic farming were conducted to examine the effects of different bio-fertilizers on the organically cultured cucumber growth, soil enzyme activities, and soil microbial biomass. Four treatments were installed, i. e., organic fertilizer only (CK), bio-fertilizer "Zhonghe" combined with organic fertilizer (ZHH), bio-fertilizer "NST" combined with organic fertilizer (NST), and bio-fertilizer "Bio" combined with organic fertilizer (BIO). Bio-fertilizers combined with organic fertilizer increased the cucumber yield significantly, and improved the root growth and leaf chlorophyll content. Comparing with that in CK, the cucumber yield in treatments ZHH, NST, and BIO was increased by 10.4%, 12.4%, and 29.2%, respectively. At the seedling stage, early flowering stage, and picking time of cucumber, the soil microbial biomass C and N in treatments ZHH, NST, and BIO were significantly higher than that in CK, and the activities of soil urease, acid phosphatase, and catalase were also higher.

  13. Benchmarking motion planning algorithms for bin-picking applications

    DEFF Research Database (Denmark)

    Iversen, Thomas Fridolin; Ellekilde, Lars-Peter

    2017-01-01

    Purpose For robot motion planning there exists a large number of different algorithms, each appropriate for a certain domain, and the right choice of planner depends on the specific use case. The purpose of this paper is to consider the application of bin picking and benchmark a set of motion...

  14. Pick Cubes for Object Picking in VR World

    Directory of Open Access Journals (Sweden)

    M. Mohamed Sathik

    2010-02-01

    Full Text Available In this paper, we proposed an algorithm which performs object picking in Virtualreality world using cubes. As ‘Picking’ is an essential interaction technique in graphics applications,Object Picking is performed in VR world using a 3D mouse or an interactive glove to explore andinteract with any of the objects. In this paper, cube is used to represent the intersection point of the raycoming from the user input and the object to be picked. By intersecting the objects in the scene with theray with a pick cube at the intersection point, it is determined which one is picked. An object is selectedwhen this pick cube intersects the object’s bounding box. In this paper, object picking is typicallyperformed by bounding box checks, taking the position of the pick cube and the objects in account so thatthe algorithm is made simpler and the computation time of the algorithm is also reduced. Pick cube canbe activated to perform more actions during interactions than other shapes. So the efficiency and theperformance of the picking process will be increased which helps the user to play in the virtual worldwith full enthusiasm.

  15. Cucumber vein yellowing virus

    Science.gov (United States)

    Cucurbits are an important crop of temperate, subtropical and tropical regions of the world. Cucumber vein yellowing virus (CVYV) is a major viral pathogen of cucurbits. This chapter provides an overview of the biology of CVYV and the disease it causes....

  16. Robotics

    Science.gov (United States)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  17. Research on Hand Gesture Recognition of Remote Control Picking Robot Based on Potential Field and Ant Colony Algorithm%远程控制采摘机器人手势识别研究-基于势场蚁群算法

    Institute of Scientific and Technical Information of China (English)

    袁路路; 张娓娓

    2017-01-01

    When the robot is unable to cross the obstacle in the operation , or when the dangerous area can not be manu-ally picked up , it needs to use the remote method for real-time control , so that it can successfully cross the obstacles , and in the high risk environment to carry out the picking operation effectively .In order to optimize the robot remote con-trol system , a remote control scheme based on gesture recognition is proposed , and the potential field ant colony algorithm is introduced to improve the accuracy and efficiency of the robot .In the remote control scheme , the gesture recognition combined with remote control robot arm based on the depth camera gesture image and extract the gesture features into ma -nipulator servo control commands , and through the wireless network to the picking robot control unit , to realize the re-mote control of the robot visual gestures .Finally , the robot is tested .The recognition system based on ant colony algo-rithm can effectively track the different dynamic gestures , and can accurately identify the meaning of gestures .This meth-od can not only realize the function of obstacle avoidance , but also can be used in the area of the valley , the swamp and so on.%采摘机器人在作业时遇到通过自主导航无法越过的障碍物时,或者在危险的地带无法进行人工采摘作业时,需要借助远程方式进行实时控制,使其成功越过障碍物,并在高危环境中有效地展开采摘作业。为了优化采摘机器人远程控制系统,提出了一种基于手势识别的远程控制方案,并引入了势场蚁群算法,提高了机器人的控制的准确性和高效性。在远程控制方案中,将基于视觉的手势识别与远程控制机械手相结合,通过深度相机采集手势图像并提取手势特征,转换为机械手舵机的控制命令,并通过无线网络发送至采摘机器人控制单元,实现视觉手势对机器人的远程控制。对采摘

  18. Grasp Algorithms For Optotactile Robotic Sample Acquisition Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robotic sample acquisition is essentially grasping. Multi-finger robot sample grasping devices are controlled to securely pick up samples. Equations have been...

  19. Grasp Algorithms For Optotactile Robotic Sample Acquisition Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robotic sample acquisition is basically grasping. Multi-finger robot sample grasping devices are controlled to securely pick up samples. While optimal grasps for...

  20. Ultrafast optomechanical pulse picking

    Science.gov (United States)

    Lilienfein, Nikolai; Holzberger, Simon; Pupeza, Ioachim

    2017-01-01

    State-of-the-art optical switches for coupling pulses into and/or out of resonators are based on either the electro-optic or the acousto-optic effect in transmissive elements. In high-power applications, the damage threshold and other nonlinear and thermal effects in these elements impede further improvements in pulse energy, duration, and average power. We propose a new optomechanical switching concept which is based solely on reflective elements and is suitable for switching times down to the ten-nanosecond range. To this end, an isolated section of a beam path is moved in a system comprising mirrors rotating at a high angular velocity and stationary imaging mirrors, without affecting the propagation of the beam thereafter. We discuss three variants of the concept and exemplify practical parameters for its application in regenerative amplifiers and stack-and-dump enhancement cavities. We find that optomechanical pulse picking has the potential to achieve switching rates of up to a few tens of kilohertz while supporting pulse energies of up to several joules.

  1. Fruit harvesting robots in Japan

    Science.gov (United States)

    Kondo, N.; Monta, M.; Fujiura, T.

    We have developed harvesting robots for tomato /1/, petty-tomato, cucumber /2/ and grape /3/ in Japan. These robots mainly consist of manipulators, end-effectors, visual sensors and traveling devices. These mechanisms of the robot components were developed based on the physical properties of the work objects. The robots must work automatically by themselves in greenhouses or fields, since we are considering for one operator to tend several robots in the production system. The system is modeled after Japanese agriculture which is commonly seen to produce many kinds of crops in greenhouses and in many small fields intensively. Bioproduction in space is somewhat similar to the agricultural system in Japan, because few operators have to work in a small space. Employing robots for bioproduction in space is considered desirable in near future. The following is a description of the harvesting robots.

  2. Indoleacetaldehyde in Cucumber Seedlings 1

    Science.gov (United States)

    Purves, William K.; Brown, Hugh M.

    1978-01-01

    The presence of indoleacetaldehyde in cucumber (Cucumis sativus L.) cotyledons was demonstrated by thin layer chromatographic RF values in three solvent systems, by the formation and hydrolysis of a bisulfite adduct, and by chemical reduction to indoleethanol and oxidation to indoleacetic acid. Bioassays indicated a minimum indoleacetaldehyde content in etiolated cotyledons of 0.7 μg per kg fresh weight. Tissue samples from all parts of both green and etiolated cucumber seedlings reduced exogenously supplied indoleacetaldehyde to indoleethanol. PMID:16660219

  3. Automation and robotics for genetic analysis.

    Science.gov (United States)

    Smith, J H; Madan, D; Salhaney, J; Engelstein, M

    2001-05-01

    This guide to laboratory robotics covers a wide variety of methods amenable to automation including mapping, genotyping, barcoding and data handling, template preparation, reaction setup, colony and plaque picking, and more.

  4. Pick's Theorem: What a Lemon!

    Science.gov (United States)

    Russell, Alan R.

    2004-01-01

    Pick's theorem can be used in various ways just like a lemon. This theorem generally finds its way in the syllabus approximately at the middle school level and in fact at times students have even calculated the area of a state considering its outline with the help of the above theorem.

  5. Intelligent Articulated Robot

    Science.gov (United States)

    Nyein, Aung Kyaw; Thu, Theint Theint

    2008-10-01

    In this paper, an articulated type of industrial used robot is discussed. The robot is mainly intended to be used in pick and place operation. It will sense the object at the specified place and move it to a desired location. A peripheral interface controller (PIC16F84A) is used as the main controller of the robot. Infrared LED and IR receiver unit for object detection and 4-bit bidirectional universal shift registers (74LS194) and high current and high voltage Darlington transistors arrays (ULN2003) for driving the arms' motors are used in this robot. The amount of rotation for each arm is regulated by the limit switches. The operation of the robot is very simple but it has the ability of to overcome resetting position after power failure. It can continue its work from the last position before the power is failed without needing to come back to home position.

  6. Robots arm motion representation in Petri NETS using sequent calculus

    Directory of Open Access Journals (Sweden)

    Syed Uzair Ahmad

    2015-12-01

    Full Text Available There are many sort of motion in robots structure. Such as the robot locomotion robot jumps robots picking and so on but all are presented through Petri NETS. The one motion which is also the important one and most worthy motion of the robots is the robots arm motion. Which till yet not represented through Petri NETS. In this paper we are going to represent the motion of the robot arm in different angles and different aspect, such as up, down, circular, back and front moment of the robot arm, through Petri net we can present the complex form of motions into simplex paths.

  7. Enhancing Warehouse Performance by Efficient Order Picking

    NARCIS (Netherlands)

    M. Yu (Mengfei)

    2008-01-01

    textabstractThis thesis studies order picking in warehouses. Order picking, the process of retrieval products from their storage locations to fill customer orders, is regarded as the most critical operation in a warehouse. Using stochastic modelling, we develop a model to estimate order picking syst

  8. U.S. Fresh and Pickling Cucumber Markets

    OpenAIRE

    2013-01-01

    As part of an effort to estimate the potential impact of downy mildew to U.S. growers of cucumbers, this report reviews historical trends in production and markets for cucumbers including slicing and pickling cucumbers.

  9. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  10. Didymella bryoniae on glasshouse cucumbers

    NARCIS (Netherlands)

    Steekelenburg, van N.A.M.

    1986-01-01

    The increasing incidence of fruit rot, caused by Didymella bryoniae , in glasshouse cucumbers in the Netherlands gave rise to a study of the biology of the pathogen, the epidemiology of the disease, and control methods. Stems, leaves and growing tips may be attacked, and fruits ma

  11. Cucumber mosaic virus in Rubus

    Science.gov (United States)

    Cucumber mosaic virus (CMV) has been reported on red raspberry in Chile, Scotland and the Soviet Union and in Chile on blackberry. Its occurrence in Rubus is rare and seems to cause little damage. Except for one early, unconfirmed report, CMV has not been reported on Rubus in North America. This vir...

  12. Chicken Porridge with Sea Cucumber

    Institute of Scientific and Technical Information of China (English)

    1994-01-01

    Main ingredients: 50 grams of chicken breast, 200 grams of gray sea cucumbers Supplementary ingredients: 100 grams of water chestnut, the whites of four eggs, MSG, salt, wine, meat soup, starch, sugar, scallions, ginger, soy sauce Directions: Chop up the chicken breast and water chestnut into small

  13. Didymella bryoniae on glasshouse cucumbers

    NARCIS (Netherlands)

    Steekelenburg, van N.A.M.

    1986-01-01

    The increasing incidence of fruit rot, caused by Didymella bryoniae , in glasshouse cucumbers in the Netherlands gave rise to a study of the biology of the pathogen, the epidemiology of the disease, and control methods. Stems, leaves and growing tips may be attacked, and fruits

  14. Enfermedad de Niemann-Pick

    OpenAIRE

    Margolles, Pedro; Paredes, Lucía; López, J.A. (Juan)

    2014-01-01

    Enfermedades Raras en Asturias. Dirección General de Salud Pública y Participación. Informes breves 11 Niemann-Pick is a hereditary disease in which accumulate sphingomyelin and lipids in the cells of different organs. Este proyecto ha sido financiado a cargo de los fondos para la cohesión territorial 2010 del Ministerio de Sanidad y Política Social que fueron aprobados en el CISNS, como apoyo a la implementación a la Estrategia en Enfermedades Raras del Sistema Nac...

  15. Analysis of 50 Cucumber Accessions by RAPD Markers

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    Genetic diversity of 50 cucumber (Cucumis sativus L.) accessions from American, Holland, Japan and China was detected and evaluated using RAPD markers. 25 selected primers produced 215 scorable polymorphic RAPD bands and the ratio of polymorphism is 86.98%. Four main groups of cucumber accessions could be distinguished from UPGMA analysis: Occidental cucumber, South-China cucumber, North-China cucumber and Xishuangbanna cucumber. Our result confirmed that cucumber is a narrow-based germplasm, nevertheless RAPD analysis was still useful in cucumber genotypic differentiation. More significantly, Xishuangbanna cucumber (Cucumis sativus L. Var Xishuangbannanesis Qi et Yuan), a mutation of cucumber, was clustered together to a special group in the study, which implied its special status in cucumber germplasm.

  16. Nail picking disorder (onychotillomania): a case report.

    Science.gov (United States)

    Snorrason, Ivar; Woods, Douglas W

    2014-03-01

    Nail picking disorder (onychotillomania) is characterized by excessive picking or pulling at one's own finger- or toenails. This condition has received scant research attention and may be related to other body focused repetitive behaviors such as pathological nail biting, skin picking and hair pulling. We present a case of a male client with a chronic and severe nail picking habit treated with acceptance-enhanced behavior therapy. The client showed clinical characteristics similar to other body focused repetitive behaviors and responded moderately well to the treatment.

  17. Improved Operating Performance of Mining Machine Picks

    Science.gov (United States)

    Prokopenko, S.; Li, A.; Kurzina, I.; Sushko, A.

    2016-08-01

    The reasons of low performance of mining machine picks are stated herein. In order to improve the wear resistance and the cutting ability of picks a new design of a cutting carbide tip insert to be fixed on a removable and rotating pick head is developed. Owing to the new design, the tool ensures a twofold increase in the cutting force maintained longer, a twofold reduction in the specific power consumption of the breaking process, and extended service life of picks and the possibility of their multiple use.

  18. Chicken Porridge with Sea Cucumber

    Institute of Scientific and Technical Information of China (English)

    1994-01-01

    Chicken Porridge with Sea Cucumber is a dish created according to a well-known story about Jia Chang, who raised cocks during the Tang Dynasty. Cockfighting was popular among commonfolk during the Tang Dynasty. Emperor Xuanzong selected 5,000 cocks in Chang’an, and 500 children to feed them and train them to fight. Jia Chang was one of the children. Sent to the

  19. QTL mapping in multiple populations and development stages reveals dynamic quantitative trait loci for fruit size in cucumbers of different market classes.

    Science.gov (United States)

    Weng, Yiqun; Colle, Marivi; Wang, Yuhui; Yang, Luming; Rubinstein, Mor; Sherman, Amir; Ophir, Ron; Grumet, Rebecca

    2015-09-01

    QTL analysis in multi-development stages with different QTL models identified 12 consensus QTLs underlying fruit elongation and radial growth presenting a dynamic view of genetic control of cucumber fruit development. Fruit size is an important quality trait in cucumber (Cucumis sativus L.) of different market classes. However, the genetic and molecular basis of fruit size variations in cucumber is not well understood. In this study, we conducted QTL mapping of fruit size in cucumber using F2, F2-derived F3 families and recombinant inbred lines (RILs) from a cross between two inbred lines Gy14 (North American picking cucumber) and 9930 (North China fresh market cucumber). Phenotypic data of fruit length and diameter were collected at three development stages (anthesis, immature and mature fruits) in six environments over 4 years. QTL analysis was performed with three QTL models including composite interval mapping (CIM), Bayesian interval mapping (BIM), and multiple QTL mapping (MQM). Twenty-nine consistent and distinct QTLs were detected for nine traits from multiple mapping populations and QTL models. Synthesis of information from available fruit size QTLs allowed establishment of 12 consensus QTLs underlying fruit elongation and radial growth, which presented a dynamic view of genetic control of cucumber fruit development. Results from this study highlighted the benefits of QTL analysis with multiple QTL models and different mapping populations in improving the power of QTL detection. Discussion was presented in the context of domestication and diversifying selection of fruit length and diameter, marker-assisted selection of fruit size, as well as identification of candidate genes for fruit size QTLs in cucumber.

  20. Development of autonomous grasping and navigating robot

    Science.gov (United States)

    Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

    2015-01-01

    The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

  1. Reducing Skin Picking via Competing Activities

    Science.gov (United States)

    Lane, Kathleen Lynne; Thompson, Ada; Reske, Cara L.; Gable, Lauren M.; Barton-Arwood, Sally

    2006-01-01

    This study examined the outcomes of a competing activities intervention to decrease skin picking exhibited by a 9-year-old student with comorbid diagnoses. Results of an ABCBAB design revealed that the use of student-selected manipulatives resulted in reduced skin picking. (Contains 1 figure.)

  2. White matter abnormalities in skin picking disorder

    DEFF Research Database (Denmark)

    Grant, Jon E; Odlaug, Brian Lawrence; Hampshire, Adam

    2013-01-01

    Skin picking disorder (SPD) is characterized by the repetitive and compulsive picking of skin, resulting in tissue damage. Neurocognitive findings in SPD implicate difficulty with response inhibition (suppression of pre-potent motor responses). This function is dependent on the integrity...

  3. Skin picking disorder in university students

    DEFF Research Database (Denmark)

    Odlaug, Brian Lawrence; Lust, Katherine; Schreiber, Liana R N

    2013-01-01

    This study sought to examine the prevalence of skin picking disorder (SPD) in a university sample and assess associated physical and mental health correlates.......This study sought to examine the prevalence of skin picking disorder (SPD) in a university sample and assess associated physical and mental health correlates....

  4. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  5. ISOLDE target zone GPS robot, Camera B Part2 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements mainly in close up moving a target along the corridor and onto a shelf position and vice versa. Close up GPS robot handling at exchange point. Movement GPS robot with target through the corridor. Close up robot cable guidance system. Close up posing target on the shelf position. Close up picking up a target from the shelf position and passing through corridor. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Checking activation: GPS robot picking up a target from the shelf and moving it in front of the radiation monitor and close up.

  6. ISOLDE target zone GPS robot, Camera B Part2

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements mainly in close up moving a target along the corridor and onto a shelf position and vice versa. Close up GPS robot handling at exchange point. Movement GPS robot with target through the corridor. Close up robot cable guidance system. Close up posing target on the shelf position. Close up picking up a target from the shelf position and passing through corridor. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Checking activation: GPS robot picking up a target from the shelf and moving it in front of the radiation monitor and close up.

  7. ISOLDE target zone GPS robot Camera B Part1

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements mainly in close up moving a target along the corridor and onto a shelf position and vice versa. Close up GPS robot handling at exchange point. Movement GPS robot with target through the corridor. Close up robot cable guidance system. Close up posing target on the shelf position. Close up picking up a target from the shelf position and passing through corridor. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Checking activation: GPS robot picking up a target from the shelf and moving it in front of the radiation monitor and close up.

  8. ISOLDE target zone GPS robot Camera B Part1 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements mainly in close up moving a target along the corridor and onto a shelf position and vice versa. Close up GPS robot handling at exchange point. Movement GPS robot with target through the corridor. Close up robot cable guidance system. Close up posing target on the shelf position. Close up picking up a target from the shelf position and passing through corridor. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Checking activation: GPS robot picking up a target from the shelf and moving it in front of the radiation monitor and close up.

  9. ORDER-PICKING OPTIMIZATION FOR AUTOMATED PICKING SYSTEM WITH PARALLEL DISPENSERS

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    Based on the characteristics of parallel dispensers in automated picking system, an order-picking optimization problem is presented. Firstly, the working principle of parallel dispensers is introduced, which implies the time cost of picking each order is influenced by the order-picking sequence. So the order-picking optimization problem can be classified as a dynamic traveling salesman problem (TSP). Then a mathematical model of the problem is established and an improved max-min ant system (MMAS) is adopted to solve the model. The improvement includes two aspects. One is that the initial assignment of ants depends on a probabilistic formula instead of a random deployment; the other is that the heuristic factor is expressed by the extra picking time of each order instead of the total. At last, an actual simulation is made on an automated picking system with parallel dispensers. The simulation results proved the optimization value and the validity of improvement on MMAS.

  10. The planning of order picking in a warehouse by heuristic algorithms

    OpenAIRE

    Uršič, Jakob

    2014-01-01

    Planning of order picking is essential process in every warehouse. In this thesis, we developed a simple warehouse simulator, which allows us to do various searches on path finding for a certain amount of items for one or more robots, using the A* algorithm. Heuristic guidance of search is mainly based on heuristic evaluation. We have implemented five different heuristic estimates, which we tested experimentally on examples with different warehouse configurations and with different numbers of...

  11. Design and Development of Robot Hand System

    Directory of Open Access Journals (Sweden)

    Panchumarthy Seetharamaiah

    2011-01-01

    Full Text Available Research on robot hand design is being carried out to accommodate a variety of tasks such as grasping and manipulation of objects in the field of industrial applications, service robots and rehabilitation robots. Problem statement: To design and develop a microcontroller-based four fingered robotic hand with a simple and minimal control strategy to pick and place application with object detection by simple IR sensor logic. Approach: The methodology is based on anthropomorphic design with three fingers and an opposing thumb. Each finger has three links and three double revolute joints. Each finger is actuated by a single opposing pair of tendons. The robot hand system is interfaced to microcontroller with software control by means of 14 independent commands for the motion of joints: close and open for fore finger, middle finger, ring finger and thumb finger and wrist up and down, base clockwise and counter clockwise, pick and place and home position. The tendoning system and wireless feedback logic provide the hand with the ability to confirm to object topology and therefore providing the advantage of using a simple control structure. Results: Reliable grasping and releasing is achieved with simple control mechanisms and IR sensors/push-button switches. The hand can pick a variety of objects with different surface characteristics and shapes without having to reconstruct its surface description. Picking of the object is successfully completed as long as the object is within the workspace of the hand and placed the object at the desired position within the workspace by relevant software control using keyboard commands. Conclusion: Hardware and software development of microcontroller-based four-fingered robotic hand is addressed. Details of hand control software for mainly pick and place applications are presented. Results of the experimental work for pick and place application of different objects is enumerated.

  12. A Mobile Robot for Small Object Handling

    Science.gov (United States)

    Fišer, Ondřej; Szűcsová, Hana; Grimmer, Vladimír; Popelka, Jan; Vonásek, Vojtěch; Krajník, Tomáš; Chudoba, Jan

    The aim of this paper is to present an intelligent autonomous robot capable of small object manipulation. The design of the robot is influenced mainly by the rules of EUROBOT 09 competition. In this challenge, two robots pick up objects scattered on a planar rectangular playfield and use these elements to build models of Hellenistic temples. This paper describes the robot hardware, i.e. electro-mechanics of the drive, chassis and manipulator, as well as the software, i.e. localization, collision avoidance, motion control and planning algorithms.

  13. National Niemann-Pick Disease Foundation

    Science.gov (United States)

    ... NIH Posted by jbeirl | RECEIVED FROM THE NIH Gene therapy shows promise for treating Niemann-Pick disease type C1 NIH mouse study... NNPDF Research Request for ASMD Posted by jbeirl | The NNPDF ...

  14. Automatic traveltime picking using instantaneous traveltime

    KAUST Repository

    Saragiotis, Christos

    2013-02-08

    Event picking is used in many steps of seismic processing. We present an automatic event picking method that is based on a new attribute of seismic signals, instantaneous traveltime. The calculation of the instantaneous traveltime consists of two separate but interrelated stages. First, a trace is mapped onto the time-frequency domain. Then the time-frequency representation is mapped back onto the time domain by an appropriate operation. The computed instantaneous traveltime equals the recording time at those instances at which there is a seismic event, a feature that is used to pick the events. We analyzed the concept of the instantaneous traveltime and demonstrated the application of our automatic picking method on dynamite and Vibroseis field data.

  15. TECHNOLOGY TRANSFER FOR CUCUMBER (Cucumis sativus ...

    African Journals Online (AJOL)

    Dell

    2011-11-07

    Nov 7, 2011 ... This technology transfer trials have shown the advantages and ... Key words: Cucumber production, protected agriculture tunnels, cost benefit ratio, technology transfer, ... Use of PA can increase production by more than five.

  16. Allelopathic Potential of Cucumber Tissues Aqueous Extracts

    Institute of Scientific and Technical Information of China (English)

    DONG Lin-lin; HAO Zhi-peng; ZUO Yuan-mei; LI Xiao-lin; WANG Qian

    2011-01-01

    [ Objective] The aim of this study was to explore allelopathic effects of the water-extracted crude of cucumber plant parts on seed germination and seedling growth of lettuce ( Lactuca sativa L. ), cabbage ( Brassica pekinensis L. ), radish ( Raphanus sativus L. ) and scallion ( Allium fistulosum L. ). [ Method] The allelopathic effects of different cucumber tissues aqueous extracts were investigated on lettuce, cabbage,radish and scallion using the water-soluble allelopathic principle by seedling bioassay tests. [ Result] The trends of inhibitory effects of different cucumber parts increased with increasing extract concentrations. The inhibition effects and the inhibition rate of three aqueous extracts were more significant on root growth than shoot length. Leaf aqueous extracts represented the most exhibited and root aqueous extracts representing the least inhibitory on seed germination, shoot length and root length of lettuce, cabbage, radish and scallion. [Conclusion] This study had provided basis for allelopathic character of different cucumber plant parts.

  17. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire

    2014-01-01

    Robotics is a cornerstone for this century’s innovations. From robot nurses to your own personal assistant, most robots need to know: ‘where is it?’ ‘Where should it go?’ And ‘how to get there?’ Without answers to these questions a robot cannot do much. http://www.um.edu.mt/think/robot-maps-robot-moves-robot-avoids/

  18. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire; Duca, Edward

    2014-01-01

    Robotics is a cornerstone for this century’s innovations. From robot nurses to your own personal assistant, most robots need to know: ‘where is it?’ ‘Where should it go?’ And ‘how to get there?’ Without answers to these questions a robot cannot do much. http://www.um.edu.mt/think/robot-maps-robot-moves-robot-avoids/

  19. Automated Robot with Object Recognition and Handling Features

    Directory of Open Access Journals (Sweden)

    Amiraj Dhawan

    2013-06-01

    Full Text Available With the advent of new technologies, every industry is moving towards automation. A large number of jobs in industries, such as Manufacturing, are performed repeatedly. These jobs require a lot of human effort. In such cases, there is a need of an automated robot which can perform the repetitive task more efficiently. This paper is about a robot which has object recognition and handling features. The robot will optically recognize the objects and pick and place them as per the hand gestures given by the user. It will have a camera to capture image of the objects and one arm to perform the pick and place function.

  20. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  1. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  2. Picking among pen-reared quail

    Science.gov (United States)

    Nestler, R.B.; Coburn, D.R.; Titus, H.W.

    1945-01-01

    During five years (1939-43) of nutritional research on pen-reared bobwhite quail at the Patuxent Research Refuge, Bowie, Maryland, observations on picking among birds of all ages showed the following results: 1. Picking occurred on all grains tested: corn, wheat, oats, oat groats, barley, millet, buckwheat, kaffir, and mixtures of cereals. The lowest incidence was with buckwheat as the sole grain in a growing diet....2. Picking occurred on all levels of fiber from one to 11per cent in a growing diet....3. Picking occurred on various grinds of corn, barley, and oats, but was least when these cereals were ground in a hammer mill with 3/32 inch mesh screen....4. The incidence was as high on diets containing animal protein as on those containing no animal protein. ....5. After picking began, the addition of one or two per cent of salt to the diet for several days was effective, in many instances, in checking the disorder. Results at the Refuge and the answers to questionnaires from 222 private propagators of gamebirds showed that in two-thirds. of the cases, treatment with an increased quantity of salt successfully stopped the trouble. As a preventative, however, salt was of little value. Picking occurred on both low and high levels of salt.....6. Supplementing the regular diet with certain feed concentrates such as fishmeal, soybean oil meal, liver meal, or chopped greens offered in a separate feeder for a day or two, was as efficacious as the addition of salt.....7. More picking occurred among quail chicks on a 22 per cent level of protein than on higher levels.....8. There was less picking on diets relished by the birds than on those seemingly unpalatable.....9. There was no correlation. between the amount of floor space per chick and the incidence of picking.....10. Increasing the feeding and drinking space seemed to have a marked beneficial effect.....11. Some adult birds on wire floors resorted to self-picking of their feet after the toes were frost-bitten.

  3. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  4. 基于Lamé曲线的Delta并联机器人拾放操作轨迹的优化与试验验证%Optimization and Experimental Verification of Pick-and-place Trajectory for a Delta Parallel Robot Based on Lamé Curves

    Institute of Scientific and Technical Information of China (English)

    解则晓; 商大伟; 任凭

    2015-01-01

    A method of trajectory planning for high-speed Delta parallel robots in pick-and-place operations is presented. The transitions between the vertical and horizontal segments of the operation trajectory are smoothed with Lamé curves, thus determining the overall shape of the trajectory in Cartesian space. High order polynomials are adopted to plan the one-dimensional displacement along the curve and generate the position, velocity, acceleration information necessary for the interpolation points. Trajectory information in Cartesian space is mapped back to the joint space by using the Delta robot’s kinematics and dynamics models. In order to optimize the Lamé curve’s geometric parameters, an energy-like function based on joint torques and angular rates is thus defined. The trajectories planned are finally tested on an experimental platform. The residual vibrations as the robot’s end-effector reaches the terminal are recorded and then compared under different Lamé curve parameters. These results verify that the optimized trajectory has a better performance practically. The planning method discussed could lead to trajectories which satisfy operational requirements.%提出了高速Delta并联机器人拾放操作轨迹的一种实现及优化的方法。在笛卡儿空间中利用Lamé曲线平滑竖直运动与水平运动之间的直角过渡部分,确定运动轨迹形状。用高阶多项式运动特性对一维曲线弧位移进行三维规划,获得运动轨迹插补点的位置、速度和加速度信息。通过Delta机器人运动学模型和动力学模型将笛卡儿空间内的轨迹信息映射到机器人关节空间,以关节电动机的近似输出能量函数为目标优化 Lamé曲线的参数。在试验样机平台上进行测试,测量不同 Lamé曲线参数的运动轨迹在运动停止后机构残余振动的情况,通过比较验证了参数优化后的轨迹具有良好的实际性能,能够获得满足实践要求的轨迹曲线。

  5. Performance Approximation and Design of Pick-and-Pass Order Picking Systems

    NARCIS (Netherlands)

    M. Yu (Mengfei); M.B.M. de Koster (René)

    2007-01-01

    textabstractIn this paper, we discuss an approximation method based on G/G/m queuing network modeling using Whitt’s (1983) queuing network analyzer to analyze pick-and-pass order picking systems. The objective of this approximation method is to provide an instrument for obtaining rapid performance

  6. Effects of Lactic Acid Bacteria Inoculated Fermentation on Pickled Cucumbers

    OpenAIRE

    2013-01-01

    The aim of this study was to determine the effects of Lactic Acid Bacteria (LAB) fermentation on the texture and organic acid of pickled cucumbers. Texture and sensory evaluation as well as a microscopic observation were performed to study the textural differences among fresh cucumber, Spontaneous fermentation (SF) cucumber and LAB Inoculating Fermentation (LABIF) cucumber. Accumulation of seven organic acids i.e., oxalic, tartaric, malic, lactic, acetic, citric and succinic acid during cucum...

  7. THE EVOLUTION OF SOME CHEMICAL PARAMETERS DURING CUCUMBERS PICKLING

    OpenAIRE

    2013-01-01

    The evolution of some chemical indices (salt content, pH and ascorbic acid content) during cucumbers pickling was the purpose of this paper. The experience materials used in this work were: cucumbers cornichon, iodized and non-iodized salt and tap water. The samples containing cucumbers in iodized and in non-iodized brine were left to ferment, and at 3-4 days were made determinations of above mentioned indices. During pickling process, non-iodized salt has accumulated in cucumber ...

  8. Bayesian peak picking for NMR spectra.

    Science.gov (United States)

    Cheng, Yichen; Gao, Xin; Liang, Faming

    2014-02-01

    Protein structure determination is a very important topic in structural genomics, which helps people to understand varieties of biological functions such as protein-protein interactions, protein-DNA interactions and so on. Nowadays, nuclear magnetic resonance (NMR) has often been used to determine the three-dimensional structures of protein in vivo. This study aims to automate the peak picking step, the most important and tricky step in NMR structure determination. We propose to model the NMR spectrum by a mixture of bivariate Gaussian densities and use the stochastic approximation Monte Carlo algorithm as the computational tool to solve the problem. Under the Bayesian framework, the peak picking problem is casted as a variable selection problem. The proposed method can automatically distinguish true peaks from false ones without preprocessing the data. To the best of our knowledge, this is the first effort in the literature that tackles the peak picking problem for NMR spectrum data using Bayesian method.

  9. Bayesian Peak Picking for NMR Spectra

    KAUST Repository

    Cheng, Yichen

    2014-02-01

    Protein structure determination is a very important topic in structural genomics, which helps people to understand varieties of biological functions such as protein-protein interactions, protein–DNA interactions and so on. Nowadays, nuclear magnetic resonance (NMR) has often been used to determine the three-dimensional structures of protein in vivo. This study aims to automate the peak picking step, the most important and tricky step in NMR structure determination. We propose to model the NMR spectrum by a mixture of bivariate Gaussian densities and use the stochastic approximation Monte Carlo algorithm as the computational tool to solve the problem. Under the Bayesian framework, the peak picking problem is casted as a variable selection problem. The proposed method can automatically distinguish true peaks from false ones without preprocessing the data. To the best of our knowledge, this is the first effort in the literature that tackles the peak picking problem for NMR spectrum data using Bayesian method.

  10. Toward a practical mobile robotic aid system for people with severe physical disabilities

    National Research Council Canada - National Science Library

    Regalbuto, M A; Krouskop, T A; Cheatham, J B

    1992-01-01

    A simple, relatively inexpensive robotic system that can aid severely disabled persons by providing pick-and-place manipulative abilities to augment the functions of human or trained animal assistants...

  11. Pick matricies and quaternionic power series

    OpenAIRE

    Bolotnikov, Vladimir

    2014-01-01

    It is well known that a non-constant complex-valued function $f$ defined on the open unit disk $\\mathbb D$ is an analytic self-mapping of $\\D$ if and only if Pick matrices $\\left[ (1-f(z_i)\\overline{f(z_j)})/(1-z_i\\overline{z}_j)\\right]_{i,j=1}^n$ are positive semidefinite for all choices of finitely many points $z_i\\in\\D$. A stronger version of the "if" part was established by Alan Hindmarsh: if all $3\\times 3$ Pick matrices are positive semidefinite, then $f$ is an analytic self-mapping of ...

  12. Robot and robot system

    Science.gov (United States)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  13. SENSORY ANALYSIS OF CUCUMBER VARIETIES AT DIFFERENT HARVEST TIMES II. PICKLING CUCUMBERS

    Directory of Open Access Journals (Sweden)

    Galina PEVICHAROVA

    2010-02-01

    Full Text Available During the period 2001-2002 sensory analysis of Bulgarian pickling cucumber varieties Toni, Iren and Pobeda was carried out. The varieties had identical parent female breeding line G-3. Fresh and canned fruits were evaluated at three harvest times. It was established that sensory properties of canned fruits cannot be entirely prognosticated from panel test data of the fresh ones. For breeding purposes sensory analysis of pickling cucumbers for processing should be performed using sterilized pickling cucumbers but not only fresh ones. More precise information about visual and gustatory properties of new created lines and hybrids will be obtained by performing of sensory analysis at different harvest times.

  14. Intelligent Control Mechanism of Part Picking Operations of Automated Warehouse

    Institute of Scientific and Technical Information of China (English)

    Chwen-Tzeng; Su

    2002-01-01

    This paper studies the part picking operations of a ut omated warehouse. It assumed the demand of picking orders of automated warehouse are dynamic generated. Once the picking orders of certain period of time are kn own, it is necessary to decide an efficient order picking sequence and routing t o minimize the total travel distance to complete those orders. Assumed there are n i items to be picked in order O i. Each item in the picking ord er is located in different locations in the warehouse. Since i...

  15. Mathematical modelling of cucumber (cucumis sativus) drying

    Science.gov (United States)

    Shahari, N.; Hussein, S. M.; Nursabrina, M.; Hibberd, S.

    2014-07-01

    This paper investigates the applicability of using an experiment based mathematical model (empirical model) and a single phase mathematical model with shrinkage to describe the drying curve of cucumis sativus (cucumber). Drying experiments were conducted using conventional air drying and data obtained from these experiments were fitted to seven empirical models using non-linear least square regression based on the Levenberg Marquardt algorithm. The empirical models were compared according to their root mean square error (RMSE), sum of square error (SSE) and coefficient of determination (R2). A logarithmic model was found to be the best empirical model to describe the drying curve of cucumber. The numerical result of a single phase mathematical model with shrinkage was also compared with experiment data for cucumber drying. A good agreement was obtained between the model predictions and the experimental data.

  16. Foreign Friends Join Spring Tea Picking

    Institute of Scientific and Technical Information of China (English)

    Rong; You

    2013-01-01

    <正>Foreign Friends Picking Spring Tea, one of the activities of the Fourth China Tea Festival, was held in Pujiang County, Sichuan Province on March 17. Pang Te Cheng, Singaporean Consul General in Chengdu, Komate Kamalanavin, Thai Consul General in Chengdu, and Claudia Spahl, German

  17. Genetics Home Reference: Niemann-Pick disease

    Science.gov (United States)

    ... causing this fat to accumulate in cells. This fat buildup causes cells to malfunction and eventually die. Over time, cell loss impairs function of tissues and organs including the brain, lungs, spleen, and liver in people with Niemann-Pick disease types A and B. Mutations in either the NPC1 ...

  18. SENSORY ANALYSIS OF CUCUMBER VARIETIES AT DIFFERENT HARVEST TIMES II. PICKLING CUCUMBERS

    OpenAIRE

    2010-01-01

    During the period 2001-2002 sensory analysis of Bulgarian pickling cucumber varieties Toni, Iren and Pobeda was carried out. The varieties had identical parent female breeding line G-3. Fresh and canned fruits were evaluated at three harvest times. It was established that sensory properties of canned fruits cannot be entirely prognosticated from panel test data of the fresh ones. For breeding purposes sensory analysis of pickling cucumbers for processing should be performed using sterilized p...

