WorldWideScience

Sample records for dexterous manipulation making

  1. Dexterous Manipulation: Making Remote Manipulators Easy to Use

    International Nuclear Information System (INIS)

    HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

    2001-01-01

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

  2. Force and touch make video games 'serious' for dexterity rehabilitation.

    Science.gov (United States)

    Confalonieri, Michele; Guandalini, Giovanni; Da Lio, Mauro; De Cecco, Mariolino

    2012-01-01

    Computerized interfaces are able to represent 3D immersive simulations. Most of them make use of joystick, mouse, gloves, or grasp pressure transducers. Those have the drawback of 'filtering' the user interaction and/or de-locate the touch with respect to the visual stimulus. To overcome this we developed dexterity rehabilitation games on a novel touch interface that measures also force. The system allows dexterity training through 'direct' manipulation of virtual objects in 3D. Two dimensions via the touch screen, the third by the force channel. Tactile feedback is provided with a vibration device mounted on the screen back.

  3. Independent trapping and manipulation of microparticles using dexterous acoustic tweezers

    International Nuclear Information System (INIS)

    Courtney, Charles R. P.; Demore, Christine E. M.; Wu, Hongxiao; Cochran, Sandy; Grinenko, Alon; Wilcox, Paul D.; Drinkwater, Bruce W.

    2014-01-01

    An electronically controlled acoustic tweezer was used to demonstrate two acoustic manipulation phenomena: superposition of Bessel functions to allow independent manipulation of multiple particles and the use of higher-order Bessel functions to trap particles in larger regions than is possible with first-order traps. The acoustic tweezers consist of a circular 64-element ultrasonic array operating at 2.35 MHz which generates ultrasonic pressure fields in a millimeter-scale fluid-filled chamber. The manipulation capabilities were demonstrated experimentally with 45 and 90-μm-diameter polystyrene spheres. These capabilities bring the dexterity of acoustic tweezers substantially closer to that of optical tweezers

  4. Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities

    DEFF Research Database (Denmark)

    Wu, Guanglei

    2012-01-01

    parameters of the spherical parallel manipulator. The proposed approach is illustrated with the optimum design of a special spherical parallel manipulator with unlimited rolling motion. The corresponding optimization problem aims to maximize the kinematic and dynamic dexterities over its regular shaped...

  5. A redundant, 6-DOF parallel manipulator structure with improved workspace and dexterity

    International Nuclear Information System (INIS)

    Stoughton, R.S.; Salerno, R.; Canfield, S.; Reinholtz, C.

    1994-08-01

    This paper presents a novel manipulator structure which combines two known parallel manipulator structures--a Stewart Platform (SP), and a double octahedral Variable Geometry Truss (VGT). The combined VGT + SP structure is redundant, using nine actuators to realize six-DOF motion. Combining the two structures allows the translational and orientational workspaces of the two individual structures to sum together to a much larger workspace than is generally achievable with parallel manipulator structures. In addition, the VGT portion of the structure allows the configuration of the Stewart Platform to be changed ''on the fly'' from one with a large workspace to one with high dexterity. A useful application of this structure is at the distal end of a truss-based manipulator, where it can serve as a dexterous wrist while preserving an internal passageway for cabling and/or conveyance systems

  6. Control Framework for Dexterous Manipulation Using Dynamic Visual Servoing and Tactile Sensors’ Feedback

    Directory of Open Access Journals (Sweden)

    Carlos A. Jara

    2014-01-01

    Full Text Available Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.

  7. Combined long reach and dexterous manipulation for waste storage tank applications

    International Nuclear Information System (INIS)

    Burks, B.L.; Armstrong, G.A.; Butler, P.L.; Boissiere, P.

    1991-01-01

    One of the highest priority environmental restoration tasks within the Department of Energy (DOE) is the remediation of single-shell waste storage tanks (WSTs), especially those suspected of, or documented as, leakers. Most currently proposed approaches for remediation of large underground WSTs require application of remotely operated long-reach (greater than 10 m), high-lift capacity (greater than 200 kg) manipulator systems. Because of the complexity of in-tank hardware, waste forms, remediation tasks, and variety of end-effector tools, these manipulator systems must also be capable of performing a diverse set of dexterous manipulations. This presentation will describe the integration of a Spar RMS 2500 manipulator system, a Schilling Titan-7F manipulator, and control systems developed at ORNL and SNL to provide a combined long reach and dexterous manipulation system. The purpose of integrating these two manipulator systems was to study and demonstrate their combined performance, evaluate design requirements for a deployed system, and provide a testbed for control and end-effector technologies that might be applicable to remediation of WSTs. 5 refs

  8. EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation

    OpenAIRE

    Konnaris, C; Gavriel, C; Thomik, AAC; Aldo Faisal, A

    2016-01-01

    Our dexterous hand is a fundmanetal human feature that distinguishes us from other animals by enabling us to go beyond grasping to support sophisticated in-hand object manipulation. Our aim was the design of a dexterous anthropomorphic robotic hand that matches the human hand's 24 degrees of freedom, under-actuated by seven motors. With the ability to replicate human hand movements in a naturalistic manner including in-hand object manipulation. Therefore, we focused on the development of a no...

  9. Mind Your Grip: Even Usual Dexterous Manipulation Requires High Level Cognition

    Directory of Open Access Journals (Sweden)

    Erwan Guillery

    2017-11-01

    Full Text Available Simultaneous execution of cognitive and sensorimotor tasks is critical in daily life. Here, we examined whether dexterous manipulation, a highly habitual and seemingly automatic behavior, involves high order cognitive functions. Specifically, we explored the impact of reducing available cognitive resources on the performance of a precision grip-lift task in healthy participants of three age groups (18–30, 30–60 and 60–75 years. Participants performed a motor task in isolation (M, in combination with a low-load cognitive task (M + L, and in combination with a high-load cognitive task (M + H. The motor task consisted in grasping, lifting and holding an apparatus instrumented with force sensors to monitor motor task performance. In the cognitive task, a list of letters was shown briefly before the motor task. After completing the motor task, one letter of the list was shown, and participants reported the following letter of the list. In M + L, letters in the list followed the alphabetical order. In M + H, letters were presented in random order. Performing the high-load task thus required maintaining information in working memory. Temporal and dynamic parameters of grip and lift forces were compared across conditions. During the cognitive tasks, there was a significant alteration of movement initiation and a significant increase of grip force (GF throughout the grip-lift task. There was no interaction with “age”. Our results demonstrate that planning and the on-line control of dexterous manipulation is not an automatic behavior and, instead, that it interacts with high-level cognitive processes such as those involved in working memory.

  10. Fusion of Haptic and Gesture Sensors for Rehabilitation of Bimanual Coordination and Dexterous Manipulation

    Directory of Open Access Journals (Sweden)

    Ningbo Yu

    2016-03-01

    Full Text Available Disabilities after neural injury, such as stroke, bring tremendous burden to patients, families and society. Besides the conventional constrained-induced training with a paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fitting well with the fact that both arms are needed in common activities of daily living (ADLs, and can promote good functional recovery. In this work, the fusion of a gesture sensor and a haptic sensor with force feedback capabilities has enabled a bilateral rehabilitation training therapy. The Leap Motion gesture sensor detects the motion of the healthy hand, and the omega.7 device can detect and assist the paretic hand, according to the designed cooperative task paradigm, as much as needed, with active force feedback to accomplish the manipulation task. A virtual scenario has been built up, and the motion and force data facilitate instantaneous visual and audio feedback, as well as further analysis of the functional capabilities of the patient. This task-oriented bimanual training paradigm recruits the sensory, motor and cognitive aspects of the patient into one loop, encourages the active involvement of the patients into rehabilitation training, strengthens the cooperation of both the healthy and impaired hands, challenges the dexterous manipulation capability of the paretic hand, suits easy of use at home or centralized institutions and, thus, promises effective potentials for rehabilitation training.

  11. Fusion of Haptic and Gesture Sensors for Rehabilitation of Bimanual Coordination and Dexterous Manipulation.

    Science.gov (United States)

    Yu, Ningbo; Xu, Chang; Li, Huanshuai; Wang, Kui; Wang, Liancheng; Liu, Jingtai

    2016-03-18

    Disabilities after neural injury, such as stroke, bring tremendous burden to patients, families and society. Besides the conventional constrained-induced training with a paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fitting well with the fact that both arms are needed in common activities of daily living (ADLs), and can promote good functional recovery. In this work, the fusion of a gesture sensor and a haptic sensor with force feedback capabilities has enabled a bilateral rehabilitation training therapy. The Leap Motion gesture sensor detects the motion of the healthy hand, and the omega.7 device can detect and assist the paretic hand, according to the designed cooperative task paradigm, as much as needed, with active force feedback to accomplish the manipulation task. A virtual scenario has been built up, and the motion and force data facilitate instantaneous visual and audio feedback, as well as further analysis of the functional capabilities of the patient. This task-oriented bimanual training paradigm recruits the sensory, motor and cognitive aspects of the patient into one loop, encourages the active involvement of the patients into rehabilitation training, strengthens the cooperation of both the healthy and impaired hands, challenges the dexterous manipulation capability of the paretic hand, suits easy of use at home or centralized institutions and, thus, promises effective potentials for rehabilitation training.

  12. Anticipatory planning and control of grasp positions and forces for dexterous two-digit manipulation.

    Science.gov (United States)

    Fu, Qiushi; Zhang, Wei; Santello, Marco

    2010-07-07

    Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has never been addressed. Furthermore, the functional role of anticipatory modulation of digit placement to object properties remains to be investigated. We addressed these questions by asking human subjects (12 females, 12 males) to grasp and lift an inverted T-shaped object using precision grip at constrained or self-chosen locations. The task requirement was to minimize object roll during lift. When digit position was not constrained, subjects could have implemented many equally valid digit position-force coordination patterns. However, choice of digit placement might also have resulted in large trial-to-trial variability of digit position, hence challenging the extent to which the CNS could have relied on sensorimotor memories for anticipatory control of digit forces. We hypothesized that subjects would modulate digit placement for optimal force distribution and digit forces as a function of variable digit positions. All subjects learned to minimize object roll within the first three trials, and the unconstrained device was associated with significantly smaller grip forces but larger variability of digit positions. Importantly, however, digit load force modulation compensated for position variability, thus ensuring consistent object roll minimization on each trial. This indicates that subjects learned object manipulation by integrating sensorimotor memories with sensory feedback about digit positions. These results are discussed in the context of motor equivalence and sensorimotor integration of grasp kinematics and kinetics.

  13. Assessing the effects of manual dexterity and playing computer games on catheter-wire manipulation for inexperienced operators.

    Science.gov (United States)

    Alsafi, Z; Hameed, Y; Amin, P; Shamsad, S; Raja, U; Alsafi, A; Hamady, M S

    2017-09-01

    To investigate the effect of playing computer games and manual dexterity on catheter-wire manipulation in a mechanical aortic model. Medical student volunteers filled in a preprocedure questionnaire assessing their exposure to computer games. Their manual dexterity was measured using a smartphone game. They were then shown a video clip demonstrating renal artery cannulation and were asked to reproduce this. All attempts were timed. Two-tailed Student's t-test was used to compare continuous data, while Fisher's exact test was used for categorical data. Fifty students aged 18-22 years took part in the study. Forty-six completed the task at an average of 168 seconds (range 103-301 seconds). There was no significant difference in the dexterity score or time to cannulate the renal artery between male and female students. Students who played computer games for >10 hours per week had better dexterity scores than those who did not play computer games: 9.1 versus 10.2 seconds (p=0.0237). Four of 19 students who did not play computer games failed to complete the task, while all of those who played computer games regularly completed the task (p=0.0168). Playing computer games is associated with better manual dexterity and ability to complete a basic interventional radiology task for novices. Copyright © 2017 The Royal College of Radiologists. Published by Elsevier Ltd. All rights reserved.

  14. Effects of transcranial direct current stimulation on the control of finger force during dexterous manipulation in healthy older adults.

    Directory of Open Access Journals (Sweden)

    Pranav J Parikh

    Full Text Available The contribution of poor finger force control to age-related decline in manual dexterity is above and beyond ubiquitous behavioral slowing. Altered control of the finger forces can impart unwanted torque on the object affecting its orientation, thus impairing manual performance. Anodal transcranial direct current stimulation (tDCS over primary motor cortex (M1 has been shown to improve the performance speed on manual tasks in older adults. However, the effects of anodal tDCS over M1 on the finger force control during object manipulation in older adults remain to be fully explored. Here we determined the effects of anodal tDCS over M1 on the control of grip force in older adults while they manipulated an object with an uncertain mechanical property. Eight healthy older adults were instructed to grip and lift an object whose contact surfaces were unexpectedly made more or less slippery across trials using acetate and sandpaper surfaces, respectively. Subjects performed this task before and after receiving anodal or sham tDCS over M1 on two separate sessions using a cross-over design. We found that older adults used significantly lower grip force following anodal tDCS compared to sham tDCS. Friction measured at the finger-object interface remained invariant after anodal and sham tDCS. These findings suggest that anodal tDCS over M1 improved the control of grip force during object manipulation in healthy older adults. Although the cortical networks for representing objects and manipulative actions are complex, the reduction in grip force following anodal tDCS over M1 might be due to a cortical excitation yielding improved processing of object-specific sensory information and its integration with the motor commands for production of manipulative forces. Our findings indicate that tDCS has a potential to improve the control of finger force during dexterous manipulation in older adults.

  15. Hand-held multi-DOF robotic forceps for neurosurgery designed for dexterous manipulation in deep and narrow space.

    Science.gov (United States)

    Okubo, Takuro; Harada, Kanako; Fujii, Masahiro; Tanaka, Shinichi; Ishimaru, Tetsuya; Iwanaka, Tadashi; Nakatomi, Hirohumi; Sora, Sigeo; Morita, Akio; Sugita, Naohiko; Mitsuishi, Mamoru

    2014-01-01

    Neurosurgical procedures require precise and dexterous manipulation of a surgical suture in narrow and deep spaces in the brain. This is necessary for surgical tasks such as the anastomosis of microscopic blood vessels and dura mater suturing. A hand-held multi-degree of freedom (DOF) robotic forceps was developed to aid the performance of such difficult tasks. The diameter of the developed robotic forceps is 3.5 mm, and its tip has three DOFs, namely, bending, rotation, and grip. Experimental results showed that the robotic forceps had an average needle insertion force of 1.7 N. Therefore, an increase in the needle insertion force is necessary for practical application of the developed device.

  16. Surrogate: A Body-Dexterous Mobile Manipulation Robot with a Tracked Base

    Science.gov (United States)

    Kennedy, Brett A. (Inventor); Hebert, Paul (Inventor); Ma, Jeremy C. (Inventor); Borders, James W. (Inventor); Bergh, Charles F. (Inventor); Hudson, Nicolas H. (Inventor)

    2018-01-01

    Robotics platforms in accordance with various embodiments of the invention can be utilized to implement highly dexterous robots capable of whole body motion. Robotics platforms in accordance with one embodiment of the invention include: a memory containing a whole body motion application; a spine, where the spine has seven degrees of freedom and comprises a spine actuator and three spine elbow joints that each include two spine joint actuators; at least one limb, where the at least one limb comprises a limb actuator and three limb elbow joints that each include two limb joint actuators; a tracked base; a connecting structure that connects the at least one limb to the spine; a second connecting structure that connects the spine to the tracked base; wherein the processor is configured by the whole body motion application to move the at least one limb and the spine to perform whole body motion.

  17. Dexterous robotic manipulation of alert adult Drosophila for high-content experimentation.

    Science.gov (United States)

    Savall, Joan; Ho, Eric Tatt Wei; Huang, Cheng; Maxey, Jessica R; Schnitzer, Mark J

    2015-07-01

    We present a robot that enables high-content studies of alert adult Drosophila by combining operations including gentle picking; translations and rotations; characterizations of fly phenotypes and behaviors; microdissection; or release. To illustrate, we assessed fly morphology, tracked odor-evoked locomotion, sorted flies by sex, and dissected the cuticle to image neural activity. The robot's tireless capacity for precise manipulations enables a scalable platform for screening flies' complex attributes and behavioral patterns.

  18. Development of a dexterous manipulator system with redundant degrees of freedom

    International Nuclear Information System (INIS)

    Senoh, M.; Suzuki, M.; Tsuchita, K.; Kamimura, H.; Fujii, M.; Otsu, M.

    1987-01-01

    To keep plant availability as high as possible, more flexible and higher performance robots are desirable. At the same time, lower radiation exposures to operating personnel can be achieved by employing more sophisticated robotic systems. A new maintenance system has been proposed to realize consecutive disassembling and inspecting tasks by a robotic approach. The maintenance system includes three subsystems: a subsystem for the minor disassembling operations in the field; a transportation subsystem, which carries disassembled machines or components from the place where they were installed to a maintenance shop; and a subsystem for consecutive disassembling and grooming operations. Of these three subsystems, the maintenance robot for the first is the most challenging, and much development work is needed in the area of maneuverability in narrow spaces and obstacle avoidance ability. A master/slave-type manipulator with redundant degrees of freedom, mounted on a vehicle that travels along a spatially located railway, has been developed

  19. Early Childhood Math: Make It Manipulative!

    Science.gov (United States)

    Stone, Janet I.