  19. rDNA-ITS sequence analysis of pathogens of cucumber downy mildew and cucumber powdery mildew

    Institute of Scientific and Technical Information of China (English)

    Na WANG; Yajun MA; Cuiyun YANG; Guanghui DAI; Zhezhi WANG

    2008-01-01

    To determine the pathogens of cucumber downy mildew and cucumber powdery mildew by molecular marker,we amplified and sequenced the rDNA-ITS region of the pathogens of cucumber downy mildew and cucumber powdery mildew collected from the Shanghai region.The intra-/interspecific sequence difference was analyzed by rDNA-ITS sequence.The results show that the length of rDNA-ITS1 and rDNA-ITS2 of cucumber downy mildew's pathogen was 141 bp and 406 bp,respectively,with GC contents of 41.13% in ITS1 and 46.8% (Minhang and Jinshan District,sml and sm2) or 46.55% (Pudong District,sm3) in ITS2.The rDNA-ITS sequence was intraspecific conservation.The interspecific difference was related with their kin relationship.The pathogen of cucumber downy mildew was identified as Pseudoperonospora cubensis by molecular marker.The length of rDNA-ITS1 and rDNA-ITS2 of cucumber powdery mildew's pathogen was 136 bp and 89 bp,respectively,with GC contents being 59.56% and 66.29%,and rDNA-ITS sequence being highly conservative in this study that was the same as Sphaerotheca cucurbitae.But the sequence difference between the strains in the Shanghai region in this study with S.fuliginea was 4.5%,which was identified by morphology.It is suggested that the pathogen of cucumber powdery mildew should be further clarified and determined.

  20. 7 CFR 51.1315 - Carefully hand-picked.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 2 2010-01-01 2010-01-01 false Carefully hand-picked. 51.1315 Section 51.1315... STANDARDS) United States Standards for Winter Pears 1 Definitions § 51.1315 Carefully hand-picked. Carefully hand-picked means that the pears do not show evidence of rough handling or of having been on the ground....

  1. 7 CFR 51.1274 - Carefully hand-picked.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 2 2010-01-01 2010-01-01 false Carefully hand-picked. 51.1274 Section 51.1274... STANDARDS) United States Standards for Summer and Fall Pears 1 Definitions § 51.1274 Carefully hand-picked. Carefully hand-picked means that the pears do not show evidence of rough handling or of having been on...

  2. Design and Control of Warehouse Order Picking: a literature review

    NARCIS (Netherlands)

    M.B.M. de Koster (René); T. Le-Duc (Tho); K.J. Roodbergen (Kees-Jan)

    2006-01-01

    textabstractOrder picking has long been identified as the most labour-intensive and costly activity for almost every warehouse; the cost of order picking is estimated to be as much as 55% of the total warehouse operating expense. Any underperformance in order picking can lead to unsatisfactory servi

  3. Effects of Lactic Acid Bacteria Inoculated Fermentation on Pickled Cucumbers

    Directory of Open Access Journals (Sweden)

    Xiaoyi Ji

    2013-12-01

    Full Text Available The aim of this study was to determine the effects of Lactic Acid Bacteria (LAB fermentation on the texture and organic acid of pickled cucumbers. Texture and sensory evaluation as well as a microscopic observation were performed to study the textural differences among fresh cucumber, Spontaneous fermentation (SF cucumber and LAB Inoculating Fermentation (LABIF cucumber. Accumulation of seven organic acids i.e., oxalic, tartaric, malic, lactic, acetic, citric and succinic acid during cucumber pickling were also studied. The disruption extent of the middle lamella in SF cucumber displayed more obviously than that in LABIF cucumber, implying that LABIF contributed to keep the cucumber original structure intact. Based on the organic acid accumulation pattern, in SF LAB and Acetic Acid Bacteria (AAB fermented simultaneously, while in LABIF LAB fermented beforehand thus being in dominant position, then AAB fermented vigorously in a acidic condition created by LAB. The acetic acid accumulaton pattern could be regarded as the distinctive feature between SF and LABIF. The orgnic acids produced in LABIF were higher than that in SF. The final score of sensory evaluation combining texture analysis demonstrated that LABIF overmatched SF. It was concluded that LABIF could obviously enhance the quality of pickled cucumber and overwhelming SF, due to LABIF more beneficial to keep the cucumber original structure intact and organic acids accumulation.

  4. Sistema de control de robot delta basado en visión artificial

    OpenAIRE

    BELTRÁN NOVA, ALEJANDRO

    2015-01-01

    El uso de robots es cada vez mayor en la industria y los hay de distintos tipos, en concreto en este proyecto se presenta un robot delta, que es un tipo de robot para pick and place de muy alta precisión y velocidad, pero zona de trabajo reducida, lo que los convierte en robots ideales para trabajar en líneas de empaquetado automatizadas. Algunos modelos de este tipo de robots son el flexy picker de ABB o el YF03 de Kawasaki. Este proyecto pretende recrear uno de estos robots adicionalmente c...

  5. Genetic basis of mitochondrial sorting in cucumber

    Science.gov (United States)

    Regeneration of cucumber (Cucumis sativus) from cell cultures produces plants with distinct mosaic (MSC) phenotypes, misshapen cotyledons and leaves, reduced fertility, and low seed germination. The MSC phenotypes are paternally transmitted and associated with deletions or under-representations of s...

  6. Complete Pick Positivity and Unitary Invariance

    CERN Document Server

    Bhattacharya, Angshuman

    2009-01-01

    The characteristic function for a contraction is a classical complete unitary invariant devised by Sz.-Nagy and Foias. Just as a contraction is related to the Szego kernel $k_S(z,w) = (1 - z\\ow)^{-1}$ for $|z|, |w| < 1$, by means of $(1/k_S)(T,T^*) \\ge 0$, we consider an arbitrary open connected domain $\\Omega$ in $\\BC^n$, a complete Nevanilinna-Pick kernel $k$ on $\\Omega$ and a tuple $T = (T_1, ..., T_n)$ of commuting bounded operators on a complex separable Hilbert space $\\clh$ such that $(1/k)(T,T^*) \\ge 0$. For a complete Pick kernel the $1/k$ functional calculus makes sense in a beautiful way. It turns out that the model theory works very well and a characteristic function can be associated with $T$. Moreover, the characteristic function then is a complete unitary invariant for a suitable class of tuples $T$.

  7. Stem Cells in Niemann-Pick Disease

    Directory of Open Access Journals (Sweden)

    Sun-Jung Kim

    2008-01-01

    Full Text Available Neural stem cells are multi-potent and able to self renew to maintain its character throughout the life. Loss of self renewal ability of stem cells prevents recovery or replacement of cells damaged by disease with new cells. The Niemann-Pick type C1 (NPC1 disease is one of the neurodegenerative diseases, caused by a mutation of NPC1 gene which affects the function of NPC1 protein. We reported that NPC 1 gene deficiency could lead to lack of the self renewal ability of neural stem cells in Niemann pick type C disease. We also investigated many genes which are involved in stem cells proliferation and differentiation by gene profile in NPC mice.

  8. ISOLDE target zone HRS robot, Camera A+B Part2

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE HRS robot picking up a target from the exchange point seen from different angles. Posing a target onto a shelf position behind the lead shielding doors and picking it up again bringing it back to the exchange point. Close up picking up a target from the exchange point. Close up posing a target onto a shelf position. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Target handling at the exchange point position from a different angle.

  9. ISOLDE target zone HRS robot, Camera A+B Part1

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE HRS robot picking up a target from the exchange point seen from different angles. Posing a target onto a shelf position behind the lead shielding doors and picking it up again bringing it back to the exchange point. Close up picking up a target from the exchange point. Close up posing a target onto a shelf position. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Target handling at the exchange point position from a different angle.

  10. ISOLDE target zone HRS robot, Camera A+B Part2 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE HRS robot picking up a target from the exchange point seen from different angles. Posing a target onto a shelf position behind the lead shielding doors and picking it up again bringing it back to the exchange point. Close up picking up a target from the exchange point. Close up posing a target onto a shelf position. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Target handling at the exchange point position from a different angle.

  11. ISOLDE target zone HRS robot, Camera A+B Part1 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE HRS robot picking up a target from the exchange point seen from different angles. Posing a target onto a shelf position behind the lead shielding doors and picking it up again bringing it back to the exchange point. Close up picking up a target from the exchange point. Close up posing a target onto a shelf position. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Target handling at the exchange point position from a different angle.

  12. Niemann-Pick disease type C

    OpenAIRE

    Vanier Marie T

    2010-01-01

    Abstract Niemann-Pick C disease (NP-C) is a neurovisceral atypical lysosomal lipid storage disorder with an estimated minimal incidence of 1/120 000 live births. The broad clinical spectrum ranges from a neonatal rapidly fatal disorder to an adult-onset chronic neurodegenerative disease. The neurological involvement defines the disease severity in most patients but is typically preceded by systemic signs (cholestatic jaundice in the neonatal period or isolated spleno- or hepatosplenomegaly in...

  13. Study on Picking Single Micro Uranium Particles

    Institute of Scientific and Technical Information of China (English)

    WANG; Fan; ZHANG; Yan; ZHAO; Yong-gang; LU; Jie

    2012-01-01

    <正>From isotopic ratio of a single particle, plenty of information can be inferred, such as its forming process, origin and so on. These information are essential and wildly used for nuclear safeguards, nuclear forensic and geology. To evaluate the capability of the measurement of isotopic ratio in individual particle by secondary ion mass spectrometry, particles of five different diameters (1, 5, 10, 20, 50 μm) were picked by micromanipulator system.

  14. Warehouse Order-Picking Process. Review

    Directory of Open Access Journals (Sweden)

    E. V. Korobkov

    2015-01-01

    Full Text Available This article describes basic warehousing activities, namely: movement, information storage and transfer, as well as connections between typical warehouse operations (reception, transfer, assigning storage position and put-away, order-picking, hoarding and sorting, cross-docking, shipping. It presents a classification of the warehouse order-picking systems in terms of manual labor on offer as well as external (marketing channels, consumer’s demand structure, supplier’s replenishment structure and inventory level, total production demand, economic situation and internal (mechanization level, information accessibility, warehouse dimensionality, method of dispatch for shipping, zoning, batching, storage assignment method, routing method factors affecting the designing systems complexity. Basic optimization considerations are described. There is a literature review on the following sub-problems of planning and control of orderpicking processes.A layout design problem has been taken in account at two levels — external (facility layout problem and internal (aisle configuration problem. For a problem of distributing goods or stock keeping units the following methods are emphasized: random, nearest open storage position, and dedicated (COI-based, frequency-based distribution, as well as class-based and familygrouped (complimentary- and contact-based one. Batching problem can be solved by two main methods, i.e. proximity order batching (seed and saving algorithms and time-window order batching. There are two strategies for a zoning problem: progressive and synchronized, and also a special case of zoning — bucket brigades method. Hoarding/sorting problem is briefly reviewed. Order-picking routing problem will be thoroughly described in the next article of the cycle “Warehouse order-picking process”.

  15. Ion pick-up near the icy Galilean satellites

    Science.gov (United States)

    Volwerk, M.; Khurana, K. K.

    2010-12-01

    The ion pick-up near the icy Galilean satellites is studied using ion cyclotron waves. Using Galileo magnetometer data, we show evidence for the existence of ion cyclotron waves, which are generated by pick-up of freshly ionized particles. Near Europa, in the wake various kinds of ions are detected, which were already predicted to be present on the moon. Upstream of the moon there is evidence for water ion pick-up, which could facilitate the slow down of the plasma flow. Ganymede shows evidence for either water or oxygen pick up on the flanks of the magnetosphere. Callisto shows indication of hydrogen pick-up from its atmosphere.

  16. Sea Cucumbers Metabolites as Potent Anti-Cancer Agents

    OpenAIRE

    Janakiram, Naveena B; Altaf Mohammed; RAO, CHINTHALAPALLY V.

    2015-01-01

    Sea cucumbers and their extracts have gained immense popularity and interest among researchers and nutritionists due to their nutritive value, potential health benefits, and use in the treatment of chronic inflammatory diseases. Many areas of the world use sea cucumbers in traditional foods and folk medicine. Though the actual components and their specific functions still remain to be investigated, most sea cucumber extracts are being studied for their anti-inflammatory functions, immunostimu...

  17. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

  18. Robotic Architectures

    Directory of Open Access Journals (Sweden)

    Mbali Mtshali

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.Defence Science Journal, 2010, 60(1, pp.15-22, DOI:http://dx.doi.org/10.14429/dsj.60.96

  19. 一种椰子抓取采摘机械手设计及其工作空间仿真分析%Design of the Manipalator for Picking Coconut and Simulation of its Work Space

    Institute of Scientific and Technical Information of China (English)

    杨永; 曾祥坤

    2015-01-01

    针对两种目前常用于椰子采摘的采摘方法—人工攀爬采摘和采摘机刀具切割采摘出现的劳动强度大、作业危险及效率低等问题设计了一种抓取采摘机械手。采摘机械手底座固定在椰子采摘机上,通过旋转功能组件实现采摘手抓的左右摆动,依靠气压升降、摆臂功能组件实现采摘手抓的升降和俯仰,利用机械手外手抓抓住果蒂,内手抓抓住椰子旋转采摘。为此,介绍了采摘机械手总体结构设计及工作原理,对其关键结构进行了建模,并进行了工作空间仿真分析。仿真结果表明:所设计的椰子采摘机械手工作点分布密集对称,满足工况需求,为进一步实际采摘实验提供了理论支撑。%Aimed at problems such as labor-intensive , operating hazards , low efficiency which appear on currently two methods used commonly in coconut picking-manpower climbing picking and picking machine tool cutting picking , de-signed a robot arm to crawl picking .The pedestal of robot arm is fixed on the coconut picker ,by rotating functional com-ponents to achieve picking hands's swing , relying on pneumatic lift and arm grasping picking functional components to a-chieve lift and pitch , using the robot arm ’ s outer hand claw to catch the base of fruit , and using the internal hand to catch the coconut for rotating picking .The article firstly describes the picking robot hand's overall structure designing and working principle ,then its key structures are established into a model , finally conducts a simulation analysis to its work space .Simulation results show that coconut picking manipulator operating point designed by the paper is densely distribu -ted symmetrically ,and meets the needs of working conditions , and provides theoretical support for the further actual pick-ing experiments .

  20. 双旋转货架拣货作业优化设计%Optimal Order Picking in the Double Carousel Storage System

    Institute of Scientific and Technical Information of China (English)

    李晓春; 钟雪灵; 王雄志; 王国庆

    2012-01-01

    本文讨论了由一个拣货员负责的双旋转货架系统,目标是寻找一种最优拣货顺序使得总拣货时间.该问题被证明为强NP-难问题,文章提出了启发式算法寻找最优拣货顺序,并对相关模型及算法进行模拟测试以证明其有效性,为方法选择与应用提供了依据.%Carousel systems have been used in different parts of a supply chain, including manufacturing, distribution, and retail. Carousel is a computer warehousing system used for storing and order-picking small to medium sized products. In this system, the picker (human or robot) stands in a fixed position before the carousel. When picking a product, the carousel system will automatically rotate the bin with the requested product to the position of the operator. The advantages are: ( 1 ) automatically moving products to pickers, (2) storing and picking goods in high speed, (3) operating at low cost, (4) effectively utilizing space, (5) minimizing the number of theft incidents, and (5) more space utilization, less chance of theft by employees, and no heating and lighting requirement in the storage area. This paper mainly studies order-picking optimization in a double carousel system with a single picker. Each carousel rotates individually either clockwise or counterclockwise. In the first part, this paper describes the order-picking problem in a double carousel system. Different from the single carousel system, the sequence of picking items will not only impact the rotation time of carousels, but also the waiting time and the walking time between the two carousels for the picker. Changes in the sequence can result in different order picking route, and the different picking route results in different picking time. Therefore, in a double carousel system, it is necessary to consider how to arrange items in the storage locations and order-picking schedule (the picking routing problem) to minimize the total order picking time and improve the order-picking

  1. Characterization of siRNAs derived from cucumber green mottle mosaic virus in infected cucumber plants.

    Science.gov (United States)

    Li, Yongqiang; Deng, Congliang; Shang, Qiaoxia; Zhao, Xiaoli; Liu, Xingliang; Zhou, Qi

    2016-02-01

    Virus-derived small interfering RNAs (vsiRNAs) of cucumber green mottle mosaic virus (CGMMV), a member of the genus Tobamovirus, were characterised in cucumber plants by deep sequencing. CGMMV vsiRNAs of 21-22 nt in length predominated, suggesting that there might be a conserved mechanism of DCL2 and DCL4 involvement in the biogenesis of vsiRNAs, as well as a common RNA silencing pathway in CGMMV-infected cucumber plants. The 5'-terminal base of vsiRNAs was biased towards C/A/U, suggesting that CGMMV vsiRNAs might be loaded into diverse AGO-containing RISCs to disturb the gene expression of host plants. Possible targets for some of the vsiRNAs were also predicted.

  2. Design of Cherry Picking Robot—Based on PLC High-speed Parallel Automatic Control%樱桃采摘机器人设计—基于PLC高速并联自动化控制

    Institute of Scientific and Technical Information of China (English)

    张丽; 郭素娜; 汪小志

    2016-01-01

    为了降低樱桃采摘机器人采摘过程中的樱桃破碎率,提高机器人的工作效率,设计了一款新的基于模糊控制和高速并联自动化控制的机器人. 该机器可以利用PC上位机对樱桃图像进行采集,并可以对图像进行二值化、膨胀腐蚀处理,从而成功地识别成熟樱桃;同时,可以使用模糊PLC控制方法对采摘机器人的响应角度误差进行控制. 为了验证机器人的性能,使用樱桃采摘试验的方法对樱桃采摘机器人的性能进行了测试. 结果表明:高速并联自动化控制的樱桃采摘机器人总体采摘时间有了明显的缩短,工作效率有所提高;通过模糊控制可以使采摘机器人角度的响应平稳地达到指定角度,且没有出现大的超调量,有利于樱桃的采摘,降低了破碎率.%In order to decrease the broken rate of picking robot in the process of picking cherry , and enhances the work-ing efficiency of the robot , a new robot based on fuzzy control and high speed parallel automation control has been de-signed .The machine can use PC for cherry image acquisition , and can be conducted for image binarization , expansion corrosion process , thus successful identification of ripe cherry , you can use the fuzzy PLC control method , response to control the Angle error of picking robot .In order to verify the performance of the robot , the use of cherry picking experi-mental method for cherry picking robot performance was tested .Through test , found that high speed parallel automatic control overall pick cherry time was shortened obviously , improve the work efficiency of the robot , through fuzzy control can make the point of view of picking robot response smoothly to achieve the specified Angle , and there are no big over-shoot , which is good for cherry picking , reduce the breakage rate .

  3. Multiple amine oxidases in cucumber seedlings.

    Science.gov (United States)

    Percival, F W; Purves, W K

    1974-10-01

    Cell-free extracts of cucumber (Cucumis sativus L. cv. National Pickling) seedlings were found to have amine oxidase activity when assayed with tryptamine as a substrate. Studies of the effect of lowered pH on the extract indicated that this activity was heterogeneous, and three amine oxidases could be separated by ion exchange chromatography. The partially purified enzymes were tested for their activities with several substrates and for their sensitivities to various amine oxidase inhibitors. One of the enzymes may be a monoamine oxidase, although it is inhibited by some diamine oxidase inhibitors. The other two enzymes have properties more characteristic of the diamine oxidases. The possible relationship of the amine oxidases to indoleacetic acid biosynthesis in cucumber seedlings is discussed.

  4. Dissipation kinetics of metalaxyl in cucumber.

    Science.gov (United States)

    Rattan, G S; Sharma, Neeraj

    2012-05-01

    Residues of metalaxyl were estimated in cucumber fruits using Gas Liquid Chromatography (GLC) with Nitrogen phosphorus detector (NPD). Following three applications of Ridomil-MZ @ 0.3% and 0.6%, the average initial deposits of metalaxyl were observed to be 0.19 and 0.24 mg kg(-1), respectively. The residues dissipated below the limit of quantification (LOQ) of 0.02 mg kg(-1) after 10 days at both the dosages. The half-life values (T(1/2)) of metalaxyl was worked out to be 3.5 and 3.0 days, respectively at 0.3% and 0.6% concentration. Thus, a waiting period of 1 day was suggested for the safe consumption of metalaxyl treated cucumber.

  5. Bacterial contamination of cucumber fruit through adhesion.

    Science.gov (United States)

    Reina, Laura D; Fleming, Henry P; Breidt, Frederick

    2002-12-01

    In this study, the adhesion of bacteria to fresh cucumber surfaces in aqueous suspension was shown to be dependent on time of incubation, inoculum species and concentration, and temperature. The adhesion of bacteria to the fruit in wash water was less extensive at lower temperatures and shorter exposure times. Various species of bacteria were adsorbed to cucumber surfaces in the following relative order: Salmonella Typhimurium > Staphylococcus aureus > Lactobacillus plantarum > Listeria monocytogenes. Cells were adsorbed at all temperatures tested (5, 15, 25, and 35 degrees C) at levels that depended on incubation time, but the numbers of cells adsorbed were larger at higher incubation temperatures. Levels of adhesion of bacteria to dewaxed fruit were higher for L. monocytogenes and lower for Salmonella Typhimurium, L. plantarum, and S. aureus than were levels of adhesion to waxed fruit.

  6. ISOLDE target zone GPS robot, Camera A Part1 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements along the corridor picking up an ISOLDE target from one of the shelfs behind the lead shielding doors and moving it to the exchange point. Several movements of the ISOLDE GPS robot from different angles with and without target along the corridor as well as posing and taking the target from the shelf and posing it onto the exchange point.

  7. ISOLDE target zone GPS robot, Camera A Part2 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements along the corridor picking up an ISOLDE target from one of the shelfs behind the lead shielding doors and moving it to the exchange point. Several movements of the ISOLDE GPS robot from different angles with and without target along the corridor as well as posing and taking the target from the shelf and posing it onto the exchange point.

  8. ISOLDE target zone GPS robot, Camera A Part2

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements along the corridor picking up an ISOLDE target from one of the shelfs behind the lead shielding doors and moving it to the exchange point. Several movements of the ISOLDE GPS robot from different angles with and without target along the corridor as well as posing and taking the target from the shelf and posing it onto the exchange point.

  9. ISOLDE target zone GPS robot, Camera A Part1

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements along the corridor picking up an ISOLDE target from one of the shelfs behind the lead shielding doors and moving it to the exchange point. Several movements of the ISOLDE GPS robot from different angles with and without target along the corridor as well as posing and taking the target from the shelf and posing it onto the exchange point.

  10. A Coordinated Control Architecture for Disaster Response Robots

    Science.gov (United States)

    2016-01-01

    three computers were installed on the robot for high-frequency feedback control and perception signal processing . 8. The cooling system was redesigned...17 Figure 13: Wall task. The robot must pick up a drill and cut a triangle out of a (drywall...43: Grasp affordances found on a DRC ladder. Without the handle detection /grasping algorithm, the operator would have to manually position a six

  11. Cold pressor pain in skin picking disorder.

    Science.gov (United States)

    Grant, Jon E; Redden, Sarah A; Chamberlain, Samuel R

    2017-03-01

    Excoriation (skin-picking) disorder (SPD) is a disabling, under-recognized condition in which individuals repeatedly pick at their skin, leading to noticeable tissue damage. There has been no examination as to whether individuals with SPD have different pain thresholds or pain tolerances compared to healthy counterparts. Adults with SPD were examined on a variety of clinical measures including symptom severity and functioning. All participants underwent the cold pressor test. Heart rate, blood pressure, and self-reported pain were compared between SPD participants (n=14) and healthy controls (n=14). Adults with SPD demonstrated significantly dampened autonomic response to cold pressor pain as exhibited by reduced heart rate compared to controls (group x time interaction using repeated ANOVA F=3.258, p<0.001). There were no significant differences between the groups in terms of overall pain tolerance (measured in seconds), recovery time, or blood pressure. SPD symptom severity was not significantly associated with autonomic response in the patients. In this study, adults with SPD exhibited a dampened autonomic response to pain while reporting pain intensity similar to that reported by the controls. The lack of an autonomic response may explain why the SPD participants continue a behavior that they cognitively find painful and may offer options for future interventions.

  12. 含义丰富的Pick up

    Institute of Scientific and Technical Information of China (English)

    刘奉越

    2004-01-01

    在我们的课本中,有这么一个句子:Have you ever picked up a library book?在这里pick up意为“捡到”。在不同的语言环境里,pick up可表示不同的含义,本文就其用法和含义作一归纳。

  13. Imaging technique for detection of internal defects of pickling cucumbers

    Science.gov (United States)

    Pickling cucumbers are susceptible to damage during harvest and postharvest handling and processing. While it is easier to detect external defects, it is difficult to detect internal defects such as bruises and hollow or split cucumbers. Hyperspectral imaging technique under transmittance mode was i...

  14. Detection of defect in pickling cucumbers using hyperspectral imaging

    Science.gov (United States)

    Pickling cucumbers are susceptible to damage due to adverse growth condition, improper harvest timing, and inappropriate harvesting and postharvest handling operations. There are typically five to 10 percentages of harvested pickling cucumbers that are not suitable for pickling and hence should be r...

  15. Hyperspectral Imaging for Defect Detection of Pickling Cucumber

    Science.gov (United States)

    This book chapter reviews the recent progress on hyperspectral imaging technology for defect inspection of pickling cucumbers. The chapter first describes near-infrared hyperspectral reflectance imaging technique for the detection of bruises on pickling cucumbers. The technique showed good detection...

  16. USDA, ARS beit alpha cucumber inbred backcross line population

    Science.gov (United States)

    A series of Beit Alpha cucumber (Cucumis sativus L.) market type inbred backcross were released in January 2010 by the Agricultural Research Service, United States Department of Agriculture. The IBL were made available to U.S. cucumber breeders to supply a source from which they may develop Beit Al...

  17. Genetic diversity and population structure of cucumber (Cucumis sativus L.)

    Science.gov (United States)

    Understanding genetic variation in germplasm collection is essential for the conservation and their efficient use in plant breeding. Cucumber is an important vegetable crop worldwide. Previous studies revealed a low genetic diversity in cucumber, but detailed insights into the crop’s genetic structu...

  18. Biosynthesis, regulation, and domestication of bitterness in cucumber

    NARCIS (Netherlands)

    Shang, Y.; Ma, Y.; Bouwmeester, H.J.

    2014-01-01

    Cucurbitacins are triterpenoids that confer a bitter taste in cucurbits such as cucumber, melon, watermelon, squash, and pumpkin. These compounds discourage most pests on the plant and have also been shown to have antitumor properties. With genomics and biochemistry, we identified nine cucumber gene

  19. Effect of Heavy Metal Pollution on Cucumber POD Isoenzyme

    Institute of Scientific and Technical Information of China (English)

    2003-01-01

    The Experiment was carried out to study heavy metal pollution effect on cucumber POD isozyme in our experiment.The results showed that:the activities of POD in cucumber seeds increased in low concentration treatment,and decreased in high concentration treatment after being treated with heavy metal.The critical band patterns of POD isoenzyme was changed by heavy metal pollution.

  20. 解读pick up的各种意义

    Institute of Scientific and Technical Information of China (English)

    陈锁兆

    2007-01-01

    <正>本文旨在解读pick up的各种意义。1.pick up最基本的含义是“拾起;捡起;拿起”。例如:The Young Pioneer turned over to the police the wallet he had picked up in the street.那位少先队员把他在街上拾到的钱包交给了警察。Having played for a while,the boys picked up their school bags from

  1. Robust 3D object localization and pose estimation for random bin picking with the 3DMaMa algorithm

    Science.gov (United States)

    Skotheim, Øystein; Thielemann, Jens T.; Berge, Asbjørn; Sommerfelt, Arne

    2010-02-01

    Enabling robots to automatically locate and pick up randomly placed and oriented objects from a bin is an important challenge in factory automation, replacing tedious and heavy manual labor. A system should be able to recognize and locate objects with a predefined shape and estimate the position with the precision necessary for a gripping robot to pick it up. We describe a system that consists of a structured light instrument for capturing 3D data and a robust approach for object location and pose estimation. The method does not depend on segmentation of range images, but instead searches through pairs of 2D manifolds to localize candidates for object match. This leads to an algorithm that is not very sensitive to scene complexity or the number of objects in the scene. Furthermore, the strategy for candidate search is easily reconfigurable to arbitrary objects. Experiments reported in this paper show the utility of the method on a general random bin picking problem, in this paper exemplified by localization of car parts with random position and orientation. Full pose estimation is done in less than 380 ms per image. We believe that the method is applicable for a wide range of industrial automation problems where precise localization of 3D objects in a scene is needed.

  2. Bioactive compounds of sea cucumbers and their therapeutic effects

    Science.gov (United States)

    Shi, Shujuan; Feng, Wenjing; Hu, Song; Liang, Shixiu; An, Nina; Mao, Yongjun

    2016-05-01

    Sea cucumbers belong to the Class Holothuroidea of marine invertebrates. They are commercially valuable and prized as a food and folk medicine in Asia. Nutritionally, sea cucumbers have an impressive profile of valuable nutrients such as vitamins, minerals and amino acids. A number of unique biological and pharmacological activities/properties, including anticancer, anticoagulant/antithrombotic, antimicrobial, antioxidant, antihyperlipidemic, antihyperglycemic, anti-inflammatory, antihypertension and radioprotective, have been ascribed to various compounds isolated from sea cucumbers. The therapeutic properties and medicinal benefits of sea cucumbers can be linked to the presence of a wide array of bioactives, especially triterpene glycosides, acid mucopolysaccharide, sphingoid bases, glycolipids, fucosylated chondroitin sulfate, polysaccharides, phospholipids, cerebrosides, phosphatidylcholines, and other extracts and hydrolysates. This review highlights the valuable bioactive components as well as the multiple therapeutic properties of sea cucumbers with a view to exploring their potential uses as functional foods and a natural source of new multifunctional drugs.

  3. Filigree Robotics

    DEFF Research Database (Denmark)

    Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

    2016-01-01

    Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

  4. Army Robotics

    Science.gov (United States)

    2009-10-07

    Army Robotics 07 October 2009 Dr. Grant Gerhart, Senior Research Scientist Bernard Theisen, Joint Center for Robotics DISTRIBUTION STATEMENT A... Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Grant Gerhart; Bernard Theisen 5d. PROJECT NUMBER 5e. TASK...CBRNE • IED Defeat Systems • Disarm / Disrupt • Reconnaissance • Investigation • Explosive Sniffer • Common Robotic Kit • EOD • Convoy • Log

  5. TARDEC Robotics

    Science.gov (United States)

    2010-01-12

    unclassified TARDEC Robotics Dr. James L. Overholt Director, Joint Center for Robotics US Army TARDEC Report Documentation Page Form ApprovedOMB No...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) James L. Overholt... Robotics , Network and Control Components with a Focus on Customer Driven Requirements to Provide Full System Solutions to the War Fighter Technology

  6. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann;

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance i...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  7. Mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Marquina, N.

    1986-01-01

    This book presents papers given at a conference on mobile robots. Topics the conference included are the following: mobility systems for robotic vehicles; detection and control of mobile robot motion by real-time computer vision, obstacle avoidance algorithms for an autonomous land vehicle; hierarchical processor and matched filters for range image processing; asynchronous distributed control system for a mobile robot, and, planning in a hierarchical nested autonomous control system.

  8. Role of cucurbitacin C in resistance to spider mite (Tetranychus urticae) in cucumber (Cucumber sativus L.)

    NARCIS (Netherlands)

    Balkema-Boomstra, A.G.; Zijlstra, S.; Verstappen, F.W.A.; Inggamer, H.; Mercke, P.

    2003-01-01

    Cucurbitacins are bitter triterpenoid compounds that are toxic to most organisms and occur widely in wild and cultivated Cucurbitaceae. The only cucurbitacin identified in Cucumis sativus is cucurbitacin C. The bitter taste of cucumber has been correlated with resistance to the spider mite

  9. 乒乓球捡球机电气控制线路设计%Design of Electrical Control Circuit of Table Tennis Picking Machine

    Institute of Scientific and Technical Information of China (English)

    夏春风; 朱文伟; 高卫群; 马燕平; 王治国

    2016-01-01

    为解决乒乓球训练场所乒乓球的捡拾问题,设计了一种基于PLC和触摸屏的电气控制线路。该电气控制线路应用于乒乓球捡球机,利用PLC和触摸屏程序控制捡球机中的离心风机,离心风机产生的吸力吸取散落于地的乒乓球而实现自动捡球。捡球机实物模型性能测试表明,该捡球机捡球效果良好,平均每分钟捡球可达86个,此为更多捡球机的开发提供了借鉴和参考。%In order to solve the problem of table tennis picking in the table tennis court, an electrical control circuit based on PLC and touch screen was designed. The electrical control circuit was used for the table tennis picking machines. The table tennis balls scattered on the ground could be automatically picked up by a centrifugal fan in the table tennis picking machines. The centrifugal fan was controlled by PLC and touch screen program.The performance testing on the practical model of picking machine shows that the table tennis picking machines works well and average picks up table tennis up to 86 per minute,which provide reference for development of other moretypes of ball picking robots.

  10. An Autonomous Robot for De-leafing Cumcumber Plants grown in a High-wire Cultivation System

    NARCIS (Netherlands)

    Henten, van E.J.; Tuijl, van B.A.J.; Hoogakker, G.J.; Weerd, van der M.J.; Hemming, J.; Kornet, J.G.; Bontsema, J.

    2006-01-01

    The paper presents an autonomous robot for removing the leaves from cucumber plants grown in a high-wire cultivation system. Leaves at the lower end of the plants are removed because of their reduced vitality, their negligible contribution to canopy photosynthesis and their increased sensitivity to

  11. Excoriation (skin-picking) disorder in adults

    DEFF Research Database (Denmark)

    Leibovici, Vera; Koran, Lorrin M; Murad, Sari

    2015-01-01

    OBJECTIVE: We sought to estimate the lifetime prevalence of Excoriation (Skin-Picking) Disorder (SPD) in the Israeli adult population as a whole and compare SPD prevalence in the Jewish and Arab communities. We also explored demographic, medical and psychological correlates of SPD diagnosis....... METHODS: Questionnaires and scales screening for SPD, and assessing the severity of perceived stress, depression, obsessive-compulsive disorder (OCD), body dysmorphic disorder (BDD), alcohol use, illicit drug use, and medical disorders were completed in a sample of 2145 adults attending medical settings...... was more prevalent in the SPD-positive Jewish subsample (p=0.02). In the total sample, diabetes mellitus was more common in women than in men (p=0.04). CONCLUSION: Lifetime SPD appears to be relatively common in Israeli adults and associated with other mental disorders. Differences in the self...

  12. Skin Picking in Turkish Students: Prevalence, Characteristics, and Gender Differences

    Science.gov (United States)

    Calikusu, Celal; Kucukgoncu, Suat; Tecer, Ozlem; Bestepe, Emrem

    2012-01-01

    The aim of this study is to investigate the prevalence, characteristics, triggers, and consequences of skin picking (SP) in a sample of Turkish university students, with an emphasis on gender differences. A total of 245 students from two universities in Turkey were assessed by using the Skin Picking Inventory. In total, 87.8% of the students…

  13. Skin Picking in Turkish Students: Prevalence, Characteristics, and Gender Differences

    Science.gov (United States)

    Calikusu, Celal; Kucukgoncu, Suat; Tecer, Ozlem; Bestepe, Emrem

    2012-01-01

    The aim of this study is to investigate the prevalence, characteristics, triggers, and consequences of skin picking (SP) in a sample of Turkish university students, with an emphasis on gender differences. A total of 245 students from two universities in Turkey were assessed by using the Skin Picking Inventory. In total, 87.8% of the students…

  14. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

    This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

  15. Nonmedical factors associated with feather picking in pet psittacine birds.

    Science.gov (United States)

    Gaskins, Lori A; Hungerford, Laura

    2014-06-01

    A nested case-control study was performed to determine nonmedical risk factors associated with feather picking in psittacine birds. Forty-two case birds, reported by their owners to pick their feathers, and 126 unaffected birds were compared. The odds of feather picking were higher in 2 species categories, African grey parrots (Psitticus erithacus, adjusted odds ratio [ORadj = 8.4, P picking also were higher for birds that were out of their cages more than 8 hours per day (ORadj = 7.4, P picking decreased by almost 90% (ORadj = 0.1, P < .005) for birds that interacted with people at least 4 hours a day. These findings identify characteristics that practitioners may want to include when asking bird owners about behavioral history and may be useful in focusing future research regarding this behavior.

  16. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  17. Pure Culture Fermentation of Brined Cucumbers.

    Science.gov (United States)

    Etchells, J L; Costilow, R N; Anderson, T E; Bell, T A

    1964-11-01

    The relative abilities of Pediococcus cerevisiae, Lactobacillus plantarum, L. brevis, and several other species of lactic acid bacteria to grow and produce acid in brined cucumbers were evaluated in pure culture fermentations. Such fermentations were made possibly by the use of two techniques, gamma radiation (0.83 to 1.00 Mrad) and hot-water blanching (66 to 80 C for 5 min), designed first to rid the cucumbers of naturally occurring, interfering, and competitive microbial groups prior to brining, followed by inoculation with the desired lactic acid bacteria. Of the nine species tested, strains of the three common to cucumber fermentations, P. cerevisiae, L. plantarum, and L. brevis, grew to the highest populations, and produced the highest levels of brine acidity and the lowest pH values in fermentations at 5.4 to 5.6% NaCl by weight; also, their sequence of active development in fermentations, with the use of a three-species mixture for inoculation, was in the species order just named. This sequence of occurrence was similar to that estimated by others for natural fermentations. The rates of growth and acid production in fermentations with a mixture of P. cerevisiae, L. plantarum, and L. brevis increased as the incubation temperature was increased from 21 to 27 to 32 C; however, the maximal populations and acidities attained were essentially the same for fermentations at each temperature. Further, these same three species were found to be the most salt tolerant of those tested; their upper limit for appreciable growth and measurable acid production was about 8% salt, whereas thermophilic species such as L. thermophilus, L. lactis, L. helveticus, L. fermenti, and L. delbrueckii exhibited a much lower salt tolerance, ranging from about 2.5 to 4.0%. However, certain strains of L. delbrueckii grew very rapidly in cucumbers brined at 2.5 to 3.0% salt, and produced sufficient acid in about 30 hr at 48 C to reduce the brine pH from above 7.0 to below 4.0. An inexpensive

  18. Rhizobacterial exopolysaccharides elicit induced resistance on cucumber.

    Science.gov (United States)

    Park, Kyungseok; Kloepper, Joseph W; Ryu, Choong-Min

    2008-06-01

    The role of exopolysaccharides (EPSs) from a plant growth-promoting rhizobacterium, Burkholderia gladioli IN26, on elicitation of induced systemic resistance was investigated. A purified EPS induced expression of PR- 1a::GUS on tobacco and elicited induced resistance against Colletotrichum orbiculare on cucumber. The maximum level of disease protection was noted when seeds were soaked in 200 ppm of the EPS. Our results indicate that EPS from specific rhizobacteria can elicit induced resistance and suggest that bacterial EPS might be a useful elicitor of resistance under field conditions.

  19. 精密草莓采摘机器人优化设计—基于光程调节结构%Optimization Design of Precision Strawberry-picking Robot—Based on Optical Path Adjustment Structure

    Institute of Scientific and Technical Information of China (English)

    刘志刚; 王风燕; 魏纯

    2016-01-01

    In the process of strawberry picking robots , because strawberry fruit is fragile , and its volume is small , so the breakage and leakage rate is high , which are related to strawberry picking robot positioning accuracy .In order to improve the positioning accuracy of strawberry picking process , in the acquisition robot localization system introduced a new kind of optical positioning results , and puts forward the vacuum for a white Cell optical path adjustment structure , using the feedback of the signal , realizes the optimization design of picking mechanism .In order to verify the reliability of the de-sign precision of strawberry picking robots , the design of the robot strawberry picking experiment , and the breakage and leakage rate were tested , by testing found that the device can effectively reduce the breakage and leakage of strawberry picking up rate , and lower picking time , high efficiency and can meet the needs of the strawberry picking the practical production .%在机器人草莓采摘过程中 ,由于草莓果实比较脆弱,加上其体积较小,因此存在较高的破碎率和漏采率,这都与草莓采摘机器人的定位精度有关. 为了提高草莓采摘过程的定位精度,在采集机器人定位系统的引入了一种新的光定位结果,并提出了一种用于真空怀特池光程调节的机构,利用该机构的反馈源信号,实现了对采摘机构的优化设计. 为了验证设计的精密草莓采摘机器人的可靠性,设计了机器人的草莓采摘试验,并对其破碎率和漏采率进行了测试. 通过测试发现:该装置可以有效地降低草莓采摘的破碎率和漏拾率,且采摘耗时低、效率高,可以满足草莓采摘实际生产的需要.

  20. The genome of the cucumber, Cucumis sativus L

    DEFF Research Database (Denmark)

    Huang, Sanwen; Li, Ruiqiang; Zhang, Zhonghua

    2009-01-01

    ancestral chromosomes after divergence from Cucumis melo. The sequenced cucumber genome affords insight into traits such as its sex expression, disease resistance, biosynthesis of cucurbitacin and 'fresh green' odor. We also identify 686 gene clusters related to phloem function. The cucumber genome provides......Cucumber is an economically important crop as well as a model system for sex determination studies and plant vascular biology. Here we report the draft genome sequence of Cucumis sativus var. sativus L., assembled using a novel combination of traditional Sanger and next-generation Illumina GA...

  1. The entry of cucumber mosaic virus into cucumber xylem is facilitated by co-infection with zucchini yellow mosaic virus.

    Science.gov (United States)

    Mochizuki, Tomofumi; Nobuhara, Shinya; Nishimura, Miho; Ryang, Bo-Song; Naoe, Masaki; Matsumoto, Tadashi; Kosaka, Yoshitaka; Ohki, Satoshi T

    2016-10-01

    We investigated the synergistic effects of co-infection by zucchini yellow mosaic virus (ZYMV) and cucumber mosaic virus (CMV) on viral distribution in the vascular tissues of cucumber. Immunohistochemical observations indicated that ZYMV was present in both the phloem and xylem tissues. ZYMV-RNA was detected in both the xylem wash and guttation fluid of ZYMV-inoculated cucumber. Steam treatment at a stem internode indicated that ZYMV enters the xylem vessels and moves through them but does not cause systemic infection in the plant. CMV distribution in singly infected cucumbers was restricted to phloem tissue. By contrast, CMV was detected in the xylem tissue of cotyledons in plants co-infected with CMV and ZYMV. Although both ZYMV-RNA and CMV-RNA were detected in the xylem wash and upper internodes of steam-treated, co-infected cucumbers grown at 24 °C, neither virus was detected in the upper leaves using an ELISA assay. Genetically modified CMV harboring the ZYMV HC-Pro gene was distributed in the xylem and phloem tissues of singly inoculated cucumber cotyledons. These results indicate that the ZYMV HC-Pro gene facilitates CMV entry into the xylem vessels of co-infected cucumbers.

  2. An improved contour symmetry axes extraction algorithm and its application in the location of picking points of apples

    Directory of Open Access Journals (Sweden)

    Dandan Wang

    2015-03-01

    Full Text Available The key problem for picking robots is to locate the picking points of fruit. A method based on the moment of inertia and symmetry of apples is proposed in this paper to locate the picking points of apples. Image pre-processing procedures, which are crucial to improving the accuracy of the location, were carried out to remove noise and smooth the edges of apples. The moment of inertia method has the disadvantage of high computational complexity, which should be solved, so convex hull was used to improve this problem. To verify the validity of this algorithm, a test was conducted using four types of apple images containing 107 apple targets. These images were single and unblocked apple images, single and blocked apple images, images containing adjacent apples, and apples in panoramas. The root mean square error values of these four types of apple images were 6.3, 15.0, 21.6 and 18.4, respectively, and the average location errors were 4.9°, 10.2°, 16.3° and 13.8°, respectively. Furthermore, the improved algorithm was effective in terms of average runtime, with 3.7 ms and 9.2 ms for single and unblocked and single and blocked apple images, respectively. For the other two types of apple images, the runtime was determined by the number of apples and blocked apples contained in the images. The results showed that the improved algorithm could extract symmetry axes and locate the picking points of apples more efficiently. In conclusion, the improved algorithm is feasible for extracting symmetry axes and locating the picking points of apples.

  3. An improved contour symmetry axes extraction algorithm and its application in the location of picking points of apples

    Energy Technology Data Exchange (ETDEWEB)

    Wang, D.; Song, H.; Yu, X.; Zhang, W.; Qu, W.; Xu, Y.

    2015-07-01

    The key problem for picking robots is to locate the picking points of fruit. A method based on the moment of inertia and symmetry of apples is proposed in this paper to locate the picking points of apples. Image pre-processing procedures, which are crucial to improving the accuracy of the location, were carried out to remove noise and smooth the edges of apples. The moment of inertia method has the disadvantage of high computational complexity, which should be solved, so convex hull was used to improve this problem. To verify the validity of this algorithm, a test was conducted using four types of apple images containing 107 apple targets. These images were single and unblocked apple images, single and blocked apple images, images containing adjacent apples, and apples in panoramas. The root mean square error values of these four types of apple images were 6.3, 15.0, 21.6 and 18.4, respectively, and the average location errors were 4.9°, 10.2°, 16.3° and 13.8°, respectively. Furthermore, the improved algorithm was effective in terms of average runtime, with 3.7 ms and 9.2 ms for single and unblocked and single and blocked apple images, respectively. For the other two types of apple images, the runtime was determined by the number of apples and blocked apples contained in the images. The results showed that the improved algorithm could extract symmetry axes and locate the picking points of apples more efficiently. In conclusion, the improved algorithm is feasible for extracting symmetry axes and locating the picking points of apples. (Author)

  4. Robotic surgery.

    Science.gov (United States)

    Diana, M; Marescaux, J

    2015-01-01

    Proficiency in minimally invasive surgery requires intensive and continuous training, as it is technically challenging for unnatural visual and haptic perceptions. Robotic and computer sciences are producing innovations to augment the surgeon's skills to achieve accuracy and high precision during complex surgery. This article reviews the current use of robotically assisted surgery, focusing on technology as well as main applications in digestive surgery, and future perspectives. The PubMed database was interrogated to retrieve evidence-based data on surgical applications. Internal and external consulting with key opinion leaders, renowned robotics laboratories and robotic platform manufacturers was used to produce state-of-the art business intelligence around robotically assisted surgery. Selected digestive procedures (oesophagectomy, gastric bypass, pancreatic and liver resections, rectal resection for cancer) might benefit from robotic assistance, although the current level of evidence is insufficient to support widespread adoption. The surgical robotic market is growing, and a variety of projects have recently been launched at both academic and corporate levels to develop lightweight, miniaturized surgical robotic prototypes. The magnified view, and improved ergonomics and dexterity offered by robotic platforms, might facilitate the uptake of minimally invasive procedures. Image guidance to complement robotically assisted procedures, through the concepts of augmented reality, could well represent a major revolution to increase safety and deal with difficulties associated with the new minimally invasive approaches. © 2015 BJS Society Ltd. Published by John Wiley & Sons Ltd.

  5. Anticancer Activity of Sea Cucumber Triterpene Glycosides

    Directory of Open Access Journals (Sweden)

    Dmitry L. Aminin

    2015-03-01

    Full Text Available Triterpene glycosides are characteristic secondary metabolites of sea cucumbers (Holothurioidea, Echinodermata. They have hemolytic, cytotoxic, antifungal, and other biological activities caused by membranotropic action. These natural products suppress the proliferation of various human tumor cell lines in vitro and, more importantly, intraperitoneal administration in rodents of solutions of some sea cucumber triterpene glycosides significantly reduces both tumor burden and metastasis. The anticancer molecular mechanisms include the induction of tumor cell apoptosis through the activation of intracellular caspase cell death pathways, arrest of the cell cycle at S or G2/M phases, influence on nuclear factors, NF-κB, and up-down regulation of certain cellular receptors and enzymes participating in cancerogenesis, such as EGFR (epidermal growth factor receptor, Akt (protein kinase B, ERK (extracellular signal-regulated kinases, FAK (focal adhesion kinase, MMP-9 (matrix metalloproteinase-9 and others. Administration of some glycosides leads to a reduction of cancer cell adhesion, suppression of cell migration and tube formation in those cells, suppression of angiogenesis, inhibition of cell proliferation, colony formation and tumor invasion. As a result, marked growth inhibition of tumors occurs in vitro and in vivo. Some holothurian triterpene glycosides have the potential to be used as P-gp mediated MDR reversal agents in combined therapy with standard cytostatics.

  6. Cucumber disease diagnosis using multispectral images

    Science.gov (United States)

    Feng, Jie; Li, Hongning; Shi, Junsheng; Yang, Weiping; Liao, Ningfang

    2009-07-01

    In this paper, multispectral imaging technique for plant diseases diagnosis is presented. Firstly, multispectral imaging system is designed. This system utilizes 15 narrow-band filters, a panchromatic band, a monochrome CCD camera, and standard illumination observing environment. The spectral reflectance and color of 8 Macbeth color patches are reproduced between 400nm and 700nm in the process. In addition, spectral reflectance angle and color difference is obtained through measurements and analysis of color patches using spectrometer and multispectral imaging system. The result shows that 16 narrow-bands multispectral imaging system realizes good accuracy in spectral reflectance and color reproduction. Secondly, a horticultural plant, cucumber' familiar disease are the researching objects. 210 multispectral samples are obtained by multispectral and are classified by BP artificial neural network. The classification accuracies of Sphaerotheca fuliginea, Corynespora cassiicola, Pseudoperonospora cubensis are 100%. Trichothecium roseum and Cladosporium cucumerinum are 96.67% and 90.00%. It is confirmed that the multispectral imaging system realizes good accuracy in the cucumber diseases diagnosis.

  7. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically supp

  8. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically supp

  9. Open-label escitalopram treatment for pathological skin picking.

    Science.gov (United States)

    Keuthen, Nancy J; Jameson, Mariko; Loh, Rebecca; Deckersbach, Thilo; Wilhelm, Sabine; Dougherty, Darin D

    2007-09-01

    Pathological skin picking is characterized by dysfunctional, repetitive and excessive manipulation of the skin resulting in noticeable tissue damage. This study sought to assess the effectiveness of escitalopram in treating pathological skin picking. Twenty-nine individuals with pathological skin picking were enrolled in an 18-week, open-label trial of escitalopram. Study measures assessing skin picking severity and impact, anxiety, depression, and quality of life were given at baseline and weeks 2, 4, 6, 10, 14, and 18. The mean maximally tolerated dose was 25.0 mg (standard deviation=8.4). For the 19 study completers, pre-post-treatment analyses revealed significant improvements (Ppicking severity and impact, quality of life, and self-rated anxiety and depression. Completer as well as intent-to-treat analyses indicated that approximately half of the sample satisfied full medication response criteria and one-quarter were partial medication responders. Correlational analyses indicated that changes in depression, anxiety, and quality of life co-occurred with reductions in skin picking severity but not impact. A high percentage of variance in severity, however, remained unexplained. These results suggest that escitalopram can be an effective agent in reducing pathological skin picking. The lack of medication response in a subset of our sample suggests the possibility of pathological skin picking subtypes.

  10. Pick-up, impact, and peeling

    Science.gov (United States)

    Singh, Harmeet; Hanna, James

    We consider a class of problems involving a one-dimensional, inextensible body with a propagating discontinuity (shock) associated with partial contact with a rigid obstacle providing steric, frictional, or adhesive forces. This class includes the pick-up and impact of an axially flowing string or cable, and the peeling of an adhesive tape. The dynamics are derived by applying an action principle to a non-material volume. The resulting boundary conditions provide momentum and energy jump conditions at the shock. These are combined with kinematic conditions on velocities and accelerations to obtain families of steady-state solutions parameterized by the shock velocity and momentum and energy sources. We find relationships between the jump in stress, injection of momentum, and dissipation of energy, which we apply to specific cases, and compare with other results in the literature on chain fountains, falling folded chains, and impulsively loaded cables. Time permitting, we will briefly discuss the possibility of using kinematic conditions and information about accelerating or otherwise unsteady forms of the adjoining bulk solutions to construct an equation of motion of the shock.

  11. Comments on R·Frost’s After Apple-Picking

    Institute of Scientific and Technical Information of China (English)

    1995-01-01

    Robert Frost once said that a poet“speaks in parables and in hints and inindirections,”for“poetry provides the one permissible way of saying one thingand meaning another.”In After Apple-Picking,one of his best-known poems,Frost again speaks indirectly,in parrables and hints;he is not just talkingabout apple-picking when he says“But I am done with apple-picking now.”What he actually hints is that the“I”(herein indicates the farmer)has justbeen through with his struggle against nature and life.

  12. Reducing whiteflies on cucumber using intercropping with less preferred vegetables

    Science.gov (United States)

    The effectiveness of four less preferred vegetables – celery, asparagus lettuce, Malabar spinach, and edible amaranth – were investigated for suppression of two biotypes of sweet potato whitefly, Bemisia tabaci (Gennadius) (Hemiptera: Aleyrodidae) on cucumber, Cucumis sativus L. (Cucurbitaceae). Int...

  13. Phase Characterization of Cucumber Growth: A Chemical Gel Model

    Directory of Open Access Journals (Sweden)

    Bo Li

    2016-01-01

    Full Text Available Cucumber grows with complex phenomena by changing its volume and shape, which is not fully investigated and challenges agriculture and food safety industry. In order to understand the mechanism and to characterize the growth process, the cucumber is modeled as a hydrogel in swelling and its development is studied in both preharvest and postharvest stages. Based on thermodynamics, constitutive equations, incorporating biological quantities, are established. The growth behavior of cucumber follows the classic theory of continuous or discontinuous phase transition. The mechanism of bulged tail in cucumber is interpreted by phase coexistence and characterized by critical conditions. Conclusions are given for advances in food engineering and novel fabrication techniques in mechanical biology.

  14. Genetic Analysis on Bent Characters of Cucumber Fruit

    Institute of Scientific and Technical Information of China (English)

    ZHANG Peng; QIN Zhiwei; WANG Lili; ZHOU Xiuyan

    2011-01-01

    Bent varieties and straight varieties were made as parents for the genetic analysis to investigate cucumber bending genetic mechanism. The results showed that the bent characters of the cucumber fruit (BCCF) were quantitative inheritance controlled by multiple genes and major genes. The additive effect played the main role and the dominance effect played the lesser role. Compared with the additive environmental variance, the dominant-environmental variance was more important and the cucumber fruit was more easily affected by the additive effect. The broad heritability and the narrow heritability of BCCF were both higher. The varieties of D0455 and D07299 could be used as parents which were benefit for improving the straight characters of the cucumber fruit

  15. THE EFFECT OF CUCUMBER ( ) EXTRACT ON ACID INDUCED ...

    African Journals Online (AJOL)

    LIVINGSTON

    ... of corneal acid burn. Cucumber extract, corneal acid burn, guinea pigs, alpha hydroxyl acids, beta hydroxyl ..... cholesterol arteriosclerosis in rabbits. Circulation.12:696 ... production in human skin fibroblast cultures in vitro. Dermatol. Surg.

  16. Analysis of the systemic colonization of cucumber plants by Cucumber green mottle mosaic virus.

    Science.gov (United States)

    Moreno, I M; Thompson, J R; García-Arenal, F

    2004-03-01

    Systemic movement of Cucumber green mottle mosaic virus (CGMMV) in cucumber plants was shown to be from photoassimilate source to sink, thus indicating phloem transport. Nevertheless, CGMMV was not detected by immunocytochemical procedures in the intermediary cell-sieve element complex in inoculated cotyledons, where photoassimilate loading occurs. In stem internodes, CGMMV was first localized in the companion cells of the external phloem and subsequently in all tissues except the medulla, therefore suggesting leakage of the virus from, and reloading into, the transport phloem during systemic movement. In systemically infected sink leaves, CGMMV was simultaneously detected in the xylem and phloem. Interestingly, CGMMV accumulated to high levels in the differentiating tracheids of young leaves implying that the xylem could be involved in the systemic movement of CGMMV. This possibility was tested using plants in which cell death was induced in a portion of the stem by steam treatment. At 24 degrees C, steam treatment effectively prevented the systemic movement of CGMMV, even though viral RNA was detected in washes of the xylem above the steamed internode suggesting that xylem circulation occurred. At 29 degrees C, CGMMV systemically infected steam-treated cucumber plants, indicating that CGMMV can move systemically via the xylem. Xylem transport of CGMMV was, however, less efficient than phloem transport in terms of the time required for systemic infection and the percentage of plants infected.

  17. Sea Cucumber: New source of Protein for Human Consumption

    OpenAIRE

    Daniela Vaz Pratas

    2014-01-01

    Aquaculture, probably the fastest growing food-producing sector, now accounts for nearly 50 percent of the world's food fish consumed by humans, and this share is expected to increase further to meet future demand. Sea cucumbers are considered highly marketable product and this has resulted in an increasing overfishing of natural sea cucumber stocks. Nevertheless, these resources are almost unexploited in the Mediterranean region. Many species of holothurians have been recognized as an altern...

  18. Expert Robots For Automated Packaging And Processing

    Science.gov (United States)

    Slutzky, G. D.; Hall, E. L.; Shell, R. L.

    1989-02-01

    A variety of problems in automated packaging and processing seem ready for expert robotic solutions. Such problems as automated palletizing, bin-picking, automated stoilw and retrieval, automated kitting of parts for assembly, and automated warehousing are currently being considered. The use of expert robots which consist of specialized computer programs, manipulators and integrated sensors has been demonstrated with robot Chedkers, peg games, etc. Actual solutions for automated palletizing, pit-carb basket loading, etc. have also been developed for industrial applications at our Center. The generic concepts arising from this research will be described, unsolved problems discussed, and some important tools demonstrated. The significance of this work lies in its broad application to a host of generic industrial problems which can improve quality, reduce waste, are eliminate human injuries.

  19. Robot umanoidi o robot umani?

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2009-01-01

    Full Text Available Che cosa e' un robot? A che cosa serve un robot? Un robot e' qualcosa di fisico, costruito da noi, che somiglia a un organismo vivente e si comporta come un organismo vivente. Gli organismi viventi comprendono gli animali e le piante, ma i robot riproducono gli animali piuttosto che le piante, anche se ci sono tentativi di costruire robotpiante. Comportarsi come un animale significa avere degli organi sensoriali con cui ricevere informazioni dall'ambiente e degli organi motori che permettono di spostarsi nell'ambiente o di muovere una qualche parte del proprio corpo, ad esempio la testa o un braccio, in maniera non programmata, ma autonoma, cioe' rispondendo agli stimoli che arrivano momento per momento ai sensori del robot. Questo risponde alla domanda "Che cosa e' un robot?".

  20. Genetic diversity and population structure of cucumber (Cucumis sativus L..

    Directory of Open Access Journals (Sweden)

    Jing Lv

    Full Text Available Knowing the extent and structure of genetic variation in germplasm collections is essential for the conservation and utilization of biodiversity in cultivated plants. Cucumber is the fourth most important vegetable crop worldwide and is a model system for other Cucurbitaceae, a family that also includes melon, watermelon, pumpkin and squash. Previous isozyme studies revealed a low genetic diversity in cucumber, but detailed insights into the crop's genetic structure and diversity are largely missing. We have fingerprinted 3,342 accessions from the Chinese, Dutch and U.S. cucumber collections with 23 highly polymorphic Simple Sequence Repeat (SSR markers evenly distributed in the genome. The data reveal three distinct populations, largely corresponding to three geographic regions. Population 1 corresponds to germplasm from China, except for the unique semi-wild landraces found in Xishuangbanna in Southwest China and East Asia; population 2 to Europe, America, and Central and West Asia; and population 3 to India and Xishuangbanna. Admixtures were also detected, reflecting hybridization and migration events between the populations. The genetic background of the Indian germplasm is heterogeneous, indicating that the Indian cucumbers maintain a large proportion of the genetic diversity and that only a small fraction was introduced to other parts of the world. Subsequently, we defined a core collection consisting of 115 accessions and capturing over 77% of the SSR alleles. Insight into the genetic structure of cucumber will help developing appropriate conservation strategies and provides a basis for population-level genome sequencing in cucumber.

  1. Sea Cucumbers Metabolites as Potent Anti-Cancer Agents

    Directory of Open Access Journals (Sweden)

    Naveena B. Janakiram

    2015-05-01

    Full Text Available Sea cucumbers and their extracts have gained immense popularity and interest among researchers and nutritionists due to their nutritive value, potential health benefits, and use in the treatment of chronic inflammatory diseases. Many areas of the world use sea cucumbers in traditional foods and folk medicine. Though the actual components and their specific functions still remain to be investigated, most sea cucumber extracts are being studied for their anti-inflammatory functions, immunostimulatory properties, and for cancer prevention and treatment. There is large scope for the discovery of additional bioactive, valuable compounds from this natural source. Sea cucumber extracts contain unique components, such as modified triterpene glycosides, sulfated polysaccharides, glycosphingolipids, and esterified phospholipids. Frondanol A5, an isopropyl alcohol/water extract of the enzymatically hydrolyzed epithelia of the edible North Atlantic sea cucumber, Cucumaria frondosa, contains monosulfated triterpenoid glycoside Frondoside A, the disulfated glycoside Frondoside B, the trisulfated glycoside Frondoside C, 12-methyltetradecanoic acid, eicosapentaenoic acid, and fucosylated chondroitin sulfate. We have extensively studied the efficacy of this extract in preventing colon cancer in rodent models. In this review, we discuss the anti-inflammatory, immunostimulatory, and anti-tumor properties of sea cucumber extracts.

  2. Proteomic Analysis of Cucumber Defense Rresponses Induced by Propamocarb

    Institute of Scientific and Technical Information of China (English)

    WU Peng; QIN Zhi-wei; WU Tao; ZHOU Xiu-yan; XIN Ming; GUO Qian-qian

    2013-01-01

    Propamocarb is an agricultural chemical that has been widely used to protect cucumber plants from downy mildew. To understand the mechanisms of cucumber defense responses to propamocarb, we investigated the physiological and proteomic responses of the cucumber line D0351 with propamocarb application. We found that after treatment with propamocarb, the activities of detoxifying enzymes (glutathione reductase, GR; glutathione S-tramsferase, GST) and soluble sugar content of cucumber fruit were signiifcantly increased, but malonaldehyde (MDA) content was signiifcantly reduced. To identify components of propamocarb responsive signaling, we compared the high resolution two-dimensional gel electrophoresis (2-DE) protein proifles of control and propamocarb-treated fruits, and identiifed 18 differentially expressed (13 up-regulated and 5 down-regulated) proteins induced by propamocarb which were determined by matrix-assisted laser desorption/ionization time-of-lfight mass spectrometry (MALDI-TOF-MS). The majority of the proteins had functions related to detoxication, energy and transport, protein biosynthesis, regulating reactions and defending against stresses. A real-time quantitative reverse transcriptional-polymerase chain reaction (qRT-PCR) was used to compare transcript and protein accumulation patterns for 18 candidate proteins, and the expression of 14 was consistent at both transcript and protein levels. The responses of cucumber proteome to propamocarb seemed complex; the identified proteins may play an important role in regulating adaptation activities following exposure to propamocarb. Data presented herein may shed light on understanding cucumber fruit defense responses under propamocarb treatment.

  3. Sea Cucumbers Metabolites as Potent Anti-Cancer Agents.

    Science.gov (United States)

    Janakiram, Naveena B; Mohammed, Altaf; Rao, Chinthalapally V

    2015-05-12

    Sea cucumbers and their extracts have gained immense popularity and interest among researchers and nutritionists due to their nutritive value, potential health benefits, and use in the treatment of chronic inflammatory diseases. Many areas of the world use sea cucumbers in traditional foods and folk medicine. Though the actual components and their specific functions still remain to be investigated, most sea cucumber extracts are being studied for their anti-inflammatory functions, immunostimulatory properties, and for cancer prevention and treatment. There is large scope for the discovery of additional bioactive, valuable compounds from this natural source. Sea cucumber extracts contain unique components, such as modified triterpene glycosides, sulfated polysaccharides, glycosphingolipids, and esterified phospholipids. Frondanol A5, an isopropyl alcohol/water extract of the enzymatically hydrolyzed epithelia of the edible North Atlantic sea cucumber, Cucumaria frondosa, contains monosulfated triterpenoid glycoside Frondoside A, the disulfated glycoside Frondoside B, the trisulfated glycoside Frondoside C, 12-methyltetradecanoic acid, eicosapentaenoic acid, and fucosylated chondroitin sulfate. We have extensively studied the efficacy of this extract in preventing colon cancer in rodent models. In this review, we discuss the anti-inflammatory, immunostimulatory, and anti-tumor properties of sea cucumber extracts.

  4. Fast and Reliable Mouse Picking Using Graphics Hardware

    Directory of Open Access Journals (Sweden)

    Hanli Zhao

    2009-01-01

    Full Text Available Mouse picking is the most commonly used intuitive operation to interact with 3D scenes in a variety of 3D graphics applications. High performance for such operation is necessary in order to provide users with fast responses. This paper proposes a fast and reliable mouse picking algorithm using graphics hardware for 3D triangular scenes. Our approach uses a multi-layer rendering algorithm to perform the picking operation in linear time complexity. The objectspace based ray-triangle intersection test is implemented in a highly parallelized geometry shader. After applying the hardware-supported occlusion queries, only a small number of objects (or sub-objects are rendered in subsequent layers, which accelerates the picking efficiency. Experimental results demonstrate the high performance of our novel approach. Due to its simplicity, our algorithm can be easily integrated into existing real-time rendering systems.

  5. Boundary Nevanlinna-pick Interpolation for Meromorphic Functions

    Institute of Scientific and Technical Information of China (English)

    Gong-ning Chen; Li-xin Jia

    2002-01-01

    Versions of the multiple Nevanlinna-Pick interpolation problem in the class N involving both interior and boundary data are investigated. This leads to solvability criteria for the indicated problems and description of their solutions.

  6. Analysis of Pick-Up Development in Punching

    DEFF Research Database (Denmark)

    Olsson, David Dam; Bay, Niels; Andreasen, Jan Lasson

    2002-01-01

    The development of pick-up of work piece material on the punch surface with increasing number of strokes during punching of stainless steel sheet is investigated applying Scanning Electron Microscopy (SEM), 3D roughness mapping and measurements of the backstroke force. It is found that pick......-up on the punch stem develops gradually backwards from the tip of the punch with increasing number of strokes saturating at a certain level while the radial build-up in the case of dry friction conditions continues until the clearance between the punch and die has been filled up. The rate of pick......-up is significantly smaller in case of lubrication and may be very low if an efficient boundary lubricant is applied. Good correlation between the pick-up development and the backstroke force is found....

  7. Automatic Grasp Generation and Improvement for Industrial Bin-Picking

    DEFF Research Database (Denmark)

    Kraft, Dirk; Ellekilde, Lars-Peter; Rytz, Jimmy Alison

    2014-01-01

    This paper presents work on automatic grasp generation and grasp learning for reducing the manual setup time and increase grasp success rates within bin-picking applications. We propose an approach that is able to generate good grasps automatically using a dynamic grasp simulator, a newly developed...... and achieve comparable results and that our learning approach can improve system performance significantly. Automatic bin-picking is an important industrial process that can lead to significant savings and potentially keep production in countries with high labour cost rather than outsourcing it. The presented...... work allows to minimize cycle time as well as setup cost, which are essential factors in automatic bin-picking. It therefore leads to a wider applicability of bin-picking in industry....

  8. Psychosocial dysfunction associated with skin picking disorder and trichotillomania

    DEFF Research Database (Denmark)

    Grant, Jon E.; Redden, Sarah A.; Leppink, Eric W.

    2016-01-01

    Skin picking disorder (SPD) and trichotillomania (TTM) are common and oftentimes disabling disorders. 125 Participants with SPD and 152 with TTM undertook clinical and neurocognitive evaluation, and were grouped according to mild, moderate, or severe levels of psychosocial dysfunction. Relationsh......Skin picking disorder (SPD) and trichotillomania (TTM) are common and oftentimes disabling disorders. 125 Participants with SPD and 152 with TTM undertook clinical and neurocognitive evaluation, and were grouped according to mild, moderate, or severe levels of psychosocial dysfunction...

  9. Automatic first-break picking using the instantaneous traveltime attribute

    KAUST Repository

    Saragiotis, Christos

    2012-01-01

    Picking the first breaks is an important step in seismic processing. The large volume of the seismic data calls for automatic and objective picking. We introduce a new automatic first-break picker, which uses specifically designed time windows and an iterative procedure based on the instantaneous traveltime attribute. The method is fast as it only uses a few FFT\\'s per trace. We demonstrate the effectiveness of this automatic method by applying it on real test data.

  10. Robotic system

    Science.gov (United States)

    Ambrose, Robert O. (Inventor)

    2003-01-01

    A robot having a plurality of interconnected sections is disclosed. Each of the sections includes components which are moveable relative to components of an adjacent section. A plurality of electric motors are operably connected to at least two of said relatively moveable components to effect relative movement. A fitted, removable protective covering surrounds the sections to protect the robot.

  11. Delta robot

    NARCIS (Netherlands)

    Herder, J.L.; Van der Wijk, V.

    2010-01-01

    The invention relates to a delta robot comprising a stationary base (2) and a movable platform (3) that is connected to the base with three chains of links (4,5,6), and comprising a balancing system incorporating at least one pantograph (7) for balancing the robot's center of mass, wherein the at le

  12. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  13. Delta robot

    NARCIS (Netherlands)

    Herder, J.L.; Van der Wijk, V.

    2010-01-01

    The invention relates to a delta robot comprising a stationary base (2) and a movable platform (3) that is connected to the base with three chains of links (4,5,6), and comprising a balancing system incorporating at least one pantograph (7) for balancing the robot's center of mass, wherein the at le

  14. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic architectural environments to be implemented and tested in the last decade in virtual and physical prototypes. These prototypes are incorporating sensing-actuating mec

  15. In situ localization and tissue distribution of the replication-associated proteins of Cucumber mosaic virus in tobacco and cucumber.

    Science.gov (United States)

    Cillo, Fabrizio; Roberts, Ian M; Palukaitis, Peter

    2002-11-01

    The replication-associated proteins encoded by Cucumber mosaic virus (CMV), the 1a and 2a proteins, were detected by immunogold labeling in two host species of this virus, tobacco (Nicotiana tabacum) and cucumber (Cucumis sativus). In both hosts, the 1a and 2a proteins colocalized predominantly to the vacuolar membranes, the tonoplast. While plus-strand CMV RNAs were found distributed throughout the cytoplasm by in situ hybridization, minus-strand CMV RNAs were barely detectable but were found associated with the tonoplast. In both cucumber and tobacco, 2a protein was detected at higher densities than 1a protein. The 1a and 2a proteins also showed quantitative differences with regard to tissue distributions in tobacco and cucumber. About three times as much 2a protein was detected in CMV-infected cucumber tissues as in CMV-infected tobacco tissues. In tobacco, high densities of these proteins were observed only in vascular bundle cells of minor veins. In contrast, in cucumber, high densities of 1a and 2a proteins were observed in mesophyll cells, followed by epidermis cells, with only low levels being observed in vascular bundle cells. Differences were also observed in the distributions of 2a protein and capsid protein in vascular bundle cells of the two host species. These observations may represent differences in the relative rates of tissue infection in different hosts or differences in the extent of virus replication in vascular tissues of different hosts.

  16. Bin-picking new approaches for a classical problem

    CERN Document Server

    Buchholz, Dirk

    2016-01-01

    This book is devoted to one of the most famous examples of automation handling tasks – the “bin-picking” problem. To pick up objects, scrambled in a box is an easy task for humans, but its automation is very complex. In this book three different approaches to solve the bin-picking problem are described, showing how modern sensors can be used for efficient bin-picking as well as how classic sensor concepts can be applied for novel bin-picking techniques. 3D point clouds are firstly used as basis, employing the known Random Sample Matching algorithm paired with a very efficient depth map based collision avoidance mechanism resulting in a very robust bin-picking approach. Reducing the complexity of the sensor data, all computations are then done on depth maps. This allows the use of 2D image analysis techniques to fulfill the tasks and results in real time data analysis. Combined with force/torque and acceleration sensors, a near time optimal bin-picking system emerges. Lastly, surface normal maps are empl...

  17. Niemann-Pick disease type C

    Directory of Open Access Journals (Sweden)

    Vanier Marie T

    2010-06-01

    Full Text Available Abstract Niemann-Pick C disease (NP-C is a neurovisceral atypical lysosomal lipid storage disorder with an estimated minimal incidence of 1/120 000 live births. The broad clinical spectrum ranges from a neonatal rapidly fatal disorder to an adult-onset chronic neurodegenerative disease. The neurological involvement defines the disease severity in most patients but is typically preceded by systemic signs (cholestatic jaundice in the neonatal period or isolated spleno- or hepatosplenomegaly in infancy or childhood. The first neurological symptoms vary with age of onset: delay in developmental motor milestones (early infantile period, gait problems, falls, clumsiness, cataplexy, school problems (late infantile and juvenile period, and ataxia not unfrequently following initial psychiatric disturbances (adult form. The most characteristic sign is vertical supranuclear gaze palsy. The neurological disorder consists mainly of cerebellar ataxia, dysarthria, dysphagia, and progressive dementia. Cataplexy, seizures and dystonia are other common features. NP-C is transmitted in an autosomal recessive manner and is caused by mutations of either the NPC1 (95% of families or the NPC2 genes. The exact functions of the NPC1 and NPC2 proteins are still unclear. NP-C is currently described as a cellular cholesterol trafficking defect but in the brain, the prominently stored lipids are gangliosides. Clinical examination should include comprehensive neurological and ophthalmological evaluations. The primary laboratory diagnosis requires living skin fibroblasts to demonstrate accumulation of unesterified cholesterol in perinuclear vesicles (lysosomes after staining with filipin. Pronounced abnormalities are observed in about 80% of the cases, mild to moderate alterations in the remainder ("variant" biochemical phenotype. Genotyping of patients is useful to confirm the diagnosis in the latter patients and essential for future prenatal diagnosis. The differential

  18. Niemann-Pick disease type C.

    Science.gov (United States)

    Vanier, Marie T

    2010-06-03

    Niemann-Pick C disease (NP-C) is a neurovisceral atypical lysosomal lipid storage disorder with an estimated minimal incidence of 1/120,000 live births. The broad clinical spectrum ranges from a neonatal rapidly fatal disorder to an adult-onset chronic neurodegenerative disease. The neurological involvement defines the disease severity in most patients but is typically preceded by systemic signs (cholestatic jaundice in the neonatal period or isolated spleno- or hepatosplenomegaly in infancy or childhood). The first neurological symptoms vary with age of onset: delay in developmental motor milestones (early infantile period), gait problems, falls, clumsiness, cataplexy, school problems (late infantile and juvenile period), and ataxia not unfrequently following initial psychiatric disturbances (adult form). The most characteristic sign is vertical supranuclear gaze palsy. The neurological disorder consists mainly of cerebellar ataxia, dysarthria, dysphagia, and progressive dementia. Cataplexy, seizures and dystonia are other common features. NP-C is transmitted in an autosomal recessive manner and is caused by mutations of either the NPC1 (95% of families) or the NPC2 genes. The exact functions of the NPC1 and NPC2 proteins are still unclear. NP-C is currently described as a cellular cholesterol trafficking defect but in the brain, the prominently stored lipids are gangliosides. Clinical examination should include comprehensive neurological and ophthalmological evaluations. The primary laboratory diagnosis requires living skin fibroblasts to demonstrate accumulation of unesterified cholesterol in perinuclear vesicles (lysosomes) after staining with filipin. Pronounced abnormalities are observed in about 80% of the cases, mild to moderate alterations in the remainder ("variant" biochemical phenotype). Genotyping of patients is useful to confirm the diagnosis in the latter patients and essential for future prenatal diagnosis. The differential diagnosis may include

  19. The relationship of psychological trauma with trichotillomania and skin picking

    Directory of Open Access Journals (Sweden)

    Özten E

    2015-05-01

    Full Text Available Eylem Özten,1 Gökben Hızlı Sayar,1 Gül Eryilmaz,1 Gaye Kağan,2 Sibel Işik,3 Oğuz Karamustafalioğlu4 1Neuropsychiatry Health, Practice, and Research Center, Üsküdar University, 2Istanbul Neuropsychiatry Hospital, Üsküdar University, 3Turkish Red Crescent Altintepe Medical Center, 4Department of Psychology, Faculty of Human and Social Sciences, Üsküdar University, Istanbul, Turkey Objective: Interactions between psychological, biological and environmental factors are important in development of trichotillomania and skin picking. The aim of this study is to determine the relationship of traumatic life events, symptoms of post-traumatic stress disorder and dissociation in patients with diagnoses of trichotillomania and skin picking disorder.Methods: The study included patients who was diagnosed with trichotillomania (n=23 or skin picking disorder (n=44, and healthy controls (n=37. Beck Depression Inventory, Traumatic Stress Symptoms Scale and Dissociative Experiences Scale were administered. All groups checked a list of traumatic life events to determine the exposed traumatic events.Results: There was no statistical significance between three groups in terms of Dissociative Experiences Scale scores (P=0.07. But Beck Depression Inventory and Traumatic Stress Symptoms Scale scores of trichotillomania and skin picking groups were significantly higher than the control group. Subjects with a diagnosis of trichotillomania and skin picking reported statistically significantly higher numbers of traumatic and negative events in childhood compared to healthy subjects.Conclusion: We can conclude that trauma may play a role in development of both trichotillomania and skin picking. Increased duration of trichotillomania or skin picking was correlated with decreased presence of post-traumatic stress symptoms. The reason for the negatively correlation of severity of post-traumatic stress symptoms and self-harming behavior may be speculated as

  20. Excessive Picking in Prader-Willi Syndrome: A Pilot Study of Phenomenological Aspects and Comorbid Symptoms.

    Science.gov (United States)

    Wigren, Margareta; Heimann, Mikael

    2001-01-01

    Interviews with parents of 37 individuals (ages 12-30) with Prader-Willi syndrome revealed two-thirds displayed skin picking with a frequency ranging from chronic to transient, episodic symptoms. Many individuals with skin picking also exhibited comorbid picking behaviors And individuals with excessive skin picking also had frequent tantrums and…

  1. Predicting keeping quality of batches of numbers of cucumber fruit based on a physiological mechanism

    NARCIS (Netherlands)

    Schouten, R.E.; Tijskens, L.M.M.; Kooten, van O.