    1987-01-01

    Maintains that early childhood teachers should provide young children with creative, stimulating, and manipulative (hands-on) experiences rather than workbook pages in early mathematics programs. Presents reasons and corresponding counterpositions for using workbooks and suggests sample activities which teachers can use to make mathematics more…

  20. Advanced dexterous manipulation for IED defeat : report on the feasibility of using the ShadowHand for remote operations.

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J.

    2011-01-01

    Improvised Explosive Device (IED) defeat (IEDD) operations can involve intricate operations that exceed the current capabilities of the grippers on board current bombsquad robots. The Shadow Dexterous Hand from the Shadow Robot Company or 'ShadowHand' for short (www.shadowrobot.com) is the first commercially available robot hand that realistically replicates the motion, degrees-of-freedom and dimensions of a human hand (Figure 1). In this study we evaluate the potential for the ShadowHand to perform potential IED defeat tasks on a mobile platform.

  1. Market making vs. market manipulation : an Alberta perspective

    International Nuclear Information System (INIS)

    Johnston, P.M.

    1998-01-01

    The Alberta Stock Exchange's (ASE's) filing and disclosure requirements for market making and promotion contracts are outlined. The discussion focuses on the differences between market making and market manipulation, acceptable and unacceptable methods of market making and promotion and common trading and securities legislation violations associated with these types of activities

  2. Dexterity: A MATLAB-based analysis software suite for processing and visualizing data from tasks that measure arm or forelimb function.

    Science.gov (United States)

    Butensky, Samuel D; Sloan, Andrew P; Meyers, Eric; Carmel, Jason B

    2017-07-15

    Hand function is critical for independence, and neurological injury often impairs dexterity. To measure hand function in people or forelimb function in animals, sensors are employed to quantify manipulation. These sensors make assessment easier and more quantitative and allow automation of these tasks. While automated tasks improve objectivity and throughput, they also produce large amounts of data that can be burdensome to analyze. We created software called Dexterity that simplifies data analysis of automated reaching tasks. Dexterity is MATLAB software that enables quick analysis of data from forelimb tasks. Through a graphical user interface, files are loaded and data are identified and analyzed. These data can be annotated or graphed directly. Analysis is saved, and the graph and corresponding data can be exported. For additional analysis, Dexterity provides access to custom scripts created by other users. To determine the utility of Dexterity, we performed a study to evaluate the effects of task difficulty on the degree of impairment after injury. Dexterity analyzed two months of data and allowed new users to annotate the experiment, visualize results, and save and export data easily. Previous analysis of tasks was performed with custom data analysis, requiring expertise with analysis software. Dexterity made the tools required to analyze, visualize and annotate data easy to use by investigators without data science experience. Dexterity increases accessibility to automated tasks that measure dexterity by making analysis of large data intuitive, robust, and efficient. Copyright © 2017 Elsevier B.V. All rights reserved.

  3. Increasing The Dexterity Of Redundant Robots

    Science.gov (United States)

    Seraji, Homayoun

    1990-01-01

    Redundant coordinates used to define additional tasks. Configuration control emerging as effective way to control motions of robot having more degrees of freedom than necessary to define trajectory of end effector and/or of object to be manipulated. Extra or redundant degrees of freedom used to give robot humanlike dexterity and versatility.

  4. How to Make the Most of Math Manipulatives.

    Science.gov (United States)

    Burns, Marilyn

    1996-01-01

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

  5. Dexter energy transfer pathways.

    Science.gov (United States)

    Skourtis, Spiros S; Liu, Chaoren; Antoniou, Panayiotis; Virshup, Aaron M; Beratan, David N

    2016-07-19

    Energy transfer with an associated spin change of the donor and acceptor, Dexter energy transfer, is critically important in solar energy harvesting assemblies, damage protection schemes of photobiology, and organometallic opto-electronic materials. Dexter transfer between chemically linked donors and acceptors is bridge mediated, presenting an enticing analogy with bridge-mediated electron and hole transfer. However, Dexter coupling pathways must convey both an electron and a hole from donor to acceptor, and this adds considerable richness to the mediation process. We dissect the bridge-mediated Dexter coupling mechanisms and formulate a theory for triplet energy transfer coupling pathways. Virtual donor-acceptor charge-transfer exciton intermediates dominate at shorter distances or higher tunneling energy gaps, whereas virtual intermediates with an electron and a hole both on the bridge (virtual bridge excitons) dominate for longer distances or lower energy gaps. The effects of virtual bridge excitons were neglected in earlier treatments. The two-particle pathway framework developed here shows how Dexter energy-transfer rates depend on donor, bridge, and acceptor energetics, as well as on orbital symmetry and quantum interference among pathways.

  6. Travelling with Dexter Kozen

    NARCIS (Netherlands)

    van Emde Boas, P.; Constable, R.L.; Silva, A.

    2012-01-01

    Aside from our shared interest in particular areas of Theoretical Computer Science, the experience I share with Dexter Kozen originates from the fact that we both belong to the not too large group of Theoreticiancs who during the late 1970-ies and early 1980-ies frequently crossed the Iron Curtain

  7. Manipulators

    International Nuclear Information System (INIS)

    Wilcock, P.D.

    1984-01-01

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

  8. Bio-inspired mechanical design of a tendon-driven dexterous prosthetic hand.

    Science.gov (United States)

    Controzzi, Marco; Cipriani, Christian; Jehenne, Beryl; Donati, Marco; Carrozza, Maria Chiara

    2010-01-01

    This paper presents the preliminary design of a new dexterous upper-limb prosthesis provided with a novel anthropomorphic hand, a compact wrist based on bevel gears and a modular forearm able to cover different levels of upper-limb amputations. The hand has 20 DoFs and 11 motors, with a dexterous three fingered subsystem composed by a fully actuated thumb, and an hybrid index and middle fingers to enable dexterous manipulation and enhance grasp performance.

  9. Control System Design of the YWZ Multi-Fingered Dexterous Hand

    Directory of Open Access Journals (Sweden)

    Wenzhen Yang

    2012-07-01

    Full Text Available The manipulation abilities of a multi-fingered dexterous hand, such as motion in real-time, flexibility, grasp stability etc., are largely dependent on its control system. This paper developed a control system for the YWZ dexterous hand, which had five fingers and twenty degrees of freedom (DOFs. All of the finger joints of the YWZ dexterous handwere active joints driven by twenty micro-stepper motors respectively. The main contribution of this paper was that we were able to use stepper motor control to actuate the hand's fingers, thus, increasing the hands feasibility. Based the actuators of the YWZ dexterous hand, we firstly developed an integrated circuit board (ICB, which was the communication hardware between the personal computer (PC and the YWZ dexterous hand. The ICB included a centre controller, twenty driver chips, a USB port and other electrical parts. Then, a communication procedure between the PC and the ICB was developed to send the control commands to actuate the YWZ dexterous hand. Experiment results showed that under this control system, the motion of the YWZ dexterous hand was real-time; both the motion accuracy and the motion stability of the YWZ dexterous hand were reliable. Compared with other types of actuators related to dexterous hands, such as pneumatic servo cylinder, DC servo motor, shape memory alloy etc., experiment results verified that the stepper motors as actuators for the dexterous handswere effective, economical, controllable and stable.

  10. Manipulators

    International Nuclear Information System (INIS)

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

    2005-01-01

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

  11. Sensing human hand motions for controlling dexterous robots

    Science.gov (United States)

    Marcus, Beth A.; Churchill, Philip J.; Little, Arthur D.

    1988-01-01

    The Dexterous Hand Master (DHM) system is designed to control dexterous robot hands such as the UTAH/MIT and Stanford/JPL hands. It is the first commercially available device which makes it possible to accurately and confortably track the complex motion of the human finger joints. The DHM is adaptable to a wide variety of human hand sizes and shapes, throughout their full range of motion.

  12. Compact Dexterous Robotic Hand

    Science.gov (United States)

    Lovchik, Christopher Scott (Inventor); Diftler, Myron A. (Inventor)

    2001-01-01

    A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.

  13. Physics Based Vision Systems for Robotic Manipulation

    Data.gov (United States)

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

  14. Make-or-buy decisions and the manipulability of performance measures

    OpenAIRE

    Andersson, Fredrik

    2009-01-01

    Abstract in Undetermined The make-or-buy decision is analyzed in a simple framework combining contractual incompleteness with the existence of an imperfect but contractible performance measure. Contractual incompleteness gives rise to two regimes, identified with make and buy. The performance measure on which comprehensive contracts can be written is imperfect in the sense of being subject to manipulation. The performance incentives faced by the agent are stronger in the “buy” regime. A posit...

  15. Making Sense with Manipulatives: Developing Mathematical Experiences for Early Childhood Teachers

    OpenAIRE

    Furman, Cara E.

    2017-01-01

    This paper is premised on the fact that math can be an important tool in helping people make sense of the world. Math offers a unique and particular lens, helping people to focus on a range of characteristics from shape and amount to the relationship between the general and the particular. To promote math as a tool for making sense, early childhood math instruction ought to teach it in a manner that helps children make sense of mathematical concepts. Specifically, I argue here that manipul...

  16. Manual dexterity aptitude testing: a soap carving study.

    Science.gov (United States)

    Tang, Christopher G; Hilsinger, Raymond L; Cruz, Raul M; Schloegel, Luke J; Byl, Fred M; Rasgon, Barry M

    2014-03-01

    Currently there are few validated metrics for predicting surgical skill among otolaryngology residency applicants. To determine whether manual dexterity aptitude testing in the form of soap carving during otolaryngology residency interviews at Kaiser Permanente Medical Center Oakland predicts surgical skill at the time of graduation from otolaryngology residency programs. This study was conducted to determine how applicants with the best and worst soap carvings compared at the time of graduation with respect to various metrics including visuospatial ability and manual dexterity. Over the last 25 years, applicants to the residency program at Kaiser Permanente Oakland were required to carve soap during their residency interview. The 3 best and 3 worst soap carvings from 1990 through 2006 were determined. Of the individuals who carved those soaps, 62 qualified for the study and matriculated into otolaryngology residency programs. Surveys were sent to the 62 individuals' residency programs to evaluate those individuals on a 5-point Likert scale in various categories as well as to rank those individuals as being in the top 50% or bottom 50% of their graduating class. All else being equal, we hypothesized that applicants who had the manual dexterity and visuospatial skills to accurately carve a bar of soap would more likely possess the skills necessary to become a good surgeon. There was no difference between individuals with the best soap carvings and those with the worst soap carvings in all categories: cognitive knowledge, visuospatial ability, manual dexterity, decision making, and overall score (P > .10 for all categories). There was a 95% response rate, with 35 of 37 residency programs responding and 59 of 62 surveys returned. Manual dexterity aptitude testing in the form of soap carving does not appear to correlate with surgical skill at the time of graduation. Further studies need to be conducted to determine the role of manual dexterity and visuospatial

  17. Automation of motor dexterity assessment.

    Science.gov (United States)

    Heyer, Patrick; Castrejon, Luis R; Orihuela-Espina, Felipe; Sucar, Luis Enrique

    2017-07-01

    Motor dexterity assessment is regularly performed in rehabilitation wards to establish patient status and automatization for such routinary task is sought. A system for automatizing the assessment of motor dexterity based on the Fugl-Meyer scale and with loose restrictions on sensing technologies is presented. The system consists of two main elements: 1) A data representation that abstracts the low level information obtained from a variety of sensors, into a highly separable low dimensionality encoding employing t-distributed Stochastic Neighbourhood Embedding, and, 2) central to this communication, a multi-label classifier that boosts classification rates by exploiting the fact that the classes corresponding to the individual exercises are naturally organized as a network. Depending on the targeted therapeutic movement class labels i.e. exercises scores, are highly correlated-patients who perform well in one, tends to perform well in related exercises-; and critically no node can be used as proxy of others - an exercise does not encode the information of other exercises. Over data from a cohort of 20 patients, the novel classifier outperforms classical Naive Bayes, random forest and variants of support vector machines (ANOVA: p home-based virtual rehabilitation and telerehabilitation alternatives.

  18. Designing Dexter-based cooperative hypermedia systems

    DEFF Research Database (Denmark)

    Grønbæk, Kaj; Madsen, Ole Lehrmann; Sloth, Lennard

    1993-01-01

    This paper discusses issues for the design of a Dexter-based cooperative hypermedia architecture and a specific system, DeVise Hypermedia (DHM), developed from this architecture. The Dexter Hypertext Reference Model [Hala90] was used as basis for designing the architecture. The Dexter model...... provides a general and solid foundation for designing a general hypermedia architecture. It introduces central concepts and proposes a layering of the architecture. However, to handle cooperative work aspects, such as sharing material and cooperative authoring, we have to go beyond the Dexter model...... concepts. To deal with such aspects we have extended our implementation of the Dexter concepts with support for long-term transactions, locking and event notification as called for by Halasz [Hala88]. The result is a platform independent architecture for developing cooperative hypermedia systems...

  19. To Dexter - A Tribute from Aarhus

    DEFF Research Database (Denmark)

    Schmidt, Erik Meineche; Skyum, Sven; Nielsen, Mogens

    2012-01-01

    At Aarhus University, we consider Dexter to be one of our oldest and best friends and colleagues. Dexter has visited our Department of Computer Science as a guest professor twice, first in 1981–1982 and again, exactly 10 years later, in 1991–1992. Both visits were immensely successful and laid...... the ground for continued cooperation during the following years. Dexter made numerous shorter visits to the department, and he served with great enthusiasm and competence on the advisory board for BRICS (Basic Research in Computer Science) Research Center and international PhD-School. BRICS covered both...... “Track A and B” activities (Algorithmics and Semantics), and as such Dexter was the ideal adviser. Looking back, we pay tribute to Dexter for his many contributions to computer science in Aarhus over a period of more than thirty years....

  20. An Exploration of Dual Systems via Time Pressure Manipulation in Decision-making Problems

    Science.gov (United States)

    Guo, Lisa

    Every day, decisions need to be made where time is a limiting factor. Regardless of situation, time constraints often place a premium on rapid decision-making. Researchers have been interested in studying this human behavior and understanding its underlying cognitive processes. In previous studies, scientists have believed that the cognitive processes underlying decision-making behavior were consistent with dual-process modes of thinking. Critics of dual-process theory question the vagueness of its definition, and claim that single-process accounts can explain the data just as well. My aim is to elucidate the cognitive processes that underlie decisions which involve some level of risk through the experimental manipulation of time pressure. Using this method, I hope to distinguish between competing hypotheses related to the origin of the effect. I will explore three types of decisions that illustrate these concepts: risky decision-making involving gambles, intertemporal choice, and one-shot public goods games involving social cooperation. In our experiments, participants made decisions about gambles framed as either gains or losses; decided upon intertemporal choices for smaller but sooner rewards or larger but later rewards; and played a one-shot public goods game involving social cooperation and contributing an amount of money to a group. In each case, we experimentally manipulated time pressure, either within subjects or among individuals. Results showed under time pressure, increased framing effects under in both hypothetical and incentivized choices; and greater contributions and cooperation among individuals, lending support to the dual process hypothesis that these effects arise from a fast, intuitive system. However, our intertemporal choice experiment showed that time constraints led to increased selection of the larger but later options, which suggests that the magnitude of the reward may play larger role in choice selection under cognitive load than

  1. Manipulators in teleoperation

    International Nuclear Information System (INIS)

    Hamel, W.R.

    1985-01-01

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

  2. MoveBots - Flexible Object Handling using Dexterous Grippers

    DEFF Research Database (Denmark)

    Jørgensen, Jimmy Alison

    .This dissertation present work that focus on increasing flexibility ofrobotic grasping by using simulation tools, dexterous hands and tactile sensors.The work is centered on development of tools and methods for graspplanning, analysis and simulation.Overall the research contributes with valuable tools......Within recent years there has been an increased focus in flexible automationin industrial production. This focus is strongly related to the demandfor small product batches and individually customized products. To enablesuch flexibility large machinery is exchanged or upgraded with high degreeof...... freedom robot manipulators. These manipulators are programmable andmultipurpose and often only limited by their gripper systems. These limitationsare significant since the design and flexibility of the gripper determineswhich objects the system can handle.Current gripper systems are typically simple...

  3. What Makes Mathematics Manipulatives Effective? Lessons From Cognitive Science and Montessori Education

    Directory of Open Access Journals (Sweden)

    Elida V. Laski

    2015-06-01

    Full Text Available Manipulatives are ubiquitous in early childhood classrooms; yet, findings regarding their efficacy for learning mathematics concepts are inconsistent. In this article, we present four general principles that have emerged from cognitive science about ways to ensure that manipulatives promote learning when used with young children. We also describe how Montessori instruction offers a concrete example of the application of these principles in practice, which may, in turn, explain the high levels of mathematics achievement among children who attend Montessori programs during early childhood. The general principles and concrete examples presented in this article should help early childhood programs maximize the benefits of using manipulatives for developmentally appropriate mathematics instruction.

  4. External laryngeal manipulation done by the laryngoscopist makes the best laryngeal view for intubation

    Directory of Open Access Journals (Sweden)

    Mohamed Shaaban Ali

    2014-01-01

    Full Text Available Purpose: External laryngeal manipulation (ELM is used to get better laryngeal view during direct laryngoscopy. This study was designed to test the hypothesis that ELM done by the intubating anesthetist (laryngoscopist offers the best laryngeal view for tracheal intubation. Materials and method: A total of 160 patients underwent different surgical procedures were included in this study. Percentage of glottic opening (POGO score and Cormack and Lehane scale were used as outcome measures for comparison between different laryngoscopic views. Four views were described; basic laryngoscopic view and then views after ELM done by the assistant, by the laryngoscopist and finally by the assistant after the guidance from the laryngoscopist respectively. The last three views compared with the basic laryngoscopic view. Results: ELM done by the laryngoscopist or by the assistant after guidance from the laryngoscopist showed significant improvement of Cormack grades and POGO scores compared with basic laryngoscopic view. Number of patients with Cormack grade1 increased from 39 after direct laryngoscopy to 97 and 96 patients (P < 0.001 by Fisher′s exact test, after ELM done by the laryngoscopist and that done by the assistant after guidance from the anesthetist respectively. Furthermore, the number of patients with POGO scores of 100% increased from 39 after direct laryngoscopy to 78 and 61 (P < 0.01 patients after ELM done by the laryngoscopist and that done by the assistant after guidance from the anesthetist respectively. Conclusion: It appeared from this study that ELM done by the anesthetist makes the best laryngeal view for tracheal intubation.

  5. Advanced Bimanual Manipulation Results from the DEXMART Project

    CERN Document Server

    2012-01-01

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

  6. Dexter: Data Extractor for scanned graphs

    Science.gov (United States)

    Demleitner, Markus

    2011-12-01

    The NASA Astrophysics Data System (ADS) now holds 1.3 million scanned pages, containing numerous plots and figures for which the original data sets are lost or inaccessible. The availability of scans of the figures can significantly ease the regeneration of the data sets. For this purpose, the ADS has developed Dexter, a Java applet that supports the user in this process. Dexter's basic functionality is to let the user manually digitize a plot by marking points and defining the coordinate transformation from the logical to the physical coordinate system. Advanced features include automatic identification of axes, tracing lines and finding points matching a template.

  7. Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators

    Science.gov (United States)

    Park, Yong-Lae; Black, Richard; Moslehi, Behzad; Cutkosky, Mark; Chau, Kelvin

    2012-01-01

    Force sensing is an essential requirement for dexterous robot manipulation, e.g., for extravehicular robots making vehicle repairs. Although strain gauges have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility including a high degree of multiplexibility, and immunity to electromagnetic noise. This invention is a force and deflection sensor a flexible shell formed with an elastomer having passageways formed by apertures in the shell, with an optical fiber having one or more Bragg gratings positioned in the passageways for the measurement of force and deflection.

  8. Making planned paths look more human-like in humanoid robot manipulation planning

    DEFF Research Database (Denmark)

    Zacharias, F.; Schlette, C.; Schmidt, F.

    2011-01-01

    It contradicts the human's expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm's target...... for the robot arm....

  9. Intelligent computational control of multi-fingered dexterous robotic hand

    OpenAIRE

    Chen, Disi; Li, Gongfa; Jiang, Guozhang; Fang, Yinfeng; Ju, Zhaojie; Liu, Honghai

    2015-01-01

    We discuss the intelligent computational control theory and introduce the hardware structure of HIT/DLR II dexterous robotic hand, which is the typical dexterous robotic hand. We show that how DSP or FPGA controller can be used in the dexterous robotic hand. A popular intelligent dexterous robotic hand control system, which named Electromyography (EMG) control is investigated. We introduced some mathematical algorithms in EMG controlling, such as Gauss mixture model (GMM), artificial neural n...

  10. SERIAL TELEVISI DEXTER SEBAGAI ANAKRONISME DALAM SASTRA POPULER

    OpenAIRE

    Ida Rochani Adi

    2014-01-01

    In the popular literature context, this study aims to investigate: (1) how the formulation of the characterization of Dexter in the television serial Dexter violates the tradition of literary characterization, and (2) how the formula of moral values is dramatized through Dexter, who is a sociopath, psychopath, serial killer, and person without moral. The research object was the television serial Dexter, which ranks five in popularity in the world. The data were collected by documenting 84 epi...

  11. Task specificity of finger dexterity tests

    NARCIS (Netherlands)

    Berger, M.A.M.; Krul, A.; Daanen, H.A.M.

    2009-01-01

    Finger dexterity tests are generally used to assess performance decrease due to gloves, cold and pathology. It is generally assumed that the O’Connor and Purdue Pegboard test yield similar results. In this experiment we compared these two tests for dry conditions without gloves, and for dry and wet

  12. Task specificity of finger dexterity tests

    NARCIS (Netherlands)

    Berger, M.A.M.; Krul, A.J.; Daanen, H.A.M.

    2009-01-01

    Finger dexterity tests are generally used to assess performance decrease due to gloves, cold and pathology. It is generally assumed that the O'Connor and Purdue Pegboard test yield similar results. In this experiment we compared these two tests for dry conditions without gloves, and for dry and wet

  13. Combined motor point associative stimulation (MPAS) and transcranial direct current stimulation (tDCS) improves plateaued manual dexterity performance.

    Science.gov (United States)

    Hoseini, Najmeh; Munoz-Rubke, Felipe; Wan, Hsuan-Yu; Block, Hannah J

    2016-10-28

    Motor point associative stimulation (MPAS) in hand muscles is known to modify motor cortex excitability and improve learning rate, but not plateau of performance, in manual dexterity tasks. Central stimulation of motor cortex, such as transcranial direct current stimulation (tDCS), can have similar effects if accompanied by motor practice, which can be difficult and tiring for patients. Here we asked whether adding tDCS to MPAS could improve manual dexterity in healthy individuals who are already performing at their plateau, with no motor practice during stimulation. We hypothesized that MPAS could provide enough coordinated muscle activity to make motor practice unnecessary, and that this combination of stimulation techniques could yield improvements even in subjects at or near their peak. If so, this approach could have a substantial effect on patients with impaired dexterity, who are far from their peak. MPAS was applied for 30min to two right hand muscles important for manual dexterity. tDCS was simultaneously applied over left sensorimotor cortex. The motor cortex input/output (I/O) curve was assessed with transcranial magnetic stimulation (TMS), and manual dexterity was assessed with the Purdue Pegboard Test. Compared to sham or cathodal tDCS combined with MPAS, anodal tDCS combined with MPAS significantly increased the plateau of manual dexterity. This result suggests that MPAS has the potential to substitute for motor practice in mediating a beneficial effect of tDCS on manual dexterity. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

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

    International Nuclear Information System (INIS)

    Vertut, Jean

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

  15. Making Sense with Manipulatives: Developing Mathematical Experiences for Early Childhood Teachers

    Science.gov (United States)

    Furman, Cara E.

    2017-01-01

    This paper is premised on the fact that math can be an important tool in helping people make sense of the world. Math offers a unique and particular lens, helping people to focus on a range of characteristics from shape and amount to the relationship between the general and the particular. To promote math as a tool for making sense, early…

  16. Cor triatriatum dexter in a dog

    International Nuclear Information System (INIS)

    Brayley, K.A.; Lunney, J.; Ettinger, S.J.

    1994-01-01

    A six-year-old, spayed, female German shepherd dog cross was evaluated for distention of the caudal vena cava. Differential diagnoses included right heart defects and Budd-Chiari type lesions. Radiography, echocardiography, cardiac catheterization, and angiography demonstrated cor triatriatum dexter. This rare congenital anomaly of the right atrium has been described previously in veterinary patients with a right heart failure syndrome. This dog was asymptomatic, therefore, surgical correction was not undertaken

  17. An Exploration of Dual Systems via Time Pressure Manipulation in Decision-making Problems

    OpenAIRE

    Guo, Lisa

    2017-01-01

    Every day, decisions need to be made where time is a limiting factor. Regardless of situation, time constraints often place a premium on rapid decision-making. Researchers have been interested in studying this human behavior and understanding its underlying cognitive processes. In previous studies, scientists have believed that the cognitive processes underlying decision-making behavior were consistent with dual-process modes of thinking. Critics of dual-process theory question the vagueness ...

  18. The manipulative skill: Cognitive devices and their neural correlates underlying Machiavellian's decision making.

    Science.gov (United States)

    Bereczkei, Tamas

    2015-10-01

    Until now, Machiavellianism has mainly been studied in personality and social psychological framework, and little attention has been paid to the underlying cognitive and neural equipment. In light of recent findings, Machiavellian social skills are not limited to emotion regulation and "cold-mindedness" as many authors have recently stated, but linked to specific cognitive abilities. Although Machiavellians appear to have a relatively poor mindreading ability and emotional intelligence, they can efficiently exploit others which is likely to come from their flexible problem solving processes in changing environmental circumstances. The author proposed that Machiavellians have specialized cognitive domains of decision making, such as monitoring others' behavior, task orientation, reward seeking, inhibition of cooperative feelings, and choosing victims. He related the relevant aspects of cognitive functions to their neurological substrates, and argued why they make Machiavellians so successful in interpersonal relationships. Copyright © 2015 Elsevier Inc. All rights reserved.

  19. Manipulator Performance Evaluation Using Fitts' Taping Task

    Energy Technology Data Exchange (ETDEWEB)

    Draper, J.V.; Jared, B.C.; Noakes, M.W.

    1999-04-25

    Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperated manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a point estimate and (2) being widely used in the past for human and servomanipulator dexterity tests. Results of testing using this task may, therefore, allow comparison with other manipulators, and is generically representative of a broad class of tasks. Results of the testing indicate that the ATOM manipulator is capable of performing the task. Force reflection had a negative impact on task efficiency in these data. This was most likely caused by the high resistance to movement the master controller exhibited with the force reflection engaged. Measurements of exerted forces were not made, so it is not possible to say whether the force reflection helped

  20. Edwin Grant Dexter: an early researcher in human behavioral biometeorology

    Science.gov (United States)

    Stewart, Alan E.

    2015-06-01

    Edwin Grant Dexter (1868-1938) was one of the first researchers to study empirically the effects of specific weather conditions on human behavior. Dexter (1904) published his findings in a book, Weather influences. The author's purposes in this article were to (1) describe briefly Dexter's professional life and examine the historical contexts and motivations that led Dexter to conduct some of the first empirical behavioral biometeorological studies of the time, (2) describe the methods Dexter used to examine weather-behavior relationships and briefly characterize the results that he reported in Weather influences, and (3) provide a historical analysis of Dexter's work and assess its significance for human behavioral biometeorology. Dexter's Weather influences, while demonstrating an exemplary approach to weather, health, and behavior relationships, came at the end of a long era of such studies, as health, social, and meteorological sciences were turning to different paradigms to advance their fields. For these reasons, Dexter's approach and contributions may not have been fully recognized at the time and are, consequently, worthy of consideration by contemporary biometeorologists.

  1. A structured review of spinal stiffness as a kinesiological outcome of manipulation: its measurement and utility in diagnosis, prognosis and treatment decision-making.

    Science.gov (United States)

    Snodgrass, Suzanne J; Haskins, Robin; Rivett, Darren A

    2012-10-01

    To review and discuss the methods used for measuring spinal stiffness and factors associated with stiffness, how stiffness is used in diagnosis, prognosis, and treatment decision-making and the effects of manipulative techniques on stiffness. A systematic search of MEDLINE, EMBASE, CINAHL, AMED and ICL databases was conducted. Included studies addressed one of four constructs related to stiffness: measurement, diagnosis, prognosis and/or treatment decision-making, and the effects of manipulation on stiffness. Spinal stiffness was defined as the relationship between force and displacement. One hundred and four studies are discussed in this review, with the majority of studies focused on the measurement of stiffness, most often in asymptomatic persons. Eight studies investigated spinal stiffness in diagnosis, providing limited evidence that practitioner-judged stiffness is associated with radiographic findings of sagittal rotational mobility. Fifteen studies investigated spinal stiffness in prognosis or treatment decision-making, providing limited evidence that spinal stiffness is unlikely to independently predict patient outcomes, though stiffness may influence a practitioner's application of non-thrust manipulative techniques. Nine studies investigating the effects of manipulative techniques on spinal stiffness provide very limited evidence that there is no change in spinal stiffness following thrust or non-thrust manipulation in asymptomatic individuals and non-thrust techniques in symptomatic persons, with only one study supporting an immediate, but not sustained, stiffness decrease following thrust manipulation in symptomatic individuals. The existing limited evidence does not support an association between spinal stiffness and manipulative treatment outcomes. There is a need for additional research investigating the effects of manipulation on spinal stiffness in persons with spinal pain. Copyright © 2012 Elsevier Ltd. All rights reserved.

  2. CLIMAN - a mobile manipulator concept

    International Nuclear Information System (INIS)

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

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

  3. Treatment of singultus by sexual stimulation: Who was George T Dexter, MD (c1812-?)?

    Science.gov (United States)

    Petroianu, Georg A

    2016-05-01

    This short report attempts to shed light on the interesting but controversial personality of George T Dexter (ca1812 -?), the physician who first described manipulation of the female genitalia in a hysterical impressionable girl as being associated with the termination of singultus. Although his interaction with the young female patient would not meet today's ethical standards, his medical observation was valid and contributes to our understanding of the pathophysiology of singultus. He was well ahead of his colleagues who presented hiccup therapy case reports with similar or related pathophysiology mechanisms some 150 years later. © IMechE 2014.

  4. Sofrimento psíquico na perversão: o caso dexter El sufrimiento psíquico en la perversión: el caso dexter Psychic suffering in perversion: the dexter affair

    Directory of Open Access Journals (Sweden)

    Fábio Roberto Rodrigues Belo

    2012-09-01

    por medio de la violencia.The analysis of the fictional character Dexter makes it possible to construct metapsychological hypotheses about the origins of perversion. The perverse position in this case is caused by the strong presence of violence at the psychic subject's origin. Dexter expresses the suffered abandonment by acting-out, the serial murders, trying to reverse the state of passivity in which he is. Dexter's anxiety can be organized in two distinct ways: The first is conscious, supported by his father, Harry, who teaches him how not to leave traces of his crimes. The second way is unconscious and translates the desire of subject the other to pain, allowing the perverse, through projective identification, to enjoy the suffering he causes, being remitted to his originary experiences of subjection. We conclude that in perversion, anxiety is not only present but is also constitutive of subject's choice to operate through the path of violence.

  5. Tactile Sensing for Dexterous Robotic Hands

    Science.gov (United States)

    Martin, Toby B.

    2000-01-01

    Robotic systems will be used as precursors to human exploration to explore the solar system and expand our knowledge of planetary surfaces. Robotic systems will also be used to build habitats and infrastructure required for human presence in space and on other planetary surfaces . Such robots will require a high level of intelligence and automation. The ability to flexibly manipulate their physical environment is one characteristic that makes humans so effective at these building and exploring tasks . The development of a generic autonomous grasp ing capability will greatly enhance the efficiency and ability of robotics to build, maintain and explore. To tele-operate a robot over vast distances of space, with long communication delays, has proven to be troublesome. Having an autonomous grasping capability that can react in real-time to disturbances or adapt to generic objects, without operator intervention, will reduce the probability of mishandled tools and samples and reduce the number of re-grasp attempts due to dropping. One aspect that separates humans from machines is a rich sensor set. We have the ability to feel objects and respond to forces and textures. The development of touch or tactile sensors for use on a robot that emulates human skin and nerves is the basis for this discussion. We will discuss the use of new piezo-electric and resistive materials that have emerged on the market with the intention of developing a touch sensitive sensor. With viable tacti le sensors we will be one step closer to developing an autonomous grasping capability.

  6. SERIAL TELEVISI DEXTER SEBAGAI ANAKRONISME DALAM SASTRA POPULER

    Directory of Open Access Journals (Sweden)

    Ida Rochani Adi

    2014-06-01

    Full Text Available In the popular literature context, this study aims to investigate: (1 how the formulation of the characterization of Dexter in the television serial Dexter violates the tradition of literary characterization, and (2 how the formula of moral values is dramatized through Dexter, who is a sociopath, psychopath, serial killer, and person without moral. The research object was the television serial Dexter, which ranks five in popularity in the world. The data were collected by documenting 84 episodes of the serial having been broadcast since 2006. They were analyzed by means of content analysis and qualitative descriptive techniques. Based on the findings, the conclusions are as follows. First, there is a violation or anachronism of characterization through the main character in the serial. Second, the dramatized moral values still contain conventional values although they are in different forms.