    2002-01-01

    The keeping quality for a cucumber, defined as the time the colour remains acceptable to the consumer, depends on the state of the chlorophyll metabolism. By building a physiological model of the chlorophyll metabolism for cucumbers and using colour data from cucumbers stored at 12, 20 and 28 °C,

  2. Detection of fruit fly infestation in pickling cucumbers using a hyperspectral reflectance/transmittance imaging system

    Science.gov (United States)

    Fruit fly infestation can be a serious problem in pickling cucumber production. In the United States and many other countries, there is zero tolerance for fruit flies in pickled cucumber products. Currently, processors rely on manual inspection to detect and remove fruit fly-infested cucumbers, whic...

  3. Development of automated inspection technology for quality grading of pickling cucumbers

    Science.gov (United States)

    Pickling cucumbers are susceptible to external and internal damage during growth, harvest, transport, and postharvest handling. It is estimated that approximately 5-10% of harvested pickling cucumbers fall into the defect category. Pickling cucumber quality defect can occur in the form of soft or wa...

  4. QTL mapping of parthenocarpic fruit set in North American processing cucumber

    Science.gov (United States)

    Parthenocarpy is a desirable trait with potential for increasing yield and quality in US processing cucumber production. Many successful parthenocarpic fresh market cucumber varieties have been developed, but the genetic and molecular mechanisms for parthenocarpic expression in cucumber is largely u...

  5. Lactobacilli and tartrazine as causative agents of a red colored spoilage in cucumber pickle products

    Science.gov (United States)

    The cucumber pickling industry has sporadically experienced spoilage outbreaks in fermented cucumber products characterized by development of red color on the surface of the cucumbers. Lactobacillus casei and Lactobacillus paracasei were isolated from two outbreaks of this spoilage which occurred a...

  6. Predicting keeping quality of batches of numbers of cucumber fruit based on a physiological mechanism

    NARCIS (Netherlands)

    Schouten, R.E.; Tijskens, L.M.M.; Kooten, van O.

    2002-01-01

    The keeping quality for a cucumber, defined as the time the colour remains acceptable to the consumer, depends on the state of the chlorophyll metabolism. By building a physiological model of the chlorophyll metabolism for cucumbers and using colour data from cucumbers stored at 12, 20 and 28 °C, th

  7. Robotic transportation.

    Science.gov (United States)

    Lob, W S

    1990-09-01

    Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions.

  8. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    OpenAIRE

    2013-01-01

    In this paper, we have investigated the concept of "Cultural Robotics" with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

  9. Social Robots

    DEFF Research Database (Denmark)

    Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

  10. Compliance Modeling and Error Compensation of a 3-Parallelogram Lightweight Robotic Arm

    DEFF Research Database (Denmark)

    2015-01-01

    This paper presents compliance modeling and error compensation for lightweight robotic arms built with parallelogram linkages, i.e., Π joints. The Cartesian stiffness matrix is derived using the virtual joint method. Based on the developed stiffness model, a method to compensate the compliance...... error is introduced, being illustrated with a 3-parallelogram robot in the application of pick-and-place operation. The results show that this compensation method can effectively improve the operation accuracy....

  11. Influence of Fertilization System on the Quality of Cucumbers

    Directory of Open Access Journals (Sweden)

    Gheorghe CÎMPEANU

    2013-05-01

    Full Text Available Different types of cucumbers culture, respectively organic system and the system of chemical and organic fertilization can influence vegetable quality. The present study was carried out in a solarium on a farm, in six experimental variants, three replications. Three variants for fertilization systems with two cucumbers cultivars were used. The biological material used in the experiments consisted of the cultivars ‘Triumf’ F1 and ‘Mirabelle’ F1. Fertilization systems used were organic with manure, classic with chemical fertilizers and soluble complex fertilizers with fertigation. In the present research agrochemical and biochemical characteristics were analysed and also weight of fruits and yield on plants and kg/m2 were measured. Agrochemical characteristics were: contents of nitrates, phosphorus and potassium from cucumbers and the biochemical characteristics measured were: acidity, soluble carbohydrates, vitamin C and dry matter. The results showed that the fertilization with soluble complex fertilizers in addition with fertigation assured the entire necessary for the growth and fructification of cucumbers. The presence of chemical fertilizers do not influence in a negative way the nitrates, phosphorus and potassium content and the quality of consumption of cucumbers was assured. Regarding the cultivars the best yield and quality results were obtained to ‘Mirabelle’ F1.

  12. Sea Cucumber: New source of Protein for Human Consumption

    Directory of Open Access Journals (Sweden)

    Daniela Vaz Pratas

    2014-06-01

    Full Text Available Aquaculture, probably the fastest growing food-producing sector, now accounts for nearly 50 percent of the world's food fish consumed by humans, and this share is expected to increase further to meet future demand. Sea cucumbers are considered highly marketable product and this has resulted in an increasing overfishing of natural sea cucumber stocks. Nevertheless, these resources are almost unexploited in the Mediterranean region. Many species of holothurians have been recognized as an alternative source of first quality protein and considered a putative functional food, like hypocholesterolemic proprieties and contain many other bioactive compounds. Therefore, the aim of the present study was to determine and compare the protein content of two sea cucumber species, Holothuria forskali and Stichopus regalis. The Kjeldahl method was used to determine the crude protein through the measurement of nitrogen amount in each sample. The obtained results demonstrated that both species contain high protein levels, with higher results for S. regalis, which revealed values between 19,1% and 20,4%. H. forskali showed a protein level among 12,1% and 15,4%. Holothurian protein levels reveal great potential for human consumption. Those resources can be used as a partial substitute of fish meal (eg. sea bream nutrition, either to intern market as well as for exportation to Asian countries. Sea cucumber farming could have lucrative potential in the Mediterranean, converting sea cucumbers into aquaculture value-added products bringing to this region profitable economic benefits.

  13. Picking up Clues from the Discard Pile

    Science.gov (United States)

    2008-01-01

    As NASA's Phoenix Mars Lander excavates trenches, it also builds piles with most of the material scooped from the holes. The piles, like this one called 'Caterpillar,' provide researchers some information about the soil. On Aug. 24, 2008, during the late afternoon of the 88th Martian day after landing, Phoenix's Surface Stereo Imager took separate exposures through red, green and blue filters that have been combined into this approximately true-color image. This conical pile of soil is about 10 centimeters (4 inches) tall. The sources of material that the robotic arm has dropped onto the Caterpillar pile have included the 'Dodo' and ''Upper Cupboard' trenches and, more recently, the deeper 'Stone Soup' trench. Observations of the pile provide information, such as the slope of the cone and the textures of the soil, that helps scientists understand properties of material excavated from the trenches. For the Stone Soup trench in particular, which is about 18 centimeters (7 inches) deep, the bottom of the trench is in shadow and more difficult to observe than other trenches that Phoenix has dug. The Phoenix team obtained spectral clues about the composition of material from the bottom of Stone Soup by photographing Caterpillar through 15 different filters of the Surface Stereo Imager when the pile was covered in freshly excavated material from the trench. The spectral observation did not produce any sign of water-ice, just typical soil for the site. However, the bigger clumps do show a platy texture that could be consistent with elevated concentration of salts in the soil from deep in Stone Soup. The team chose that location as the source for a soil sample to be analyzed in the lander's wet chemistry laboratory, which can identify soluble salts in the soil. The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed

  14. Enhancement of the automatic onset time picking via wavelet thresholding

    Science.gov (United States)

    Gaci, Said

    2013-04-01

    Since arrival time-picking is a critical step in the analysis of geophysical data, many time picking algorithms have been developed. Nowadays, the ''short-time-average through long-time-average trigger'' (STA/LTA) in different forms are the most commonly used. This study aims at improving this algorithm in the presence of high amplitude noise. The suggested method consists of denoising the seismic trace using the discrete wavelet transform. Therefore, the STA/LTA curve obtained from the denoised trace displays a faster build up at the position of the wave arrival, and the picking error is reduced. The application of this technique is first demonstrated on synthetic seismic traces with varying noise levels, then extended to uphole seismic traces recorded in the Algerian Sahara. The results show that the picked first arrivals are more accurate than those yielded by the standard STA/LTA algorithm and this method can tolerate high noise levels. Keywords: picking, first arrival, seismic wave, wavelet thresholding.

  15. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

    Light Robotics - Structure-Mediated Nanobiophotonics covers the latest means of sculpting of both light and matter for achieving bioprobing and manipulation at the smallest scales. The synergy between photonics, nanotechnology and biotechnology spans the rapidly growing field of nanobiophotonics...

  16. Cognitive Robotics

    OpenAIRE

    Levesque, Hector J.; Lakemeyer, Gerhard

    2010-01-01

    This chapter is dedicated to the memory of Ray Reiter. It is also an overview of cognitive robotics, as we understand it to have been envisaged by him.1 Of course, nobody can control the use of a term or the direction of research. We apologize in advance to those who feel that other approaches to cognitive robotics and related problems are inadequately represented here.

  17. Robot Rescue

    Science.gov (United States)

    Morring, Frank, Jr.

    2004-01-01

    Tests with robots and the high-fidelity Hubble Space Telescope mockup astronauts use to train for servicing missions have convinced NASA managers it may be possible to maintain and upgrade the orbiting observatory without sending a space shuttle to do the job. In a formal request last week, the agency gave bidders until July 16 to sub-mit proposals for a robotic mission to the space telescope before the end of 2007. At a minimum, the mission would attach a rocket motor to deorbit the telescope safely when its service life ends. In the best case, it would use state-of-the- art robotics to prolong its life on orbit and install new instruments. With the space shuttle off-limits for the job under strict post-Columbia safety policies set by Administrator Sean O'Keefe, NASA has designed a "straw- man" robotic mission that would use an Atlas V or Delta N to launch a 20,ooO-lb. "Hubble Robotic Vehicle" to service the telescope. There, a robotic arm would grapple it, much as the shuttle does.

  18. [Robotic surgery].

    Science.gov (United States)

    Moreno-Portillo, Mucio; Valenzuela-Salazar, Carlos; Quiroz-Guadarrama, César David; Pachecho-Gahbler, Carlos; Rojano-Rodríguez, Martín

    2014-12-01

    Medicine has experienced greater scientific and technological advances in the last 50 years than in the rest of human history. The article describes relevant events, revises concepts and advantages and clinical applications, summarizes published clinical results, and presents some personal reflections without giving dogmatic conclusions about robotic surgery. The Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) defines robotic surgery as a surgical procedure using technology to aid the interaction between surgeon and patient. The objective of the surgical robot is to correct human deficiencies and improve surgical skills. The capacity of repeating tasks with precision and reproducibility has been the base of the robot´s success. Robotic technology offers objective and measurable advantages: - Improving maneuverability and physical capacity during surgery. - Correcting bad postural habits and tremor. - Allowing depth perception (3D images). - Magnifying strength and movement limits. - Offering a platform for sensors, cameras, and instruments. Endoscopic surgery transformed conceptually the way of practicing surgery. Nevertheless in the last decade, robotic assisted surgery has become the next paradigm of our era.

  19. Development of Outdoor Service Robot to Collect Trash on Streets

    Science.gov (United States)

    Obata, Masayuki; Nishida, Takeshi; Miyagawa, Hidekazu; Kondo, Takashi; Ohkawa, Fujio

    The outdoor service robot which we call OSR-01 is developed intending for cleaning up urban areas by means of collecting discarded trash such as PET bottles, cans, plastic bags and so on. We, in this paper, describe the architecture of OSR-01 consisting of hardwares such as sensors, a manipulator, driving wheels, etc. for searching for and picking up trash, and softwares such as fast pattern matching for identifying various trash and distance measurement for picking up via the manipulator. After describing the vision system in detail, which is one of the most critical parts of the trash collection task, we show the result of an open experiment in which OSR-01 collects PET bottles on a real shopping street in the special zone for robot research and development in Kitakyushu-city.

  20. Pick-up and impact of flexible bodies

    CERN Document Server

    Singh, H

    2016-01-01

    Picking up, laying down, colliding, rolling, and peeling are partial-contact interactions involving moving discontinuities. We examine the balances of momentum and energy across a moving discontinuity in a string, with allowance for injection or dissipation by singular supplies. We split the energy dissipation according to its invariance properties, discuss analogies with systems of particles and connections with the literature on shocks and phase transition fronts in various bodies, and derive a compatibility relation between supplies of momentum and translation-invariant energy. For a moving contact discontinuity between a string and a smooth rigid plane in the presence of gravity, we find a surprising asymmetry between the processes of picking up and laying down, such that steady-state kinks in geometry and associated jumps in tension are not admissible during pick-up. This prediction is consistent with experimental observations. We briefly discuss related problems including the falling folded chain, peeli...

  1. Pathological skin picking: case presentation and review of the literature

    Directory of Open Access Journals (Sweden)

    Maria Isabela Sarbu

    2015-04-01

    Full Text Available Pathological skin picking is a condition in which patients induce skin lesions through repetitive, compulsive excoriations of normal skin or skin with minor surface irregularities and they admit their role in the production of the lesions, but are unable to stop their behavior. Psychiatric comorbidities most often associated with skin picking include obsessive-compulsive disorder (OCD, anxiety disorders, mood disorders, body dysmorphic disorders, trichotillomania and compulsive-buying disorder. We report the case of a 17 year old female patient who addressed the dermatology department of our hospital with an eruption consisting of erythematous papules and plaques. The local examination revealed several clues of paramount importance in drawing the final conclusion and the psychiatric examination helped establish the diagnosis of pathological skin picking in a patient with obsessive-compulsive disorder.

  2. Optimal Configuration of a Redundant Robotic Arm: Compliance Approach

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    Applications of robots in tasks where the robot's end-effector bears loads, such as manipulating or assembling an object, picking-and-placing loads, grinding or drilling, demand precision. One aspect that improves precision is the limitation, if not elimination, of manipulator compliance. This paper presents a manipulator compliance optimization approach for determining an optimal manipulator configuration for a given position in the robot's task space. A numerical solution for minimal compliance, a nonlinear constrained optimization problem, is presented for an arbitrary position and illustrated by an example, using a model developed on ADAMS software and using MATLAB optimization tools. Also, this paper investigates the optimal value function for robot tasks in which the tool-point is subjected to applied force as it generates an important trajectory such as in grinding processes. The optimal value function is needed for optimal configuration control.

  3. Biological and Molecular Characterization of Cucumber mosaic virus Subgroup II Isolate Causing Severe Mosaic in Cucumber.

    Science.gov (United States)

    Kumari, Reenu; Bhardwaj, Pooja; Singh, Lakhmir; Zaidi, Aijaz A; Hallan, Vipin

    2013-06-01

    Cucumber mosaic virus (CMV) has a wide host range causing severe damage in many important agricultural and ornamental crops. Earlier reports showed the prevalence of CMV subgroup I isolates in India. However, some recent reports point towards increasing incidence of subgroup II isolates in the country. The complete genome of a CMV isolate causing severe mosaic in cucumber was characterized and its phylogenetic analysis with other 21 CMV isolates reported worldwide clustered it with subgroup II strains. The genome comprised of RNA 1 (3,379 nucleotides), RNA 2 (3,038 nucleotides) and RNA 3 (2,206 nucleotides). The isolate showed highest homology with subgroup II isolates: 95.1-98.7, 87.7-98.0, and 85.4-97.1 % within RNA1, RNA2, and RNA3, respectively. RNA1 and RNA2 were closely related to the Japanese isolate while RNA3 clustered with an American isolate. Host range studies revealed that isolate showed severe mosaic symptoms on Nicotiana spp. and Cucumis spp. The isolate induced leaf deformation and mild filiform type symptoms in tomato. To best of our knowledge this is the first report of complete genome of CMV subgroup II isolate from India.

  4. THE IMPACT OF SILICON ON TRANSCRIPTS RELATED TO CUCUMBER MOSAIC VIRUS INFECTION IN CUCUMBER.

    Science.gov (United States)

    Holz, S; Kube, M; Bartoszewski, G; Büttner, C

    2015-01-01

    The role of soluble silicon (Si) in alleviating viral plant infections is largely unknown. In order to analyse this gap in knowledge, this study provides insights into the relative gene expression data obtained from 1) control, 2) Cucumber mosaic virus (CMV)-infected and 3) sodium silica-treated, CMV-infected Cucumis sativus line B10 tissue cultures regenerated plants. The absence or presence of CMV was determined through RT-PCR, six days' post-inoculation. qRT-PCR was performed on five selected host genes related to CMV-defence (argonaute protein, WRKY transcription factor) and replication (chaperone, heat shock cognate protein, aquaporin). Relative gene expressions from Si-treated, CMV-infected clones were not significantly different from CMV-infected clones, but they were significantly different from the control plants. The upregulation of the chaperone, and heat shock cognate genes in Si-treated clones, is associated with enhanced virus replication, while the gene expression of the transcription factor increases and is related to defence, in contrast to decreased expression in CMV-infected clones. Aquaporin gene expression was downregulated and the argonaute expression was unaffected in both Si-treated, CMV-infected as well as CMV-infected clones. Since both alleviating and supportive gene shifts are observed in Si-treated plantlets for key genes related to the virus infection examined herein, sodium silica is suggested to have a neutral and limited impact on CMV infection in cucumber cultures.

  5. An Improved Bioassay for Cytokinins Using Cucumber Cotyledons 1

    Science.gov (United States)

    Fletcher, R. A.; Kallidumbil, V.; Steele, P.

    1982-01-01

    The cucumber cotyledon greening bioassay is frequently used for detecting cytokinins. Beneficial modifications of the original technique included using 5-day-old cucumber (Cucumus sativus L., cv. National Pickling) cotyledons treated with combinations of 40 millimolar KCl and various concentrations of cytokinins. A dark incubation period of 20 hours was followed by an exposure to light for 3.5 hours. Under these conditions, extremely low (0.0001 milligram per liter) concentrations of N6-benzyladenine, zeatin, kinetin, or zeatin riboside can be detected. Of the four cytokinins tested, kinetin appeared to be the least active. With these improvements, the assay is 10 times more sensitive than is the previously described cucumber cotyledon greening bioassay for cytokinins. PMID:16662273

  6. An improved bioassay for cytokinins using cucumber cotyledons.

    Science.gov (United States)

    Fletcher, R A; Kallidumbil, V; Steele, P

    1982-03-01

    The cucumber cotyledon greening bioassay is frequently used for detecting cytokinins. Beneficial modifications of the original technique included using 5-day-old cucumber (Cucumus sativus L., cv. National Pickling) cotyledons treated with combinations of 40 millimolar KCl and various concentrations of cytokinins. A dark incubation period of 20 hours was followed by an exposure to light for 3.5 hours. Under these conditions, extremely low (0.0001 milligram per liter) concentrations of N(6)-benzyladenine, zeatin, kinetin, or zeatin riboside can be detected. Of the four cytokinins tested, kinetin appeared to be the least active. With these improvements, the assay is 10 times more sensitive than is the previously described cucumber cotyledon greening bioassay for cytokinins.

  7. Molds in Brined Cucumbers: Cause of Softening During Air-Purging of Fermentations †

    Science.gov (United States)

    Costilow, Ralph N.; Gates, Karen; Lacy, Melvyn L.

    1980-01-01

    Softening of cucumbers in fermentations purged at high air-flow rates was caused by molds growing in the brined cucumbers, not in the brine. This conclusion is based on the following results: (i) no microorganisms were isolated in significant numbers from brines that caused softening of pasteurized brined cucumbers, (ii) no pectinolytic enzyme activities were produced in cucumber brines in the absence of cucumbers, (iii) the pickles in some air-purged fermentations became very soft without the appearance of any pectinolytic enzyme activity in the brine, (iv) mold hyphae were consistently observed in tissues of soft pickles, (v) molds consistently developed in cultures of slices of surface sterilized cucumbers taken from fermentations in which soft pickles were subsequently found, and (vi) molds belonging to the genera Alternaria, Fusarium, and Mucor isolated from slices all softened pasteurized brined cucumbers. Images PMID:16345619

  8. 关于pick-up的常见问题

    Institute of Scientific and Technical Information of China (English)

    魏国

    2003-01-01

    @@ 电吉他pick-up的发明是为了使吉他发出更大的声音,也因此有了所谓"电"吉他.我们可以视之为一种能量的转换装置,对音色有很大影响.早期研究发展pick-up多在Fender、Gibson为主的大公司内进行,不同于今日百家争鸣的局面.

  9. Grasp Densities for Grasp Refinement in Industrial Bin Picking

    DEFF Research Database (Denmark)

    Hupfauf, Benedikt; Hahn, Heiko; Bodenhagen, Leon

    in terms of object-relative gripper pose, can be learned from empirical experience, and allow the automatic choice of optimal grasps in a given scene context (object pose, workspace constraints, etc.). We will show grasp densities extracted from empirical data in a real industrial bin picking context...... generated in industrial bin-picking for grasp learning. This aim is achieved by using the novel concept of grasp densities (Detry et al., 2010). Grasp densities can describe the full variety of grasps that apply to specific objects using specific grippers. They represent the likelihood of grasp success...

  10. Robust control, multidimensional systems and multivariable Nevanlinna-Pick interpolation

    CERN Document Server

    Ball, J A

    2009-01-01

    The connection between the standard $H^\\infty$-problem in control theory and Nevanlinna-Pick interpolation in operator theory was established in the 1980s, and has led to a fruitful cross-pollination between the two fields since. In the meantime, research in $H^\\infty$-control theory has moved on to the study of robust control for systems with structured uncertainties and to various types of multidimensional systems, while Nevanlinna-Pick interpolation theory has moved on independently to a variety of multivariable settings. Here we review these developments and indicate the precise connections which survive in the more general multidimensional/multivariable incarnations of the two theories.

  11. Conceptual Design of a Microwave Confocal Resonator Pick-up

    CERN Document Server

    Caspers, Friedhelm; Lofnes, T; Syratchev, I V; Ziemann, Volker

    2004-01-01

    A confocal resonator may be used as a pick-up for frequencies in the multi-GHz region. In this report we present the design, by analytical and numerical methods, of such a device. Furthermore, we discuss engineering issues, such as the damping of unwanted modes, shielding of image fields and manufacturing tolerances. Such a device can be used both as a pick-up and a kicker where the actual structure is several wavelengths away from the beam in the transverse direction. It is intended for highly relativistic beams and does not require changing the particle trajectory, as opposed to a diagnostic wiggler.

  12. Evaluation of peak-picking algorithms for protein mass spectrometry.

    Science.gov (United States)

    Bauer, Chris; Cramer, Rainer; Schuchhardt, Johannes

    2011-01-01

    Peak picking is an early key step in MS data analysis. We compare three commonly used approaches to peak picking and discuss their merits by means of statistical analysis. Methods investigated encompass signal-to-noise ratio, continuous wavelet transform, and a correlation-based approach using a Gaussian template. Functionality of the three methods is illustrated and discussed in a practical context using a mass spectral data set created with MALDI-TOF technology. Sensitivity and specificity are investigated using a manually defined reference set of peaks. As an additional criterion, the robustness of the three methods is assessed by a perturbation analysis and illustrated using ROC curves.

  13. PICK1 expression in the Drosophila central nervous system primarily occurs in the neuroendocrine system

    DEFF Research Database (Denmark)

    Jansen, Anna M; Nässel, Dick R; Madsen, Kenneth L

    2009-01-01

    in the adult and larval Drosophila central nervous system. PICK1 was found in cell bodies in the subesophageal ganglion, the antennal lobe, the protocerebrum, and the neuroendocrine center pars intercerebralis. The cell types that express PICK1 were identified using GAL4 enhancer trap lines. The PICK1...... (AMPA) receptor subunit GluR2 and the dopamine transporter. PICK1 is strongly implicated in GluR2 trafficking and synaptic plasticity. In mammals, PICK1 has been characterized extensively in cell culture studies. To study PICK1 in an intact system, we characterized PICK1 expression immunohistochemically...... neurons in the neuroendocrine system, which express the transcription factor DIMM and the amidating enzyme peptidylglycine-alpha-hydroxylating monooxygenase (PHM). The PICK1-positive cells include neurosecretory cells that produce the insulin-like peptide dILP2. PICK1 expression in insulin-producing cells...

  14. Plant science. Biosynthesis, regulation, and domestication of bitterness in cucumber.

    Science.gov (United States)

    Shang, Yi; Ma, Yongshuo; Zhou, Yuan; Zhang, Huimin; Duan, Lixin; Chen, Huiming; Zeng, Jianguo; Zhou, Qian; Wang, Shenhao; Gu, Wenjia; Liu, Min; Ren, Jinwei; Gu, Xingfang; Zhang, Shengping; Wang, Ye; Yasukawa, Ken; Bouwmeester, Harro J; Qi, Xiaoquan; Zhang, Zhonghua; Lucas, William J; Huang, Sanwen

    2014-11-28

    Cucurbitacins are triterpenoids that confer a bitter taste in cucurbits such as cucumber, melon, watermelon, squash, and pumpkin. These compounds discourage most pests on the plant and have also been shown to have antitumor properties. With genomics and biochemistry, we identified nine cucumber genes in the pathway for biosynthesis of cucurbitacin C and elucidated four catalytic steps. We discovered transcription factors Bl (Bitter leaf) and Bt (Bitter fruit) that regulate this pathway in leaves and fruits, respectively. Traces in genomic signatures indicated that selection imposed on Bt during domestication led to derivation of nonbitter cucurbits from their bitter ancestors.

  15. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

    Full Text Available In this paper, we have investigated the concept of "Cultural Robotics" with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

  16. Mechanistic study of programmed cell death of root border cells of cucumber (Cucumber sativus L.) induced by copper.

    Science.gov (United States)

    Sun, Lijuan; Song, Jie; Peng, Cheng; Xu, Chen; Yuan, Xiaofeng; Shi, Jiyan

    2015-12-01

    Programmed cell death (PCD) in root border cells (RBCs) induced by Copper (Cu) has been little studied. This study explored whether Cu induced PCD in RBCs of cucumber or not and investigated the possible mechanisms. The results showed that the percentage of apoptotic and necrotic RBCs increased with increasing concentration of Cu treatment. A quick burst of ROS in RBCs was detected, while mitochondrial membrane potential (ΔΨm) decreased sharply with Cu treatment. Caspase-3 like protease activity showed a tendency of increase with Cu treatment. The potential of Cu to induce PCD in RBCs of cucumber was first proved. Our results showed that ROS generation and mitochondrial membrane potential loss played important roles in Cu-induced caspase-3-like activation and PCD in RBCs of cucumber, which provided new insight into the signaling cascades that modulate Cu phytotoxicity mechanism.

  17. Soft Robotics Week

    CERN Document Server

    Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

    2017-01-01

    This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

  18. Multiple People Picking Assignment and Routing Optimization Based on Genetic Algorithm

    Institute of Scientific and Technical Information of China (English)

    孙慧

    2014-01-01

    In order to improve the picking efficiency, reduce the picking time, this paper take artificial picking operation of a certain distribution center which has double-area warehouse as the studying object. Discuss the picking task allocation and routing problems. Establish the TSP model of order-picking system. Create a heuristic algorithm bases on the Genetic Algorithm (GA) which help to solve the task allocating problem and to get the associated order-picking routes. And achieve the simulation experiment with the Visual 6.0C++platform to prove the rationality of the model and the effectiveness of the arithmetic.

  19. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost.

  20. Medical robotics.

    Science.gov (United States)

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  1. Rehabilitation robotics

    Science.gov (United States)

    KREBS, H.I.; VOLPE, B.T.

    2015-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician’s toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual’s functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We will provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we will then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We will present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. PMID:23312648

  2. Evaluation of upper extremity robot-assistances in subacute and chronic stroke subjects

    Science.gov (United States)

    2010-01-01

    Background Robotic systems are becoming increasingly common in upper extremity stroke rehabilitation. Recent studies have already shown that the use of rehabilitation robots can improve recovery. This paper evaluates the effect of different modes of robot-assistances in a complex virtual environment on the subjects' ability to complete the task as well as on various haptic parameters arising from the human-robot interaction. Methods The MIMICS multimodal system that includes the haptic robot HapticMaster and a dynamic virtual environment is used. The goal of the task is to catch a ball that rolls down a sloped table and place it in a basket above the table. Our study examines the influence of catching assistance, pick-and-place movement assistance and grasping assistance on the catching efficiency, placing efficiency and on movement-dependant parameters: mean reaching forces, deviation error, mechanical work and correlation between the grasping force and the load force. Results The results with groups of subjects (23 subacute hemiparetic subjects, 10 chronic hemiparetic subjects and 23 control subjects) showed that the assistance raises the catching efficiency and pick-and-place efficiency. The pick-and-place movement assistance greatly limits the movements of the subject and results in decreased work toward the basket. The correlation between the load force and the grasping force exists in a certain phase of the movement. The results also showed that the stroke subjects without assistance and the control subjects performed similarly. Conclusions The robot-assistances used in the study were found to be a possible way to raise the catching efficiency and efficiency of the pick-and-place movements in subacute and chronic subjects. The observed movement parameters showed that robot-assistances we used for our virtual task should be improved to maximize physical activity. PMID:20955566

  3. Generic robot architecture

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  4. Multivariable operator-valued Nevanlinna-Pick interpolation: a survey

    NARCIS (Netherlands)

    Ball, J.A.; ter Horst, S.

    2010-01-01

    The theory of Nevanlinna-Pick and Carathéodory-Fejér interpolation for matrix- and operator-valued Schur class functions on the unit disk is now well established. Recent work has produced extensions of the theory to a variety of multivariable settings, including the ball and the polydisk (both commu

  5. Effect of horizontal pick and place locations on shoulder kinematics

    NARCIS (Netherlands)

    Könemann, R.; Bosch, T.; Kingma, I.; Dieën, J.H. van; Looze, M.P. de

    2015-01-01

    In this study the effects of horizontal bin locations in an order picking workstation on upper arm elevation, trunk inclination and hand use were investigated. Eight subjects moved (self-paced) light or heavy products (0.2 and 3.0 kg) from a central product bin to an inner or outer order bin (at 60

  6. A case of progressive aphasia without dementia: "temporal" Pick's disease?

    Science.gov (United States)

    Scheltens, P; Hazenberg, G J; Lindeboom, J; Valk, J; Wolters, E C

    1990-01-01

    We report a patient who suffered from progressive aphasia for nine years, before developing mild behavioural disturbances. Sequential computed tomography (CT) scanning and magnetic resonance (MRI) imaging showed progressive bilateral temporal atrophy. The case is thought to be a temporal form of Pick's disease, in which isolated progressive aphasia was the only symptom over many years. Images PMID:2303835

  7. Systematic Approaches to Experimentation: The Case of Pick's Theorem

    Science.gov (United States)

    Papadopoulos, Ioannis; Iatridou, Maria

    2010-01-01

    In this paper two 10th graders having an accumulated experience on problem-solving ancillary to the concept of area confronted the task to find Pick's formula for a lattice polygon's area. The formula was omitted from the theorem in order for the students to read the theorem as a problem to be solved. Their working is examined and emphasis is…

  8. Expanding the Black Woman's Horizon: Picking From a Higher Bush ...

    African Journals Online (AJOL)

    Expanding the Black Woman's Horizon: Picking From a Higher Bush Motif in Zora ... While bringing up Janie, Nanny overprotects her and shields her from the ... In her quest, Janie discovers that it is not comfort or money that brings about love ...

  9. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

    Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

  10. Cooperating mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  11. Survival of Salmonella Newport on Whole and Fresh-Cut Cucumbers Treated with Lytic Bacteriophages.

    Science.gov (United States)

    Sharma, Manan; Dashiell, Gwendolyn; Handy, Eric T; East, Cheryl; Reynnells, Russell; White, Chanelle; Nyarko, Esmond; Micallef, Shirley; Hashem, Fawzy; Millner, Patricia D

    2017-04-01

    Salmonella enterica associated with consumption of cucumbers ( Cucumis sativus ) has led to foodborne outbreaks in the United States. Whole and fresh-cut cucumbers are susceptible to S. enterica contamination during growing, harvesting, and postharvest handling. The application of lytic bacteriophages specific for S. enterica was evaluated to reduce Salmonella populations on cucumbers. Unwaxed cucumbers ('Lisboa' variety, or mini-cucumbers purchased at retail) were inoculated with Salmonella Newport (5 log CFU per cucumber) and were sprayed with 3.2 mL of phosphate-buffered saline (control) or 10 log PFU/ml of SalmoFresh, a Salmonella-specific bacteriophage preparation (phage), to deliver 4.76 × 10(7) PFU/cm(2). Cucumbers were stored at 10 or 22°C for 7 days. Inoculated mini-cucumbers were sliced with a sterile knife to investigate Salmonella transfer to mesocarp, and cut pieces were stored at 4°C for 2 days. Populations (log CFU per cucumber) of Salmonella Newport on phage-treated whole cucumbers were significantly (P cucumbers (4.27 ± 0.37) on day 0. Populations on phage-treated cucumbers stored at 10°C were 1.72 ± 0.77 and 1.56 ± 0.46, which were significantly lower than those on control-treated cucumbers (3.20 ± 0.48 and 2.33 ± 0.25) on days 1 and 4, respectively. Between days 0 and 1, populations on control-treated cucumbers stored at 10 and 22°C declined by 1.07 and 2.47 log CFU per cucumber, respectively. At 22°C, Salmonella Newport populations declined by 2.37 log CFU per cucumber between days 0 and 1. Phage application to whole cucumbers before slicing did not reduce the transfer of Salmonella Newport to fresh-cut slices. Lytic phage application may be a potential intervention to reduce Salmonella populations on whole cucumbers.

  12. Functional compatibility in cucumber mycorrhizas in terms of plant growth performance and foliar nutrient composition.

    Science.gov (United States)

    Ravnskov, S; Larsen, J

    2016-09-01

    Functional compatibility in cucumber mycorrhizas in terms of plant and fungal growth, and foliar nutrient composition from all possible combinations of six cucumber varieties and three species of arbuscular mycorrhizal (AM) fungi was evaluated. Measurements of foliar nutrient composition included N, P, K, Mg, Ca, Na, Fe, Zn, Mn and Cu. Growth of AM fungi was measured in terms of root colonisation, as examined with microscopy and the AM fungus biomarker fatty acid 16:1ω5 from both phospholipids and neutral lipids. Different responses of plant growth and foliar nutrient profiles were observed for the different AM symbioses examined. The AM fungus Claroideoglomus claroideum caused growth depression in association with four out of six cucumber varieties; Rhizophagus irregularis caused growth promotion in one of six cucumber varieties; whereas Funneliformis mosseae had no effect on the growth performance of any of the cucumber varieties examined. All three AM fungi markedly altered host plant shoot nutrient composition, with the strongest contrast observed between cucumber-R. irregularis symbioses and non-mycorrhizal cucumber plants, independent of cucumber variety. On the other hand, AM fungal growth in roots differed between the three AM fungi, but was unaffected by host genotype. Strong build-up of storage lipids was observed for R. irregularis, which was more moderate in the two other AM fungi. In conclusion, strong differential responses of cucumber varieties to inoculation with different AM fungi in terms of growth and shoot nutrient composition revealed high functional diversity in AM symbioses in cucumber plants.

  13. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

    In this book, we present medical robotics, its evolution over the last 30 years in terms of architecture, design and control, and the main scientific and clinical contributions to the field. For more than two decades, robots have been part of hospitals and have progressively become a common tool for the clinician. Because this domain has now reached a certain level of maturity it seems important and useful to provide a state of the scientific, technological and clinical achievements and still open issues. This book describes the short history of the domain, its specificity and constraints, and

  14. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

    We propose a robust framework for combining performance paradigms with human robot interaction (HRI) research. Following an analysis of several case studies that combine the performing arts with HRI experiments, we propose a methodology and “best practices” for implementing choreography and other...... performance paradigms in HRI experiments. Case studies include experiments conducted in laboratory settings, “in the wild”, and live performance settings. We consider the technical and artistic challenges of designing and staging robots alongside humans in these various settings, and discuss how to combine...

  15. SENSORY ANALYSIS OF CUCUMBER VARIETIES AT DIFFERENT HARVEST TIMES I. SALAD CUCUMBERS

    Directory of Open Access Journals (Sweden)

    Galina PEVICHAROVA

    2007-11-01

    Full Text Available During the period 2001-2002 sensory analysis of six salad cucumber varieties was carried out. The aim of this experiment was to assess the influence of the harvest time on the fruit sensory properties. Flesh colour was the most stable character while appearance, skin colour, aroma, texture, taste and total sensory evaluation varied during the three investigated harvest periods. Two-way analysis of variance proved significant effect of the varieties, harvest time and its interaction on all sensory characters. Depending on the harvest time some of the varieties changed their places one toward other by total sensory evaluation. Therefore, it could not be made reliable conclusions of data obtained from one harvest time. The number of harvest times as well as the number of vegetations should be more then one in order to receive more accurate information for sensory characteristics.

  16. The genome of the cucumber, Cucumis sativus L.

    NARCIS (Netherlands)

    Huang, S.W.; Li, R.Q.; Vossen, van der E.A.G.

    2009-01-01

    Cucumber is an economically important crop as well as a model system for sex determination studies and plant vascular biology. Here we report the draft genome sequence of Cucumis sativus var. sativus L., assembled using a novel combination of traditional Sanger and next-generation Illumina GA sequen

  17. In vitro flowering and pollen viability of cucumber

    Science.gov (United States)

    Flowers were produced on sterile cucumber (Cucumis sativus L.) plants grown in vitro from seed or from micropropagated shoots from stem fragments. Highest numbers of flowers on plants from both sources were produced on hormone-free MS medium as well as with 6 µM of kinetin (MSK). Plants cultured on ...

  18. A sequencing-based linkage map of cucumber

    Science.gov (United States)

    Genetic maps are important tools for molecular breeding, gene cloning, and study of meiotic recombination. In cucumber (Cucumis sativus L.), the marker density, resolution and genome coverage of previously developed genetic maps using PCR-based molecular markers are relatively low. In this study we ...

  19. High sequence conservation among cucumber mosaic virus isolates from Lily

    NARCIS (Netherlands)

    Chen, Y.K.; Derks, A.F.L.M.; Langeveld, S.; Goldbach, R.; Prins, M.

    2001-01-01

    For classification of Cucumber mosaic virus (CMV) isolates from ornamental crops of different geographical areas, these were characterized by comparing the nucleotide sequences of RNAs 4 and the encoded coat proteins. Within the ornamental-infecting CMV viruses both subgroups were represented. CMV i

  20. An integrated genetic and cytogenetic map of the cucumber genome.

    Directory of Open Access Journals (Sweden)

    Yi Ren

    Full Text Available The Cucurbitaceae includes important crops such as cucumber, melon, watermelon, squash and pumpkin. However, few genetic and genomic resources are available for plant improvement. Some cucurbit species such as cucumber have a narrow genetic base, which impedes construction of saturated molecular linkage maps. We report herein the development of highly polymorphic simple sequence repeat (SSR markers originated from whole genome shotgun sequencing and the subsequent construction of a high-density genetic linkage map. This map includes 995 SSRs in seven linkage groups which spans in total 573 cM, and defines approximately 680 recombination breakpoints with an average of 0.58 cM between two markers. These linkage groups were then assigned to seven corresponding chromosomes using fluorescent in situ hybridization (FISH. FISH assays also revealed a chromosomal inversion between Cucumis subspecies [C. sativus var. sativus L. and var. hardwickii (R. Alef], which resulted in marker clustering on the genetic map. A quarter of the mapped markers showed relatively high polymorphism levels among 11 inbred lines of cucumber. Among the 995 markers, 49%, 26% and 22% were conserved in melon, watermelon and pumpkin, respectively. This map will facilitate whole genome sequencing, positional cloning, and molecular breeding in cucumber, and enable the integration of knowledge of gene and trait in cucurbits.

  1. Rationalization of a genebank cucumber collection with SSR markers

    NARCIS (Netherlands)

    Dooijeweert, van W.; Treuren, van R.

    2012-01-01

    The CGN cucumber (Cucumis sativus) collection consists of 937 accessions. The majority of accessions originated from the working collection of the former Institute for Horticultural Plant Breeding (IVT), where they were used for breeding. The collection mainly includes old cultivars received from Du

  2. Fine mapping of paternal sorting of mitochondria (psm) in cucumber

    Science.gov (United States)

    Cucumber is unique among plants because its mitochondrial DNA shows paternal transmission, is one of the largest known among all plants, due largely to short repetitive DNA motifs, and undergoes recombination among repeats to produce rearranged mitochondrial DNAs associated with strongly mosaic (MSC...

  3. In vitro auxin binding to cellular membranes of cucumber fruits.

    Science.gov (United States)

    Narayanan, K R; Mudge, K W; Poovaiah, B W

    1981-04-01

    Specific binding of 1-naphthaleneacetic acid (NAA) to crude membrane preparations from cucumber (Cucumis sativus L.) was demonstrated. This in vitro binding had a pH optimum of 3.75 and an equilibrium dissociation constant of 10 to 20 micromolar with 1250 picomoles binding sites per gram fresh weight. The NAA-binding sites were pronase sensitive. The supernatant from the fruit partially inhibited the in vitro NAA binding to fruit membranes. NAA, 2-naphthoxyacetic acid, 3-indoleacetic acid, 2-4-dichlorophenoxyacetic acid, and 2,3,5-triiodobenzoic acid, which are reported to be very good inducers of parthenocarpy in cucumber, showed a high degree of specific binding to cucumber fruit membranes. In comparison, 2-naphthaleneacetic acid and indolepropionic acid, which are reported to be very weak auxins in corn coleoptile, pea stem, and strawberry fruit growth bioassays, did not bind efficiently to cucumber fruit membranes. In vitro binding studies with fruit membranes suggest that auxin stimulated fruit growth may be mediated by membrane-associated, auxin-binding protein(s).

  4. Genetic diversity and population structure of cucumber (Cucumis sativus L.)

    NARCIS (Netherlands)

    Lv, J.; Qi, J.; Shi, Q.; Shen, D.; Zhang, S.; Shao, G.; Li, H.; Sun, Z.; Weng, Y.; Shang, Y.; Gu, X.; Li, X.; Zhu, X.; Zhang, J.; Treuren, van R.; Dooijeweert, van W.; Zhang, Z.; Huang, S.

    2012-01-01

    Knowing the extent and structure of genetic variation in germplasm collections is essential for the conservation and utilization of biodiversity in cultivated plants. Cucumber is the fourth most important vegetable crop worldwide and is a model system for other Cucurbitaceae, a family that also incl

  5. Multi-objective Design Optimization of a Parallel Schönflies-motion Robot

    DEFF Research Database (Denmark)

    Wu, Guanglei; Bai, Shaoping; Hjørnet, Preben

    2016-01-01

    This paper introduces a parallel Schoenflies-motion robot with rectangular workspace, which is suitable for pick-and-place operations. A multi-objective optimization problem is formulated to optimize the robot's geometric parameters with consideration of kinematic and dynamic performances....... The dynamic performance is concerned mainly the capability of force transmission in the parallel kinematic chain, for which transmission indices are defined. The Pareto-front is obtained to investigate the influence of the design variables to the robot performance. Dynamic characteristics for three Pareto...

  6. Proteomic Analysis of Fruit Bending in Cucumber (Cucumis sativus L.)

    Institute of Scientific and Technical Information of China (English)

    WANG Li-li; ZHANG Peng; QIN Zhi-wei; ZHOU Xiu-yan

    2014-01-01

    In cucumber, fruit shape is an important quality criterion, and fruit bending is known to limit growth, yield, and taste. To investigate the post-transcriptional changes that regulate fruit bending and to better understand the underlying molecular mechanisms, we generated a proteomic proifle of the abdomen and back of cucumber bending fruit. Two-dimensional gel electrophoresis (2-DE) allowed the detection of approximately 900 distinct protein spots in each gel, 32 of which were differentially expressed in the abdomen and back of bending cucumber fruit. Ten of the differentially expressed proteins were analyzed using matrix-assisted laser ionization time of lfight mass spectrometry (MALDI-TOF/MS). A search of primary databases showed that the identiifed proteins are involved in various metabolic processes and cellular responses, including photosynthesis metabolism, energy metabolism, defense and stress response, and regulation. The identiifed proteins included large subunits of ribulose-1,5-bisphosphate carboxylase/oxygenase, which are involved in photosynthesis and photorespiratory metabolism, and isocitrate dehydrogenase, which is involved in the tricarboxylic acid cycle. It is possible that imbalances in catabolic and anabolic processes directly affect the bending of cucumber fruit. The predicted function of the cobalamin-independent methionine synthase isozyme is closely related to ethylene biosynthesis; fruit bending may be regulated by ethylene, or by ethylene signaling crosstalk during fruit development. The 14-3-3 protein is usually considered to be a regulation-related protein, which plays a role in regulating cell hyperplasia, cell differentiation during growth, and apoptosis during senescence. Involvement of guanosine triphosphate (GTP)-binding proteins in signal transmission is known to regulate the development of cells in cucumber fruits and to play a role in fruit shape variation. Patterns of protein expression showed high repeatability. We hypothesize

  7. Robotic Partial Nephrectomy Using Robotic Bulldog Clamps

    OpenAIRE

    2011-01-01

    Background and Objectives: The need for a skilled assistant to perform hilar clamping during robotic partial nephrectomy is a potential limitation of the technique. We describe our experience using robotic bulldog clamps applied by the console surgeon for hilar clamping. Methods: A total of 60 consecutive patients underwent robotic partial nephrectomy, 30 using laparoscopic bulldog clamps applied by the assistant and 30 using robotic bulldog clamps applied with the robotic Prograsp instrument...

  8. Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

    Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

  9. Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

    Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of fu

  10. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

    The medical field has many uses for automated and remote-controlled technology. For example, if a tissue sample is only handled in the laboratory by a robotic handling system, then it will never come into contact with a human. Such a system not only helps to automate the medical testing process, but it also helps to reduce the chances of…

  11. Beyond Robotics

    Science.gov (United States)

    Tally, Beth; Laverdure, Nate

    2006-01-01

    Chantilly High School Academy Robotics Team Number 612 from Chantilly, Virginia, is an award-winning team of high school students actively involved with FIRST (For Inspiration and Recognition of Science and Technology), a multinational nonprofit organization that inspires students to transform culture--making science, math, engineering and…

  12. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    . They are sexist, primitively normative and clearly ‘wax-doll machines’. So though Ava’s dimensions are perfect she, like the Vitruvian Man, remains a fiction. In real life, however, we may have to deal with an increasing solipsism stemming from people engaging with machines like sex robots. In this case...

  13. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

    , Vivisection and Strange Metabolisms, were developed at the Centre for Information Technology and Architecture (CITA) at the Royal Danish Academy of Fine Arts in Copenhagen as a means of engaging intangible digital data with tactile physical material. As robotic membranes, they are a dual examination...

  14. Close up of the pick and place tool carrying a dummy silicon sensor.

    CERN Multimedia

    Bernd Surrow

    1999-01-01

    The gantry positioning head contains a vacuum pick-up system thatallows several different pick-up tools to be used. This one isdesigned to pick up the silicon sensors. The pick-up tool containsa pressure sensitive contact which can stop the motion of the machine when the tool touches a fixed object. The shiny cylinderis the end of the microscope optics of the CCD camera.

  15. Metaheuristics for Order Batching and Sequencing in Manual Order Picking Systems

    OpenAIRE

    Sebastian Henn; Verena Schmid

    2011-01-01

    Order picking deals with the retrieval of articles from their storage locations in order to satisfy customer requests. A major issue in manual order picking systems concerns of the transformation and consolidation of customer orders into picking orders (order batching). In practice, customer orders have to be completed by certain due dates in order to avoid delay in the shipment to customers or in production. The composition of the picking orders, their processing times and the sequence accor...

  16. The Affordance Template ROS Package for Robot Task Programming

    Science.gov (United States)

    Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

    2015-01-01

    This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic XML description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.

  17. 7 CFR 51.1236 - U.S. Fancy Hand Picked.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 2 2010-01-01 2010-01-01 false U.S. Fancy Hand Picked. 51.1236 Section 51.1236 Agriculture Regulations of the Department of Agriculture AGRICULTURAL MARKETING SERVICE (Standards.... Fancy Hand Picked. U.S. Fancy Hand Picked shall consist of cleaned Virginia type peanuts in the...

  18. A Preliminary Analysis of the Phenomenology of Skin-Picking in Prader-Willi Syndrome

    Science.gov (United States)

    Morgan, Jessica R.; Storch, Eric A.; Woods, Douglas W.; Bodzin, Danielle; Lewin, Adam B.; Murphy, Tanya K.

    2010-01-01

    To examine the nature and psychosocial correlates of skin-picking behavior in youth with Prader-Willi Syndrome (PWS). Parents of 67 youth (aged 5-19 years) with PWS were recruited to complete an internet-based survey that included measures of: skin-picking behaviors, the automatic and/or focused nature of skin-picking, severity of skin-picking…

  19. 7 CFR 51.1235 - U.S. Jumbo Hand Picked.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 2 2010-01-01 2010-01-01 false U.S. Jumbo Hand Picked. 51.1235 Section 51.1235 Agriculture Regulations of the Department of Agriculture AGRICULTURAL MARKETING SERVICE (Standards.... Jumbo Hand Picked. U.S. Jumbo Hand Picked shall consist of cleaned Virginia type peanuts in the...

  20. Determining Number of Zones in a Pick-and-pack Orderpicking System

    NARCIS (Netherlands)

    T. Le-Duc (Tho); M.B.M. de Koster (René)

    2005-01-01

    textabstractIn this study we consider a pick-to-pack orderpicking system, in which batches of orders are picked simultaneously from different(work) zones by a group of order pickers. After picking, the orders are transported by a conveyor to the next station for packing. Our aim is to determine the

  1. Aligning order picking methods, incentive systems, and regulatory focus to increase performance

    NARCIS (Netherlands)

    J. de Vries (Jelle); M.B.M. de Koster (René); D.A. Stam (Daan)

    2015-01-01

    textabstractA unique controlled field experiment investigates order picking performance (in terms of productivity and quality). We examined three manual picker-to-parts order picking methods (parallel, zone, and dynamic zone picking) under two different incentive systems (competition- based versus c

  2. Aligning order picking methods, incentive systems, and regulatory focus to increase performance

    NARCIS (Netherlands)

    J. de Vries (Jelle); M.B.M. de Koster (René); D.A. Stam (Daan)

    2015-01-01

    textabstractA unique controlled field experiment investigates order picking performance (in terms of productivity and quality). We examined three manual picker-to-parts order picking methods (parallel, zone, and dynamic zone picking) under two different incentive systems (competition- based versus

  3. 21 CFR 872.6650 - Massaging pick or tip for oral hygiene.

    Science.gov (United States)

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Massaging pick or tip for oral hygiene. 872.6650... (CONTINUED) MEDICAL DEVICES DENTAL DEVICES Miscellaneous Devices § 872.6650 Massaging pick or tip for oral hygiene. (a) Identification. A massaging pick or tip for oral hygiene is a rigid, pointed device...

  4. Sea cucumber species identification of family Caudinidae from Surabaya based on morphological and mitochondrial DNA evidence

    Science.gov (United States)

    Amin, Muhammad Hilman Fu'adil; Pidada, Ida Bagus Rai; Sugiharto, Widyatmoko, Johan Nuari; Irawan, Bambang

    2016-03-01

    Species identification and taxonomy of sea cucumber remains a challenge problem in some taxa. Caudinidae family of sea cucumber was comerciallized in Surabaya, and it was used as sea cucumber chips. Members of Caudinid sea cucumber have similiar morphology, so it is hard to identify this sea cucumber only from morphological appearance. DNA barcoding is useful method to overcome this problem. The aim of this study was to determine Caudinid specimen of sea cucumber in East Java by morphological and molecular approach. Sample was collected from east coast of Surabaya, then preserved in absolute ethanol. After DNA isolation, Cytochrome Oxydase I (COI) gene amplification was performed using Echinoderm universal primer and PCR product was sequenced. Sequencing result was analyzed and identified in NCBI database using BLAST. Results showed that Caudinid specimen in have closely related to Acaudina molpadioides sequence in GenBank with 86% identity. Morphological data, especially based on ossicle, also showed that the specimen is Acaudina molpadioides.

  5. [Effects of rotation and intercropping on bacterial communities in rhizosphere soil of cucumber].

    Science.gov (United States)

    Wu, Feng-zhi; Wang, Shu; Yang, Yang

    2008-12-01

    By the method of PCR-DGGE, this paper studied the effects of rotation with wheat, soybean, villose vetch, clover, and alfalfa and intercropping with onion and garlic on the bacterial communities in rhizosphere soil of cucumber. The results showed that rotation and intercropping with test plants increased the diversity and evenness indices of bacterial communities in cucumber rhizosphere soil, and also, cucumber yield. The sequencing of DGGE bands indicated that most of the bands had high homology with uncultured bacterial species, and were of Sphingobacterium and Proteobacteria. High bacterium G+C was only detected when cucumber was intercropped with onion. The diversity of soil bacterial communities varied with the growth stages of cucumber, being the highest at vigorous fruiting stage. It was suggested that intercropping with onion and rotation with wheat were the best cultivation modes of cucumber.

  6. Relationship between dieldrin uptake in cucumber and solvent-extractable residue in soil.

    Science.gov (United States)

    Sakai, Mizuki; Seike, Nobuyasu; Murano, Hirotatsu; Otani, Takashi

    2009-12-09

    To prevent the distribution of cucumbers with dieldrin contamination exceeding the limit set by the Japanese Food Sanitation Law, the extraction solvent for dieldrin-contaminated soil was selected prior to cultivation so that the dieldrin residue level in cucumber could be predicted. The exhaustive extraction from soil could not explain the dieldrin uptake by cucumber plants. However, significant correlation (R(2) = 0.966, P dieldrin concentrations in cucumber and dieldrin concentrations extracted with 50% (v/v) methanol-water solution from soils. This was a result of the phytoavailability of dieldrin to the cucumber plants. The extractability of soil dieldrin with the methanol-water solution decreased as the organic carbon content in the soils increased. This suggested that a 50% (v/v) methanol-water solution is the optimal solution for predicting dieldrin concentrations in cucumbers by soil analysis.

  7. Progresses in the Mechanism of Resistance to Fusarium Wilt in Cucumber(Cucumis sativus L.)

    Institute of Scientific and Technical Information of China (English)

    ZHOU Xingang; WU Fengzhi; WANG Xuezheng; YUAN Ye

    2008-01-01

    Fusarium wilt caused by Fusarium oxysporum f.sp.cucumerinum (Owen) is one of the most devastating diseases in cucumber production worldwide.Recent progresses in the mechanism of resistance to Fusarium wilt in cucumber were reviewed in this paper,including pathogenic mechanism of Fusarium oxysporum,the resistance mechanism of cucumber,the heredity of resistance,and the location of resistance genes.Following works should be the location and cloning of resistance genes with molecular biologic methods.

  8. Biological control mechanisms of D-pinitol against powdery mildew in cucumber

    OpenAIRE

    Chen, J; Fernandez, Diana; Wang, D. D.; Chen, Y. J.; Dai, G. H.

    2014-01-01

    D-pinitol is an effective agent for controlling powdery mildew (Podosphaera xanthii) in cucumber. In this study, we determined the mechanisms of D-pinitol in controlling powdery mildew in cucumber plants. We compared P. xanthii development on cucumber leaf surface treated with D-pinitol or water (2 mg ml(-1)) at different time points after inoculation. The germinating conidia, hyphae, and conidiophores of the pathogen were severely damaged by D-pinitol at any time of application tested. The h...

  9. Tandem mobile robot system

    Energy Technology Data Exchange (ETDEWEB)

    Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM); Hayward, David R. (Albuquerque, NM)

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  10. Robotics Education and Employment.

    Science.gov (United States)

    Linnell, Charles C.

    1993-01-01

    Describes characteristics of robots, provides a glossary of related terms, and discusses available careers in the field of robotics. Includes a list of postsecondary institutions with robotics programs. (JOW)

  11. Micro Robotics Lab

    Data.gov (United States)

    Federal Laboratory Consortium — Our research is focused on the challenges of engineering robotic systems down to sub-millimeter size scales. We work both on small mobile robots (robotic insects for...

  12. Robotics in Protected Cultivation

    NARCIS (Netherlands)

    Henten, van E.; Bac, C.W.; Hemming, J.; Edan, Y.

    2013-01-01

    This paper reviews robotics for protected cultivation systems. Based on a short description of the greenhouse crop production process, the current state in greenhouse mechanization and the challenges for robotics in protected cultivation are identified. Examples of current greenhouse robotics

  13. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

  14. Pico Lantern: a pick-up projector for augmented reality in laparoscopic surgery.

    Science.gov (United States)

    Edgcumbe, Philip; Pratt, Philip; Yang, Guang-Zhong; Nguan, Chris; Rohling, Rob

    2014-01-01

    The Pico Lantern is proposed as a new tool for guidance in laparoscopic surgery. Its miniaturized design allows it to be picked up by a laparoscopic tool during surgery and tracked directly by the endoscope. By using laser projection, different patterns and annotations can be projected onto the tissue surface. The first explored application is surface reconstruction. The absolute error for surface reconstruction using stereo endoscopy and untracked Pico Lantern for a plane, cylinder and ex vivo kidney is 2.0 mm, 3.0 mm and 5.6 mm respectively. The absolute error using a mono endoscope and a tracked Pico Lantern for the same plane, cylinder and kidney is 0.8mm, 0.3mm and 1.5mm respectively. The results show the benefit of the wider baseline produced by tracking the Pico Lantern. Pulsatile motion of a human carotid artery is also detected in vivo. Future work will be done on the integration into standard and robot-assisted laparoscopic surgery.

  15. Skin picking disorder with co-occurring body dysmorphic disorder.

    Science.gov (United States)

    Grant, Jon E; Redden, Sarah A; Leppink, Eric W; Odlaug, Brian L

    2015-09-01

    There is clinical overlap between skin picking disorder (SPD) and body dysmorphic disorder (BDD), but little research has examined clinical and cognitive correlates of the two disorders when they co-occur. Of 55 participants with SPD recruited for a neurocognitive study and two pharmacological studies, 16 (29.1%) had co-occurring BDD. SPD participants with and without BDD were compared to each other and to 40 healthy volunteers on measures of symptom severity, social functioning, and cognitive assessments using the Stop-signal task (assessing response impulsivity) and the Intra-dimensional/Extra-dimensional Set Shift task (assessing cognitive flexibility). Individuals with SPD and BDD exhibited significantly worse picking, significantly worse overall psychosocial functioning, and significantly greater dysfunction on aspects of cognitive flexibility. These results indicate that when SPD co-occurs with BDD unique clinical and cognitive aspects of SPD may be more pronounced. Future work should explore possible subgroups in SPD and whether these predict different treatment outcomes.

  16. Picking and Choosing the ‘Sovereign’Border

    DEFF Research Database (Denmark)

    Parker, Noel; Adler-Nissen, Rebecca

    2012-01-01

    We argue that the continued persistence of borders is an effect of their constitutive role for the many dimensions of a social particular. States cannot choose to have a border; but they can and do make choices amongst the materials available on the various planes of inscription for bordering....... For contemporary states the planes have become increasingly disaggregated, in the sense that they do not fall into place at one and the same border. Thus, states have to pick and choose different articulations (often inconsistently) on different planes. We illustrate these ideas with instances, present......-day and historical, of bordering. A corollary of there being more need to pick and choose is that articulations of sovereignty change. So, sovereignty is increasingly the material of ‘sovereignty games’, where sovereignty is used as a political instrument. In sum, our theory directs attention to state bordering...

  17. Impact Factors of Choosing Willingness for Picking up Service

    Directory of Open Access Journals (Sweden)

    Jun-Jie Xu

    2013-08-01

    Full Text Available To obtain promotion schemes for picking up service in e-commerce logistics system, a regression analysis model of customer willingness was established with four types of independent variables including personal characteristics, parcel characteristics, environment characteristics and service evaluation on traditional home delivery. An empirical study with 479 samples collected from Taobao networks was conducted, if controlling gender and age, significant effects were confirmed such as perceived convenience on home delivery, age of online shopping, frequency of online shopping and parcel’s value. However the anticipated effects of traffic congestion, parcel dimensions, service evaluation on home delivery and other factors were not proved. The results investigated that attraction of picking up service was limited, related firms should propose a targeted marketing plan focusing on customer characteristics and parcel properties

  18. Abnormal brain activation in excoriation (skin-picking) disorder

    DEFF Research Database (Denmark)

    Odlaug, Brian L.; Hampshire, Adam; Chamberlain, Samuel R

    2016-01-01

    Background: Excoriation (skin-picking) disorder (SPD) is a relatively common psychiatric condition whose neurobiological basis is unknown. Aims: To probe the function of fronto-striatal circuitry in SPD. Method: Eighteen participants with SPD and 15 matched healthy controls undertook an executive...... involved in habit formation, action monitoring and inhibition appear involved in the pathophysiology of SPD. Implications exist for understanding the basis of excessive grooming and the relationship of SPD with putative obsessive-compulsive spectrum disorders.......Background: Excoriation (skin-picking) disorder (SPD) is a relatively common psychiatric condition whose neurobiological basis is unknown. Aims: To probe the function of fronto-striatal circuitry in SPD. Method: Eighteen participants with SPD and 15 matched healthy controls undertook an executive...

  19. Research on inverse kinematics solution of apple picking manipulator%苹果采摘机械手的逆运动学求解研究

    Institute of Scientific and Technical Information of China (English)

    邹志勇; 韩玖胜

    2016-01-01

    为了提高苹果采摘机械手的采摘成品率,保证采摘后苹果质量,提出一种引入采摘综合因素的苹果采摘机械手的逆运动学求解方法。首先,采用Denavit-Hartenberg模型对苹果采摘机械手进行建模,并将逆运动学求解问题转化为规划问题,其中,目标函数为所求得逆运动学参数对应的机械手末端中心坐标与待求坐标欧式距离。然后,在遗传算法选择、交叉、变异算子进行全局搜索的基础上,结合非线性规划对目标函数进行局部搜索。最后,借助随机森林算法将逆运动学求解结果分为3个姿势等级。试验表明,非线性遗传算法在苹果采摘机械手的逆运动学求解上相比遗传算法精度提高了8~25 mm,随机森林算法可以很好地对其求逆结果进行优化,从而提高苹果采摘成品率。%In order to improve the stability and yield of apple picking robot , the method of inverse kinematics of picking manipulator was proposed .First, the D-H model was used to establish the model of the apple picking robot . Kinematics problem of apple picking robot was thus translated into programming problem .The objective function was the Euclidean distance between the apple picking robot coordinate and unknown coordinate .In order to obtain the in-verse kinematic parameters , the genetic algorithm was then used for global search , which included selection , cross-over and mutation operators , and non-linear programming was used for local search based on the result of genetic al-gorithm.Finally, the kinematic parameters were divided into 3 grades by random forest algorithm .Experiment showed that compared with the genetic algorithm , the algorithm proposed in the present study improved the accuracy by 8-25 mm in solution of inverse kinematics .In conclusion , the proposed method was valid for kinematics prob-lem, and thus would help improve the yield of apple picking robot .

  20. A new distributional record for the sea cucumber Holothuria (Semperothuria) cinerascens (Brandt) from Goa coast

    Digital Repository Service at National Institute of Oceanography (India)

    Shirwaikar, P.; Parulekar, A.H.

    Occurrence of sea cucumber, Holothuria (Semperothuria) cinerascens from intertidal region of Anjuna (Goa) along central west coast of India is reported. Notes on morphological characteristics are given...

  1. Whole-body Microbiota of Sea Cucumber (Apostichopus japonicus) from South Korea for Improved Seafood Management.

    Science.gov (United States)

    Kim, Tae-Yoon; Lee, Jin-Jae; Kim, Bong-Soo; Choi, Sang Ho

    2017-08-31

    Sea cucumber (Apostichopus japonicus) is a popular seafood source in Asia, including South Korea, and its consumption has recently increased with recognition of its medicinal properties. However, because raw sea cucumber contains various microbes, its ingestion can cause foodborne illness. Therefore, analysis of the microbiota in the whole body of sea cucumber can extend our understanding of foodborne illness caused by microorganisms and help to better manage products. We collected 40 sea cucumbers from four different sites in August and November, which are known as the maximum production areas in Korea. The microbiota was analyzed by an Illumina Miseq system, and bacterial amounts were quantified by real-time PCR. The diversity and bacterial amounts in sea cucumber were higher in August than in November. Alpha-, Beta-, and Gammaproteobacteria were common dominant classes in all samples. However, the microbiota composition differed according to sampling time and site. Staphylococcus warneri and Propionibacterium acnes were commonly detected potential pathogens in August and November samples, respectively. The effect of experimental Vibrio parahaemolyticus infection on the indigenous microbiota of sea cucumber was analyzed at different temperatures, revealing clear alterations of Psychrobacter and Moraxella; thus, these shifts can be used as indicators for monitoring infection of sea cucumber. Although further studies are needed to clarify and understand the virulence and mechanisms of the identified pathogens of sea cucumber, our study provides a valuable reference for determining the potential of foodborne illness caused by sea cucumber ingestion and to develop monitoring strategies of products using microbiota information.

  2. Soft robotics: a bioinspired evolution in robotics.

    Science.gov (United States)

    Kim, Sangbae; Laschi, Cecilia; Trimmer, Barry

    2013-05-01

    Animals exploit soft structures to move effectively in complex natural environments. These capabilities have inspired robotic engineers to incorporate soft technologies into their designs. The goal is to endow robots with new, bioinspired capabilities that permit adaptive, flexible interactions with unpredictable environments. Here, we review emerging soft-bodied robotic systems, and in particular recent developments inspired by soft-bodied animals. Incorporating soft technologies can potentially reduce the mechanical and algorithmic complexity involved in robot design. Incorporating soft technologies will also expedite the evolution of robots that can safely interact with humans and natural environments. Finally, soft robotics technology can be combined with tissue engineering to create hybrid systems for medical applications.

  3. Automatic onset phase picking for portable seismic array observation

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Automatic phase picking is a critical procedure for seismic data processing, especially for a huge amount of seismic data recorded by a large-scale portable seismic array. In this study is presented a new method used for automatic accurate onset phase picking based on the property of dense seismic array observations. In our method, the Akaike's information criterion (AIC) for the single channel observation and the least-squares cross-correlation for the multi-channel observation are combined together. The tests by the seismic array observation data after triggering with the short-term average/long-term average (STA/LTA) technique show that the phase picking error is less than 0.3 s for local events by using the single channel AIC algorithm. In terms of multi-channel least-squares cross-correlation technique, the clear teleseismic P onset can be detected reliably. Even for the teleseismic records with high noise level, our algorithm is also able to effectually avoid manual misdetections.

  4. Climate Change and Fruit-Picking Tourism: Impact and Adaptation

    Directory of Open Access Journals (Sweden)

    Jun Liu

    2016-01-01

    Full Text Available The purpose of this work is to present phenology as a valid indicator and methodology for monitoring and assessing the impact of climate change on plant-based tourist activities. Fruit-picking has become a popular rural tourism activity worldwide. However, fruit maturity dates (FMD have been affected by climate change (CC, which has in turn profoundly affected fruit-picking tourism activities (FPTA. In this paper, phenological data on the FMD for 45 types of plants in 1980–2012, dates for more than 200 fruit-picking festivals, and data on monthly average air temperature in 1980–2013 were used to assess the impact of CC on FPTA by wavelet and correlation analyses. The findings indicated that the study area had been significantly affected by CC. Prevailing temperatures at one or three months prior have a decisive influence on FMD. Among the 11 plants directly related to FPTA, the FMD of four were significantly advanced, while 6-7 were significantly delayed owning to increased temperature. Of the 11 FPTA, only two had realized the impact of CC and had adjusted festival opening dates based on dynamic changes. However, a considerable number of festival activities remained fixed or scheduled on the weekends.

  5. Pick-up and impact of flexible bodies

    Science.gov (United States)

    Singh, H.; Hanna, J. A.

    2017-09-01

    Picking up, laying down, colliding, rolling, and peeling are partial-contact interactions involving moving discontinuities. We examine the balances of momentum and energy across a moving discontinuity in a string, with allowance for injection or dissipation by singular supplies. We split the energy dissipation according to its invariance properties, discuss analogies with systems of particles and connections with the literature on shocks and phase transition fronts in various bodies, and derive a compatibility relation between supplies of momentum and translation-invariant energy. For a moving contact discontinuity between a string and a smooth rigid plane in the presence of gravity, we find a surprising asymmetry between the processes of picking up and laying down, such that steady-state kinks in geometry and associated jumps in tension are not admissible during pick-up. This prediction is consistent with experimental observations. We briefly discuss related problems including the falling folded chain, peeling of an adhesive tape, and the ;chain fountain;. Our approach is applicable to the study of impact and locomotion, and to systems such as moored floating structures and some musical instruments that feature vibrating string and cable elements interacting with a surface.

  6. The status of Cucumber vein yellowing virus in Iran

    Directory of Open Access Journals (Sweden)

    Kaveh BANANEJ

    2014-09-01

    Full Text Available Yellowing symptoms of greenhouse- and open field-grown cucurbit crops are becoming increasingly important in many cucurbit growing regions of the world, and particularly in Iran. A survey was conducted from 2011 to 2012 in eight major cucurbit growing regions in Iran. Yellowing and specifically vein clearing symptoms were observed in many cucumber plants grown in greenhouses and open fields, suggesting the presence of Cucumber vein yellowing virus (CVYV, genus Ipomovirus, family Potyviridae. The identification of CVYV was carried out with a specific triple-antibody sandwich enzyme-linked immunosorbent assay (TAS-ELISA and reverse transcription (RT-PCR. CVYV was detected in 42% of the collected samples, in all surveyed provinces, except Bushehr. CVYV was also detected in melon and cucumber crops grown in open fields. These results indicate that CVYV is widely distributed on these two cucurbit species in the major cucumber growing areas of Iran. CVYV positive samples were also tested, using DAS-ELISA, for the presence of Cucurbit chlorotic yellows virus (CCYV and Cucurbit yellow stunting disorder virus (CYSDV, two criniviruses reported previously to occur in Iran. Double or triple infections of CCYV and CYSDV occurred in 49 of 166 of the CVYV-infected plants. The CVYV and CCYV combined infections were more prevalent than CVYV and CYSDV combined infections. TAS-ELISA positive samples were used to mechanically inoculate healthy cucumber plants, and mild vein yellowing was observed on the inoculated leaves. Identical symptoms were also observed on whitefly inoculated healthy cucumber plants. The presence of CVYV in mechanically and whitefly inoculated plants was confirmed by TAS-ELISA and RT-PCR. Sequence analysis revealed that the Iranian isolate of CVYV was more closely related to Spanish isolates than to isolates from Jordan. Phylogenetic analysis showed that CVYV isolates can be divided into two phylogenetic groups (I and II. Despite the close

  7. The Milwaukee Inventory for the Dimensions of Adult Skin Picking (MIDAS): initial development and psychometric properties.

    Science.gov (United States)

    Walther, Michael R; Flessner, Christopher A; Conelea, Christine A; Woods, Douglas W

    2009-03-01

    This article describes the development and initial psychometric properties of the Milwaukee Inventory for the Dimensions of Adult Skin picking (MIDAS), a measure designed to assess "automatic" and "focused" skin picking. Data were collected from 92 participants who completed an anonymous internet-based survey. Results of an exploratory factor analysis revealed a two-factor solution. Factors 1 ("focused" picking scale) and 2 ("automatic" picking scale) each consisted of 6 items, and preliminary data demonstrated adequate internal consistency, good construct validity, and good discriminant validity. The MIDAS provides researchers with a reliable and valid assessment of "automatic" and "focused" skin picking.

  8. A dual working mode mobile robot system based on visual guiding and visual servoing

    Institute of Scientific and Technical Information of China (English)

    Peng Yizhun; Yuan Kui; Zou Wei; Hu Huosheng

    2007-01-01

    A dual operational modes mobile robot system based on visual guiding and visual servo control is presented.This system consists of a mobile robot with a two-axis manipulator and a tele-operation station.In the visual guiding mode,for the robot works in an open loop visual servo control mode,the manipulating burden of the operator is reduced largely.In the visual servo mode the robot can locate the position of the target assigned by the operator and pick it up by its manipulator.With the help of the operator,the difficult problems of finding and handling a target in a complicated environment by the robot Can be solved easily.

  9. Assessment the Effects of Temperature and Humidity Control in Greenhouse Cucumber Productions in Jiroft and Kahnooj Region

    Directory of Open Access Journals (Sweden)

    D Momeni

    2012-05-01

    Full Text Available Temperature and humidity are two important parameters affecting the quality and quantity of greenhouse products so two double greenhouses were manufactured in 3.5, 40 and 11 m in height, length and width respectively in agricultural research center of jiroft and kahnooj to study these effects. Both of greenhouses are similar in materials, final height, gutter height, covering and field operation but in one of them one heating system, two ventilation fans and one wooden pad were assembled and temperature and humidity besides yield were registered in both of them. The results showed that temperature changing trend inside and outside of the unheated greenhouse were in same phase and this isn't suitable in cold night so the greenhouse with heating system had more yield and picking cucumber fruit numbers than another. Therefore it is necessary to be heated by artificial systems. Because of rapid relative humidity changing in outside of greenhouse in the end of the season, the efficiency of fan and pads cooling system is so low then using of evaporating cooling systems such as fans and pad wasn't proposed and recommend to optimize the temperature by ventilation and shading the greenhouse and in hot days production will be cut.

  10. SCREENING FOR CUCUMBER MOSAIC RESISTANT LINES FROM THE OVULE CULTURE DERIVED DOUBLE HAPLOID CUCUMBERS

    Directory of Open Access Journals (Sweden)

    Parichat Plapung

    2014-01-01

    Full Text Available CMV is one of the major destructive viruses worldwide and commercial CMV resistant cucumber is very rare. Therefore we aimed to establish the ovule derived resistant lines used for the breeding program. Haploid plants of sixty-eight cucumber lines were successfully obtained by culturing the un pollinated ovaries harvested one day before an thesis on a modified MS medium supplemented with BAP and IAA at the ratio of 2:1 which was optimal to induce embryogenesis in most of the tested lines. For whole plant regeneration, another modified MS medium was used supplemented with a combination of 6-Benzylaminopurine (BAP and Indole-3-Acetic Acid (IAA (2:1 or BAP and IAA/6-(gamma, gamma-dimethylallylamino purine (2ip and IAA (5:1 and 5 ppm AgNO3. Ploidy levels of the regenerants were determined by cytological analysis. Thirteen out of 42 clones derived from 14 accessions showed a chromosome number of n = 7 and chloroplast number of 6/pair of guard cell, 24 lines were auto-dihaploid with n = 14 and a chloroplast number of 11-12/pair of guard cell. Twenty-eight Double Haploid (DH lines were mechanically inoculated with CMV and the level of resistance was evaluated by using DAS-ELISA. Ten highly Resistant lines (R included 70S2, 91e, 91.1, 93S4-1, 93S42-, 95S1-2, 95S2 DHS1, 117S2-1-3, 136.1 and 194S1 did not show any virus symptom and gave negative ELISA results. Twelve moderately resistant clones were identified including two clones from line 11, three clones from line 93, four clones from line 91 and one clone each from line 117S2 and 123, whereas clone 11.4 was moderately susceptible. Five DH clones; 117S2-1-1, 117S2-2, 117S2-4, 117S2-7 and 117S2-8were classified as highly susceptible.

  11. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

  12. Skin picking behaviors: An examination of the prevalence and severity in a community sample.

    Science.gov (United States)

    Hayes, Stephania L; Storch, Eric A; Berlanga, Lissette

    2009-04-01

    Body-focused repetitive behaviors such as skin picking have gained recent attention in the psychiatric literature. Prevalence of skin picking has not been well researched and is difficult to estimate; however, consequences of such behaviors can include severe medical complications and impaired social and occupational functioning. Given this, this study examined: (1) the prevalence and severity of skin picking in a nonclinical community sample, and (2) associations between skin picking and other measures of psychological functioning. Three hundred and fifty-four participants completed measures of psychological functioning and skin picking frequency and severity. A total of 62.7% endorsed some form of skin picking and 5.4% reported clinical levels of skin picking and associated distress/impact. Direct associations were found between skin picking and depressive, anxiety, and obsessive-compulsive symptoms, which may support the emotional regulation model of pathological skin picking. To establish proper diagnostic classification of pathological skin picking and optimize treatment planning and outcome, further investigation of functional relationships between skin picking and affective distress is needed.

  13. Diagnosis of Pick Disease%Pick病的诊断

    Institute of Scientific and Technical Information of China (English)

    贾建军; 卢文甫; 王鲁宁; 汤洪川; 尹岭

    2001-01-01

    目的探讨Pick病(Pick disease)诊断的正确性。方法分析2例临床上曾诊断为阿尔茨海默病(Alzheimer disease,AD),经核磁共振成像(MRI)检查证实的Pick病,其中1例经正电子发射型计算机断层扫描(PET)得到进一步证实。结果 Pick病与AD比较有如下特点:①特殊的语言方式及语言改变;②临床上以缓慢进展的性格改变及社会活动能力衰退为主,而记忆力、理解判断力、计算力障碍等出现相对较晚;③病程中有不同程度的Klüver-Bucy综合征表现;④脑MRI检查提示:额和(或)颞叶萎缩,颞极为著;⑤PET检查提示:双侧额、颞叶代谢减低,颞极明显。 结论根据Pick病临床表现及神经影像学特征,在排除AD及其它脑变性病的基础上,生前诊断Pick病是可能的。%Objective To explore the definite diagnosis of pick disease. Methods Two cases of the pick disease diag nosised by clinical and MRI findings,one of them certified by PET. The patients had been diagnosised as Alzheimer dis ease(AD) before. Results There are the following features on pick disease as compared with AD:①The special type of speech and speech disorder;②The slowly progressive change of character and involution of social action emerged earlier in clinical and the disturbance of memory,comprehension and calculation emerged later;③Klüver-Bucy syndrome can be found in the course of the illness;④MRI showed:the atrophy of frontal-temporal lobe is obviously, especially on tempo ral pole;⑤Frontal-temporal lobe deficits on PET,especially on temporal pole. Conclusion The antemortem diagnosis of pick disease might be possible on the detailed basis of clinical manifestations, MRI and PET features, but other neu rodegeneration disorders such as AD should be ruled out.