  7. Manual Dexterity in Schizophrenia—A Neglected Clinical Marker?

    Directory of Open Access Journals (Sweden)

    Maxime Térémetz

    2017-07-01

    Full Text Available Impaired manual dexterity is commonly observed in schizophrenia. However, a quantitative description of key sensorimotor components contributing to impaired dexterity is lacking. Whether the key components of dexterity are differentially affected and how they relate to clinical characteristics also remains unclear. We quantified the degree of dexterity in 35 stabilized patients with schizophrenia and in 20 age-matched control subjects using four visuomotor tasks: (i force tracking to quantify visuomotor precision, (ii sequential finger tapping to measure motor sequence recall, (iii single-finger tapping to assess temporal regularity, and (iv multi-finger tapping to measure independence of finger movements. Diverse clinical and neuropsychological tests were also applied. A patient subgroup (N = 15 participated in a 14-week cognitive remediation protocol and was assessed before and after remediation. Compared to control subjects, patients with schizophrenia showed greater error in force tracking, poorer recall of tapping sequences, decreased tapping regularity, and reduced degree of finger individuation. A composite performance measure discriminated patients from controls with sensitivity = 0.79 and specificity = 0.9. Aside from force-tracking error, no other dexterity components correlated with antipsychotic medication. In patients, some dexterity components correlated with neurological soft signs, Positive and Negative Syndrome Scale (PANSS, or neuropsychological scores. This suggests differential cognitive contributions to these components. Cognitive remediation lead to significant improvement in PANSS, tracking error, and sequence recall (without change in medication. These findings show that multiple aspects of sensorimotor control contribute to impaired manual dexterity in schizophrenia. Only visuomotor precision was related to antipsychotic medication. Good diagnostic accuracy and responsiveness to treatment suggest that manual

  8. Design issues for a Dexter-based hypermedia system

    DEFF Research Database (Denmark)

    Grønbæk, Kaj; Trigg, Randall H.

    1992-01-01

    This paper discusses experiences and lessons learned from the design of an openhypermedia system, one that integrates applications and data not "owned" bythe hypermedia. The Dexter Hypertext Reference Model [8] was used as thebasis for the design. Though our experiences were generally positive, we...... foundthe model constraining in certain ways and underdeveloped in others. Forinstance, Dexter argues against dangling links, but we found several situationswhere permitting and supporting...

  9. Cor triatriatum dexter: A rare cause of childhood cyanosis

    Directory of Open Access Journals (Sweden)

    Ahmad Rustam bin Mohd Zainudin

    2012-01-01

    Full Text Available Cor triatriatum dexter is a rare congenital heart anomaly where the right atrium is divided into two chambers by a membrane. We report a boy who had persistent mild cyanosis and diagnosed to have cor triatriatum dexter with secundum atrial septal defect by transoesophageal echocardiography. Interestingly, he had persistent mild cyanosis despite insignificant obstruction to the right ventricular inflow and normal pulmonary artery pressure. The pathophysiology, approach to the diagnosis, and mode of treatment are also discussed.

  10. Enhancement of electromechanical manipulator performance by external sensory feedback

    International Nuclear Information System (INIS)

    Um, Taejun; Yoon, Jisup; Jung, Wootae; Lee, Jaesol.

    1990-01-01

    The electromechanical manipulator (EMM) is widely used in nuclear facilities because of its strength and mechanical reliability. Nevertheless, the lack of internal position or force feedback makes it unsuitable for many tasks that require a high level of dexterity. At the remote handling department of Korea Atomic Energy Research Institute, a series of research and development (R and D) activities was conducted to provide a higher degree of intelligence to the EMM with the aid of external sensory devices. These R and D activities focus on remote viewing and remote measurement in radioactive environments. As a result, an improved EMM system was achieved that incorporates various sensory devices such as a motion tracking system and a laser vision system. This paper presents detailed technical descriptions of these sensors and test results

  11. Investigating Astromaterials Curation Applications for Dexterous Robotic Arms

    Science.gov (United States)

    Snead, C. J.; Jang, J. H.; Cowden, T. R.; McCubbin, F. M.

    2018-01-01

    The Astromaterials Acquisition and Curation office at NASA Johnson Space Center is currently investigating tools and methods that will enable the curation of future astromaterials collections. Size and temperature constraints for astromaterials to be collected by current and future proposed missions will require the development of new robotic sample and tool handling capabilities. NASA Curation has investigated the application of robot arms in the past, and robotic 3-axis micromanipulators are currently in use for small particle curation in the Stardust and Cosmic Dust laboratories. While 3-axis micromanipulators have been extremely successful for activities involving the transfer of isolated particles in the 5-20 micron range (e.g. from microscope slide to epoxy bullet tip, beryllium SEM disk), their limited ranges of motion and lack of yaw, pitch, and roll degrees of freedom restrict their utility in other applications. For instance, curators removing particles from cosmic dust collectors by hand often employ scooping and rotating motions to successfully free trapped particles from the silicone oil coatings. Similar scooping and rotating motions are also employed when isolating a specific particle of interest from an aliquot of crushed meteorite. While cosmic dust curators have been remarkably successful with these kinds of particle manipulations using handheld tools, operator fatigue limits the number of particles that can be removed during a given extraction session. The challenges for curation of small particles will be exacerbated by mission requirements that samples be processed in N2 sample cabinets (i.e. gloveboxes). We have been investigating the use of compact robot arms to facilitate sample handling within gloveboxes. Six-axis robot arms potentially have applications beyond small particle manipulation. For instance, future sample return missions may involve biologically sensitive astromaterials that can be easily compromised by physical interaction with

  12. A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2016-01-01

    Full Text Available In order to maintain and enhance the operational reliability of a robotic manipulator deployed in space, an operational reliability system control method is presented in this paper. First, a method to divide factors affecting the operational reliability is proposed, which divides the operational reliability factors into task-related factors and cost-related factors. Then the models describing the relationships between the two kinds of factors and control variables are established. Based on this, a multivariable and multiconstraint optimization model is constructed. Second, a hierarchical system control model which incorporates the operational reliability factors is constructed. The control process of the space manipulator is divided into three layers: task planning, path planning, and motion control. Operational reliability related performance parameters are measured and used as the system’s feedback. Taking the factors affecting the operational reliability into consideration, the system can autonomously decide which control layer of the system should be optimized and how to optimize it using a control level adjustment decision module. The operational reliability factors affect these three control levels in the form of control variable constraints. Simulation results demonstrate that the proposed method can achieve a greater probability of meeting the task accuracy requirements, while extending the expected lifetime of the space manipulator.

  13. Design and implementation of a dexterous anthropomorphic robotic typing (DART) hand

    International Nuclear Information System (INIS)

    Thayer, Nicholas; Priya, Shashank

    2011-01-01

    This paper focuses on design and implementation of a biomimetic dexterous humanoid hand. Several design rules are proposed to retain human form and functionality in a robotic hand while overcoming the difficultly of actuation within a confined geometry. Size and weight have been optimized in order to achieve human-like performance with the prime objective of typing on a computer keyboard. Each finger has four joints and three degrees of freedom (DOF) while the thumb has an additional degree of freedom necessary for manipulating small objects. The hand consists of 16 servo motors dedicated to finger motion and three motors for wrist motion. A closed-loop kinematic control scheme utilizing the Denavit–Hartenberg convention for spatial joint positioning was implemented. Servo motors housed in the forearm act as an origin for wires to travel to their insertion points in the hand. The dexterity of the DART hand was measured by quantifying functionality and typing speed on a standard keyboard. The typing speed of a single DART hand was found to be 20 words min −1 . In comparison, the average human has a typing speed of 33 words min −1 with two hands

  14. MOTORIC SPEED AND MANUAL DEXTERITY OF CHILDERN WITH IMPAIRED VISION

    Directory of Open Access Journals (Sweden)

    Dženana Radžo Alibegović

    2017-04-01

    Full Text Available The aim of this study was to estimate the motoric speed and manual dexterity of children with visual impairments. The research is covered by a sample size of 35 participants with visual impairment, with ages between 7 and 15 years, of which 19 participants with visual impairment were male and 16 participants with impaired vision were female. The study was conducted in 17 primary schools in the municipality of Tuzla, Bosnia and Herzegovina. The results showed that the motoric speed and manual dexterity of children with visual impairment is evenly developed on the right and left hand, and also on both hands together and that there is a relationship between the motoric speed and manual dexterity of the right and left hand and both hands together.

  15. Association of remote dexterity and remote lifting for maintenance in fuel reprocessing industry

    International Nuclear Information System (INIS)

    Streiff, G.; Auchapt, P.; Vertut, J.

    1984-01-01

    The MA23M is an articulated bilateral servomanipulator with theoretically unlimited distance between master and slave stations. The last developments being carried on enable its good utilization in the large cells that will exist in the next reprocessing plants. Recent developments concerning computer aided operations like automatic TV tracking of the effector and manipulative assistance of MA23 and transporter enable realistic application in the large cells of the future reprocessing plants. In another hand manipulator containment, transfer and maintenance, in a glove box have been demonstrated. Concerning the in-cell process equipment to be maintained, extensive testing has shown that the association with a hoist is an excellent trade off in power and dexterity enabling solution of practically all expected or unexpected operations. According to the in-cell machinery and to the difficulty of the operation, one or two dextrous arms can be associated with one hoist. Dismantling of machines or dismantling of the whole facility will be possible by developing special tooling handled by the dextrous manipulator or, if too heavy, oriented by the manipulator but suspended to the hoist

  16. Wearing ambidextrous vinyl gloves does not impair manual dexterity.

    Science.gov (United States)

    Drabek, Tomas; Boucek, Charles D; Buffington, Charles W

    2013-01-01

    Universal precautions mandate that health care workers wear gloves to prevent the unintended spread of bloodborne pathogens. Gloves may affect manual dexterity, generally delaying task completion. Our previous study showed that wearing the wrong size latex surgical glove degraded manual dexterity. The use of non-sterile and non-latex gloves may limit certain risks and be more cost-effective. However, such gloves may produce different results. We hypothesized that ambidextrous vinyl examination gloves would degrade manual dexterity compared with bare hands. We studied 20 random subjects from a medical environment. Subjects performed a standard battery of Grooved Pegboard tasks while bare-handed, wearing ambidextrous non-sterile vinyl gloves that were their preferred size, a size too small, and a size too large. The order was randomized with a Latin Square design to minimize the effects of time, boredom, and fatigue on the subjects. Subjects were also invited to comment on the fit of different size gloves. Wearing vinyl gloves of both the preferred size and a size up or down failed to affect manual dexterity vs. bare hands on time to insert pegs, and pegs dropped during insertion or removal. In contrast, the time to remove pegs was reduced by wearing preferred size vinyl gloves compared with performing the task with bare hands (Pgloves that were too small caused significant hand discomfort. Vinyl gloves surprisingly do not degrade manual dexterity even when worn in ill-fitting sizes. Wearing a preferred size vinyl glove vs. bare hands may improve dexterity in selected tasks. Choosing a comfortable, large size seems the best strategy when the preferred size is unavailable. Thinner vinyl gloves may improve grip and may not degrade touch as much as latex surgical gloves and may thus represent a reasonable choice for selected tasks.

  17. Fast and accurate edge orientation processing during object manipulation

    Science.gov (United States)

    Flanagan, J Randall; Johansson, Roland S

    2018-01-01

    Quickly and accurately extracting information about a touched object’s orientation is a critical aspect of dexterous object manipulation. However, the speed and acuity of tactile edge orientation processing with respect to the fingertips as reported in previous perceptual studies appear inadequate in these respects. Here we directly establish the tactile system’s capacity to process edge-orientation information during dexterous manipulation. Participants extracted tactile information about edge orientation very quickly, using it within 200 ms of first touching the object. Participants were also strikingly accurate. With edges spanning the entire fingertip, edge-orientation resolution was better than 3° in our object manipulation task, which is several times better than reported in previous perceptual studies. Performance remained impressive even with edges as short as 2 mm, consistent with our ability to precisely manipulate very small objects. Taken together, our results radically redefine the spatial processing capacity of the tactile system. PMID:29611804

  18. Eyeball Measurement of Dexterity: Tests as Alternatives to Interviews.

    Science.gov (United States)

    Guion, Robert M.; Imada, Andrew S.

    1981-01-01

    Reports a study conducted for litigation in a sex discrimination case dealing with misuse of an employment interview. Results show that dexterity could not be determined in an interview and a more appropriate selection technique such as a test was required. (Author/JAC)

  19. Euler-Lagrange modeling for a seven degree of freedom Manipulator

    NARCIS (Netherlands)

    Muñoz Arias, Mauricio; Scherpen, Jacquelien M.A.

    2011-01-01

    The Philips experimental robot arm is a kinematically redundant manipulator which is mainly aimed at increasing dexterity. The robot manipulator, developed by Philips Applied Technologies for domotic applications, has seven degrees of freedom and includes humanoid characteristics of a upper limb

  20. Reliability and validity of a new dexterity questionnaire (DextQ-24) in Parkinson's disease

    NARCIS (Netherlands)

    Vanbellingen, Tim; Nyffeler, Thomas; Nef, Tobias; Kwakkel, Gert; Bohlhalter, Stephan; van Wegen, Erwin E.H.

    2016-01-01

    Background Patients with Parkinson's disease exhibit disturbed dexterity. Validated self-reported outcomes for dexterity in Parkinson's disease are lacking. The aim of this study was to investigate the reliability, content and construct validity of a new Dexterity Questionnaire 24. Methods One

  1. Impaired Finger Dexterity in Parkinson's Disease Is Associated with Praxis Function

    Science.gov (United States)

    Vanbellingen, T.; Kersten, B.; Bellion, M.; Temperli, P.; Baronti, F.; Muri, R.; Bohlhalter, S.

    2011-01-01

    A controversial concept suggests that impaired finger dexterity in Parkinson's disease may be related to limb kinetic apraxia that is not explained by elemental motor deficits such as bradykinesia. To explore the nature of dexterous difficulties, the aim of the present study was to assess the relationship of finger dexterity with ideomotor praxis…

  2. 75 FR 10241 - Town of Dexter; Notice of Declaration of Intention and Soliciting Comments, Protests, and/or...

    Science.gov (United States)

    2010-03-05

    ... DEPARTMENT OF ENERGY Federal Energy Regulatory Commission [Docket No. DI10-7-000] Town of Dexter.... Date Filed: February 16, 2010. d. Applicant: Town of Dexter. e. Name of Project: Dexter Hydroelectric Project. f. Location: The proposed Dexter Hydroelectric Project will be located on the East Branch...

  3. Reconfigurable mobile manipulation for accident response

    International Nuclear Information System (INIS)

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

    2000-01-01

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

  4. DEXTER: Disease-Expression Relation Extraction from Text.

    Science.gov (United States)

    Gupta, Samir; Dingerdissen, Hayley; Ross, Karen E; Hu, Yu; Wu, Cathy H; Mazumder, Raja; Vijay-Shanker, K

    2018-01-01

    Gene expression levels affect biological processes and play a key role in many diseases. Characterizing expression profiles is useful for clinical research, and diagnostics and prognostics of diseases. There are currently several high-quality databases that capture gene expression information, obtained mostly from large-scale studies, such as microarray and next-generation sequencing technologies, in the context of disease. The scientific literature is another rich source of information on gene expression-disease relationships that not only have been captured from large-scale studies but have also been observed in thousands of small-scale studies. Expression information obtained from literature through manual curation can extend expression databases. While many of the existing databases include information from literature, they are limited by the time-consuming nature of manual curation and have difficulty keeping up with the explosion of publications in the biomedical field. In this work, we describe an automated text-mining tool, Disease-Expression Relation Extraction from Text (DEXTER) to extract information from literature on gene and microRNA expression in the context of disease. One of the motivations in developing DEXTER was to extend the BioXpress database, a cancer-focused gene expression database that includes data derived from large-scale experiments and manual curation of publications. The literature-based portion of BioXpress lags behind significantly compared to expression information obtained from large-scale studies and can benefit from our text-mined results. We have conducted two different evaluations to measure the accuracy of our text-mining tool and achieved average F-scores of 88.51 and 81.81% for the two evaluations, respectively. Also, to demonstrate the ability to extract rich expression information in different disease-related scenarios, we used DEXTER to extract information on differential expression information for 2024 genes in lung

  5. Assisted Perception, Planning and Control for Remote Mobility and Dexterous Manipulation

    Science.gov (United States)

    2017-04-01

    without the use of one arm which was damaged in a fall. 2.0 INTRODUCTION Fueled by a sense of urgency and purpose provided by the DARPA Robotics...Antone, Nicholas Roy, and Seth Teller. Drift-free humanoid state estimation fusing kinematic, inertial and LIDAR sensing . In International Conference on

  6. Gecko inspired adhesives for enhanced dexterity of robotic manipulation systems, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Valuable time is spent by astronauts performing simple, mundane, or ergonomically taxing tasks. Therefore, one center of focus for NASA is to have robots...

  7. Techniques applied in design optimization of parallel manipulators

    CSIR Research Space (South Africa)

    Modungwa, D

    2011-11-01

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

  8. Using Manipulatives in Math Instruction.

    Science.gov (United States)

    Marzola, Eileen S.