  14. Respiratory symptoms among waste-picking child laborers: a cross-sectional study.

    Science.gov (United States)

    Hernández Romero, Danilo A; Oudin, Anna; Strömberg, Ulf; Karlsson, Jan-Eric; Welinder, Hans; Sequeira, Gustavo; Blanco, Luís; Jiménez, Mario; Sánchez, Félix; Albin, María

    2010-01-01

    This study evaluates respiratory symptoms, lung function, and exposure to airborne particles among waste-picking children. We enrolled 103 waste-picking children at a dump in Managua, Nicaragua and 103 children who do not pick waste. Exposure to airborne particles was assessed by area sampling. Health data were obtained from a questionnaire, clinical examination, and spirometry. Exposure effects were evaluated with multivariate regression analysis. Exposure to particles exceeded national and international standards. Wheezing among children was related to exposure status, with waste-picking children who are both "never highly exposed" and "ever highly exposed" having greater prevalence of wheezing compared to the children who do not pick waste. FEV1 among "ever highly exposed" waste-picking children with wheeze was 13% lower than non-waste-picking children with wheeze. Exposure to small particles was unacceptably high and associated with wheeze and decreased lung function.

  15. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    OpenAIRE

    Hooman Samani; Elham Saadatian; Natalie Pang; Doros Polydorou; Owen Noel Newton Fernando; Ryohei Nakatsu; Jeffrey Tzu Kwan Valino Koh

    2013-01-01

    In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

  16. The Skin Picking Impact Project: phenomenology, interference, and treatment utilization of pathological skin picking in a population-based sample.

    Science.gov (United States)

    Tucker, Benjamin T P; Woods, Douglas W; Flessner, Christopher A; Franklin, Shana A; Franklin, Martin E

    2011-01-01

    The current study examined the characteristics of pathological skin picking (PSP) in a population-based sample. Participants were recruited through several online resources for PSP and related conditions to complete a web-based survey assessing the functional and topographical phenomenology, physical and psychosocial impact, treatment utilization, and associated psychopathology of PSP. A total of 1663 participants consented, of whom 760 were over 18 and met study criteria for PSP. Results showed considerable heterogeneity in picking methods, body sites, and function (e.g., regulation of emotional, sensory, and cognitive states). Participants generally reported moderate psychosocial and physical impact from picking and tended to perceive available treatment as poor in quality. Severity of associated symptoms of psychopathology (depression, anxiety, and stress) was comparable to severity levels found in previous samples of persons with trichotillomania and obsessive-compulsive disorder. Severity of PSP was a statistically significant predictor of overall impairment after controlling for depression and anxiety symptoms. Results suggest that PSP is a significant public health concern in need of further rigorous investigation.

  17. Robotics and regional anesthesia.

    Science.gov (United States)

    Wehbe, Mohamad; Giacalone, Marilu; Hemmerling, Thomas M

    2014-10-01

    Robots in regional anesthesia are used as a tool to automate the performance of regional techniques reducing the anesthesiologist's workload and improving patient care. The purpose of this review is to show the latest findings in robotic regional anesthesia. The literature separates robots in anesthesia into two groups: pharmacological robots and manual robots. Pharmacological robots are mainly closed-loop systems that help in the titration of anesthetic drugs to patients undergoing surgery. Manual robots are mechanical robots that are used to support or replace the manual gestures performed by anesthesiologists. Although in the last decade researchers have focused on the development of decision support systems and closed-loop systems, more recent evidence supports the concept that robots can also be useful in performing regional anesthesia techniques. Robots can improve the performance and safety in regional anesthesia. In this review, we present the developments made in robotic and automated regional anesthesia, and discuss the current state of research in this field.

  18. Cucumber (Cucumis sativus L.) and kabocha squash (Cucurbita moschata Duch).

    Science.gov (United States)

    Nanasato, Yoshihiko; Tabei, Yutaka

    2015-01-01

    We established improved methods for Agrobacterium-mediated transformation of cucumber (Cucumis sativus L.) and kabocha squash (Cucurbita moschata Duch). Vacuum infiltration of cotyledonary explants with Agrobacterium suspension enhanced the Agrobacterium infection efficiency in the proximal regions of explants. Wounding treatment was also essential for kabocha squash. Cocultivation on filter paper wicks suppressed necrosis of explants, keeping regeneration efficacy. Putative transgenic plants were screened by kanamycin resistance and green fluorescent protein (GFP) fluorescence. These putative transgenic plants grew normally and T1 seeds were obtained, and stable integration and transmission of the transgene in T1 generations were confirmed by Southern hybridization and PCR. The average transgenic efficiency for cucumber and kabocha squash was 11.9 ± 3.5 and 9.2 ± 2.9 %, respectively.

  19. Variation of Plant Electrophysiology in Cucumber under Different Water Status

    Institute of Scientific and Technical Information of China (English)

    LI Guo-chen; YU Hai-ye; MA Cheng-lin; WANG Rui

    2005-01-01

    AP and VP were measured in cucumbers under water sufficiency and water stress. The results indicated that, the AP would be evoked by electrical impulse, for water-stressed cucumber, its amplitude could reached more than 40 mV which was obviously greater than that (about 10-20 mV) of plant under well-watered,and no VP came out. Along with the intensity of light increased, the VP appeared going-up trend, and accompanied by evidently spiking electrical signal, for plant under water stress, the VP increased more clearly, but the change of spiking amplitude of AP (about 3 mY) was rather smaller than that (8-10 mY) of plant under well-watered.

  20. Silicon-mediated accumulation of flavonoid phytoalexins in cucumber.

    Science.gov (United States)

    Fawe, A; Abou-Zaid, M; Menzies, J G; Bélanger, R R

    1998-05-01

    ABSTRACT The controversial role of silicon in plant disease resistance, described mostly as a passive mechanical protection, has been addressed. Conclusive evidence is presented that silicon is involved in the increased resistance of cucumber to powdery mildew by enhancing the antifungal activity of infected leaves. This antifungal activity was attributable to the presence of low-molecular-weight metabolites. One of these metabolites, described here as a phytoalexin, was identified as a flavonol aglycone rhamnetin (3,5,3',4'-tetrahydroxy-7-O-methoxyflavone). This is the first report of a phytoalexin for this chemical group in the plant kingdom and of a flavonol phytoalexin in cucumber, a chemical defense long believed to be nonexistent in the family Cucurbitaceae. The antifungal activity of leaf extracts was better expressed after acid hydrolysis, extending to another plant species the concept that some phytoalexins are synthesized as glycosylated phytoalexins or their precursors.

  1. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

    This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

  2. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

    This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

  3. A sulfated alpha-L-fucan from sea cucumber.

    Science.gov (United States)

    Ribeiro, A C; Vieira, R P; Mourão, P A; Mulloy, B

    1994-03-04

    A purified sulfated alpha-L-fucan from the sea cucumber body wall was studied, before and after almost complete desulfation, using methylation analysis and NMR spectroscopy. NMR analysis indicates that 2,4-di-O-sulfo-L-fucopyranose and unsubstituted fucopyranose are present in equal proportions, and that 2-O-sulfo-L-fucopyranose is present in twice that proportion. There is some NMR evidence that a regular repeating sequence of four residues comprises most or all of the polysaccharide chain.

  4. Study on the Resistance of Cucumber to Temperature Stresses

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Four cucumber (Cucumis sativus L. ) inbred lines with different resistances to temperature stress were used in this experiment. The seedlings of line Q10 and Q21 that have high resistance to chilling stress also have high resistance to heat stress. The seedlings of line T94 and T55 that have lower resistance to chilling stress also have lower resistance to heat stress. It seems that the resistance of cucumber seedlings to different temperature stresses was similar. The influences of chilling and heat stress on the germination ability of cucumber seeds were different. Under the chilling stress, the germination percentage decreased less, and the germination velocity decreased more,so the germination index decreased significantly. Under the heat stress, the germination percentage and velocity of the seeds with high resistance decreased less and those of the seeds with lower resistance decreased more. The differences among the lines became more evident under the extreme heat condition. The content of chlorophyll decreased under the different temperature stresses, the content of chlorophyll a decreased more than that of chlorophyll b, so the value of chlorophyll a/b decreased.The temperature stress inhibited the photosynthesis of cucumber seedlings significantly. After chilling or heat treatment, the net photosynthetic rate (Pn) decreased remarkably. With the stomatal conductance (Gs) decreased, the stomatal limited value (Is) decreased, the intercellular CO2 concentration (Ci) increased, and both the apparent quantum efficiencies (AQE) and the carboxylation efficiencies (CE) decreased. Results showed that the non-stomatal factors were the main causes of Pn decrease, and the photosynthetic mechanism was destroyed remarkably.

  5. Fruit removal increases root-zone respiration in cucumber

    Science.gov (United States)

    Kläring, H.-P.; Hauschild, I.; Heißner, A.

    2014-01-01

    Background and Aims Many attempts have been made to avoid the commonly observed fluctuations in fruit initiation and fruit growth in crop plants, particularly in cucumber (Cucumis sativus). Weak sinks of the fruit have been assumed to result in low sink/source ratios for carbohydrates, which may inhibit photosynthesis. This study focuses on the effects of low sink–source ratios on photosynthesis and respiration, and in particular root-zone respiration. Methods Mature fruit-bearing cucumber plants were grown in an aerated nutrient solution. The root containers were designed as open chambers to allow measurement of CO2 gas exchange in the root zone. A similar arrangement in a gas-exchange cuvette enabled simultaneous measurements of CO2 exchange in the shoot and root zones. Key Results Reducing the sinks for carbohydrates by removing all fruit from the plants always resulted in a doubling of CO2 exchange in the root zone within a few hours. However, respiration of the shoot remained unaffected and photosynthesis was only marginally reduced, if at all. Conclusions The results suggest that the increased level of CO2 gas exchange in the root zone after removing the carbon sinks in the shoot is due primarily to the exudation of organic compounds by the roots and their decomposition by micro-organisms. This hypothesis must be tested in further experiments, but if proved correct it would make sense to include carbon leakage by root exudation in cucumber production models. In contrast, inhibition of photosynthesis was measurable only at zero fruit load, a situation that does not occur in cucumber production systems, and models that estimate production can therefore ignore (end-product) inhibition of photosynthesis. PMID:25301817

  6. Fine genetic mapping of Cp, a recessive gene for compact (dwarf) plant architecture in cucumber, cucumis sativus L

    Science.gov (United States)

    The compact or dwarf plant architecture is an important trait in cucumber breeding. Compact cucumber has the potential to be used in once-over mechanical harvest of pickling cucumber production. Compact growth habit is controlled by a simply inherited recessive gene. To facilitate markers assisted s...

  7. 40 CFR 174.516 - Coat protein of cucumber mosaic virus; exemption from the requirement of a tolerance.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 23 2010-07-01 2010-07-01 false Coat protein of cucumber mosaic virus...-INCORPORATED PROTECTANTS Tolerances and Tolerance Exemptions § 174.516 Coat protein of cucumber mosaic virus; exemption from the requirement of a tolerance. Residues of Coat Protein of Cucumber Mosaic Virus are...

  8. Precise control of clamping force for watermelon picking end-effector%西瓜采摘末端执行器夹持力精确控制

    Institute of Scientific and Technical Information of China (English)

    胡志勇; 张学炜; 张伟; 王琳

    2014-01-01

    为实现西瓜的机械化采摘,该文提出了采用液压驱动型末端执行器采摘大型果实的思路。在抓取西瓜时,为避免末端执行器夹持力不稳定引起的果实损伤,需对夹持力进行精确控制,该文建立了末端执行器负载模拟平台和AMESim&Simulink联合仿真模型,模拟西瓜采摘夹持力的加载情况。针对执行器夹持力加载过程中位置控制系统对力控制系统产生干扰,影响夹持力精确加载的问题,该文基于速度同步控制原理,设计了简化的加载误差补偿环节,开展了加载误差补偿理论、仿真及试验研究。结果表明,速度同步控制方法能够有效地减小加载误差,提高末端执行器负载模拟精度。该研究可为末端执行器输出力的精确控制和抓取控制策略提供参考。%Certain agricultural work requires a very stable robot end-effector to reduce vibration and damage to products. However, the structures of conventional articulated robots tend to be too weak to manipulate heavy objects, such as the watermelon. To achieve mechanized harvesting of the watermelon, we compared the characteristics of different end-effectors with the motor, pneumatic and hydraulic drives. By contrast, the hydraulic drive has many advantages, such as high power-weight ratio, compact structure and convenient layout. Therefore, the end-effector with hydraulic drive is more suitable for heavy fruit harvesting such as the watermelon. The hydraulic drive system based on force perception can output appropriate clamping force according to actual situation. When picking robot crawls and picks, it needs to avoid the damage to fruits and vegetables caused by unstable clamping force and to achieve the precise control of the clamping force for picking robot end-effector. Therefore, how to improve output force’s control precision of the valve control cylinder and reduce interference are key to improve the picking performance. Two

  9. The Research on Improving the Order Picking Efficiency in Medical Logistics Area of CPL Based on Serial Partition Relay Picking Model

    Directory of Open Access Journals (Sweden)

    Xu Wei

    2013-01-01

    Full Text Available The medical business of China Post Logistics is developing day by day. China Post Logistics have been using the Parallel partition picking mode for a long time, but too many shortages have appearing in these two years, especially in the order picking cost and efficiency. This paper analyzes the current order picking mode of China Post Logistics and compare with the Parallel partition picking mode. By analysis the advantages and disadvantages of these two modes and combine with the actual situation, we choose the serial partition relay picking model as the picking mode of CPL in medical logistics area. And then it optimizes the order picking route in view of the current deficiency combined with the use of Ant Colony Optimization (ACO. The example simulation result shows that this optimizing is effective and the order picking cost decrease 17.36% and the route decrease 9.80% than that as before. This research not only to Chain Post Logistics but also to other logistics company which runs the medical business has certain reference.

  10. Robotics Challenge: Cognitive Robot for General Missions

    Science.gov (United States)

    2015-01-01

    ROBOTICS CHALLENGE: COGNITIVE ROBOT FOR GENERAL MISSIONS UNIVERSITY OF KANSAS JANUARY 2015 FINAL TECHNICAL REPORT... University of Kansas 2120 Learned Hall 1530 W. 15th Street Lawrence, KS 66045 8. PERFORMING ORGANIZATION REPORT NUMBER 9. SPONSORING/MONITORING...controls. 15. SUBJECT TERMS Autonomy , Supervised Autonomy , Robotics, Cognitive Architecture 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF

  11. Subtropical Modern Greenhouse Cucumber Canopy Transpiration Under Summer Climate Condition

    Institute of Scientific and Technical Information of China (English)

    LUO Wei-hong; WANG Xiao-han; DING Wei-min; CHEN Yu-qing; DAI Jian-feng

    2002-01-01

    Greenhouse canopy transpiration not only has effects on greenhouse air temperature and humidity, but also is important for determining the set-point of fertigation. In this study, Penman-Monteith equation was used to calculate the greenhouse cucumber canopy transpiration under summer climate condition.The effects of greenhouse environmental factors on canopy transpiration were analyzed based on the measurements of greenhouse microclimate factors and canopy transpiration. The results showed that Penman-Monteith equation was reliable and robust in estimating greenhouse cucumber canopy transpiration under summer climate condition. Greenhouse cucumber canopy transpiration rate increased linearly with the increase of net radiation and water vapor pressure deficit (VPD) above the canopy. But the maximum value of the canopy transpiration rate occurred at the same time as that of VPD whereas about two hours later than that of net radiation. Based on the results, it was concluded that in addition to radiation, air humidity should also be considered when determine the set-point of fertigation.

  12. Comparisons of dioxin levels of cucumber varieties and cultivation periods

    Energy Technology Data Exchange (ETDEWEB)

    Eun, H.; Watanabe, E.; Ishii, Y.; Ueji, M. [National Inst. for Agro-Environmental Sciences, Tsukuba (Japan); Narita, I.; Nakamura, K. [Saitama Prefecture Agriculture and Forestry Research Center, Saitama (Japan)

    2004-09-15

    According to a 2001 survey on Daily Intake in Japan, the total dioxins intake of a person in Japan amounts to 1.68 pg-TEQ per kg of body weight/day on average. The sharing a percentage of agricultural crops was about 3%in Japanese TDI amounts. However, all cases collect samples from supermarkets to estimate TDI of dioxins, which make it difficult to understand under what environment, food samples were pretreated and cultivated. Especially, TDI values in agricultural crops are probably dependent on the collection situation. In the agricultural environment, some reports indicate that dioxins have accumulated in paddy and upland in Japan due to the past use of some types of agricultural chemicals, which contained dioxins as impurities. Furthermore, taking the atmospheric pathway, for example, dioxins in the ambient air are associated with particulate matter and fall to the ground, contaminating agricultural land. Thus, it has been emphasized that dioxin compounds have a possibility to have adverse effect on vegetables. However, there is little understanding related to this fact in the country and worldwide. Empirical studies conducted in Japan and abroad have reported low residual concentrations of dioxins in cucumbers (Cucumis sativus L.), a member of the gourd family. However, there have been extremely few instances of research involving overall comparisons of cultivation environments. Thus, we studied the persistence of dioxins in cucumbers of different varieties cultivated outdoors over varying cultivation periods, conducting thorough experiments to elucidate the actual conditions and mechanisms of dioxin contamination of cucumbers.

  13. [Thermal dissipation pathway in cucumber seedling leaves under hypoxia stress].

    Science.gov (United States)

    Jia, Yong-xi; Sun, Jin; Wang, Li-ping; Shu, Sheng; Guo, Shi-rong

    2011-03-01

    A water culture experiment was conducted to study the relationship between photosynthetic thermal dissipation and xanthophyll cycle in cucumber seedling leaves under hypoxia stress (the dissolved oxygen concentration in nutrient solution was 0.9-1.1 mg x L(-1)). Under the hypoxia stress, there was a significant decrease in the quantum yield of PS II photochemistry rate (phi(PS II)), net photosynthetic rate (Pn) under saturation light intensity, quanta yield (AQY), and maximal photochemical efficiency (Fv/Fm), suggesting that the photoinhibition of the seedling leaves was induced. Meanwhile, the thermal dissipation (NPQ) and the allocation of dissipation energy (D) by antenna increased, but the photochemical quenching apparent (q(p)) decreased, suggesting the enhancement of thermal dissipation in cucumber leaves under hypoxia stress. A positive correlation was observed between NPQ and xanthophyll de-epoxidation state (DEPS), and both of them were promoted by ascorbic acid (AsA) and inhibited by 1,4-dithiothreitol (DTT), suggesting that xanthophyll cycle was the major pathway of photosynthetic thermal dissipation in cucumber seedling leaves under hypoxia stress.

  14. Enantioselective degradation of metalaxyl in cucumber, cabbage, spinach and pakchoi.

    Science.gov (United States)

    Wang, Meiyun; Zhang, Qing; Cong, Lujing; Yin, Wei; Wang, Minghua

    2014-01-01

    The enantioselective degradation behaviors of the acylamino acid fungicide metalaxyl in vegetables (cucumber, cabbage, spinach and pakchoi) under field and greenhouse conditions were elucidated by reversed-phase high-performance liquid chromatography (HPLC). A cellulose tris (3-chloro-4-methyl phenyl carbamate) chiral column (Lux Cellulose-2) was used for the chiral separation of the enantiomers using acetonitrile-0.1% formic acid solution (40:60, v/v) as mobile phase at a flow rate of 1.0 mL min(-1). The two enantiomers could be completely separated with a resolution (Rs) of 5.2. The linearity range, matrix effect, precision and recovery were evaluated. The method was successfully applied for the enantioselective analysis of metalaxyl in cucumber, cabbage, spinach and pakchoi under different conditions. The results showed that R-enantiomer dissipated faster than S-enantiomer in cucumber of greenhouse. Inversely, a preferential degradation of S-form was found in spinach and pakchoi under field and greenhouse conditions. No stereoselective degradation in cabbage was observed. These results can be applied for evaluating the environmental risk and food safety. Copyright © 2013 Elsevier Ltd. All rights reserved.

  15. Transcriptome profile analysis of floral sex determination in cucumber.

    Science.gov (United States)

    Wu, Tao; Qin, Zhiwei; Zhou, Xiuyan; Feng, Zhuo; Du, Yalin

    2010-07-15

    Cucumber has been widely studied as a model for floral sex determination. In this investigation, we performed genome-wide transcriptional profiling of apical tissue of a gynoecious mutant (Csg-G) and the monoecious wild-type (Csg-M) of cucumber in an attempt to isolate genes involved in sex determination, using the Solexa technology. The profiling analysis revealed numerous changes in gene expression attributable to the mutation, which resulted in the down-regulation of 600 genes and the up-regulation of 143 genes. The Solexa data were confirmed by reverse transcription polymerase chain reaction (RT-PCR) and real-time quantitative RT-PCR (qRT-PCR). Gene ontology (GO) analysis revealed that the differentially expressed genes were mainly involved in biogenesis, transport and organization of cellular component, macromolecular and cellular biosynthesis, localization, establishment of localization, translation and other processes. Furthermore, the expression of some of these genes depended upon the tissue and the developmental stage of the flowers of gynoecious mutant. The results of this study suggest two important concepts, which govern sex determination in cucumber. First, the differential expression of genes involved in plant hormone signaling pathways, such as ACS, Asr1, CsIAA2, CS-AUX1 and TLP, indicate that phytohormones and their crosstalk might play a critical role in the sex determination. Second, the regulation of some transcription factors, including EREBP-9, may also be involved in this developmental process.

  16. Identification a coat protein region of cucumber mosaic virus (CMV) essential for long-distance movement in cucumber.

    Science.gov (United States)

    Salánki, Katalin; Kiss, László; Gellért, Akos; Balázs, Ervin

    2011-12-01

    To characterise the long-distance movement determinant of cucumoviral coat proteins (CPs), five mutants were engineered into the CMV CP bearing the corresponding tomato aspermy virus (TAV) loops exposed on the surface of the virion. Both viruses can move long-distance in Nicotiana clevelandii, but only CMV can move long-distance in cucumber. Investigation of the CMV chimeras identified three amino acids of the βB-βC loop that were essential for the CMV long-distance movement in cucumber. Introducing these mutations into the TAV CP was not sufficient for long-distance movement, indicating that this is not the sole region causing long-distance movement deficiency.

  17. Automated tracking and grasping of a moving object with a robotic hand-eye system

    Energy Technology Data Exchange (ETDEWEB)

    Allen, P.K.; Timcenko, A.; Yoshimi, B.; Michelman, P. (Columbia Univ., NY (United States). Dept. of Computer Science)

    1993-04-01

    Most robotic grasping tasks assume a stationary or fixed object. In this paper, the authors explore the requirements for tracking and grasping a moving object. The focus of the work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand--eye coordination for dynamic grasping takes such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organisms sensing modalities and motor control system is a hallmark of intelligent behavior, and they are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments. The system they have built addresses three distinct problems in robotic hand--eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms they have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.

  18. Control of a humanoid robot by a noninvasive brain-computer interface in humans.

    Science.gov (United States)

    Bell, Christian J; Shenoy, Pradeep; Chalodhorn, Rawichote; Rao, Rajesh P N

    2008-06-01

    We describe a brain-computer interface for controlling a humanoid robot directly using brain signals obtained non-invasively from the scalp through electroencephalography (EEG). EEG has previously been used for tasks such as controlling a cursor and spelling a word, but it has been regarded as an unlikely candidate for more complex forms of control owing to its low signal-to-noise ratio. Here we show that by leveraging advances in robotics, an interface based on EEG can be used to command a partially autonomous humanoid robot to perform complex tasks such as walking to specific locations and picking up desired objects. Visual feedback from the robot's cameras allows the user to select arbitrary objects in the environment for pick-up and transport to chosen locations. Results from a study involving nine users indicate that a command for the robot can be selected from four possible choices in 5 s with 95% accuracy. Our results demonstrate that an EEG-based brain-computer interface can be used for sophisticated robotic interaction with the environment, involving not only navigation as in previous applications but also manipulation and transport of objects.

  19. The effects of brief cognitive-behaviour therapy for pathological skin picking: A randomized comparison to wait-list control

    NARCIS (Netherlands)

    Schuck, K.; Keijsers, G.P.J.; Rinck, M.

    2011-01-01

    Thirty-four college students suffering from pathological skin picking were randomly assigned to a four-session cognitive-behavioural treatment (n = 17) or a waiting-list condition (n = 17). Severity of skin picking, psycho-social impact of skin picking, strength of skin-picking-related dysfunctional

  20. Evolutionary humanoid robotics

    CERN Document Server

    Eaton, Malachy

    2015-01-01

    This book examines how two distinct strands of research on autonomous robots, evolutionary robotics and humanoid robot research, are converging. The book will be valuable for researchers and postgraduate students working in the areas of evolutionary robotics and bio-inspired computing.

  1. Autonomous Hexapod Spider Robot

    DEFF Research Database (Denmark)

    Pandey, Nisha; Pandey, Bishwajeet; Hussain, Dil muhammed Akbar

    2017-01-01

    Robotics world is changing very rapidly in today’s scenario. One of its unique applications is hexapod robots (walking leg robots). These types of robots can walk on uneven surfaces and can be used for spying purpose in various forms of industries. This paper represents the autonomous feature of ...

  2. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

    Although there are many studies on the constructionist use of educational robotics, they have certain limitations. Some of them refer to robotics education, rather than educational robotics. Others follow a constructionist approach, but give emphasis only to design skills, creativity and collaboration. Some studies use robotics as an educational…

  3. Implementation of a new picking procedure in the Antelope software

    Science.gov (United States)

    Tiberi, Lara; Costa, Giovanni; Spallarossa, Daniele

    2014-05-01

    Automatic estimates of earthquake parameters continues to be of considerable interest to the seismological community. In this study we present a new automatic procedure for a quasi real-time location of events. This procedure is a combination of the solid and tested Antelope sotfware with a new picking procedure, the AutoPicker (DipTeRiS, University of Genova). Antelope picking procedure consists on: a) Prefiltering into different frequency pass bands; b) Run STA/LTA detectors in one or more channels of the waveform data; c) Associate event locations by searching over one or more spatial grids for a candidate hypocenter that produces theoretical time moveout (P and S) to each station that most closely matches the observations. The main characteristics of the AutoPicker picking algorithm are: a) Pre-filtering and envelope calculation to prearrange the onset; b) Preliminary detection of P onset using the AIC based picker; c) P validation, Signal Variance/Noise Variance analysis sample by sample; d) Preliminary earthquake location; e) Detection of S onset adopting the AIC based picker; f) S/N analysis, S validation; g) Earthquake location. We have applied these two automatic procedures to the Emilia sequence occurred in May-June 2012. In this comparison the distribution of the differences between the manual and the two automatic P-onset are comparable. The average values of P differences are similar, but we have to point out that the AutoPicker procedure gives a st.deviation value lower than the Antelope ones and most important it picks the 16% of phases more than the other algoritm. For S-phases the AutoPicker algorithm picks 178 phases with a mean value of 0.09 sec, instead of the 16s of Antelope with a mean value of 3.75 sec. For more than 90% events the epicentral differences of AutoPicker is less than 5 kms, instead of the Antelope differences which are less than 10 kms. For the depth differences the mean values and the distributions of the two procedures are

  4. Experimental functional analysis of severe skin-picking behavior in Prader-Willi syndrome.

    Science.gov (United States)

    Hall, Scott S; Hustyi, Kristin M; Chui, Clara; Hammond, Jennifer L

    2014-10-01

    Skin picking is an extremely distressing and treatment resistant behavior commonly shown by individuals with Prader-Willi syndrome (PWS). However, with the exception of a limited number of published single-case and survey studies, little is known about the environmental determinants of skin picking in this population. In this study, functional analyses were conducted with thirteen individuals with PWS, aged 6-23 years, who engaged in severe skin-picking behavior. In addition to the conditions typically employed in a functional analysis (i.e., alone, attention, play, demand), we included an ignore condition to examine potential effects of stimulus control by the presence of an adult. Twelve participants engaged in skin picking during the functional analysis, with the highest levels occurring in the alone and ignore conditions for eight participants, suggesting that skin picking in these participants was maintained by automatic reinforcement. For the remaining four participants, an undifferentiated pattern of low-rate skin picking was observed across conditions. These data confirm previous studies indicating that skin picking in PWS may be maintained most often by automatically produced sensory consequences. There were no associations between demographic characteristics of the participants (e.g., sex, age, IQ or BMI) and levels of skin picking observed in the functional analysis. Additional investigations are needed to identify the nature of the sensory consequences produced during episodes of skin picking in PWS. Behavioral interventions designed to extinguish or compete with the potential sensory consequences arising from skin picking in PWS are also warranted.

  5. Wavefront picking for 3D tomography and full-waveform inversion

    KAUST Repository

    AlTheyab, Abdullah

    2016-09-08

    We have developed an efficient approach for picking firstbreak wavefronts on coarsely sampled time slices of 3D shot gathers. Our objective was to compute a smooth initial velocity model for multiscale full-waveform inversion (FWI). Using interactive software, first-break wavefronts were geometrically modeled on time slices with a minimal number of picks. We picked sparse time slices, performed traveltime tomography, and then compared the predicted traveltimes with the data in-between the picked slices. The picking interval was refined with iterations until the errors in traveltime predictions fell within the limits necessary to avoid cycle skipping in early arrivals FWI. This approach was applied to a 3D ocean-bottom-station data set. Our results indicate that wavefront picking has 28% fewer data slices to pick compared with picking traveltimes in shot gathers. In addition, by using sparse time samples for picking, data storage is reduced by 88%, and therefore allows for a faster visualization and quality control of the picks. Our final traveltime tomogram is sufficient as a starting model for early arrival FWI. © 2016 Society of Exploration Geophysicists.

  6. Effect of pesticide mixture on value of fresh, fermented and pickles cucumbers

    Directory of Open Access Journals (Sweden)

    Krystyna WElkner

    2013-12-01

    Full Text Available In years 1998-1999 effects of fungicides (azoxystrobin and copper hydroxide, insecticides (etafenproks and pirimicarb and their mixtures on chemical composition and organoleptic quality of fresh, fermented and pickled cucumbers were studied_ To analyses fruits were taken after 7 and 12 days from treatment. Fresh cucumber fruits after 7 days from treatment with investigated pesticides contained less carbohydrates and ascorbic acids and higher level of nitrates in compare to untreated fruits (control. After 12 days from treatment the differences between treated and untreated fruits dissapeared. Cucumber fruits harvested 7 and 12 days after treatment were processed separately. Quality evaluation of fermented and pickled cucumbers was carried out 4 months after processing. In most of cucumber fruits (7 days after treatment with pesticides treated with pesticides empty cavities were found, and not in control (untreated. Number of cavities was highest in fresh and pickled cucumbers treated with mixture of fungicide and insecticide. In case of fermented cucumbers highest number of empty cavities occurred in fruits treated with fungicide azoxystrobin. Cucumber fruits taken to fermentation process 7 days after day of treatment had darker green colour, lowered haIdness, and larger empty cavities than untreated fruits. In fruits harvested 12 days after pesticides application such differencess were not observed.

  7. Inheritance of Beta-Carotene-Associated Flesh Color in Cucumber (Cucumis Sativus L.) Fruit

    Science.gov (United States)

    The nutritional value of cucumber (Cucumis sativus L.) can be improved by the introgression of ß-carotene (i.e., provitamin A and/or orange flesh) genes from “Xishuangbanna gourd” (XIS; Cucumis sativus var. xishuangbannanesis Qi et Yuan) into U.S. pickling cucumber. However, the genetics of ß-carote...

  8. On-Line Hyperspectral Transmittance Imaging for Internal Defect Detection of Pickling Cucumbers

    Science.gov (United States)

    Hyperspectral imaging technique under transmittance mode was investigated for detection of internal defect in pickling cucumbers such as carpel suture separation or hollow cucumbers caused by mechanical stress. A prototype of on-line hyperspectral transmittance imaging system was developed for real...

  9. Engineering Research on Quality Detection of Pickling Cucumbers: 2009 Progress Report

    Science.gov (United States)

    This report briefly summarizes the three studies performed in 2009 on cucumber defect detection. Hyperspectral imaging transmittance mode has demonstrated great potential for online sorting and grading of cucumbers and pickles. However, the technique is still limited by its speed in acquiring and pr...

  10. QTL mapping of powdery mildew resistance in WI 2757 cucumber (Cucumis sativus L)

    Science.gov (United States)

    Powdery mildew is a serious fungal disease of cucumber and other cucurbot crops in the US and many other parts of the world. Resistant cultivars have been deployed in production for a long time, but the genetic mechanisms of powdery mildew resistance in cucumber are not well understood. In a three-y...

  11. Reduction of Salmonella populations on cucumber fruit by application of lytic bacteriophages

    Science.gov (United States)

    Background: Foodborne illness outbreaks of Salmonella enterica associated with consumption of cucumbers (Cucumis sativus) in the U.S. in 2014 and 2015 sickened over 1000 people and caused 5 deaths. Whole and fresh-cut cucumbers are susceptible to Salmonella contamination during growing and harvestin...

  12. Determination of germination quality of cucumber (Cucumis sativus) seed by LED-induced hyperspectral reflectance imaging

    Science.gov (United States)

    Purpose: We developed a viability evaluation method for cucumber (Cucumis sativus) seed using hyperspectral reflectance imaging. Methods: Reflectance spectra of cucumber seeds in the 400 to 1000 nm range were collected from hyperspectral reflectance images obtained using blue, green, and red LED ill...

  13. Transcriptomic and QTL analysis suggest candidate fruit shape factors in cucumber (Cucumis sativus)

    Science.gov (United States)

    Fruit size and shape are important determinants of market class and value in cucumber; however, underlying mechanisms regulating size and shape have not been identified. To gain insight into possible factors regulating cucumber fruit growth, we used a combined QTL and transcriptome approach to exami...

  14. Pentatricopeptide repeat 336 as the candidate gene for paternal sorting of mitochondria (Psm) in cucumber

    Science.gov (United States)

    Cucumber (Cucumis sativus L.) is a useful plant to study organellar-nuclear interactions because its three genomes show differential transmission: bi-parental nuclear, maternal chloroplast and paternal mitochondrial (mt). The mt DNA of cucumber is relatively large due in part to accumulation of rep...

  15. Comparative mapping of ZYMV resistances in cucumber (Cucumis sativus L.) and melon (Cucumis melo L.).

    Science.gov (United States)

    Park, Y; Katzir, N; Brotman, Y; King, J; Bertrand, F; Havey, M

    2004-08-01

    Zucchini yellow mosaic virus (ZYMV) routinely causes significant losses in cucumber ( Cucumis sativus L.) and melon ( Cucumis melo L.). ZYMV resistances from the cucumber population 'TMG1' and the melon plant introduction (PI) 414723 show different modes of inheritance and their genetic relationships are unknown. We used molecular markers tightly linked to ZYMV resistances from cucumber and melon for comparative mapping. A 5-kb genomic region (YCZ-5) cosegregating with the zym locus of cucumber was cloned and sequenced to reveal single nucleotide polymorphisms and indels distinguishing alleles from ZYMV-resistant (TMG1) and susceptible (Straight 8) cucumbers. A low-copy region of the YCZ-5 clone was hybridized to bacterial artificial chromosome (BAC) clones of melon and a 180-kb contig assembled. One end of this melon contig was mapped in cucumber and cosegregated with ZYMV resistance, demonstrating that physically linked regions in melon show genetic linkage in cucumber. However the YCZ-5 region segregated independently of ZYMV resistance loci in two melon families. These results establish that these sources of ZYMV resistances from cucumber TMG1 and melon PI414723 are likely non-syntenic.

  16. Thick root of cucumber: other susceptible plants and the effect of pH

    NARCIS (Netherlands)

    Gaag, van der D.J.; Paternotte, P.; Hamelink, R.

    2002-01-01

    Thick root is a relatively new disorder of cucumber grown in artificial substrates. Plants of cucumber, tomato, sweet pepper, lupin, anthurium, Cucurbita ficifolia, C. maxima and two lines from crosses between C. maxima and C. moschata were grown in thick root disease (TRD)-infested nutrient solutio

  17. Identification of five sea cucumber species through PCR-RFLP analysis

    Science.gov (United States)

    Lv, Yingchun; Zheng, Rong; Zuo, Tao; Wang, Yuming; Li, Zhaojie; Xue, Yong; Xue, Changhu; Tang, Qingjuan

    2014-10-01

    Sea cucumbers are traditional marine food and Chinese medicine in Asia. The rapid expansion of sea cucumber market has resulted in various problems, such as commercial fraud and mislabeling. Conventionally, sea cucumber species could be distinguished by their morphological and anatomical characteristics; however, their identification becomes difficult when they are processed. The aim of this study was to develop a new convenient method of identifying and distinguishing sea cucumber species. Polymerase chain reaction-restriction fragment length polymorphism (PCR-RFLP) analysis of mitochondrial cytochrome oxidase I gene ( COI) was used to identifing five sea cucumber species ( Apostichopus japonicus, Cucumaria frondosa, Thelenota ananas, Parastichopus californicus and Actinopyga lecanora). A 692 bp fragment of COI was searched for BamHI, KpnI, PstI, XbaI and Eco31I restriction sites with DNAMAN 6.0, which were then used to PCR-RFLP analysis. These five sea cucumber species can be discriminated from mixed sea cucumbers. The developed PCR-RFLP assay will facilitate the identification of sea cucumbers, making their source tracing and quality controlling feasible.

  18. Multispectral fluorescence imaging technique for discrimination of cucumber (Cucumis Sativus) seed viability

    Science.gov (United States)

    In this study, we developed a nondestructive method for discriminating viable cucumber (Cucumis sativus) seeds based on hyperspectral fluorescence imaging. The fluorescence spectra of cucumber seeds in the 420–700 nm range were extracted from hyperspectral fluorescence images obtained using 365 nm u...

  19. A truncated F-box protein confers the dwarfism in cucumber

    Science.gov (United States)

    Dwarfism is an important plant architecture trait for cucumber breeding. In the present study, we identified a dwarf mutant 406M in cucumber which showed a shorter internode length as compared with its wild type. In a BC1F2 population from the cross of 406M with its wild type parental line 406, the ...

  20. First complete genome sequence of an emerging cucumber green mottle mosaic virus isolate in North America

    Science.gov (United States)

    The complete genome sequence (6,423 nt) of an emerging Cucumber green mottle mosaic virus (CGMMV) isolate on cucumber in North America was determined through deep sequencing of sRNA and rapid amplification of cDNA ends. It shares 99% nucleotide sequence identity to the Asian genotype, but only 90% t...

  1. Metabolic footprinting of Lactobacillus buchneri strain LA1147 during anaerobic spoilage of fermented cucumbers

    Science.gov (United States)

    Lactobacillus buchneri has recently been associated with anaerobic spoilage of fermented cucumbers due to its ability to metabolize lactic acid into acetic acid and 1,2-propanediol. However, we have limited knowledge of other chemical components in fermented cucumber that may be related to spoilage ...

  2. Fine genetic mapping of target leaf spot resistance gene cca-3 in cucumber, Cucumis sativus L

    Science.gov (United States)

    The target leaf spot (TLS) is a very important fungal disease in cucumber. In this study, we conducted fine genetic mapping of a recessively inherited resistance gene, cca-2 against TLS with 1,083 F2 plants derived from the resistant cucumber inbred line D31 and the susceptible line D5. Initial mapp...