    1987-01-01

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

  9. A novel method for the quantification of key components of manual dexterity after stroke

    OpenAIRE

    T?r?metz, Maxime; Colle, Florence; Hamdoun, Sonia; Maier, Marc A.; Lindberg, P?vel G.

    2015-01-01

    Background A high degree of manual dexterity is a central feature of the human upper limb. A rich interplay of sensory and motor components in the hand and fingers allows for independent control of fingers in terms of timing, kinematics and force. Stroke often leads to impaired hand function and decreased manual dexterity, limiting activities of daily living and impacting quality of life. Clinically, there is a lack of quantitative multi-dimensional measures of manual dexterity. We therefore ...

  10. Telepresence master glove controller for dexterous robotic end-effectors

    Science.gov (United States)

    Fisher, Scott S.

    1987-01-01

    This paper describes recent research in the Aerospace Human Factors Research Division at NASA's Ames Research Center to develop a glove-like, control and data-recording device (DataGlove) that records and transmits to a host computer in real time, and at appropriate resolution, a numeric data-record of a user's hand/finger shape and dynamics. System configuration and performance specifications are detailed, and current research is discussed investigating its applications in operator control of dexterous robotic end-effectors and for use as a human factors research tool in evaluation of operator hand function requirements and performance in other specialized task environments.

  11. Development of system technology for radiation cancer therapy with the dexterous auto lesions tracking

    International Nuclear Information System (INIS)

    Kim, Seungho; Jeong, Kyungmin; Jung, Seungho; Lee, Namho

    2013-01-01

    The project objectives are to establish the fundamental core technologies for precise auto lesions tracking radiation cancer therapy and developing related system technology as well. Radiation cancer therapy apparatus should be domestically produced to reduce medical expenses, hence advanced technologies are suggested and developed to make cost down medical expenses and save expenditure for importing 10 million dollars/set from overseas. To achieve these targets, we have carried out reviewing of domestic and foreign technology trend. Based on review of state-of-the-art technology, radiation sensory system is studied. 3m high precise image processing technique and intelligent therapy planning software are developed. Also precedent study on the redundant robot for dexterous motion control system has been performed for developing of radiation cancel therapy robot system

  12. A manipulator

    International Nuclear Information System (INIS)

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

    1984-01-01

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

  13. MATHEMATICAL MODEL MANIPULATOR ROBOTS

    Directory of Open Access Journals (Sweden)

    O. N. Krakhmalev

    2015-12-01

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

  14. Manipulation, salience, and nudges.

    Science.gov (United States)

    Noggle, Robert

    2018-03-01

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

  15. Haptic rendering for simulation of fine manipulation

    CERN Document Server

    Wang, Dangxiao; Zhang, Yuru

    2014-01-01

    This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in man

  16. In-vessel maintenance remote manipulator system

    International Nuclear Information System (INIS)

    Jimenez, E.

    1978-01-01

    The radiation environment within the Tokamak Fusion Test Reactor (TFTR) vacuum vessel necessitates the development of a Remote Manipulator System (RMS) to perform required periodic inspection and maintenance tasks. The RMS must be able to perform dexterous operations and handle loads that exceed human capabilities. The limited size of the access ports on the TFTR vacuum vessel and the performance profile, defined by the various handling requirements, present unique design constraints. The design approach and formulation of a RMS configuration which satisfies TFTR requirements is presented herein

  17. Physical Demand but Not Dexterity Is Associated with Motor Flexibility during Rapid Reaching in Healthy Young Adults.

    Directory of Open Access Journals (Sweden)

    Christian Greve

    Full Text Available Healthy humans are able to place light and heavy objects in small and large target locations with remarkable accuracy. Here we examine how dexterity demand and physical demand affect flexibility in joint coordination and end-effector kinematics when healthy young adults perform an upper extremity reaching task. We manipulated dexterity demand by changing target size and physical demand by increasing external resistance to reaching. Uncontrolled manifold analysis was used to decompose variability in joint coordination patterns into variability stabilizing the end-effector and variability de-stabilizing the end-effector during reaching. Our results demonstrate a proportional increase in stabilizing and de-stabilizing variability without a change in the ratio of the two variability components as physical demands increase. We interpret this finding in the context of previous studies showing that sensorimotor noise increases with increasing physical demands. We propose that the larger de-stabilizing variability as a function of physical demand originated from larger sensorimotor noise in the neuromuscular system. The larger stabilizing variability with larger physical demands is a strategy employed by the neuromuscular system to counter the de-stabilizing variability so that performance stability is maintained. Our findings have practical implications for improving the effectiveness of movement therapy in a wide range of patient groups, maintaining upper extremity function in old adults, and for maximizing athletic performance.

  18. Comparing the level of dexterity offered by latex and nitrile SafeSkin gloves.

    Science.gov (United States)

    Sawyer, Jo; Bennett, Allan

    2006-04-01

    An increase in the occurrence of latex allergy has been concurrent with the increasing use of latex gloves by laboratory and healthcare workers. In recent years nitrile gloves have been used to replace latex gloves to prevent latex allergy. Nitrile gloves offer a comparable level of protection against chemical and biological agents and are more puncture resistant. However, if manual dexterity is compromised by nitrile gloves to a greater degree than latex then this may increase the risk of sharps injuries. The Purdue pegboard test, which measures both gross and fine finger dexterity, was used to test the dexterity levels of two glove types used at HPA CEPR; Kimberly-Clark SafeSkin nitrile and latex laboratory gloves. There was a statistically significant 8.6% increase in fine finger dexterity provided by latex compared with nitrile SafeSkin laboratory gloves but no difference in gross dexterity between the glove types. There was no significant relationship between glove dexterity and age or gender. The selection of glove size was influenced by the digit length of participants. Moreover, those with longer, thinner fingers appeared to have an advantage when using nitrile SafeSkin gloves. The level of dexterity provided by latex and nitrile SafeSkin gloves for tasks on a gross dexterity level are comparable and health workers will benefit from the non-allergenic properties of nitrile. For tasks requiring fine finger dexterity nitrile SafeSkin gloves may impede dexterity. Despite this, the degree of restriction appears to have a negligible impact on safety in this study when compared with the risk of latex sensitization and subsequent allergy. In addition to glove material, working practices must also take into account glove size, fit, grip and thickness, as these factors can all influence dexterity.

  19. Cognitive vision system for control of dexterous prosthetic hands: Experimental evaluation

    Directory of Open Access Journals (Sweden)

    Došen Strahinja

    2010-08-01

    Full Text Available Abstract Background Dexterous prosthetic hands that were developed recently, such as SmartHand and i-LIMB, are highly sophisticated; they have individually controllable fingers and the thumb that is able to abduct/adduct. This flexibility allows implementation of many different grasping strategies, but also requires new control algorithms that can exploit the many degrees of freedom available. The current study presents and tests the operation of a new control method for dexterous prosthetic hands. Methods The central component of the proposed method is an autonomous controller comprising a vision system with rule-based reasoning mounted on a dexterous hand (CyberHand. The controller, termed cognitive vision system (CVS, mimics biological control and generates commands for prehension. The CVS was integrated into a hierarchical control structure: 1 the user triggers the system and controls the orientation of the hand; 2 a high-level controller automatically selects the grasp type and size; and 3 an embedded hand controller implements the selected grasp using closed-loop position/force control. The operation of the control system was tested in 13 healthy subjects who used Cyberhand, attached to the forearm, to grasp and transport 18 objects placed at two different distances. Results The system correctly estimated grasp type and size (nine commands in total in about 84% of the trials. In an additional 6% of the trials, the grasp type and/or size were different from the optimal ones, but they were still good enough for the grasp to be successful. If the control task was simplified by decreasing the number of possible commands, the classification accuracy increased (e.g., 93% for guessing the grasp type only. Conclusions The original outcome of this research is a novel controller empowered by vision and reasoning and capable of high-level analysis (i.e., determining object properties and autonomous decision making (i.e., selecting the grasp type and

  20. Behavioral coping and physical functioning: The effect of adjusting the level of activity on observed dexterity

    NARCIS (Netherlands)

    Lankveld, W.G.J.M. van; Näring, G.W.B.; Pad Bosch, P. van 't; Putte, L.B.A. van de

    1999-01-01

    Objective. To assess the relationship between behavioral coping and dexterity in rheumatoid arthritis (RA) after controlling for disease activity, impairment of the hands, and pain. Methods. A random sample of 109 patients with RA was assessed twice within one year. Dexterity, disease activity, and

  1. Dexterity tests data contribute to reduction in leaded glovebox gloves use

    Energy Technology Data Exchange (ETDEWEB)

    Cournoyer, Michael E [Los Alamos National Laboratory; Lawton, Cindy M [Los Alamos National Laboratory; Castro, Amanda M [Los Alamos National Laboratory

    2008-01-01

    Programmatic operations at the Los Alamos National Laboratory Plutonium Facility (TA-55) involve working with various amounts of plutonium and other highly toxic, alphaemitting materials. The spread of radiological contamination on surfaces and airborne contamination and excursions of contaminants into the operator's breathing zone are prevented through the use of a variety of gloveboxes. Through an integrated approach, controls have been developed and implemented through an efficient Glovebox Glove Integrity Program (GGJP). A key element of this program is to consider measures that lower the overall risk of glovebox operations. Line management owning glovebox processes through this program make decisions on which type of glovebox gloves (the weakest component of this safety significant system) would perform in these aggressive environments. As Low As Reasonably Achievable (ALARA) considerations must be balanced with glove durability and worker dexterity, both of which affect the final overall risk of the operation. In the past, lead-loaded (leaded) glovebox gloves made from Hypalon(reg.) had been the workhorse of programmatic operations at TA-55. Replacing leaded gloves with unleaded gloves for certain operations would lower the overall risk as well as reduced the amount of mixed TRU waste. This effort contributes to Los Alamos National Laboratory Continuous Improvement Program by improving the efficiency, cost effectiveness, and formality of glovebox operations. In the following report, the pros and cons of wearing leaded glovebox gloves, the effect of leaded gloves versus unleaded gloves on task performance using standard dexterity tests, the justification for switching from leaded to unleaded gloves, and pollution prevention benefits of this dramatic change in the glovebox system are presented.

  2. Dexterity Test Data Contribute To Reduction in Leaded Glovebox Glove Use

    International Nuclear Information System (INIS)

    Cournoyer, M.E.; Lawton, C.M.; Castro, A.M.; Costigan, S.A.; Schreiber, S.

    2009-01-01

    Programmatic operations at the Los Alamos National Laboratory Plutonium Facility (TA-55) involve working with various amounts of plutonium and other highly toxic, alpha-emitting materials. The spread of radiological contamination on surfaces, airborne contamination, and excursions of contaminants into the operator's breathing zone are prevented through the use of a variety of gloveboxes. Using an integrated approach, controls have been developed and implemented through an efficient Glovebox Glove Integrity Program. A key element of this program is to consider measures that lower the overall risk of glovebox operations. Line management who own glovebox processes through this program make decisions on which type of glovebox gloves (hereafter referred to as gloves), the weakest component of this safety-significant system, would perform best in these aggressive environments. As Low as Reasonably Achievable considerations must be balanced with glove durability and worker dexterity, both of which affect the final overall risk of the operation. In the past, lead-loaded (leaded) gloves made from Hypalon R were the primary glove for programmatic operations at TA-55. Replacing leaded gloves with unleaded gloves for certain operations would lower the overall risk as well as reduce the amount of mixed transuranic waste. This effort contributes to the Los Alamos National Laboratory Continuous Improvement Program by improving the efficiency, cost-effectiveness, and formality of glovebox operations. In this report, the pros and cons of wearing leaded gloves, the effect of leaded gloves versus unleaded gloves on task performance using standard dexterity tests, the justification for switching from leaded to unleaded gloves, and the pollution prevention benefits of this dramatic change in the glovebox system are presented. (authors)

  3. Adaptive tuning of a 2DOF controller for robust cell manipulation using IPMC actuators

    International Nuclear Information System (INIS)

    McDaid, A J; Aw, K C; Haemmerle, E; Xie, S Q; Shahinpoor, M

    2011-01-01

    Rapid advancement in medicine and bioscience is causing demand for faster, more accurate and dexterous as well as safer and more reliable micro-manipulators capable of handling biological cells. Current micro-manipulation techniques commonly damage cell walls and membranes due to their stiffness and rigidity. Ionic polymer-metal composite (IPMC) actuators have inherent compliance and with their ability to operate well in fluid and cellular environments they present a unique solution for safe cell manipulation. The reason for the downfall of IPMCs is that their complex behaviour makes them hard to control precisely in unknown environments and in the presence of sizeable external disturbances. This paper presents a novel scheme for adaptively tuning IPMC actuators for precise and robust micro-manipulation of biological cells. A two-degree-of-freedom (2DOF) controller is developed to allow optimal performance for both disturbance rejection (DR) and set point (SP) tracking. These criteria are optimized using a proposed IFT algorithm which adaptively updates the controller parameters, with no model or prior knowledge of the operating conditions, to achieve a compliant manipulation system which can precisely track targets in the presence of large external disturbances, as will be encountered in real biological environments. Experiments are presented showing the performance optimization of an IPMC actuator in the presence of external mechanical disturbances as well as the optimization of the SP tracking. The IFT algorithm successfully tunes the DR and SP to an 85% and 69% improvement, respectively. Results are also presented for a one-degree-of-freedom (1DOF) controller tuned first for DR and then for SP, for a comparison with the 2DOF controller. Validation has been undertaken to verify that the 2DOF controller does indeed outperform both 1DOF controllers over a variety of operating conditions.

  4. Manipulatives Work!

    Science.gov (United States)

    Moch, Peggy L.

    2001-01-01

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

  5. Toward a Dexter-based model for open hypermedia: Unifying embedded references and link objects

    DEFF Research Database (Denmark)

    Grønbæk, Kaj; Trigg, Randall Hagner

    1996-01-01

    Nominated for the Doug Engelbart best paper award. This paper discusses experiences and lessons learned from the design of an open hypermedia system, one that integrates applications and data not ''owned'' by the hypermedia. The Dexter Hypertext Reference Model was used as the basis for the design....... Though our experiences were generally positive, we found the model constraining in certain ways and underdeveloped in others. For instance, Dexter argues against dangling links, but we found several situations where permitting and supporting dangling links was advisable. In Dexter, the data objects...

  6. Leadership Manipulation and Ethics in Storytelling

    OpenAIRE

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

    2013-01-01

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

  7. Development of a maintenance manipulator for TFTR

    International Nuclear Information System (INIS)

    Holloway, C.

    1986-01-01

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

  8. A smartphone-based system to quantify dexterity in Parkinson's disease patients

    Directory of Open Access Journals (Sweden)

    Somayeh Aghanavesi

    2017-01-01

    Conclusions: Quantifying PD motor symptoms via instrumented, dexterity tests employed in a smartphone is feasible and data from such tests can also be used for measuring treatment-related changes in patients.

  9. A Dexterity and Tactility Evaluation of the Australian Nuclear Biological Chemical (NBC) Glove

    National Research Council Canada - National Science Library

    Scanlan, S

    2004-01-01

    This report details the tactility and dexterity of four different glove types, including the Australian in-service NBC butyl rubber glove and Nomex flying glove for standardized (Purdue pegboard) and operational...

  10. Effects of Dexterity Level and Hand Anthropometric Dimensions on Smartphone Users’ Satisfaction

    Directory of Open Access Journals (Sweden)

    N. Firat Ozkan

    2015-01-01

    Full Text Available The usage of smartphones instead of simple mobile phones increases sharply in our era, especially among young people, because they do multiple tasks with single equipment. This study mainly focuses on smartphone satisfaction by combining hand measurements, smartphone users’ survey results, and hand dexterity levels of corresponding users acquired from Minnesota Manual Dexterity Test (MMDT. Structural Equation Modelling (SEM is used as a statistical tool to discover the potential direct and indirect relations among user satisfaction, hand dimensions, and dexterity scores. Results indicates that thumb length, hand length, and dexterity level of the users have notable effects on users’ satisfaction with smartphones. Based on the results, a new approach that includes both gross motor skills and physical measurements is suggested to see hidden indirect relations with satisfaction.

  11. Currency Manipulation

    OpenAIRE

    Weithing Zhang; Thomas Mertens; Tarek Hassan

    2014-01-01

    Many central banks manage the stochastic behavior of their currencies' exchange rates by imposing pegs relative to a target currency. We study the effects of such currency manipulation in a multi-country model of exchange rate determination with endogenous capital accumulation. We find that the imposition of an exchange rate peg relative to a given target currency increases the volatility of consumption in the target country and decreases the volatility of the target currency's exchange rate ...

  12. Hydraulic manipulator

    International Nuclear Information System (INIS)

    Sinha, A.K.; Srikrishnamurty, G.