  3. [Effects of wheat root exudates on cucumber growth and soil fungal community structure].

    Science.gov (United States)

    Wu, Feng-Zhi; Li, Min; Cao, Peng; Ma, Ya-Fei; Wang, Li-Li

    2014-10-01

    With wheat as the donor plant and cucumber as the receptor plant, this study investigated the effects of root exudates from wheat cultivars with different allelopathic potentials (positive or negative) and companion cropping with wheat on soil fungal community structure by PCR-DGGE method and cucumber growth. Results showed that the wheat root exudates with positive allelopathic potential increased height and stem diameter of cucumber seedlings significantly, compared to the control seedlings (W) after 6 days and 12 days treatment, respectively. Also, wheat root exudates with both positive and negative allelopathic potential increased the seedling height of cucumber significantly after 18 days treatment. The wheat root exudates with different allelopathic potentials decreased the band number, Shannon and evenness indices of soil fungal community significantly in cucumber seedling rhizosphere, and those in the soil with the control seedlings (W) were also significantly higher than that in the control soil without seedlings (Wn) after 6 days treatment. The band number, Shannon and evenness indices in all the treatments were significantly higher than those in the control soil without seedlings (Wn) after 18 days treatment. Companion cropping with negative allelopathic potential wheat decreased the Shannon and evenness indices of soil fungi community significantly in the cucumber seedling rhizosphere, suggesting the wheat root exudates and companion cropping with wheat changed soil fungal community structure in the cucumber seedling rhizosphere. The results of DGGE map and the principal component analysis showed that companion cropping with wheat cultivars with different allelopathic potentials changed soil fungal community structure in cucumber seedling rhizosphere.

  4. Preparation of a Lactobacillus plantarum starter culture for cucumber fermentations that can meet kosher guidelines

    Science.gov (United States)

    A method is described for growth of a Lactobacillus plantarum starter culture in jars of commercially available pasteurized fresh-pack kosher dill cucumbers so that jars can be used to inoculate commercial scale cucumber fermentation tanks. A procedure is also described to transfer lactic acid bacte...

  5. Wear Assessment of Conical Pick used in Coal Cutting Operation

    Science.gov (United States)

    Dewangan, Saurabh; Chattopadhyaya, Somnath; Hloch, Sergej

    2015-09-01

    Conical pick is a widely used tool for cutting coal in mines. It has a cemented carbide tip inserted in a steel body. Cemented carbide has been in use for many years for coal/rock cutting because it has the optimum combination of hardness, toughness and resistance against abrasive wear. As coal/rock is a heterogeneous substance, the cutting tool has to undergo various obstructions at the time of excavation that cause the tool to wear out. The cracks and fractures developing in the cemented carbide limit the life of the tool. For a long time, different wear mechanisms have been studied to develop improved grades of cemented carbide with high wear resistance properties. The research is still continuing. Moreover, due to the highly unpredictable nature of coal/rock, it is not easy to understand the wear mechanisms. In the present work, an attempt has been made to understand the wear mechanisms in four conical picks, which were used in a continuous miner machine for underground mining of coal. The wearing pattern of the conical pick indicates damage in its cemented carbide tip as well as the steel body. The worn out parts of the tools have been critically examined using scanning electron microscopy (SEM) and energy dispersive X-ray (EDX) point analysis. Mainly four types of wear mechanisms, namely, coal/rock intermixing, plastic deformation, rock channel formation and crushing and cracking, have been detected. The presence of coal/rock material and their respective concentrations in the selected area of worn out surface were observed using the spectra generated by EDX analysis.

  6. Psychosocial dysfunction associated with skin picking disorder and trichotillomania.

    Science.gov (United States)

    Grant, Jon E; Redden, Sarah A; Leppink, Eric W; Odlaug, Brian L; Chamberlain, Samuel R

    2016-05-30

    Skin picking disorder (SPD) and trichotillomania (TTM) are common and oftentimes disabling disorders. 125 Participants with SPD and 152 with TTM undertook clinical and neurocognitive evaluation, and were grouped according to mild, moderate, or severe levels of psychosocial dysfunction. Relationships between functional impairment and other variables were explored using linear regression and categorical analyses. Greater functional impairment was associated with worse disease severity in both groups, and by later symptom onset and lower quality of life in TTM subjects. These results indicate that levels of self-reported psychosocial dysfunction have a strong association with specific clinical aspects of SPD and TTM.

  7. Pick 'n' mix: neuropatholgical detection of peri-tumour taupathy.

    LENUS (Irish Health Repository)

    Lonergan, Roisin

    2013-11-01

    Radiotherapy is used to treat recurrent oligodendrogliomas, WHO grade 2 tumours. Potential morbitities include steroid-responsive radiation necrosis and radiation leucoencephalopathy, characterised pathologically by reactive astrogliosis, focal necrosis, demyelination, axonal loss, and clinically by progressive subcortical deficits (ataxia, amnesia, incontinence, cognitive decline), with relative sparing of cortical function. Although subcortical features may overlap with neurodegenerative conditions (eg frontotemporal dementia), focal cortical atrophy of FTD causes loss of language function in addition to memory, and specific histopathological features characterise FTD subtypes (eg Pick disease). Association between mitotic disease and tauopathy has not been reported widely, but co-existence is possible. Diagnostic accuracy may guide management.

  8. Niemann-Pick type C mutations cause lipid traffic jam.

    Science.gov (United States)

    Liscum, L

    2000-03-01

    The Niemann-Pick C protein (NPC1) is required for cholesterol transport from late endosomes and lysosomes to other cellular membranes. Mutations in NPC1 cause lysosomal lipid storage and progressive neurological degeneration. Cloning of the NPC1 gene has given us tools with which to investigate the function of this putative cholesterol transporter. Here, we discuss recent studies indicating that NPC1 is not a cholesterol-specific transport molecule. Instead, NPC1 appears to be required for the vesicular shuttling of both lipids and fluid-phase constituents from multivesicular late endosomes to destinations such as the trans-Golgi network.

  9. Skin picking disorder with co-occurring body dysmorphic disorder

    DEFF Research Database (Denmark)

    Grant, Jon E; Redden, Sarah A; Leppink, Eric W

    2015-01-01

    There is clinical overlap between skin picking disorder (SPD) and body dysmorphic disorder (BDD), but little research has examined clinical and cognitive correlates of the two disorders when they co-occur. Of 55 participants with SPD recruited for a neurocognitive study and two pharmacological...... studies, 16 (29.1%) had co-occurring BDD. SPD participants with and without BDD were compared to each other and to 40 healthy volunteers on measures of symptom severity, social functioning, and cognitive assessments using the Stop-signal task (assessing response impulsivity) and the Intra...

  10. Autonomous robotic sweeper

    OpenAIRE

    Kržišnik, Domen

    2015-01-01

    There is already a wide range of personal/domestic robots on the market capable of performing various tasks. We haven't however been able to find any commercially available robots designed for effectively performing the task of backyard sweeping. This thesis presents the process and end result of planning, assembly and programming of an autonomous robot, capable of performing the above mentioned task. We first analyze robots with similar functions, including robotic vacuum cleaners and lawn m...

  11. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

    In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....

  12. Expression patterns of genes encoding plasma membrane aquaporins during fruit development in cucumber (Cucumis sativus L.).

    Science.gov (United States)

    Shi, Jin; Wang, Jinfang; Li, Ren; Li, Dianbo; Xu, Fengfeng; Sun, Qianqian; Zhao, Bin; Mao, Ai-Jun; Guo, Yang-Dong

    2015-11-01

    Aquaporins are membrane channels precisely regulating water movement through cell membranes in most living organisms. Despite the advances in the physiology of fruit development, their participation during fruit development in cucumber still barely understood. In this paper, the expressions of 12 genes encoding plasma membrane intrinsic proteins (PIPs) were analyzed during cucumber fruit development in our work. Based on the homology search with known PIPs from rice, Arabidopsis and strawberry, 12 cucumber PIP genes subfamily members were identified. Cellular localization assays indicated that CsPIPs were localized in the plasma membrane. The qRT-PCR analysis of CsPIPs showed that 12 CsPIPs were differentially expressed during fruit development. These results suggest that 12 genes encoding plasma membrane intrinsic proteins (CsPIPs) play very important roles in cucumber life cycle and the data generated will be helpful in understanding their precise roles during fruit development in cucumber.

  13. Induction and mechanism of cucumber resistance to anthracnose induced by Pieris rapae extract

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    Pieris rapae extract was sprayed on the surface of cucumber leaf to determine the induction of resistance to anthracnose.The enzyme activities of peroxidase (POD) and polyphenoloxidase (PPO) were detected on cucumber leaves after P.rapae extract induction and pathogen challenge.The results showed that the disease index of cucumber anthracnose was significantly decreased after the cucumber was induced with the P.rapae extract at a concentration of 5.0 mg·mL-1.The POD and PPO activities in foliar-applied P.rapae extract without pathogen inoculation (PETO) or with pathogen inoculation (PETI) were relatively higher than those with no-P.rapae extract treatment and without pathogen inoculation (CONO) or with pathogen inoculation (CONI),respectively.The results suggested that the increased levels of POD and PPO activities in PETO and PETI play an important role in the induction of resistance to cucumber anthracnose.

  14. Economics of Peppers and Salad Cucumbers Production on an Open Land and in a Protected Space

    Directory of Open Access Journals (Sweden)

    Silvio Pozderec

    2014-02-01

    Full Text Available The research is based on the economic analysis of growing peppers (Capsicum annum L. and salad cucumbers (Cucumis sativus L. in an open land and in a protected space. For this purpose the simulation models were developed for the growing of the peppers and salad cucumbers that were based on the technological-economic input data for two growing systems, in the open and in the protected space. The results of the economic analysis show that the growing of peppers and salad cucumbers in the protected space is more profi table than growing them in the open land. The growing of salad cucumbers in the protected space has proven to be more reasonable than growing peppers, as the coefficient of economics (Ce of growing salad cucumbers reached the value Ce = 1.4, while the value in growing peppers was Ce = 1.1. This was also confirmed with two scenarios that were analysed using the sensitivity analysis.

  15. Economics of Peppers and Salad Cucumbers Production on an Open Land and in a Protected Space

    Directory of Open Access Journals (Sweden)

    Silvio Pozderec

    2010-09-01

    Full Text Available The research is based on the economic analysis of growing peppers (Capsicum annum L. and salad cucumbers (Cucumis sativus L. in an open land and in a protected space. For this purpose the simulation models were developed for the growing of the peppers and salad cucumbers that were based on the technological-economic input data for two growing systems, in the open and in the protected space. The results of the economic analysis show that the growing of peppers and salad cucumbers in the protected space is more profi table than growing them in the open land. The growing of salad cucumbers in the protected space has proven to be more reasonable than growing peppers, as the coefficient of economics (Ce of growing salad cucumbers reached the value Ce = 1.4, while the value in growing peppers was Ce = 1.1. This was also confirmed with two scenarios that were analysed using the sensitivity analysis.

  16. Lactobacilli and tartrazine as causative agents of red-color spoilage in cucumber pickle products.

    Science.gov (United States)

    Pérez-Díaz, I M; Kelling, R E; Hale, S; Breidt, F; McFeeters, R F

    2007-09-01

    The cucumber pickling industry has sporadically experienced spoilage outbreaks in pickled cucumber products characterized by development of red color on the surface of the fruits. Lactobacillus casei and Lactobacillus paracasei were isolated from 2 outbreaks of this spoilage that occurred about 15 y apart during the last 3 decades. Both organisms were shown to produce this spoilage when inoculated into pickled cucumbers while concomitantly degrading the azo dye tartrazine (FD&C yellow nr 5). This food dye is used as a yellow coloring in the brine cover solutions of commercial pickled cucumber products. The red color does not occur in the absence of tartrazine, nor when turmeric is used as a yellow coloring in the pickles. Addition of sodium benzoate to the brine cover solutions of a pickled cucumber product, more specifically hamburger dill pickles, prevented growth of these lactic acid bacteria and the development of the red spoilage.

  17. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

    The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to

  18. Detection of mechanical injury on pickling cucumbers using near-infrared hyperspectral imaging

    Science.gov (United States)

    Ariana, D.; Lu, R.; Guyer, D.

    2005-11-01

    Automated detection of defects on freshly harvested pickling cucumbers will help the pickle industry provide higher quality pickle products and reduce potential economic losses. Research was conducted on using a hyperspectral imaging system for detecting defects on pickling cucumbers caused by mechanical stress. A near-infrared hyperspectral imaging system was used to capture both spatial and spectral information from cucumbers in the spectral region of 900 - 1700 nm. The system consisted of an imaging spectrograph attached to an InGaAs camera with line-light fiber bundles as an illumination source. Cucumber samples were subjected to two forms of mechanical loading, dropping and rolling, to simulate stress caused by mechanical harvesting. Hyperspectral images were acquired from the cucumbers over time periods of 0, 1, 2, 3, and 6 days after mechanical stress. Hyperspectral image processing methods, including principal component analysis and wavelength selection, were developed to separate normal and mechanically injured cucumbers. Results showed that reflectance from normal or non-bruised cucumbers was consistently higher than that from bruised cucumbers. The spectral region between 950 and 1350 nm was found to be most effective for bruise detection. The hyperspectral imaging system detected all mechanically injured cucumbers immediately after they were bruised. The overall detection accuracy was 97% within two hours of bruising and it was lower as time progressed. Lower detection accuracies for the prolonged times after bruising were attributed to the self- healing of the bruised tissue after mechanical injury. This research demonstrated that hyperspectral imaging is useful for detecting mechanical injury on pickling cucumbers.

  19. A preliminary investigation of acceptance and commitment therapy as a treatment for chronic skin picking.

    Science.gov (United States)

    Twohig, Michael P; Hayes, Steven C; Masuda, Akihiko

    2006-10-01

    The effectiveness of a deliberately limited version of Acceptance and Commitment Therapy (ACT) for chronic skin picking was evaluated in a pair of multiple baseline across participants designs. Self-monitoring of skin picking showed that four of the five participants reached near zero levels of picking by post-treatment, but these gains were not fully maintained for three of the four participants at follow-up. The findings of the self-reported skin picking were generally corroborated by ratings of photographs of the damaged areas and by ratings on a validated measure of skin picking severity. All participants rated the intervention as socially acceptable, and reductions were found on measures of anxiety, depression, and experiential avoidance for most participants as a result of the intervention. Results support the construction of more comprehensive ACT protocols for skin picking.

  20. [Effects of debagging time and picking off leaf on fruit quality of "Red Fuji" apple].

    Science.gov (United States)

    Zhang, Ji-Xiang; Yue, Yu-Ling; Wei, Qin-Ping; Wang, Xiao-Wei; Zhang, Qiang

    2010-08-01

    This paper studied the effects of debagging time and picking off leaves around fruits on the fruit quality and 1-year old shoots stored nutrition of "Red Fuji" apple. Properly advancing debagging time significantly increased the mean mass, anthocyanin content, and coloration area of the fruits (P picked off, the light environment around the fruits improved significantly (P picked off treatment. Picking off the leaves within 30-45 cm away from the fruits benefited the fruit coloration and anthocyanin accumulation. No significant effects were observed on the 1-year old shoots stored nutrition and their budding in next year among the treatments of picking off leaves. Advancing debagging time and picking off the leaves within 30-45 cm away from the fruits could improve fruit appearance and quality.

  1. Study on pick arrangement of shearer drum based on load fluctuation

    Institute of Scientific and Technical Information of China (English)

    DU Chang-long; LIU Song-yong; CUI Xin-xia; LI Ti-jian

    2008-01-01

    According to the coal or rock cutting theory, a mechanical model and computing formula for a pick and the drum load fluctuation model were established in order to obtain relationships between pick arrangements and drum fluctuation loads, drum rotary speeds and haulage speeds. Based on a minimum load fluctuation, an optimal mathematical model was established for drum pick arrangements. The effects of pick arrangements (including punnett square, sequence, aberrance Ⅰ and Ⅱ) on the drum load fluctuation coefficient are discussed. The relationships between the pick arrangements of the drum with different start vanes and the cutting load fluctuation coefficient, the drum rotary speed and haulage speed were also studied. The results indicate that the punnett square arrangement has a smaller cutting load fluctuation coefficient than other forms of arrangement and the drum with the 4-start vanes has the smallest coefficient. The drum rotary speed and haulage speed are affected not only by pick arrangements, but also by the number of vanes.

  2. A Proposed Analytical Model for Integrated Pick-and-Sort Systems

    Directory of Open Access Journals (Sweden)

    Recep KIZILASLAN

    2013-11-01

    Full Text Available In this study we present an analytical approach for integration of order picking and sortation operations which are the most important, labour intensive and costly activity for warehouses. Main aim is to investigate order picking and sorting efficiencies under different design issues as a function of order wave size. Integrated analytical model is proposed to estimate the optimum order picking and order sortation efficiency. The model, which has been tested by simulations with different illustrative examples, calculates the optimum wave size that solves the trade-off between picking and sorting operations and makes the order picking and sortations efficiency maximum. Our model also allow system designer to predict the order picking and sorting capacity for different system configurations. This study presents an innovative approach for integrated warehouse operations.

  3. Evidence of Change of Intention in Picking Situations.

    Science.gov (United States)

    Furstenberg, Ariel; Breska, Assaf; Sompolinsky, Haim; Deouell, Leon Y

    2015-11-01

    Intending to perform an action and then immediately executing it is a mundane process. The cognitive and neural mechanisms involved in this process of "proximal" intention formation and execution, in the face of multiple options to choose from, are not clear, however. Especially, it is not clear how intentions are formed when the choice makes no difference. Here we used behavioral and electrophysiological measures to investigate the temporal dynamics of proximal intention formation and "change of intention" in a free picking scenario, in which the alternatives are on a par for the participant. Participants pressed a right or left button following either an instructive visible arrow cue or a visible neutral "free-choice" cue, both preceded by a masked arrow prime. The goal of the prime was to induce a bias toward pressing the left or right button. Presumably, when the choice is arbitrary, such bias should determine the decision. EEG lateralized readiness potentials and EMG measurements revealed that the prime indeed induced an intention to move in one direction. However, we discovered a signature of "change of intention" in both the Instructed and Free-choice decisions. These results suggest that, even in arbitrary choices, biases present in the neural system for choosing one or another option may be overruled and point to a curious "picking deliberation" phenomenon. We discuss a possible neural scenario that could explain this phenomenon.

  4. Refraction Static Correction without Picking First Arrival Times

    Directory of Open Access Journals (Sweden)

    Chien-Ying Wang

    2009-01-01

    Full Text Available A concept of differential delay time is proposed for refraction static correction without picking first arrival times in the CDP reflection data processing. This new method is a modification of the ABCD method; it uses cross-correlation to measure the first arrival time difference between signals received at stations B and C, instead of directly computing them from their picked times. By taking advantage of multiple-fold CDP data, we apply the "line-up trace" measurement of cross-correlations, which may alleviate the effect of data imperfections. The problem of refractor velocity variation has also been solved to a certain extent, which allows for a reliable delay time to be adequately estimated for each station and consequently the static correction value. A synthetic model and a real case with a severe weathered layer problem have been tested to evaluate the method. Stable and man age able computation processes have been explored to attain the maximum performance. The results are quite satisfactory. It should be possible to apply this method in rough areas with complicated refraction static problem, even in 3D cases.

  5. Feather-picking psittacines: histopathology and species trends.

    Science.gov (United States)

    Garner, M M; Clubb, S L; Mitchell, M A; Brown, L

    2008-05-01

    Histologic findings are described for 408 feather-picking or self-mutilating psittacines with the use of biopsies from clinically affected and unaffected skin. Inflammatory skin disease was diagnosed in 210 birds, and traumatic skin disease was diagnosed in 198 birds. Criteria used for the diagnosis of inflammatory skin disease included the presence of perivascular inflammation in the superficial or deep dermis of clinically affected and unaffected sites. The primary histologic criteria for the diagnosis of traumatic skin disease were superficial dermal scarring with or without inflammation in the affected sites and an absence of inflammation in the unaffected sites. The inflammatory cells associated with the lesions were typically lymphocytes and occasionally plasma cells, histiocytes, and granulocytes. A preponderance of inflammatory skin disease was seen in macaws (Ara spp.) and Amazon parrots (Amazona spp.). A preponderance of traumatic skin disease was seen in cockatoos (Cacatua spp.) and African grey parrots (Psittacus erithacus). The prevalence of each was approximately equal in several other species, including conures (Aratinga and Pyrrhura spp.), eclectus parrots (Eclectus roratus), quaker parrots (Myiopsitta monachus), cockatiels (Nymphicus hollandicus), parakeets (Cyanorhamphus and Psittacula spp.), and caiques (Pionites spp.). No geographic or gender-based trends were identified. These findings could be helpful for identifying and treating birds with feather-picking disorders.

  6. How consumers pick a hotel strategic segmentation and target marketing

    CERN Document Server

    Winston, William

    2013-01-01

    Venture through the pages of How Consumers Pick a Hotel to learn the steps of selecting a target and using consumer behavior applications to segment the market to reach your target. Much as a consumer goes through the process of selecting a satisfying hotel, you can choose to use the information provided to make your hospitality career relaxing and satisfying. When you finish this fantastic reading journey, you'll be prepared to offer services that meet the public's demands, and you'll possess the prerequisite knowledge and skills for developing your own strategic approach to a target market. As the many methods of segmentation are discussed in detail, you will also learn effective strategies for communicating with multiple segments. Ideal as a supplementary text for marketing and hospitality marketing courses, How Consumers Pick a Hotel provides a concise overview of consumer behavior and intertwines marketing theory with sound ways in which to implement the theory. This will both orient you and give you a s...

  7. [Assessment for intelligence on patients with Pick's disease].

    Science.gov (United States)

    Nagano, K; Tanabe, H; Kazui, H; Ikeda, M; Hashimoto, M; Yamada, N; Nakagawa, Y; Nishimura, T

    1995-11-01

    In contrast to Alzheimer's disease, it is unclear whether the MMS (Mini-Mental State) or the RCPM (Raven's Coloured Progressive Matrices) is clinically useful as a mental test battery in patients with Pick's disease, and it has not been fully evaluated whether intelligence of these patients really deteriorate along with the staging of dementia. The present study aimed to make these problems clear. We administered the MMS and the RCPM to 17 cases of Pick's disease, including 7 cases with predominantly frontal lobe atrophy and 10 cases with predominantly temporal lobe atrophy, which were all classified into 3 groups according to the staging of dementia by using the NM scale (New Clinical Scale for Rating of Mental States). We also investigated whether these patients had "Denkfaulheit" (laziness of thinking) and/or "gogi" aphasia (word meaning aphasia), which may affect performances on the mental test batteries. Two cases with predominantly frontal lobe atrophy and 5 cases with predominantly temporal lobe atrophy were assessed by the same examinations several years later. In cases with predominantly frontal lobe atrophy, all the patients presented with "Denkfaulheit". However, the mean RCPM score was normal in the mildly damaged patients, suggesting that their intelligence were relatively preserved. In the moderately and severely damaged groups, their intelligence could not be assessed owing to their severe "Denkfaulheit". In cases with predominantly temporal lobe atrophy, all the patients had "gogi" aphasia and 3 cases of the severely damaged groups presented with "Denkfaulheit".(ABSTRACT TRUNCATED AT 250 WORDS)

  8. Comparative study of the radial and tangential shearer cutting picks from an energetic point of view

    Energy Technology Data Exchange (ETDEWEB)

    Marian, I.; Elczner, G.; Kovacs, I.; Koronka, F.

    1984-11-01

    After having calculated and established the deformation energies of radial and tangential shearer cutting picks by laboratory test, it is concluded that in the conditions specific for the lignite operations in Romania the tangential type of picks, among many other advantages, ensure important energy savings. The tests were aimed at improving the parameters and construction of the shearer cutting picks and at increasing their cutting efficiency. 4 references.

  9. Experiment on Conical Pick Cutting Rock Material Assisted with Front and Rear Water Jet

    OpenAIRE

    Xiaohui Liu; Songyong Liu; Lie Li; Xinxia Cui

    2015-01-01

    Conical picks are one kind of cutting tools widely used in engineering machinery. In the process of rock breaking, the conical pick bears great cutting force and wear. To solve the problem, a new method, conical pick assisted with high pressure water jet, could break rock effectively, and four different configuration modes of water jet were presented. In this paper, based on the analysis of the different water jet configuration’s advantages and disadvantages, experiments on front water jet, n...

  10. Pick-Up Ion Instabilities at Planetary Magnetospheres

    Science.gov (United States)

    Strangeway, Robert J.; Sharber, James (Technical Monitor)

    2001-01-01

    This effort involved the analysis of low frequency waves as observed by the Galileo spacecraft near the Galilean moon, Io. Io is a significant source of material, especially SO2, and various products of dissociation, and further these atoms and molecules are readily ionized. The initial velocity of the ions is essentially that of the neutral species, i.e., the Keplerian velocity. The plasma, on the other hand is co-rotating, and there is a differential flow of the order 57 km/s between the plasma and the neutral particles. Thus pick-up ion instabilities are Rely to occur within the Jovian magnetosphere. Indeed, magnetometer observations from the Galileo spacecraft clearly show ion cyclotron waves that have been identified with a large variety of plasma species, such as O+, S++ (which has the same gyro-frequency as O+), S+, and SO2+. Typically, however, the dominant frequency is near the SO2+ gyro-frequency. The research effort was originally planned to be a team effort between Robert J. Strangeway as the Principal Investigator, and Debbie Huddleston, who was an Assistant Research Geophysicist at UCLA. Unfortunately, Dr. Huddleston took a position within Industry. The effort was therefore descoped, and Dr. Strangeway instead pursued a collaboration with Dr. Xochitl Blanco-Cano, of the Instituto de Geofisica, Universidad Nacional Autonoma de Mexico. This has proved to be a productive collaboration, with several papers and publications arising out of the effort. The magnetic field oscillations near lo generally fall into two types: ion cyclotron waves, with frequencies near an ion gyro-frequency, and lower frequency mirror-mode waves. The ion cyclotron waves are mainly transverse, and frequently propagate along the ambient magnetic field. The mirror-mode waves are compressional waves, and they have essentially zero frequency in the plasma rest frame. One of the purposes of our investigation is to understand what controls the types of wave modes that occur, since both

  11. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J.

    2009-11-17

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

  12. Childhood-onset pathologic skin picking: clinical characteristics and psychiatric comorbidity.

    Science.gov (United States)

    Odlaug, Brian L; Grant, Jon E

    2007-01-01

    There has been little research examining clinical correlates of childhood-onset pathologic skin picking in a sample of individuals with a primary diagnosis of pathologic skin picking. Using a sample of 40 consecutive subjects with current pathologic skin picking, we compared subjects with childhood-onset (before 10 years of age) pathologic skin picking to those with later onset on a variety of clinical measures. Symptom severity was examined by assessing time spent picking per day, intensity and frequency of thoughts and urges to pick, and social and occupational functioning. Of the 40 subjects, 19 (47.5%) reported onset of skin picking before 10 years of age. Subjects with childhood-onset had significantly longer durations of illness before receiving treatment and were more likely to pick unconsciously. Symptom severity, comorbidity, and social functioning did not differ between groups. These preliminary results suggest that although onset before 10 years of age is fairly common among people with pathologic skin picking, individuals developing this behavior earlier in life have similar clinical characteristics as those with later onset but may be less likely to seek treatment.

  13. An order-picking operations system for managing the batching activities in a warehouse

    Science.gov (United States)

    Lam, Cathy H. Y.; Choy, K. L.; Ho, G. T. S.; Lee, C. K. M.

    2014-06-01

    Nowadays, customer orders with high product variety in small quantities are often received and requested for timely delivery. However, the order-picking process is a labour-intensive and costly activity to handle those small orders separately. In such cases, small orders are often grouped into batches so that two or more orders can be served at once to increase the picking efficiency and thus reduce the travel distance. In this paper, an order-picking operations system (OPOS) is proposed to assist the formulation of an order-picking plan and batch-handling sequence. The study integrates a mathematical model and fuzzy logic technique to divide the receiving orders into batches and prioritise the batch-handling sequence for picking, respectively. Through the proposed system, the order-picking process can be managed as batches with common picking locations to minimise the travel distance, and the batch-picking sequence can be determined as well. To demonstrate the use of the system, a case study in a third-party logistics warehouse is presented, and the result shows that both the order-picking activity and labour utilisation can be better organised.

  14. Performance characterization of precision micro robot using a machine vision system over the Internet for guaranteed positioning accuracy

    Science.gov (United States)

    Kwon, Yongjin; Chiou, Richard; Rauniar, Shreepud; Sosa, Horacio

    2005-11-01

    There is a missing link between a virtual development environment (e.g., a CAD/CAM driven offline robotic programming) and production requirements of the actual robotic workcell. Simulated robot path planning and generation of pick-and-place coordinate points will not exactly coincide with the robot performance due to lack of consideration in variations in individual robot repeatability and thermal expansion of robot linkages. This is especially important when robots are controlled and programmed remotely (e.g., through Internet or Ethernet) since remote users have no physical contact with robotic systems. Using the current technology in Internet-based manufacturing that is limited to a web camera for live image transfer has been a significant challenge for the robot task performance. Consequently, the calibration and accuracy quantification of robot critical to precision assembly have to be performed on-site and the verification of robot positioning accuracy cannot be ascertained remotely. In worst case, the remote users have to assume the robot performance envelope provided by the manufacturers, which may causes a potentially serious hazard for system crash and damage to the parts and robot arms. Currently, there is no reliable methodology for remotely calibrating the robot performance. The objective of this research is, therefore, to advance the current state-of-the-art in Internet-based control and monitoring technology, with a specific aim in the accuracy calibration of micro precision robotic system for the development of a novel methodology utilizing Ethernet-based smart image sensors and other advanced precision sensory control network.

  15. Humanoid Robot

    Science.gov (United States)

    Linn, Douglas M. (Inventor); Ambrose, Robert O. (Inventor); Diftler, Myron A. (Inventor); Askew, Scott R. (Inventor); Platt, Robert (Inventor); Mehling, Joshua S. (Inventor); Radford, Nicolaus A. (Inventor); Strawser, Phillip A. (Inventor); Bridgwater, Lyndon (Inventor); Wampler, II, Charles W. (Inventor); hide

    2013-01-01

    A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

  16. IC Card Auto Thread Picking System Design and Implementation Based on Computer Vision%基于机器视觉的IC卡自动挑线系统设计与实现

    Institute of Scientific and Technical Information of China (English)

    高晓静; 梁鹏; 吴伟文

    2015-01-01

    Aiming at the requirement of smart IC card auto thread picking mechanism, this paper proposes a smart IC card auto thread picking based on machine vision by using C++and OpenCV. The system accesses IC card image by using CCD camera. Image is transformed to PC machine and processed. The robot is controlled by processed results. System is composed by prepro-cess module, edge detection module and edge feature extraction module. The experimental results show that our proposed sys-tem can pick up thread picking automatic.%针对智能IC卡自动挑线的需求,采用C++和OpenCV,提出一种基于机器视觉的IC卡自动挑线系统。该系统利用CCD摄像机摄取现场IC卡图像,图像传送到PC机上,在PC上对图像进行处理并根据检测的结果发出控制信号,系统一共有以下功能:图像预处理、边缘检测、边缘特征提取(顶点、夹角以及特征点等),实验结果表明,系统可以实现实时的挑线辅助工作。

  17. Robotics for Human Exploration

    Science.gov (United States)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

    Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

  18. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

    Full Text Available This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.

  19. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

    Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

  20. Heterogeneity Analysis of Cucumber Canopy in the Solar Greenhouse

    Institute of Scientific and Technical Information of China (English)

    QIAN Ting-ting; LU Sheng-lian; ZHAO Chun-jiang; GUO Xin-yu; WEN Wei-liang; DU jian-jun

    2014-01-01

    Detailed analysis of canopy structural heterogeneity is an essential step in conducting parameters for a canopy structural model. This paper aims to analyze the structural heterogeneity of a cucumber (Cucumis sativus L.) canopy by means of analyzing leaf distribution in a greenhouse environment with natural sunlight and also to assess the effect of structural canopy heterogeneity on light interception and photosynthesis. Two experiments and four measurements were carried out in autumn 2011 and spring 2012. A static virtual three-dimensional (3D) canopy structure was reconstructed using a 3D digitizing method. The diurnal variation of photosynthesis rate was measured using CIRAS-2 photosynthesis system. The results showed that, leaf azimuth as tested with the Rayleigh-test was homogeneous at vine tip over stage but turned heterogeneous at fruit harvest stage. After eliminating the inlfuence of the environment on the azimuth using the von Mises-Fisher method, the angle between two successive leaves was 144°;at the same time, a rule for the azimuth distribution in the canopy was established, stating that the azimuth distribution in cucumber followed a law which was positive spin and anti-spin. Leaf elevation angle of south-oriented leaves was on average 13.8° higher than that of north-oriented leaves. The horizontal distribution of light interception and photosynthesis differed signiifcantly between differently oriented leaves. East-and west-oriented leaves exhibited the highest photosynthetic rate. In conclusion, detailed analysis of canopy structural heterogeneity in this study indicated that leaf azimuth and elevation angle were heterogeneous in cucumber canopy and they should be explicitly described as they have a great impact both on light distribution and photosynthesis.

  1. Nutritional components of the sea cucumber Holothuria scabra

    Directory of Open Access Journals (Sweden)

    Morakot Sroyraya

    2017-03-01

    Full Text Available Background: Holothuria scabrais one of the most commercially important species found in the Pacific region. The sea cucumber extracts have been widely reported to have beneficial health effects.The aim of this study was to determine the nutritional compositions of H. scabra, and compare its important nutritional contents with that of other species.Methods:The sea cucumbers were dissected, sliced into small pieces,and then freeze-dried. The nutritional compositions, including proximate composition, amino acids, fatty acids,collagen, GABA, Vitamin A, C, and E of the whole body and body wall of H. scabra,were analyzed.Results:H. scabra contained a high quantity of protein (22.50% in whole body and 55.18% in body wall and very low lipids (1.55% in whole body and 1.02% in body wall. The three most abundant amino acids found in both the whole body and body wall were glycine, glutamic acid, and proline. The main fatty acids found in the whole body were stearic acid and nervonic acid, and in the body wall were arachidonic acid and stearic acid. The whole body and body wall also contained high levels of essential amino acids, essential fatty acids, and collagen, in addition to moderate amounts of vitamin E and low amounts of GABA and vitamin C.Conclusions:The sea cucumber, H. scabra, contained high quantity of protein and very low lipid. It containedhigh essential amino acids, essential fatty acids, nervonic and arachidonic acids, and collagen, which also contained GABA, vitamin C, and vitamin E.

  2. Mobile app for human-interaction with sitter robots

    Science.gov (United States)

    Das, Sumit Kumar; Sahu, Ankita; Popa, Dan O.

    2017-05-01

    Human environments are often unstructured and unpredictable, thus making the autonomous operation of robots in such environments is very difficult. Despite many remaining challenges in perception, learning, and manipulation, more and more studies involving assistive robots have been carried out in recent years. In hospital environments, and in particular in patient rooms, there are well-established practices with respect to the type of furniture, patient services, and schedule of interventions. As a result, adding a robot into semi-structured hospital environments is an easier problem to tackle, with results that could have positive benefits to the quality of patient care and the help that robots can offer to nursing staff. When working in a healthcare facility, robots need to interact with patients and nurses through Human-Machine Interfaces (HMIs) that are intuitive to use, they should maintain awareness of surroundings, and offer safety guarantees for humans. While fully autonomous operation for robots is not yet technically feasible, direct teleoperation control of the robot would also be extremely cumbersome, as it requires expert user skills, and levels of concentration not available to many patients. Therefore, in our current study we present a traded control scheme, in which the robot and human both perform expert tasks. The human-robot communication and control scheme is realized through a mobile tablet app that can be customized for robot sitters in hospital environments. The role of the mobile app is to augment the verbal commands given to a robot through natural speech, camera and other native interfaces, while providing failure mode recovery options for users. Our app can access video feed and sensor data from robots, assist the user with decision making during pick and place operations, monitor the user health over time, and provides conversational dialogue during sitting sessions. In this paper, we present the software and hardware framework that

  3. Control of humanoid robot via motion-onset visual evoked potentials.

    Science.gov (United States)

    Li, Wei; Li, Mengfan; Zhao, Jing

    2014-01-01

    This paper investigates controlling humanoid robot behavior via motion-onset specific N200 potentials. In this study, N200 potentials are induced by moving a blue bar through robot images intuitively representing robot behaviors to be controlled with mind. We present the individual impact of each subject on N200 potentials and discuss how to deal with individuality to obtain a high accuracy. The study results document the off-line average accuracy of 93% for hitting targets across over five subjects, so we use this major component of the motion-onset visual evoked potential (mVEP) to code people's mental activities and to perform two types of on-line operation tasks: navigating a humanoid robot in an office environment with an obstacle and picking-up an object. We discuss the factors that affect the on-line control success rate and the total time for completing an on-line operation task.

  4. Investigation of human-robot interface performance in household environments

    Science.gov (United States)

    Cremer, Sven; Mirza, Fahad; Tuladhar, Yathartha; Alonzo, Rommel; Hingeley, Anthony; Popa, Dan O.

    2016-05-01

    Today, assistive robots are being introduced into human environments at an increasing rate. Human environments are highly cluttered and dynamic, making it difficult to foresee all necessary capabilities and pre-program all desirable future skills of the robot. One approach to increase robot performance is semi-autonomous operation, allowing users to intervene and guide the robot through difficult tasks. To this end, robots need intuitive Human-Machine Interfaces (HMIs) that support fine motion control without overwhelming the operator. In this study we evaluate the performance of several interfaces that balance autonomy and teleoperation of a mobile manipulator for accomplishing several household tasks. Our proposed HMI framework includes teleoperation devices such as a tablet, as well as physical interfaces in the form of piezoresistive pressure sensor arrays. Mobile manipulation experiments were performed with a sensorized KUKA youBot, an omnidirectional platform with a 5 degrees of freedom (DOF) arm. The pick and place tasks involved navigation and manipulation of objects in household environments. Performance metrics included time for task completion and position accuracy.

  5. Phosphorus, Potassium and Nitrate Contents in Fruit of Pickling Cucumbers Grown in a High Tunnel

    Directory of Open Access Journals (Sweden)

    Gabriela NEAȚĂ

    2016-12-01

    Full Text Available Pickling cucumbers are highly important both for fresh consumption and for canning industry. This study aimed to compare differences in yield and quality of eight pickling cucumber cultivars, including ‘Cor 12004’, ‘IGG 2010’, ‘IGG 2020’, ‘SM 5322’, ‘SM 5323’, ‘Zayin 201’, ‘Zayin 175201’ and ‘Trilogy’. The cucumber cultivars were laid out in a high tunnel crop and evaluated for vegetative traits (i.e. vine length, nodes per vine and branches per vine, yield attributes (i.e. fruits per main stem, average weight of fruit and fruits weight per plant and fruits quality components (nitrate, phosphate and potassium mg kg-1. The results showed significant differences (P12 cm, revealed a declining value with increase in the cucumber length. The study findings suggest that irrespective of the cultivar, the amount of nitrate was higher in shorter cucumbers (6-9 cm length although all recorded values (between 192.7 and 364.3 mg kg-1 fresh matter being under maximum accepted limit concentrations. The amount of phosphate was higher in medium to long cucumbers, while the amount of potassium was higher in shorter cucumbers.

  6. Study on Relationship Between Cucumber Germplasm and Propa-mocarb Residue Using Subjective Rating Technique

    Institute of Scientific and Technical Information of China (English)

    Wu Peng; Qin Zhi-wei; Zhou Xiu-yan; Wu Tao; Xin Ming; Guo Qian-qian

    2014-01-01

    Propamocarb (PM) residue in cucumber (Cucumis sativus L.) receives little attention. As is well known to all, high PM residue of cucumber could lead to increase in the violation rates of maximum residue limits and ultimately cause harm to human health. Knowledge of PM residue could help cucumber breeders in developing cultivars with low PM residue and improving cucumber quality. In this study, 32 representative cucumber accessions (26 breeding lines and six cultivars) from different regions of China were evaluated for their PM residue in fruit and leaf to provide meaning to the subjective rating, which was highly correlated with PM residual content of fruit (r=0.97) and leaf (r=0.94). In addition, PM residual content of North China ecotype was the highest and Pickling ecotype was the lowest in fruit and leaf of cucumber. The leaf had significantly higher (P<0.01) PM residual content than the fruit, and poor correlation between leaf and fruit was represented. This study verified PM residual relationship between fruit and leaf, and laid the foundation for further identification of germplasm resources and breeding of new varieties for low PM residue of cucumber.

  7. Ultraviolet-C Light Sanitization of English Cucumber (Cucumis sativus) Packaged in Polyethylene Film.

    Science.gov (United States)

    Tarek, Abdussamad R; Rasco, Barbara A; Sablani, Shyam S

    2016-06-01

    Food safety is becoming an increasing concern in the United States. This study investigated the effects of ultraviolet-C (UV-C) light as a postpackaging bactericidal treatment on the quality of English cucumber packaged in polyethylene (PE) film. Escherichia coli k-12 was used as a surrogate microbe. The microbial growth and physical properties of packaged cucumbers were analyzed during a 28-d storage period at 5 °C. Inoculating packaged cucumbers treated at 23 °C for 6 min with UV-C (560 mJ/cm(2) ) resulted in a 1.60 log CFU/g reduction. However, this treatment had no significant effect (P > 0.05) on the water vapor transmission rate or oxygen transmission rate of the PE film. Results show that UV-C light treatment delayed the loss of firmness and yellowing of English cucumber up to 28 d at 5 °C. In addition, UV-C light treatment extended the shelf life of treated cucumber 1 wk longer compared to untreated cucumbers. Electron microscopy images indicate that UV-C light treatment influences the morphology of the E. coli k-12 cells. Findings demonstrate that treating cucumbers with UV-C light following packaging in PE film can reduce bacterial populations significantly and delay quality loss. This technology may also be effective for other similarly packaged fresh fruits and vegetables.

  8. Large-Scale Transcriptome Analysis of Cucumber and Botrytis cinerea during Infection.

    Directory of Open Access Journals (Sweden)

    Weiwen Kong

    Full Text Available Cucumber gray mold caused by Botrytis cinerea is considered one of the most serious cucumber diseases. With the advent of Hi-seq technology, it is possible to study the plant-pathogen interaction at the transcriptome level. To the best of our knowledge, this is the first application of RNA-seq to identify cucumber and B. cinerea differentially expressed genes (DEGs before and after the plant-pathogen interaction. In total, 248,908,688 raw reads were generated; after removing low-quality reads and those containing adapter and poly-N, 238,341,648 clean reads remained to map the reference genome. There were 3,512 cucumber DEGs and 1,735 B. cinerea DEGs. GO enrichment and KEGG enrichment analysis were performed on these DEGs to study the interaction between cucumber and B. cinerea. To verify the reliability and accuracy of our transcriptome data, 5 cucumber DEGs and 5 B. cinerea DEGs were chosen for RT-PCR verification. This is the first systematic transcriptome analysis of components related to the B. cinerea-cucumber interaction. Functional genes and putative pathways identified herein will increase our understanding of the mechanism of the pathogen-host interaction.

  9. Transcriptome and Small RNAome Dynamics during a Resistant and Susceptible Interaction between Cucumber and Downy Mildew

    Directory of Open Access Journals (Sweden)

    Alyssa Burkhardt

    2016-03-01

    Full Text Available Cucumber ( L. downy mildew, caused by the obligate oomycete pathogen (Berk. and Curt. Rostov., is the primary factor limiting cucumber production. Although sources of resistance have been identified, such as plant introduction line PI 197088, the genes and processes involved in mediating resistance are still unknown. In the current study, we conducted a comprehensive transcriptome and small RNAome analysis of a resistant (PI 197088 and susceptible (‘Vlaspik’ cucumber during a time course of infection using Illumina sequencing. We identified significantly differentially expressed (DE genes within and between resistant and susceptible cucumber leaves over a time course of infection. Weighted gene correlation network analyses (WGCNA created coexpression modules containing genes with unique expression patterns between Vlaspik and PI 197088. Recurring data trends indicated that resistance to cucumber downy mildew is associated with earlier response to the pathogen, hormone signaling, and regulation of nutrient supply. Candidate resistance genes were identified from multiple transcriptome analyses and literature support. Additionally, parallel sequencing of small RNAs (sRNAs from cucumber and during the infection time course was used to identify and quantify novel and existing microRNA (miRNA in both species. Predicted miRNA targets of cucumber transcripts suggest a complex interconnectedness of gene expression regulation in this plant–pathogen system. This work bioinformatically uncovered gene expression patterns involved in the mediation of or response to resistance. Herein, we provide the foundation for future work to validate candidate resistance genes and miRNA-based regulation proposed in this study.

  10. Estimating Time of Weed Emergence in Cucumber (Cucumis sativus L.

    Directory of Open Access Journals (Sweden)

    Nihat Tursun

    2015-02-01

    Full Text Available Modelling is carried out for eleven major weeds in cucumber to develop estimated models for weed emergence time. Weed species were grouped according to their emergence patterns. Amaranthus retroflexus, Chenopodium album, Heliotropium europaeum, Polygonum aviculare and Solanum nigrum were early emerging, Convolvulus arvensis, Cyperus rotundus, Cynodon dactylon, Portulaca oleracea and Sorghum halepense were season long emerging Tribulus terrestris was the late emerging weed species. Different non-linear growth curves (Chapman-Richard, Weibull, logistic, Gompertz and cubic spline fitted to the data of cumulative percent emergence for the different species and years. Cubic spline seemed the best model for many species.

  11. Two triterpene glycosides from the sea cucumber Bohadschia marmorata Jaeger

    Institute of Scientific and Technical Information of China (English)

    Wei Hua Yuan; Yang Hua Yi; Ling Li; Bao Shu Liu; Hong Wei Zhang; Peng Sun

    2008-01-01

    Further studies on the sea cucumber Bohadschia marmorata Jaeger led to the isolation of a new holostan-type triterpene glycoside,Marmoroside C (1) together with a known triterpene glycoside (2).On the basis of spectroscopic analyses,including twodimensional NMR techniques,and chemical reactions,the structure of the new triterpene glycoside was elucidated as 3-0-[3-O-methyl-β-D-glucopyranosyl-(1→3)-13-D-glucopyranosyl-(1→4)-β-D-quinovopyranosyl-(1→2)-4-O-sodium-sulfato-β-D-xylo-pyranosyl]-25-acetoxy-22-oxo-9(11)-holostene-3β,12α,17α-triol.

  12. Susceptibility level of cucumber downy mildew (Pseudoperonospora cubensis to metalaxyl

    Directory of Open Access Journals (Sweden)

    Bagi Ferenc F.

    2009-01-01

    Full Text Available Level of susceptibility of Pseudoperonospora cubensis isolate from Ratkovo to metalaxyl in concentrations 50, 100, 200, 400 and 800 μg/ml was investigated. The trials were conducted on cotyledon and fully developed young leaves using cucumber cultivar Haroš. Reduced level of susceptibility was detected in metalaxyl concentrations of 50, 100 and 200 μg/ml because the intensity of sporulation in these treatments was on the same level as in control. Sporulation was also observed on developed leaves treated with metalaxyl in concentrations of 400 and 800 μg/ml.

  13. High sequence conservation among cucumber mosaic virus isolates from lily.

    Science.gov (United States)

    Chen, Y K; Derks, A F; Langeveld, S; Goldbach, R; Prins, M

    2001-08-01

    For classification of Cucumber mosaic virus (CMV) isolates from ornamental crops of different geographical areas, these were characterized by comparing the nucleotide sequences of RNAs 4 and the encoded coat proteins. Within the ornamental-infecting CMV viruses both subgroups were represented. CMV isolates of Alstroemeria and crocus were classified as subgroup II isolates, whereas 8 other isolates, from lily, gladiolus, amaranthus, larkspur, and lisianthus, were identified as subgroup I members. In general, nucleotide sequence comparisons correlated well with geographic distribution, with one notable exception: the analyzed nucleotide sequences of 5 lily isolates showed remarkably high homology despite different origins.

  14. Silicon facilitates manganese phytoextraction by cucumber (Cucumis sativus L.)

    OpenAIRE

    Dragišić-Maksimović, Jelena; Mojović, Miloš; Maksimović, Vuk

    2016-01-01

    The effect of excess nutrient levels of manganese (Mn, 50 and 100 mM) on the growth inhibition and the appearance of Mn-toxicity symptoms in the leaves was studied in cucumber plants (Cucumis sativus L. cv. Chinese long). Silicon (Si), when supplied as 1.5 mM silicic acid, clearly decreased symptoms of Mn-toxicity despite approximately the same total Mn content in the leaves. In treated plants, Si improves growth and biomass production compared with that of non-Si treated plants. Inert deposi...

  15. Implementation of a robotic flexible assembly system

    Science.gov (United States)

    Benton, Ronald C.

    1987-01-01

    As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.

  16. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

    Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

  17. Robotics_MobileRobot Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots and rovers exploring planets need to autonomously navigate to specified locations. Advanced Scientific Concepts, Inc. (ASC) and the University of Minnesota...

  18. Kinematic-Kinetic-Rigidity Evaluation of a Six Axis Robot Performing a Task

    Directory of Open Access Journals (Sweden)

    H. Karagulle

    2012-11-01

    Full Text Available Six axis serial robots of different sizes are widely used for pick and place, welding and various other operations in industry. Developments in mechatronics, which is the synergistic integration of mechanism, electronics and computer control to achieve a functional system, offer effective solutions for the design of such robots. The integrated analysis of robots is usually used in the design stage. In this study, it is offered that the integrated analysis of robots can also be used at the application stage. SolidWorks, CosmosMotion and ABAQUS programs are used with an integrated approach. Integration software (IS is developed in Visual Basic by using the application programming interface (API capabilities of these programs. An ABB-IRB1400 industrial robot is considered for the study. Different trajectories are considered. Each task is first evaluated by a kinematic analysis. If the task is out of the workspace, then the task is cancelled. This evaluation can also be done by robot programs like Robot Studio. It is proposed that the task must be evaluated by considering the limits for velocities, motor actuation torques, reaction forces, natural frequencies, displacements and stresses due to the flexibility. The evaluation is done using kinematic, kinetic and rigidity evaluation charts. The approach given in this work can be used for the optimal usage of robots.

  19. Pseudohyperglycaemia in a comatose patient after picking cherries.

    Science.gov (United States)

    Derkenne, Clément; Lamblin, Antoine; Jost, Daniel; Tourtier, Jean-Pierre

    2016-10-28

    We report a case of pseudohyperglycaemia on a capillary blood glucose measurement taken from fingers stained with sugar (fructose). A 76-year-old patient with type 1 diabetes received emergency attention at home because of a coma. The first capillary blood glucose measurement collected from a finger revealed a concentration higher than the reference limits, misleading the clinician. After starting symptomatic treatment, a second blood glucose measurement was taken. This measurement, taken at the earlobe, revealed profound hypoglycaemia (0.89 mmol/L), which prompted the administration of appropriate treatment. The elevated initial capillary blood glucose measurement was linked to the presence of fructose on the fingers of the patient from picking cherries just before the patient fainted. After intravenous administration of glucose, the patient regained normal consciousness and had no sequelae despite the severity of the hypoglycaemia and delayed diagnosis. Pseudohyperglycaemia is rare, and delayed diagnosis frequently results in severe sequelae or death.

  20. Alternative Therapies for Excoriation (Skin Picking) Disorder: A Brief Update.

    Science.gov (United States)

    Torales, Julio; Barrios, Iván; Villalba, Jorge

    2017-01-01

    Context • Excoriation (skin picking) disorder is characterized by the need or urge to pick, scratch, pinch, touch, rub, scrub, squeeze, bite, or dig the skin, and it can be a perplexing condition for the inexperienced physician. Treatments include pharmacotherapy, psychotherapy, and alternative therapies. Alternative therapies for excoriation disorder and other body-focused repetitive behaviors include yoga, aerobic exercise, acupuncture, biofeedback, hypnosis, and inositol and N-acetylcysteine, among others. Objective • This review article intended to review the current literature on the alternative therapies to provide a brief update on their benefits for the treatment of excoriation disorder for use in conjunction with psychotherapy and pharmacotherapy in the management of a challenging group of patients. Design • This review (focusing on literature published in the last 15 y, selected from a search of PubMed) critically considers the evidence for the use of alternative therapies in the treatment of excoriation disorder. Setting • This review was conducted at the National University of Asunción (San Lorenzo, Paraguay). Results • Results for yoga were as follows: This technique may influence the structure and functioning of the areas of emotional processing involved in the pathophysiology of excoriation disorder and other body-focused repetitive behaviors, such as trichotillomania. Although still limited, the current research team's use of yoga as a treatment has given useful results. Results for aerobic exercise were as follows: People suffering from excoriation disorder and other-body focused repetitive behaviors generally have a worsening of their behaviors in times of negative mood and anxiety. As exercise has qualities that allow individuals to improve their mood and reduce their anxiety, it is likely that it also can help reduce behaviors like hair pulling or scratching, and it should be considered to be an adjunctive therapy. Results for

  1. Picking and Nibbling in Children and Adolescents with Eating Disorders

    Science.gov (United States)

    Kass, Andrea E.; Accurso, Erin C.; Goldschmidt, Andrea B.; Anam, Seeba; Byrne, Catherine E.; Kinasz, Kate; Goodyear, Alexandria; O'Brien, Setareh; Le Grange, Daniel

    2016-01-01

    Objective Picking and nibbling (P&N), defined as eating in an unplanned and repetitious way between meals and snacks, is prevalent among adults with eating disorders (EDs), but unexamined among youth with EDs. This study sought to assess the prevalence of P&N in youth with EDs and its association with ED and comorbid pathology. Method Youth (N = 515; ages 7–18) who presented to one outpatient ED research-clinical program were assessed for ED and comorbid pathology. Results Two-fifths (n = 214, 41.6%) of youth endorsed P&N. These individuals were older (p .05). Discussion Consistent with research in adults, P&N is prevalent but not significantly associated with ED pathology, except for global ED pathology in youth with AN/atypical AN, or comorbid disorders. PMID:26282064

  2. Design of Nut Picked Platform in Hill Country

    Directory of Open Access Journals (Sweden)

    Jian Zhou

    2014-10-01

    Full Text Available The subject target is to design agricultural production facility. Hydraulic lifting platform consists of high quality steel, hydraulic pumps, fluid cylinders, tubing, rail wheels and other combinations. The hydraulic lifting table of maximum load is 500 kg, The lifting table is composed of two parts: Mechanism body and hydraulic system. Lifting operation and controlling system are done by a hydraulic system and hydraulic cylinders, all combinations of hydraulic system are driven by hydraulic pump. Hydraulic pump and hydraulic cylinder mainly belong to standard components. The affected maximum force of fluid cylinder is analyzed through supporting hinge frame for raising goods, torque of lifting platform is also calculated, liquid system is also studied carefully. Through comparing and checking the relative datum, the design can satisfy the demand of picking fruits.

  3. Excoriation (skin picking) disorder in Israeli University students

    DEFF Research Database (Denmark)

    Leibovici, Vera; Murad, Sari; Cooper-Kazaz, Rena

    2014-01-01

    , depression, obsessive-compulsive disorder, body dysmorphic disorder and disruptive, impulse control and conduct disorders. A total of 2176 participants (43.6%) responded and were included in the analysis. Mean age was 25.1 ± 4.8 (range 17-60) years, and 64.3% were female. RESULTS: The proportion of students...... who were screened positive for SPD was 3.03%, with a nearly equal gender distribution (3.0% in females and 3.1% in males). There was a trend toward significantly higher rates of psychiatric problems such as generalized anxiety, compulsive sexual behavior and eating disorders in these students. Within......OBJECTIVE: The purpose of the study was to examine the prevalence of excoriation (skin picking) disorder (SPD) and associated physical and mental health correlates in a sample of Israeli university students. METHODS: Five thousand Israeli students were given questionnaires screening for SPD...

  4. A case of Niemann – Pick disease type C

    Directory of Open Access Journals (Sweden)

    Sergei Anatolyevich Klyushnikov

    2013-01-01

    Full Text Available The paper describes a clinical case of a 27-year-old female patient with Niemann – Pick disease type C (NPC, a rare inherited orphan disease, belonging to a group of lipid storage diseases. It gives an update on the etiology and pathogenesis of this type of glycosphingolipidosis and on established gene mutations. The clinical polymorphism of NPC and the trends in the development of somatic, mental, and neurological disorders are highlighted in relation to the onset age of the disease. The problem of differential diagnosis is discussed. The diagnostic NPC probability index in scores and the latest methods for laboratory diagnostic verification, including molecular genetic testing, are presented.Information is given on specific substrate reduction therapy with miglustat for NPC.

  5. Automatic traveltime picking using local time-frequency maps

    KAUST Repository

    Saragiotis, Christos

    2011-01-01

    The arrival times of distinct and sufficiently concentrated signals can be computed using Fourier transforms. In real seis- mograms, however, signals are far from distinct. We use local time-frequency maps of the seismograms and its frequency derivatives to obtain frequency-dependent (instantaneous) traveltimes. A smooth division is utilized to control the resolution of the instantaneous traveltimes to allow for a trade-off between resolution and stability. We average these traveltimes over the frequency band which is data-dependent. The resulting traveltime attribute is used to isolate different signals in seismic traces. We demonstrate the effectiveness of this automatic method for picking arrivals by applying it on synthetic and real data. © 2011 Society of Exploration Geophysicists.

  6. [Niemann-Pick type C disease: pathophysiology, diagnosis and treatment].

    Science.gov (United States)

    Ohno, Kousaku

    2016-03-01

    Niemann-Pick type C (NPC) disease is an autosomal recessive neurodegenerative disorder which is caused in 95% by a mutation in the NPC1 gene on chromosome 18 or by NPC2 mutation, encoding for 2 different lysosomal lipid transport proteins. The impaired protein function leads to systemic intralysosomal accumulation of free cholesterol and shingolipids particularly in the CNS. In Japan, currently 34 living NPC patients are known as of December 2015. Considering the prevalence of the disease in the Western countries, the real number of NPC patients is most likely to be five-folds higher. For NPC, treatment methods are established and an approved disease-specific medications are available. It is important that patients early in their disease are referred to expert centers, in order to ensure timely initiation of treatment and to delay the progression of neurological symptoms as a goal.

  7. Phosphorus, Potassium and Nitrate Contents in Fruit of Pickling Cucumbers Grown in a High Tunnel

    OpenAIRE

    2016-01-01

    Pickling cucumbers are highly important both for fresh consumption and for canning industry. This study aimed to compare differences in yield and quality of eight pickling cucumber cultivars, including ‘Cor 12004’, ‘IGG 2010’, ‘IGG 2020’, ‘SM 5322’, ‘SM 5323’, ‘Zayin 201’, ‘Zayin 175201’ and ‘Trilogy’. The cucumber cultivars were laid out in a high tunnel crop and evaluated for vegetative traits (i.e. vine length, nodes per vine and branches per vine), yield attributes (i.e. fruits per main s...

  8. Effects of Different Rootstocks on the Growth and Fruit Quality of Greenhouse Cucumber in Early Spring

    Institute of Scientific and Technical Information of China (English)

    LIU Bing; ZHANG Tianwei; ZHAO Jiayu; JIANG Xinmei

    2009-01-01

    Different pumpkin rootstocks were used to study the effects of different rootstocks on the growth and fruit quality of greenhouse cucumber in early spring. The results showed that the grafted cucumber could significantly improve the production, and different rootstock had a certain effect on the survival rate and fruit quality. Jinhuanghou and Fengyijiajiewang as rootstock had the highest survival rate, which were 79.0% and 70.7%, respectively. As rootstocks of greenhouse cucumber, Jinhuanghou, Lvzhoujuxing,Fengyi, Huofenghuang, and Dawei No.17 were better than others according to taste, and Heizinangua, Jinhuanghou, Fengyi,Huofenghuang, and Dawei No. 17 were better according to output.

  9. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

    Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK.......Mathematical modelling of Alto Robot, direct- and inverse kinematic transformation,simulation and path control applying MATLAB/SIMULINK....

  10. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

    Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics......Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics...

  11. Robotic prostatectomy surgery.

    Science.gov (United States)

    Starnes, Danielle N; Sims, Terran Warren

    2006-04-01

    Despite the minimally invasive nature of the robotic prostatectomy procedure, there are still many cultural, environmental, and social issues that must be addressed. The following case study emphasizes that patient education is key to successful outcomes following robotic prostatectomy.

  12. Lightweight Robotic Excavation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Lightweight robotic excavators address the need for machines that dig, collect, transport and dump lunar soil. Robust and productive small robots enable mining rich...

  13. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

    The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition o...

  14. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

    Robots which are immune to the CMS cavern environment, wirelessly controlled: -One actuated by smart materials (Ionic Polymer-Metal Composites and Macro Fiber Composites) -One regular brushed DC rover -One servo-driven rover -Stair-climbing robot

  15. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

    Full Text Available Despite advances in recent years, autonomous multi-robot systems remain classed as complex systems, because control and coordination of these systems remain a challenging task. Autonomous mobile robot houses heterogeneous sets of connected modular...

  16. Kivi Meyvesi Hasadında Robot Kullanımı Üzerine Bir Araştırma

    Directory of Open Access Journals (Sweden)

    Erhan KAHYA

    2015-01-01

    Full Text Available At the end of the research, it’s shown that at the robotic fruit harvest physicomechanical properties of the fruit has an effect on the harvest. Weight, height, width, thickness and surface area are observed as the most important input values at the robotic fruit harvest. It is observed that image processing techniques affect the operation of the robotic system at the harvest. It is understood that using image technique has a direct effect on the results of the robotic harvest. It is also understood that image processing techniques must be chosen correctly to make the robotic harvest in an accurate and quickly way. It is emerged that the software used in the harvest should be parallel with the system and image processing at the robotic fruit harvest. During the software, it is observed that the conversion of kinematic calculation and constant values must be put in properly. Using hobbytype parts of robot for the prototype study will be enough for results. However, to make the system work, industrial robots and servo engines should be used. It is also observed that when picking up the fruit from the branch, the gripper, which is used to pick the fruit up, must be made considering the physicomechanical properties of the fruit. The engines that make the system work should be strong and the cutting system should also be appropriate

  17. Robotic Surveying

    Energy Technology Data Exchange (ETDEWEB)

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

    ZAPATA ENGINEERING challenged our engineers and scientists, which included robotics expertise from Carnegie Mellon University, to design a solution to meet our client's requirements for rapid digital geophysical and radiological data collection of a munitions test range with no down-range personnel. A prime concern of the project was to minimize exposure of personnel to unexploded ordnance and radiation. The field season was limited by extreme heat, cold and snow. Geographical Information System (GIS) tools were used throughout this project to accurately define the limits of mapped areas, build a common mapping platform from various client products, track production progress, allocate resources and relate subsurface geophysical information to geographical features for use in rapidly reacquiring targets for investigation. We were hopeful that our platform could meet the proposed 35 acres per day, towing both a geophysical package and a radiological monitoring trailer. We held our breath and crossed our fingers as the autonomous Speedrower began to crawl across the playa lakebed. We met our proposed production rate, and we averaged just less than 50 acres per 12-hour day using the autonomous platform with a path tracking error of less than +/- 4 inches. Our project team mapped over 1,800 acres in an 8-week (4 days per week) timeframe. The expertise of our partner, Carnegie Mellon University, was recently demonstrated when their two autonomous vehicle entries finished second and third at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. 'The Grand Challenge program was established to help foster the development of autonomous vehicle technology that will some day help save the lives of Americans who are protecting our country on the battlefield', said DARPA Grand Challenge Program Manager, Ron Kurjanowicz. Our autonomous remote-controlled vehicle (ARCV) was a modified New Holland 2550 Speedrower retrofitted to allow the machine

  18. PICK1 interacts with ABP/GRIP to regulate AMPA receptor trafficking.

    Science.gov (United States)

    Lu, Wei; Ziff, Edward B

    2005-08-04

    PICK1 and ABP/GRIP bind to the AMPA receptor (AMPAR) GluR2 subunit C terminus. Transfer of the receptor from ABP/GRIP to PICK1, facilitated by GluR2 S880 phosphorylation, may initiate receptor trafficking. Here we report protein interactions that regulate these steps. The PICK1 BAR domain interacts intermolecularly with the ABP/GRIP linker II region and intramolecularly with the PICK1 PDZ domain. Binding of PKCalpha or GluR2 to the PICK1 PDZ domain disrupts the intramolecular interaction and facilitates the PICK1 BAR domain association with ABP/GRIP. Interference with the PICK1-ABP/GRIP interaction impairs S880 phosphorylation of GluR2 by PKC and decreases the constitutive surface expression of GluR2, the NMDA-induced endocytosis of GluR2, and recycling of internalized GluR2. We suggest that the PICK1 interaction with ABP/GRIP is a critical step in controlling GluR2 trafficking.

  19. Behavioral Treatment of Chronic Skin-Picking in Individuals with Developmental Disabilities: A Systematic Review

    Science.gov (United States)

    Lang, Russell; Didden, Robert; Machalicek, Wendy; Rispoli, Mandy; Sigafoos, Jeff; Lancioni, Giulio; Mulloy, Austin; Regester, April; Pierce, Nigel; Kang, Soyeon

    2010-01-01

    Skin-picking is a type of self-injurious behavior involving the pulling, scratching, lancing, digging, or gouging of one's own body. It is associated with social impairment, and increased medical and mental health concerns. While there are several reports showing that skin-picking is common in individuals with developmental disabilities, knowledge…

  20. 教你正确用(三)Pick Up的十种用法

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    @@ I have been wondering about the number of ways we can use the expression "pick up" in everyday English. Today,sitting through a long,boring meeting,I took some notes. I counted at least 10 ways to use "pick up". In each case,the meaning of the expression is somewhat different.

  1. INTRAOPERATIYE OVUM PICK-UP AND ULTRASONICGUIDED TRANSVAGINAL OVUM RETRIEVAL IN AN IVF PROGRAM

    Institute of Scientific and Technical Information of China (English)

    ZHANGLi-Zhu; CHENGui-An; ZHAOWen-Xin; WANGZe-Mi; LIMei-Zhi; LIUPing; WANGXiu-Yun; ZHAOYun-Fen

    1989-01-01

    Methods of ovum pick-up in an IVF program From January to November, 1988, were reported. In the initial stages of the program, transabdominal intraopcrative ovum pick-up was used, which resulte, d in two cases of clinical pregnancy in 1987 with full term delivery

  2. Schwarz-Pick estimates for positive real part holomorphic functions on unit ball and polydisc

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    We give higher order derivatives Schwarz-Pick estimates for all positive real part holomorphic functions on Bn and D n,and generalize early work on Schwarz-Pick estimate of higher order derivatives for holomorphic functions with positive real part on unit disk in C.

  3. The high order Schwarz-Pick lemma on complex Hilbert balls

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    In this paper we prove a high order Schwarz-Pick lemma for holomorphic mappings between unit balls in complex Hilbert spaces.In addition,a Schwarz-Pick estimate for high order Fréchet derivatives of a holomorphic function f of a Hilbert ball into the right half-plane is obtained.

  4. Prevalence and heritability of skin picking in an adult community sample: a twin study.

    Science.gov (United States)

    Monzani, Benedetta; Rijsdijk, Fruhling; Cherkas, Lynn; Harris, Juliette; Keuthen, Nancy; Mataix-Cols, David

    2012-07-01

    Skin-picking disorder (SPD) is a disabling psychiatric condition that can lead to skin damage and other medical complications. Epidemiological data is scarce and its causes are unknown. The present study examined the prevalence and heritability of skin-picking symptoms in a large sample of twins. A total of 2,518 twins completed a valid and reliable self-report measure of skin-picking behavior. The prevalence of clinically significant skin picking was established using empirically derived cut-offs. Twin modeling methods were employed to decompose the variance in the liability to skin picking into additive genetic and shared and non-shared environmental factors. A total of 1.2% of twins scored above the cut-off, indicative of clinically significant skin picking. All these participants were women. Univariate model-fitting analyses (female twins only, N = 2,191) showed that genetic factors accounted for approximately 40% (95% CI 19-58%) of the variance in skin picking, with non-shared environmental factors and measurement error accounting for the remaining variance (60% [95% CI 42-81%]). Shared environmental factors were negligible. It is concluded that pathological skin picking is relatively prevalent problem, particularly among women, and that it tends to run in families primarily due to genetic factors. Non-shared environmental factors are also likely to play an important role in its etiology.

  5. SCHWARZ-PICK ESTIMATES FOR BOUNDED HOLOMORPHIC FUNCTIONS ON CLASSICAL DOMAINS

    Institute of Scientific and Technical Information of China (English)

    Liu Yang; Chen Zhihua

    2011-01-01

    In this paper,Schwarz-Pick estimates for high order Fréchet derivatives of bounded holomorphic functions on three kinds of classical domains are presented.We generalize the early work on Schwarz-Pick estimates of higher order partial derivatives for bounded holomorphic functions on the disk and unit ball.

  6. Treatment of Chronic Skin-Picking in an Adolescent With Asperger Syndrome and Borderline Intellectual Disability

    NARCIS (Netherlands)

    Lang, R.; Didden, H.C.M.; Sigafoos, J.; Rispoli, M.; Regester, A.; Lancioni, G.E.

    2009-01-01

    We present the case of a 17-year-old girl with Asperger syndrome and borderline intellectual disability with a 5-year history of chronic skin-picking. Our intervention approach included an initial functional assessment to identify variables maintaining skin-picking, followed by evaluation of a

  7. Treatment of Chronic Skin-Picking in an Adolescent With Asperger Syndrome and Borderline Intellectual Disability

    NARCIS (Netherlands)

    Lang, R.; Didden, H.C.M.; Sigafoos, J.; Rispoli, M.; Regester, A.; Lancioni, G.E.

    2009-01-01

    We present the case of a 17-year-old girl with Asperger syndrome and borderline intellectual disability with a 5-year history of chronic skin-picking. Our intervention approach included an initial functional assessment to identify variables maintaining skin-picking, followed by evaluation of a behav

  8. How 'ground-picked' olive fruits affect virgin olive oil ethanol content, ethyl esters and quality.

    Science.gov (United States)

    Beltran, Gabriel; Sánchez, Raquel; Sánchez-Ortiz, Araceli; Aguilera, Maria P; Bejaoui, Mohamed A; Jimenez, Antonio

    2016-08-01

    Olives dropped on the ground naturally sometimes are not separated from those fresh and healthy collected from the tree for harvest and processing. In this work we compared the quality, ethanol content and bioactive components of virgin olive oils from ground-picked olives, tree-picked fruits and their mixture. Ground-picked olives produced 'Lampante' virgin olive oils; these are of a lower quality category, because of important alterations in chemical and sensory characteristics. Ethyl esters showed the highest values, although under the regulated limit. The mixture of ground and tree-picked olives gave oils classified as 'virgin' because of sensory defects, although the quality parameters did not exceed the limits for the 'extra' category. Ethanol content showed a significant increase in the oils from ground- picked olives and their mixture with respect to those from tree-picked fruits. Furthermore, bioactive compounds showed a significant decrease as fruit quality was poorer. Ground-picked olives must be harvested and processed separately since they produce low-quality virgin olive oils with sensory defects and lower concentrations of bioactive compounds. The higher acidity and ethanol concentration observed in oils from ground-picked fruits or their mixture may help ethyl ester synthesis during storage. © 2015 Society of Chemical Industry. © 2015 Society of Chemical Industry.

  9. Two new species of Anastrepha Schiner (Diptera, Tephritidae) closely related to Anastrepha pickeli Lima.

    Science.gov (United States)

    Canal, N A; Uramoto, K; Zucchi, R A

    2013-02-01

    Anastrepha entodonta n. sp. and Anastrepha hadropickeli n. sp. are described and illustrated. The new species belong to the spatulata group. Both species occur sympatrically with Anastrepha pickeli Lima in the semiarid region of the state of Minas Gerais, Brazil. Anastrepha hadropickeli occurs also in the semiarid of the state of Rio Grande do Norte, Brazil, where it was misidentified as A. pickeli.

  10. Efficacy of the “pick and roll” offense in top level European basketball teams

    Directory of Open Access Journals (Sweden)

    Marmarinos Christos

    2016-06-01

    Full Text Available Team offense in basketball games consists of a set of offensive actions carried out with the cooperation of two or more players. Of these actions, the most commonly used in the last decade is the on-ball screen called the “pick and roll.” The aim of this study was to analyze all of the pick and rolls conducted in the Euroleague championship from all of the 24 participating teams and to investigate the possible relationships between success in the pick and roll and overall success of the teams. For this purpose, 12,376 pick and rolls from 502 matches were analyzed and classified in categories according to the end result of the offensive possession. The results showed that the most effective type of pick and roll offense was when a shot was attempted after 2 passes from the pick and roll occurrence, followed by the screener’s shot when he rolled to the basket. Additionally, linear regression analysis confirmed that pick and roll effectiveness could predict the final classification of the teams. Conclusively, coaches of the high level European clubs should focus on training the players to the most efficient phases of the pick and roll offense, so that the chances of winning the championship to be maximized.

  11. Treatment of Chronic Skin-Picking in an Adolescent With Asperger Syndrome and Borderline Intellectual Disability

    NARCIS (Netherlands)

    Lang, R.; Didden, H.C.M.; Sigafoos, J.; Rispoli, M.; Regester, A.; Lancioni, G.E.

    2009-01-01

    We present the case of a 17-year-old girl with Asperger syndrome and borderline intellectual disability with a 5-year history of chronic skin-picking. Our intervention approach included an initial functional assessment to identify variables maintaining skin-picking, followed by evaluation of a behav

  12. Rock Breaking by Conical Pick Assisted with High Pressure Water Jet

    Directory of Open Access Journals (Sweden)

    Liu Songyong

    2014-03-01

    Full Text Available In the process of hard rock breaking, the conical pick bears great cutting force and wear, and the cutting efficiency is lower. Thus different combination ways of water jet and conical pick were proposed to solve this issue; for instance, water jet placed in the front of pick (JFP and water jet through the center of pick (JCP was researched by numerical simulation and experiments in this paper. First, the models of rock breaking were built based on SPH combined with finite element method. Then, the stress distribution of rock and the cut force of pick were analyzed when the rock broken by the conical pick assisted with the high pressure water jet. It indicates that the effect of the JCP on rock breaking is better than the JFP. At last, experiments about rock breaking with a conical pick and the JCP were conducted to verify the reliability of the simulation. It indicates that the rock breaking with the assistance of high pressure water jet cannot only reduce the pick force, but also increase the rock crushing volume.

  13. Performance of helical cutting drum with additional picks on the face side

    Energy Technology Data Exchange (ETDEWEB)

    Krauze, K.; Paraszczak, J. (University of Mining Metallurgy, Krakow (Poland))

    1990-01-01

    Extensive study has shown that it is necessary to apply additional picks to a shearer in order to eliminate or diminish the forces pushing it out of the coal face. The presented design of the cutting drum with three or four additional picks has met these conditions, and tests and observations have confirmed the value of this design. 4 figs., 1 tab.

  14. Behavioral treatment of chronic skin-picking in individuals with developmental disabilities: A systematic review

    NARCIS (Netherlands)

    Lang, R.; Didden, H.C.M.; Machalicek, W.A.; Rispoli, M.; Sigafoos, J.; Lancioni, G.E.; Mulloy, A.; Regester, A.; Pierce, N.; Kang, S.Y.

    2010-01-01

    Skin-picking is a type of self-injurious behavior involving the pulling, scratching, lancing, digging, or gouging of one's own body. It is associated with social impairment, and increased medical and mental health concerns. While there are several reports showing that skin-picking is common in indiv

  15. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, P.C.; Posey, L.D. [Sandia National Labs., Albuquerque, NM (United States)

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

  16. Ground Vehicle Robotics

    Science.gov (United States)

    2013-08-20

    Ground Vehicle Robotics Jim Parker Associate Director, Ground Vehicle Robotics UNCLASSIFIED: Distribution Statement A. Approved for public...DATE 20 AUG 2013 2. REPORT TYPE Briefing Charts 3. DATES COVERED 09-05-2013 to 15-08-2013 4. TITLE AND SUBTITLE Ground Vehicle Robotics 5a...Willing to take Risk on technology -User Evaluated -Contested Environments -Operational Data Applied Robotics for Installation & Base Ops -Low Risk

  17. Robotics Research for Cybersecurity

    Science.gov (United States)

    2012-01-24

    Wei-Min Shen 1/24/12 Page 1 of 3 Robotics Research for Cybersecurity Wei-Min Shen Polymorphic Robotics Laboratory USC/ISI, 4676 Admiralty Way...Marina del Rey, CA 90292 Phone: 310-448-8710, Fax: 310-822-0751 Email: shen@isi.edu, Web: http://www.isi.edu/ robots / Executive Summary This...project is to conduct a comprehensive study of robotics research in the context of cybersecurity. Specifically, 1) Create a realistic cybersecurity test

  18. Tool Changer For Robot

    Science.gov (United States)

    Voellmer, George M.

    1992-01-01

    Mechanism enables robot to change tools on end of arm. Actuated by motion of robot: requires no additional electrical or pneumatic energy to make or break connection between tool and wrist at end of arm. Includes three basic subassemblies: wrist interface plate attached to robot arm at wrist, tool interface plate attached to tool, and holster. Separate tool interface plate and holster provided for each tool robot uses.

  19. Beyond Speculative Robot Ethics

    OpenAIRE

    Smits, M.; Plas, A. van der

    2010-01-01

    In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also lead to some promising co-designed robot concepts in which jointly articulated moral guidelines are embedded. With our model we think to have designed an interesting response on a recent call for a less sp...

  20. Toward Integrated Soccer Robots

    OpenAIRE

    Shen, Wei-Min; Adibi, Jafar; Adobbati, Rogelio; Cho, Bonghan; Erdem, Ali; Moradi, Hadi; Salemi, Behnam; Tejada, Sheila

    1998-01-01

    Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each ot...