    1990-01-01

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

  13. Design of a Variable Stiffness Soft Dexterous Gripper

    Science.gov (United States)

    Nefti-Meziani, Samia; Davis, Steve

    2017-01-01

    Abstract This article presents the design of a variable stiffness, soft, three-fingered dexterous gripper. The gripper uses two designs of McKibben muscles. Extensor muscles that increase in length when pressurized are used to form the fingers of the gripper. Contractor muscles that decrease in length when pressurized are then used to apply forces to the fingers through tendons, which cause flexion and extension of the fingers. The two types of muscles are arranged to act antagonistically and this means that by raising the pressure in all of the pneumatic muscles, the stiffness of the system can be increased without a resulting change in finger position. The article presents the design of the gripper, some basic kinematics to describe its function, and then experimental results demonstrating the ability to adjust the bending stiffness of the gripper's fingers. It has been demonstrated that the fingers' bending stiffness can be increased by more than 150%. The article concludes by demonstrating that the fingers can be closed loop position controlled and are able to track step and sinusoidal inputs. PMID:29062630

  14. HERMIES-3: A step toward autonomous mobility, manipulation, and perception

    Science.gov (United States)

    Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

    1989-01-01

    HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

  15. Intelligent Switching Control of Pneumatic Artificial Muscle Manipulator

    Science.gov (United States)

    Ahn, Kyoung Kwan; Thanh, Tu Diep Cong; Ahn, Young Kong

    Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are the factors that could potentially be exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as deterioration of the performance of transient response due to the change of the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, switching algorithm of control parameter using learning vector quantization neural network (LVQNN) is newly proposed, which estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

  16. Hand and finger dexterity as a function of skin temperature, EMG, and ambient condition.

    Science.gov (United States)

    Chen, Wen-Lin; Shih, Yuh-Chuan; Chi, Chia-Fen

    2010-06-01

    This article examines the changes in skin temperature (finger, hand, forearm), manual performance (hand dexterity and strength), and forearm surface electromyograph (EMG) through 40-min, 11 degrees C water cooling followed by 15-min, 34 degrees C water rewarming; additionally, it explores the relationship between dexterity and the factors of skin temperature, EMG, and ambient condition. Hand exposure in cold conditions is unavoidable and significantly affects manual performance. Two tasks requiring gross and fine dexterity were designed, namely, nut loosening and pin insertion, respectively. The nested-factorial design includes factors of gender, participant (nested within gender), immersion duration, muscle type (for EMG), and location (for skin temperature). The responses are changes in dexterity, skin temperature, normalized amplitude of EMG, and grip strength. Finally, factor analysis and stepwise regression are used to explore factors affecting hand and finger dexterity. Dexterity, EMG, and skin temperature fell with prolonged cooling, but the EMG of the flexor digitorum superficialis remained almost unchanged during the nut loosening task. All responses but the forearm skin temperature recovered to the baseline level at the end of rewarming. The three factors extracted by factor analysis are termed skin temperature, ambient condition, and EMG. They explain approximately two thirds of the variation of the linear models for both dexterities, and the factor of skin temperature is the most influential. Sustained cooling and warming significantly decreases and increases finger, hand, and forearm skin temperature. Dexterity, strength, and EMG are positively correlated to skin temperature. Therefore, keeping the finger, hand, and forearm warm is important to maintaining hand performance. The findings could be helpful to building safety guidelines for working in cold environments.

  17. Comparison of the effect of using latex and nitrile gloves hand dexterity among Iranian population

    Directory of Open Access Journals (Sweden)

    T. Allahyari

    2014-02-01

    .Conclusion: Considering that there was no significant difference in the score of both fine finger and gross hand dexterity while using nitrile gloves as compared to the control condition (without gloves, means that use of nitrile gloves has no adverse effect on hand dexterity therefore, using nitrile gloves is recommended as a alternative for the latex gloves, considering the additional advantage of no allergic reaction in this gloves.

  18. Cor triatriatum dexter associated with atrial septal defect: Management in a complex clinical case.

    Science.gov (United States)

    Sozzi, Fabiola B; Montanaro, Claudia; Bacà, Laura; Viani, Giacomo M; Zilocchi, Massimo; Canetta, Ciro; Meazza, Roberto; Pavone, Laura; Lombardi, Federico

    2017-11-01

    The coexistence of an atrial septal defect and a prominent eustachian valve is a rare congenital anomaly, rarely reported in literature. Differentiation between a giant eustachian valve and cor triatriatum dexter can be difficult. A case of a large atrial septal defect associated with cor triatriatum dexter diagnosed by echocardiography in an asymptomatic woman is reported. A watchful waiting strategy was adopted. © 2017, Wiley Periodicals, Inc.

  19. Complex Hand Dexterity: A Review of Biomechanical Methods for Measuring Musical Performance

    Directory of Open Access Journals (Sweden)

    Cheryl Diane Metcalf

    2014-05-01

    Full Text Available Complex hand dexterity is fundamental to our interactions with the physical, social and cultural environment. Dexterity can be an expression of creativity and precision in a range of activities, including musical performance. Little is understood about complex hand dexterity or how virtuoso expertise is acquired, due to the versatility of movement combinations available to complete any given task. This has historically limited progress of the field because of difficulties in measuring movements of the hand. Recent developments in methods of motion capture and analysis mean it is now possible to explore the intricate movements of the hand and fingers. These methods allow us insights into the neurophysiological mechanisms underpinning complex hand dexterity and motor learning. They also allow investigation into the key factors that contribute to injury, recovery and functional compensation.The application of such analytical techniques within musical performance provides a multidisciplinary framework for purposeful investigation into the process of learning and skill acquisition in instrumental performance. These highly skilled manual and cognitive tasks present the ultimate achievement in complex hand dexterity. This paper will review methods of assessing instrumental performance in music, focusing specifically on biomechanical measurement and the associated technical challenges faced when measuring highly dexterous activities.

  20. Make

    CERN Document Server

    Frauenfelder, Mark

    2012-01-01

    The first magazine devoted entirely to do-it-yourself technology projects presents its 29th quarterly edition for people who like to tweak, disassemble, recreate, and invent cool new uses for technology. MAKE Volume 29 takes bio-hacking to a new level. Get introduced to DIY tracking devices before they hit the consumer electronics marketplace. Learn how to build an EKG machine to study your heartbeat, and put together a DIY bio lab to study athletic motion using consumer grade hardware.

  1. Dexterous ultrasonic levitation of millimeter-sized objects in air.

    Science.gov (United States)

    Seah, Sue Ann; Drinkwater, Bruce W; Carter, Tom; Malkin, Rob; Subramanian, Sriram

    2014-07-01

    Acoustic levitation in air has applications in contactless handling and processing. Here a first-order Bessel function-shaped acoustic field, generated using an 8-element circular array operating at 40 kHz, traps millimeter-sized objects against gravity. The device can manipulate objects in a vertical plane over a few millimeters with an accuracy of ± 0.09 mm.

  2. A Geometry Deformation Model for Braided Continuum Manipulators

    Directory of Open Access Journals (Sweden)

    S. M. Hadi Sadati

    2017-06-01

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

  3. MANIPULATING CONSUMERS THROUGH ADVERTISING

    Directory of Open Access Journals (Sweden)

    Nicoleta -Andreea Neacşu

    2012-12-01

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

  4. A motion-planning method for dexterous hand operating a tool based on bionic analysis

    Directory of Open Access Journals (Sweden)

    Wei Bo

    2017-01-01

    Full Text Available In order to meet the needs of robot’s operating tools for different types and sizes, the dexterous hand is studied by many scientific research institutions. However, the large number of joints in a dexterous hand leads to the difficulty of motion planning. Aiming at this problem, this paper proposes a planning method abased on BPNN inspired by human hands. Firstly, this paper analyses the structure and function of the human hand and summarizes its typical strategy of operation. Secondly, based on the manual operation strategy, the tools are classified according to the shape and the operation mode of the dexterous hand is presented. Thirdly, the BPNN is used to train the humanoid operation, and then output the operation plan. Finally, the simulating experiments of grasping simple tools and operating complex tools are made by MATLAB and ADAMS. The simulation verifies the effectiveness of this method.

  5. Cor triatriatum dexter: A rare cause of cyanosis during neonatal period.

    Science.gov (United States)

    Alghamdi, Mohammed Hussien

    2016-01-01

    Cor-triatriatum dexter is an extremely rare congenital heart defect in which there is complete persistence of the right valve of embryonic sinus venosus that results in partitioning of the right atrium into a smooth and trabeculated portion. The smooth portion receives venous blood from inferior vena cava, superior vena cava, and coronary sinus while the trabeculated portion contains the right atrial appendage and the opening of tricuspid valve. We report a 1-week-old child who presented with intermittent episodes of central cyanosis. Echocardiography, established, and bubble contrast study confirmed the diagnosis of an isolated cor-triatriatum dexter. The baby initially underwent an intervention by cardiac catheterization, which was unsuccessful in disrupting the membrane and re-direct the systemic venous flow to the right heart chambers. She subsequently had the cor-triatriatum dexter membrane resected via an uncomplicated open-heart surgery.

  6. Cor triatriatum dexter and atrial septal defect in a 43-year-old woman.

    Science.gov (United States)

    Vukovic, Petar M; Kosevic, Dragana; Milicic, Miroslav; Jovovic, Ljiljana; Stojanovic, Ivan; Micovic, Slobodan

    2014-08-01

    Cor triatriatum dexter is a rare congenital heart anomaly in which a membrane divides the right atrium into 2 chambers. We report the case of a 43-year-old woman who had cor triatriatum dexter and a large atrial septal defect. During attempted percutaneous closure, the balloon disrupted the membrane and revealed that the defect had no inferior rim, precluding secure placement of an Amplatzer Septal Occluder. Surgical treatment subsequently proved to be successful. In patients with an incomplete membrane and a septal defect with well-defined rims, percutaneous treatment can be the first choice. In patients who have cor triatriatum dexter and unfavorable anatomic features or concomitant complex heart anomalies, open-heart surgery remains the gold standard for treatment.

  7. Cold habituation does not improve manual dexterity during rest and exercise in 5 °C

    Science.gov (United States)

    Muller, Matthew D.; Seo, Yongsuk; Kim, Chul-Ho; Ryan, Edward J.; Pollock, Brandon S.; Burns, Keith J.; Glickman, Ellen L.

    2014-04-01

    When exposed to a cold environment, a barehanded person experiences pain, cold sensation, and reduced manual dexterity. Both acute (e.g. exercise) and chronic (e.g. cold acclimatization or habituation) processes might lessen these negative effects. The purpose of this experiment was to determine the effect of cold habituation on physiology, perception, and manual dexterity during rest, exercise, and recovery in 5 °C. Six cold weather athletes (CWA) and eight non habituated men (NON) volunteered to participate in a repeated measures cross-over design. The protocol was conducted in 5 °C and was 90 min of resting cold exposure, 30 min of cycle ergometry exercise (50 % VO2 peak), and 60 min of seated recovery. Core and finger skin temperature, metabolic rate, Purdue Pegboard dexterity performance, hand pain, thermal sensation, and mood were quantified. Exercise-induced finger rewarming (EIFRW) was calculated for each hand. During 90 min of resting exposure to 5 °C, the CWA had a smaller reduction in finger temperature, a lower metabolic rate, less hand pain, and less negative mood. Despite this cold habituation, dexterity performance was not different between groups. In response to cycle ergometry, EIFRW was greater in CWA (~12 versus 7 °C) and occurred at lower core temperatures (37.02 versus 37.31 °C) relative to NON but dexterity was not greater during post-exercise recovery. The current data indicate that cold habituated men (i.e., CWA) do not perform better on the Purdue Pegboard during acute cold exposure. Furthermore, despite augmented EIFRW in CWA, dexterity during post-exercise recovery was similar between groups.

  8. Qualitative Analysis of a Cultural Dexterity Program for Surgeons: Feasible, Impactful, and Necessary.

    Science.gov (United States)

    Udyavar, Rhea; Smink, Douglas S; Mullen, John T; Kent, Tara S; Green, A; Harlow, Alyssa F; Castillo-Angeles, Manuel; Columbus, Alexandra B; Haider, Adil H

    2018-02-15

    Ineffective cross-cultural communication contributes to adverse outcomes for minority patients. To address this, the authors developed a novel curriculum for surgical residents built on the principle of cultural dexterity, emphasizing adaptability to clinical and sociocultural circumstances to tailor care to the needs of the individual patient. This study's objective was to evaluate the feasibility, acceptability, and perception of this program upon conclusion of its first year. The curriculum was implemented at 3 general surgery programs. The flipped classroom model combined independent study via e-learning modules with interactive role-playing sessions. Sessions took place over 1 academic year. Four focus groups were held, each with 6 to 9 participants, to gain feedback on the curriculum. Focus groups were recorded and transcribed, and the data were analyzed using a grounded theory approach. Five major themes emerged: (1) Role modeling from senior colleagues is integral in developing communication/interpersonal skills and attitudes toward cultural dexterity. (2) Cultural dexterity is relevant to the provision of high-quality surgical care. (3) Barriers to providing culturally dexterous care exist at the system level. (4) "Buy-in" at all levels of the institution is necessary to implement the principles of cultural dexterity. (5) The shared experience of discussing the challenges and triumphs of caring for a diverse population was engaging and impactful. Early implementation of the curriculum revealed that the tension between surgical residents' desire to improve their cultural dexterity and systemic/practical obstacles can be resolved. Combining surgically relevant didactic materials with experiential learning activities can change the paradigm of cross-cultural training. Copyright © 2018 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  9. Hand-held transendoscopic robotic manipulators: A transurethral laser prostate surgery case study.

    Science.gov (United States)

    Hendrick, Richard J; Mitchell, Christopher R; Herrell, S Duke; Webster, Robert J

    2015-11-01

    Natural orifice endoscopic surgery can enable incisionless approaches, but a major challenge is the lack of small and dexterous instrumentation. Surgical robots have the potential to meet this need yet often disrupt the clinical workflow. Hand-held robots that combine thin manipulators and endoscopes have the potential to address this by integrating seamlessly into the clinical workflow and enhancing dexterity. As a case study illustrating the potential of this approach, we describe a hand-held robotic system that passes two concentric tube manipulators through a 5 mm port in a rigid endoscope for transurethral laser prostate surgery. This system is intended to catalyze the use of a clinically superior, yet rarely attempted, procedure for benign prostatic hyperplasia. This paper describes system design and experiments to evaluate the surgeon's functional workspace and accuracy using the robot. Phantom and cadaver experiments demonstrate successful completion of the target procedure via prostate lobe resection.

  10. Changes in corticospinal drive to spinal motoneurones following tablet-based practice of manual dexterity

    DEFF Research Database (Denmark)

    Larsen, Lisbeth Højkjær; Jensen, Thor; Christensen, Mark Schram

    2016-01-01

    ) between EEG-EMG and EMG-EMG activity. Following motor practice performance improved significantly and a significant increase in EEG-EMGAPB and EMGAPB-EMGFDI coherence in the beta band (15-30 Hz) was observed. No changes were observed after the control session. Our results show that tablet-based motor...... practice is associated with changes in the common corticospinal drive to spinal motoneurons involved in manual dexterity. Tablet-based motor practice may be a motivating training tool for stroke patients who struggle with loss of dexterity....

  11. Human-like Compliance for Dexterous Robot Hands

    Science.gov (United States)

    Jau, Bruno M.

    1995-01-01

    This paper describes the Active Electromechanical Compliance (AEC) system that was developed for the Jau-JPL anthropomorphic robot. The AEC system imitates the functionality of the human muscle's secondary function, which is to control the joint's stiffness: AEC is implemented through servo controlling the joint drive train's stiffness. The control strategy, controlling compliant joints in teleoperation, is described. It enables automatic hybrid position and force control through utilizing sensory feedback from joint and compliance sensors. This compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft grasping by the robot hand, and opens the way to many new robotics applications.

  12. Manipulating Neutral Atoms in Chip-Based Magnetic Traps

    Science.gov (United States)

    Aveline, David; Thompson, Robert; Lundblad, Nathan; Maleki, Lute; Yu, Nan; Kohel, James

    2009-01-01

    Several techniques for manipulating neutral atoms (more precisely, ultracold clouds of neutral atoms) in chip-based magnetic traps and atomic waveguides have been demonstrated. Such traps and waveguides are promising components of future quantum sensors that would offer sensitivities much greater than those of conventional sensors. Potential applications include gyroscopy and basic research in physical phenomena that involve gravitational and/or electromagnetic fields. The developed techniques make it possible to control atoms with greater versatility and dexterity than were previously possible and, hence, can be expected to contribute to the value of chip-based magnetic traps and atomic waveguides. The basic principle of these techniques is to control gradient magnetic fields with suitable timing so as to alter a trap to exert position-, velocity-, and/or time-dependent forces on atoms in the trap to obtain desired effects. The trap magnetic fields are generated by controlled electric currents flowing in both macroscopic off-chip electromagnet coils and microscopic wires on the surface of the chip. The methods are best explained in terms of examples. Rather than simply allowing atoms to expand freely into an atomic waveguide, one can give them a controllable push by switching on an externally generated or a chip-based gradient magnetic field. This push can increase the speed of the atoms, typically from about 5 to about 20 cm/s. Applying a non-linear magnetic-field gradient exerts different forces on atoms in different positions a phenomenon that one can exploit by introducing a delay between releasing atoms into the waveguide and turning on the magnetic field.

  13. New MA 23 master-slave manipulators with servo control and force feedback. Their application in routine work and in scheduled and exceptional operations

    International Nuclear Information System (INIS)

    Vertut, J.; Marchal, P.; Debrie, G.; Kissel, Ph.

    1976-01-01

    Manipulators of this type manufactured 10-15 years ago were not a success, their widespread introduction having been prevented by their excessive weight, too low capacity, too extensive electronics and high price. The MA 22 system, based on the Virgule device, led to the development of a new technology which combines high reliability with excellent performance, very small electronics and high-torque d.c. motors. The second generation, MA 23, is characterized by a substantially improved mechanism, enabling maximum advantage to be derived from the servo control and making it possible to reproduce, at unlimited distance and with very high slave strength, the dexterity displaced by light master-slave manipulators on the operator side. The authors describe the equipment and indicate the various possibilites for its use in facilities. Long-term development and testing is also being directed towards under-water operation and industrial automatic manipulation. The equipment described opens up a totally new potential for the development of remote-controlled intervention devices, and the authors refer to work on these lines in the Federal Republic of Germany and in France. The research and development effort will also be concerned with penetration into inaccessible parts of facilities. (author)

  14. The evolution of teleoperated manipulators at ORNL

    International Nuclear Information System (INIS)

    Kress, R.L.; Jansen, J.F.; Noakes, M.W.; Herndon, J.N.

    1996-01-01

    ORNL has made significant contributions to teleoperator and telerobotics technology for two decades and continues with an aggressive program today. Examples of past projects are: (1) the M2 servomanipulator, which was the first digitally controlled teleoperator; (2) the Advanced Servomanipulator (ASM), which was the first remotely maintainable teleoperator; (3) the CESARm/Kraft dissimilar teleoperated system; and (4) the Laboratory Telerobotic Manipulator (LTM), a 7-Degree-of-Freedom (7-DOF) telerobot built as a prototype for work in space. More recently, ORNL has become heavily involved with Environmental Restoration and Waste Management (ERWM) robotics programs funded by the Department of Energy (DOE). The ERWM program requires high payloads and high dexterity. As a result, a hydraulically actuated, dual-arm system comprised of two 6-DOF arms mounted on a 5-DOF base has been constructed and is being used today for various research tasks and for decontamination and dismantlement activities. All of these teleoperated manipulator systems build upon the experiences gained throughout the almost two decades of development. Each system incorporates not only the latest technology in computers, sensors, and electronics, but each new . system also adds at least one new feature to the technologies already developed and demonstrated in the previous system(s). As a result of this process, a serious study of these manipulator systems is a study in the evolution of teleoperated manipulator the systems in general. This provides insight not only into the research and development paths chosen in the past, but also into the appropriate directions for future teleoperator and telerobotics research. This paper examines each of the teleoperated/telerobotic systems developed at ORNL, summarizes their features and capabilities, examines the state of the most current telerobotic system (the Dual Arm Work Module), PM provides direction for a Next Generation Telerobotic Manipulator system

  15. A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

    Science.gov (United States)

    Marzwell, Neville I.; Chen, Alexander Y. K.

    1991-01-01

    Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two

  16. Actuator Module of Robot Manipulator for Nuclear Power Plants Inspection, Maintenance and Decommission

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sung Uk; Jung, Kyung Min; Seo, Young Chil; Choi, Byung Seon; Moon, Jei Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-10-15

    For nuclear facility decommissioning, there are many different electrical manipulators to remotely dismantle a nuclear facility. Various manipulators will be necessary for inspection, maintenance and decommission. Only one manipulator cannot response to many required tasks. Therefore, several manipulators are necessary, depending on the payload capacity, their number of axes and their dexterity. Each manipulator was developed for a specific task. The actuators used at manipulator are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of the manipulator is time consuming and expensive. The essential item of the manipulators is the actuator module. If actuator module is standardized, it is easier to develop manipulator. In this paper, we developed two electrical actuator modules to standardize the actuator module and easily develop a manipulator using the proposed actuator modules. The electrical actuator module has a motor, gear and rotary sensor, and is also waterproof. The electrically driven manipulator being used in the proposed actuator modules will be shown. Two modularized electrical actuator modules were developed for inspection, maintenance and decommission. Using the two developed actuator modules, the manipulator inspecting the welding area of reactor vessel is easily developed. Various modularized electrical actuator modules will be developed in terms of size and power.

  17. DexterNet: An Open Platform for Heterogeneous Body Sensor Networks and Its Applications

    Science.gov (United States)

    2008-12-19

    motion, ECG PC, PDA 802.15.4 No No ALARM-NET pulse oximetry STARGATE Bluetooth No Yes [19] motion, ECG PDA, PC 802.11 (temperature, light, PIR) DexterNet...motion, ECG PDA 802.15.4 Yes Possible via SPINE EIP, GPS PC (e.g., air pollution sensor) MICAz, SHIMMER uses MICAz sensors and STARGATE to relay the

  18. Bulldog dwarfism in Dexter cattle is caused by mutations in ACAN.

    Science.gov (United States)

    Cavanagh, Julie A L; Tammen, Imke; Windsor, Peter A; Bateman, John F; Savarirayan, Ravi; Nicholas, Frank W; Raadsma, Herman W

    2007-11-01

    Bulldog dwarfism in Dexter cattle is one of the earliest single-locus disorders described in animals. Affected fetuses display extreme disproportionate dwarfism, reflecting abnormal cartilage development (chondrodysplasia). Typically, they die around the seventh month of gestation, precipitating a natural abortion. Heterozygotes show a milder form of dwarfism, most noticeably having shorter legs. Homozygosity mapping in candidate regions in a small Dexter pedigree suggested aggrecan (ACAN) as the most likely candidate gene. Mutation screening revealed a 4-bp insertion in exon 11 (2266_2267insGGCA) (called BD1 for diagnostic testing) and a second, rarer transition in exon 1 (-198C>T) (called BD2) that cosegregate with the disorder. In chondrocytes from cattle heterozygous for the insertion, mutant mRNA is subject to nonsense-mediated decay, showing only 8% of normal expression. Genotyping in Dexter families throughout the world shows a one-to-one correspondence between genotype and phenotype at this locus. The heterozygous and homozygous-affected Dexter cattle could prove invaluable as a model for human disorders caused by mutations in ACAN.

  19. Imperforated cor triatriatum dexter in a dog with concurrent caudal vena cava wall mineralization

    NARCIS (Netherlands)

    Dobak, Tetyda Paulina; Starrak, Gregory; Linn, Kathleen; Snead, Elisabeth Christine Roberston

    2017-01-01

    BACKGROUND: Cor triatriatum dexter (CTD) is a rare congenital cardiac malformation with various manifestations and has been sporadically described in dogs. Clinically the dogs present with nonspecific signs of right heart failure or Budd-Chiari-like syndrome. Other associated concurrent

  20. the effect of heterosexual contact on libido and mating dexterity in ...

    African Journals Online (AJOL)

    stages of sexual development on adult behaviour are avail- able. Consequently. the present experiment was executed to determine the effects of total isolation as well as that of heterosexual contact during the pre· -and post-puberal phase on libido, mating dexterity and the occurrence of homosexuality in Karakul rams.

  1. A Subcortical Oscillatory Network Contributes to Recovery of Hand Dexterity after Spinal Cord Injury

    Science.gov (United States)

    Nishimura, Yukio; Morichika, Yosuke; Isa, Tadashi

    2009-01-01

    Recent studies have shown that after partial spinal-cord lesion at the mid-cervical segment, the remaining pathways compensate for restoring finger dexterity; however, how they control hand/arm muscles has remained unclear. To elucidate the changes in dynamic properties of neural circuits connecting the motor cortex and hand/arm muscles, we…

  2. Hit Dexter: A Machine-Learning Model for the Prediction of Frequent Hitters.

    Science.gov (United States)

    Stork, Conrad; Wagner, Johannes; Friedrich, Nils-Ole; de Bruyn Kops, Christina; Šícho, Martin; Kirchmair, Johannes

    2018-03-20

    False-positive assay readouts caused by badly behaving compounds-frequent hitters, pan-assay interference compounds (PAINS), aggregators, and others-continue to pose a major challenge to experimental screening. There are only a few in silico methods that allow the prediction of such problematic compounds. We report the development of Hit Dexter, two extremely randomized trees classifiers for the prediction of compounds likely to trigger positive assay readouts either by true promiscuity or by assay interference. The models were trained on a well-prepared dataset extracted from the PubChem Bioassay database, consisting of approximately 311 000 compounds tested for activity on at least 50 proteins. Hit Dexter reached MCC and AUC values of up to 0.67 and 0.96 on an independent test set, respectively. The models are expected to be of high value, in particular to medicinal chemists and biochemists who can use Hit Dexter to identify compounds for which extra caution should be exercised with positive assay readouts. Hit Dexter is available as a free web service at http://hitdexter.zbh. uni-hamburg.de. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  3. MSR Founding Narratives and Content Analysis of Best/Dexter Award Nominee Papers (2001-2015)

    DEFF Research Database (Denmark)

    Tackney, Charles T.; Chappell, Stacie; Sato, Toyoko

    data and founder interviews. The individuals interviewed were identified through preliminary inquiry and from archival data. As a complement of and extension to this inclusive founding narrative, we conducted a content and discourse analysis of the 15 years of MSR Best Papers and Carolyn Dexter Best...

  4. Dexter Time: The Space, Time, and Matterings of School Absence Registration

    Science.gov (United States)

    Bodén, Linnea

    2016-01-01

    Working with a posthumanist approach, this article explores how the computer software Dexter, used for the registration of students' absences and presences, is part of the production of different practices of time, place, space, and matter in Swedish schools. The empirical material engaged with comes from two schools, and the students involved are…

  5. An Instrumented Glove to Assess Manual Dexterity in Simulation-Based Neurosurgical Education

    Directory of Open Access Journals (Sweden)

    Juan Diego Lemos

    2017-04-01

    Full Text Available The traditional neurosurgical apprenticeship scheme includes the assessment of trainee’s manual skills carried out by experienced surgeons. However, the introduction of surgical simulation technology presents a new paradigm where residents can refine surgical techniques on a simulator before putting them into practice in real patients. Unfortunately, in this new scheme, an experienced surgeon will not always be available to evaluate trainee’s performance. For this reason, it is necessary to develop automatic mechanisms to estimate metrics for assessing manual dexterity in a quantitative way. Authors have proposed some hardware-software approaches to evaluate manual dexterity on surgical simulators. This paper presents IGlove, a wearable device that uses inertial sensors embedded on an elastic glove to capture hand movements. Metrics to assess manual dexterity are estimated from sensors signals using data processing and information analysis algorithms. It has been designed to be used with a neurosurgical simulator called Daubara NS Trainer, but can be easily adapted to another benchtop- and manikin-based medical simulators. The system was tested with a sample of 14 volunteers who performed a test that was designed to simultaneously evaluate their fine motor skills and the IGlove’s functionalities. Metrics obtained by each of the participants are presented as results in this work; it is also shown how these metrics are used to automatically evaluate the level of manual dexterity of each volunteer.

  6. Pawedness Trait Test (PaTRaT—A New Paradigm to Evaluate Paw Preference and Dexterity in Rats

    Directory of Open Access Journals (Sweden)

    Ana M. Cunha

    2017-10-01

    Full Text Available In rodents, dexterity is commonly analyzed in preference paradigms in which animals are given the chance to use either the left or the right front paws to manipulate food. However, paw preference and dexterity at population and individual levels are controversial as results are incongruent across paradigms. We have therefore developed a semi-quantitative method—the pawdeness trait test (PaTRaT—to evaluate paw preference degree in rats. The PaTRaT consists in a classification system, ranging from +4 to −4 where increasingly positive and negative values reflect the bias for left or right paw use, respectively. Sprague-Dawley male rats were confined into a metal rectangular mesh cylinder, from which they can see, smell and reach sugared rewards with their paws. Due to its size, the reward could only cross the mesh if aligned with its diagonal, imposing additional coordination. Animals were allowed to retrieve 10 rewards per session in a total of four sessions while their behavior was recorded. PaTRaT was repeated 4 and 8 weeks after the first evaluation. To exclude potential bias, rats were also tested for paw fine movement and general locomotion in other behavioral paradigms as well as impulsivity (variable delay-to-signal, VDS, memory and cognitive flexibility (water maze. At the population level 54% of the animals presented a rightward bias. Individually, all animals presented marked side-preferences, >2 and <−2 for left- and right-sided bias, respectively, and this preference was stable across the three evaluations. Inter-rater consistency was very high between two experienced raters and substantial when two additional inexperienced raters were included. Left- and right-biased animals presented no differences in the ability to perform fine movements with any of the forelimbs (staircase and general locomotor performance. Additionally, these groups performed similarly in executive function and memory tasks. In conclusion, PaTRaT is able

  7. Deficits in Visuo-Motor Temporal Integration Impacts Manual Dexterity in Probable Developmental Coordination Disorder.

    Science.gov (United States)

    Nobusako, Satoshi; Sakai, Ayami; Tsujimoto, Taeko; Shuto, Takashi; Nishi, Yuki; Asano, Daiki; Furukawa, Emi; Zama, Takuro; Osumi, Michihiro; Shimada, Sotaro; Morioka, Shu; Nakai, Akio

    2018-01-01

    The neurological basis of developmental coordination disorder (DCD) is thought to be deficits in the internal model and mirror-neuron system (MNS) in the parietal lobe and cerebellum. However, it is not clear if the visuo-motor temporal integration in the internal model and automatic-imitation function in the MNS differs between children with DCD and those with typical development (TD). The current study aimed to investigate these differences. Using the manual dexterity test of the Movement Assessment Battery for Children (second edition), the participants were either assigned to the probable DCD (pDCD) group or TD group. The former was comprised of 29 children with clumsy manual dexterity, while the latter consisted of 42 children with normal manual dexterity. Visuo-motor temporal integration ability and automatic-imitation function were measured using the delayed visual feedback detection task and motor interference task, respectively. Further, the current study investigated whether autism-spectrum disorder (ASD) traits, attention-deficit hyperactivity disorder (ADHD) traits, and depressive symptoms differed among the two groups, since these symptoms are frequent comorbidities of DCD. In addition, correlation and multiple regression analyses were performed to extract factors affecting clumsy manual dexterity. In the results, the delay-detection threshold (DDT) and steepness of the delay-detection probability curve, which indicated visuo-motor temporal integration ability, were significantly prolonged and decreased, respectively, in children with pDCD. The interference effect, which indicated automatic-imitation function, was also significantly reduced in this group. These results highlighted that children with clumsy manual dexterity have deficits in visuo-motor temporal integration and automatic-imitation function. There was a significant correlation between manual dexterity, and measures of visuo-motor temporal integration, and ASD traits and ADHD traits and

  8. Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

    Science.gov (United States)

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

    2018-03-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

  10. On stiffening cables of a long reach manipulator

    International Nuclear Information System (INIS)

    Wang, S.L.; Santiago, P.

    1996-01-01

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

  11. State of the art in design and control of master-slave manipulators

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Kim, Seung Ho; Kim, Byung Soo; Kim, Chang Hoi; Jung, Seung Ho; Kwang, Suk Yeoung; Seo, Yong Chil; Lee, Young Kwang

    1998-03-01

    The use of remotely operated robots and other mechanical devices as replacements of human workers in hazardous environments is a growing field of research. In particular, master-slave manipulators have been extensively used in the nuclear industries governed by the ALARA principle for more than four decades. There, however, are still few successful implementations of complex and high degree-of-freedom systems. The master manipulator is an input device which interfaces with the human operator on one side and with the slave manipulator on the other. Bilateral force-reflecting control plays a key supporting role in successful dexterous manipulation of the master-slave manipulators. Great increase in performance of the master-slave manipulator system can be achieved through good design of mechanical hardware and proper implementation of the embedded control strategies. This report presents some of design issues relevant to designers of the master manipulator as man-machine interface device in the master-slave manipulator system. Significant design parameters for both the replica and universal master manipulators are evaluated. In addition, the report describes the various control schemes of the bilateral force-reflecting master-slave manipulators, discusses the analysis and synthesis of the control loop between the master and slave manipulators, and examines the necessary position and force information on both sides. (author). 80 refs., 2 tabs., 15 figs

  12. Fetal cor triatriatum dexter: a report of two cases associated with nuchal edema in early second trimester

    DEFF Research Database (Denmark)

    Maroun, L.L.; Graem, N.; Skibsted, L.

    2008-01-01

    Two early-2nd-trimester fetuses were aborted as a result of nuchal edema and suspected severe heart malformation. At autopsy one fetus demonstrated nuchal edema, mild hydronephrosis, and cor triatriatum dexter associated with ventricular septal defect and tubular hypoplasia of the aortic arch....... The other fetus demonstrated severe nuchal edema, and cor triatriatum dexter was the only malformation. Cor triatriatum dexter is a rare cardiac malformation characterized by division of the right atrium into 2 compartments by a usually fenestrated membrane representing remnants of the right valve...

  13. Determination of the relationship between cognitive function and hand dexterity in patients with chronic obstructive pulmonary disease (COPD): a cross-sectional study.

    Science.gov (United States)

    Soysal Tomruk, Melda; Ozalevli, Sevgi; Dizdar, Gorkem; Narin, Selnur; Kilinc, Oguz

    2015-07-01

    Hand dexterity is important for daily living activities and can be related to cognitive functions in patients with chronic obstructive pulmonary disease (COPD). The aim of this study was to investigate the relationship between cognitive dysfunction and hand dexterity in patients with COPD. 35 COPD patients and 36 healthy individuals were assessed. The Minnesota Hand Dexterity Test and Mini Mental State Examination (MMSE) were used for assessment of cognitive function and hand dexterity. Hand dexterity test scores and cognitive function of COPD patients' were significantly lower than the healthy group (p COPD group (p COPD; however, hand dexterity did not alter according to hypoxemia severity. Hand dexterity which is important in daily living activities should be evaluated in greater detail with further studies in COPD patients.

  14. Resonant electronic excitation energy transfer by Dexter mechanism in the quantum dot system

    Science.gov (United States)

    Samosvat, D. M.; Chikalova-Luzina, O. P.; Vyatkin, V. M.; Zegrya, G. G.

    2016-11-01

    In present work the energy transfer between quantum dots by the exchange (Dexter) mechanism is analysed. The interdot Coulomb interaction is taken into consideration. It is assumed that the quantum dot-donor and the quantum dot-acceptor are made from the same compound A3B5 and embedded in the matrix of other material creating potential barriers for electron and holes. The dependences of the energy transfer rate on the quantum-dot system parameters are found using the Kane model that provides the most adequate description spectra of semiconductors A3B5. Numerical calculations show that the rate of the energy transfer by Dexter mechanism is comparable to the rate of the energy transfer by electrostatic mechanism at the distances approaching to the contact ones.

  15. Transthoracic ultrasound guided balloon dilation of cor triatriatum dexter in 2 Rottweiler puppies.

    Science.gov (United States)

    Birettoni, F; Caivano, D; Bufalari, A; Giorgi, M E; Miglio, A; Paradies, P; Porciello, F

    2016-12-01

    Balloon dilation was performed in two Rottweiler puppies with cor triatriatum dexter and clinical signs of ascites using transthoracic echocardiographic guidance. The dogs were positioned on a standard echocardiography table in right lateral recumbency, and guide wires and balloon catheters were imaged by echocardiographic views optimized to allow visualization of the defect. The procedures were performed successfully without complications and clinical signs were resolved completely in both cases. Guide wires and balloon catheters appeared hyperechoic on transthoracic echocardiography image and could be clearly monitored and guided in real-time. These two cases demonstrate that it is possible to perform balloon catheter dilation of cor triatriatum dexter under transthoracic guidance alone. Copyright © 2016 Elsevier B.V. All rights reserved.

  16. Resonant electronic excitation energy transfer by Dexter mechanism in the quantum dot system

    International Nuclear Information System (INIS)

    Samosvat, D M; Chikalova-Luzina, O P; Zegrya, G G; Vyatkin, V M

    2016-01-01

    In present work the energy transfer between quantum dots by the exchange (Dexter) mechanism is analysed. The interdot Coulomb interaction is taken into consideration. It is assumed that the quantum dot-donor and the quantum dot-acceptor are made from the same compound A3B5 and embedded in the matrix of other material creating potential barriers for electron and holes. The dependences of the energy transfer rate on the quantum-dot system parameters are found using the Kane model that provides the most adequate description spectra of semiconductors A3B5. Numerical calculations show that the rate of the energy transfer by Dexter mechanism is comparable to the rate of the energy transfer by electrostatic mechanism at the distances approaching to the contact ones. (paper)

  17. Exciton broadening and band renormalization due to Dexter-like intervalley coupling

    Science.gov (United States)

    Bernal-Villamil, Ivan; Berghäuser, Gunnar; Selig, Malte; Niehues, Iris; Schmidt, Robert; Schneider, Robert; Tonndorf, Philipp; Erhart, Paul; Michaelis de Vasconcellos, Steffen; Bratschitsch, Rudolf; Knorr, Andreas; Malic, Ermin

    2018-04-01

    A remarkable property of atomically thin transition metal dichalcogenides (TMDs) is the possibility to selectively address single valleys by circularly polarized light. In the context of technological applications, it is very important to understand possible intervalley coupling mechanisms. Here, we show how the Dexter-like intervalley coupling mixes A and B states from opposite valleys leading to a significant broadening γB_{1s} of the B1s exciton. The effect is much more pronounced in tungsten-based TMDs, where the coupling excitonic states are quasi-resonant. We calculate a ratio γB_{1s}/γA_{1s}≈ 4.0 , which is in good agreement with the experimentally measured value of 3.9+/-0.7 . In addition to the broadening effect, the Dexter-like intervalley coupling also leads to a considerable energy renormalization resulting in an increased energetic distance between A1s and B1s states.

  18. Dual-task performance involving hand dexterity and cognitive tasks and daily functioning in people with schizophrenia: a pilot study.

    Science.gov (United States)

    Lin, Keh-chung; Wu, Yi-fang; Chen, I-chen; Tsai, Pei-luen; Wu, Ching-yi; Chen, Chia-ling

    2015-01-01

    This study investigated separate and concurrent performance on cognitive and hand dexterity tasks and the relationship to daily functioning in 16 people with schizophrenia and 16 healthy control participants. Participants performed the Purdue Pegboard Test and the Serial Seven Subtraction Test under single- and dual-task conditions and completed two daily functioning evaluations. The hand dexterity of all participants declined in the dual-task condition, but the discrepancy between single-task and dual-task hand dexterity was greater in the schizophrenia group than in the control group (p.70, for all). The extent of discrepancy in hand dexterity was negatively correlated with daily functioning in the schizophrenia group (rs=-.3 to -.5, ps=.04-.26). Ability to perform dual tasks may be an indicator of daily functioning in people with schizophrenia. Use of dual-task training may be considered as a therapeutic activity with these clients. Copyright © 2015 by the American Occupational Therapy Association, Inc.

  19. Molding resonant energy transfer by colloidal crystal: Dexter transfer and electroluminescence

    Science.gov (United States)

    González-Urbina, Luis; Kolaric, Branko; Libaers, Wim; Clays, Koen

    2010-05-01

    Building photonic crystals by combination of colloidal ordering and metal sputtering we were able to construct a system sensitive to an electrical field. In corresponding crystals we embedded the Dexter pair (Ir(ppy3) and BAlq) and investigated the influence of the band gap on the resonant energy transfer when the system is excited by light and by an electric field respectively. Our investigations extend applications of photonic crystals into the field of electroluminescence and LED technologies.

  20. Lazy motion planning for robotic manipulators

    NARCIS (Netherlands)

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

    2017-01-01

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

  1. Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery.

    Science.gov (United States)

    Abidi, Haider; Gerboni, Giada; Brancadoro, Margherita; Fras, Jan; Diodato, Alessandro; Cianchetti, Matteo; Wurdemann, Helge; Althoefer, Kaspar; Menciassi, Arianna

    2018-02-01

    For some surgical interventions, like the Total Mesorectal Excision (TME), traditional laparoscopes lack the flexibility to safely maneuver and reach difficult surgical targets. This paper answers this need through designing, fabricating and modelling a highly dexterous 2-module soft robot for minimally invasive surgery (MIS). A soft robotic approach is proposed that uses flexible fluidic actuators (FFAs) allowing highly dexterous and inherently safe navigation. Dexterity is provided by an optimized design of fluid chambers within the robot modules. Safe physical interaction is ensured by fabricating the entire structure by soft and compliant elastomers, resulting in a squeezable 2-module robot. An inner free lumen/chamber along the central axis serves as a guide of flexible endoscopic tools. A constant curvature based inverse kinematics model is also proposed, providing insight into the robot capabilities. Experimental tests in a surgical scenario using a cadaver model are reported, demonstrating the robot advantages over standard systems in a realistic MIS environment. Simulations and experiments show the efficacy of the proposed soft robot. Copyright © 2017 John Wiley & Sons, Ltd.

  2. Relationship between manual dexterity and the unified parkinson's disease rating scale-motor exam.

    Science.gov (United States)

    Hwang, Sujin; Song, Chiang-Soon

    2016-12-01

    [Purpose] The purpose of this study was to examine the relationships between manual dexterity and the Unified Parkinson's Disease Rating Scale-Motor Exam as a clinical tool for quantifying upper extremity function in persons with Parkinson's disease. [Subjects and Methods] Thirty-two persons with idiopathic Parkinson's disease participated in this study. This study measured two clinical outcomes, the box-and-block test and the Unified Parkinson's Disease Rating Scale-Motor Exam, to investigate the relationships between manual dexterity and the Unified Parkinson's Disease Rating Scale-Motor Exam. [Results] The box-and-block test on the more affected side was positive relationship with the box-and-block test on the less affected side. The Unified Parkinson's Disease Rating Scale-motor exam score had a negative correlation with the box-and-block test results for both sides. [Conclusion] A positive association was noted between manual dexterity and motor function in patients with idiopathic Parkinson disease. The results of this study suggest that the box-and-block test and the Unified Parkinson's Disease Rating Scale-Motor Exam are good clinical measures that quantify upper extremity function and are necessary for the accurate evaluation of patients and to plan intervention strategies.

  3. Internal and external cooling methods and their effect on body temperature, thermal perception and dexterity.

    Directory of Open Access Journals (Sweden)

    Matthew J Maley

    Full Text Available The present study aimed to compare a range of cooling methods possibly utilised by occupational workers, focusing on their effect on body temperature, perception and manual dexterity.Ten male participants completed eight trials involving 30 min of seated rest followed by 30 min of cooling or control of no cooling (CON (34°C, 58% relative humidity. The cooling methods utilised were: ice cooling vest (CV0, phase change cooling vest melting at 14°C (CV14, evaporative cooling vest (CVEV, arm immersion in 10°C water (AI, portable water-perfused suit (WPS, heliox inhalation (HE and ice slushy ingestion (SL. Immediately before and after cooling, participants were assessed for fine (Purdue pegboard task and gross (grip and pinch strength manual dexterity. Rectal and skin temperature, as well as thermal sensation and comfort, were monitored throughout.Compared with CON, SL was the only method to reduce rectal temperature (P = 0.012. All externally applied cooling methods reduced skin temperature (P0.05.The present study observed that ice ingestion or ice applied to the skin produced the greatest effect on rectal and skin temperature, respectively. AI should not be utilised if workers require subsequent fine manual dexterity. These results will help inform future studies investigating appropriate pre-cooling methods for the occupational worker.

  4. Internal and external cooling methods and their effect on body temperature, thermal perception and dexterity

    Science.gov (United States)

    Minett, Geoffrey M.; Bach, Aaron J. E.; Zietek, Stephanie A.; Stewart, Kelly L.; Stewart, Ian B.

    2018-01-01

    Objective The present study aimed to compare a range of cooling methods possibly utilised by occupational workers, focusing on their effect on body temperature, perception and manual dexterity. Methods Ten male participants completed eight trials involving 30 min of seated rest followed by 30 min of cooling or control of no cooling (CON) (34°C, 58% relative humidity). The cooling methods utilised were: ice cooling vest (CV0), phase change cooling vest melting at 14°C (CV14), evaporative cooling vest (CVEV), arm immersion in 10°C water (AI), portable water-perfused suit (WPS), heliox inhalation (HE) and ice slushy ingestion (SL). Immediately before and after cooling, participants were assessed for fine (Purdue pegboard task) and gross (grip and pinch strength) manual dexterity. Rectal and skin temperature, as well as thermal sensation and comfort, were monitored throughout. Results Compared with CON, SL was the only method to reduce rectal temperature (P = 0.012). All externally applied cooling methods reduced skin temperature (Ptemperature versus other cooling methods. Participants felt cooler with CV0, CV14, WPS, AI and SL (P0.05). Conclusion The present study observed that ice ingestion or ice applied to the skin produced the greatest effect on rectal and skin temperature, respectively. AI should not be utilised if workers require subsequent fine manual dexterity. These results will help inform future studies investigating appropriate pre-cooling methods for the occupational worker. PMID:29357373

  5. [Language Manipulation, Surrogacy, Altruism].

    Science.gov (United States)

    Serrano Ruiz-Calderón, José Miguel

    2017-01-01

    The Newspeak propitiates a change of the sense of the words and next to the double thinking forms the picture of totalitarianism described by Orwell in 1984. The purpose of the Newspeak is to make all other forms of thought impossible. In bioethics the Newspeak is applied, not because Bioethics is a new science but by the manipulative intention. The twentieth-century political language has, according to Orwell, the intention to remove the ″mental image ″ of what really happens. This is clear in the terms ″surrogacy ″. On the one hand, the mother is deprived of her child. On the other, there is no legal subrogation. As has been said the technique reduces a woman to the condition of a vessel. The excuse of gratuity does not change the exploitative relationship, since gratuitousness in the provision of women is not the altruism of all those involved in surrogacy.

  6. Modeling Dexterity Development in 2nd-4th-grade Boys by Means of Active Games

    Directory of Open Access Journals (Sweden)

    C. Марченко

    2017-06-01

    Full Text Available The objective is to optimize the mode of using game for dexterity development in the 2nd-4th-grade boys. Materials & methods: to conduct the experiment, there were eight test groups (n=48 formed in each class. The total number of such test groups was 24. The research relied on the following methods: theoretical analysis and collation of scientific and methodological literature; pedagogical testing; methods of mathematical experiment planning (complete factorial experiment 23; modeling method. Results: the research has determined that to develop dexterity, the 2nd-4th-grade boys need to participate in up to five games. The number of repetitions for the 2nd-3rd-graders is two, and for the 4th-graders – three, with 30–40-second rest intervals. The 2nd-4th-grade boys showed effective development during 40 classes, and the 3rd-grade boys – during 20 classes. After that, we recommend to use other means. The game duration varies from one to two minutes. Conclusions: the analysis of the scientific and methodological literature has revealed that the level of motor readiness, dexterity being one of its main components, largely determines the state of children’s physical and mental health. The research has found that the natural development of coordination abilities in boys aged between 7 and 10 is 22.5–80.0% (56.2% on average. Game actions play a particular role in dexterity development in junior schoolers. The 23 complete factorial experiment made it possible to study the multi-factorial structure of game load for the 2nd-4th-graders; to specify the relations between factors for their use during dexterity development in the 2nd-4th-grade boys in physical education classes. They can serve as an objective tool for the educational process optimization. The given regression equations are models that can be used to determine the optimal game means ratio in the academic process of the 2nd-4th-graders.

  7. Currency Manipulation versus Current Account Manipulation

    OpenAIRE

    Junning Cai

    2005-01-01

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

  8. SSSFD manipulator engineering using statistical experiment design techniques

    Science.gov (United States)

    Barnes, John

    1991-01-01

    The Satellite Servicer System Flight Demonstration (SSSFD) program is a series of Shuttle flights designed to verify major on-orbit satellite servicing capabilities, such as rendezvous and docking of free flyers, Orbital Replacement Unit (ORU) exchange, and fluid transfer. A major part of this system is the manipulator system that will perform the ORU exchange. The manipulator must possess adequate toolplate dexterity to maneuver a variety of EVA-type tools into position to interface with ORU fasteners, connectors, latches, and handles on the satellite, and to move workpieces and ORUs through 6 degree of freedom (dof) space from the Target Vehicle (TV) to the Support Module (SM) and back. Two cost efficient tools were combined to perform a study of robot manipulator design parameters. These tools are graphical computer simulations and Taguchi Design of Experiment methods. Using a graphics platform, an off-the-shelf robot simulation software package, and an experiment designed with Taguchi's approach, the sensitivities of various manipulator kinematic design parameters to performance characteristics are determined with minimal cost.

  9. Additive manufacturing of patient-specific tubular continuum manipulators

    Science.gov (United States)

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

    2015-03-01

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

  10. Electromyogram synergy control of a dexterous artificial hand to unscrew and screw objects.

    Science.gov (United States)

    Kent, Benjamin A; Karnati, Nareen; Engeberg, Erik D

    2014-03-21

    Due to their limited dexterity, it is currently not possible to use a commercially available prosthetic hand to unscrew or screw objects without using elbow and shoulder movements. For these tasks, prosthetic hands function like a wrench, which is unnatural and limits their use in tight working environments. Results from timed rotational tasks with human subjects demonstrate the clinical need for increased dexterity of prosthetic hands, and a clinically viable solution to this problem is presented for an anthropomorphic artificial hand. Initially, a human hand motion analysis was performed during a rotational task. From these data, human hand synergies were derived and mapped to an anthropomorphic artificial hand. The synergy for the artificial hand is controlled using conventional dual site electromyogram (EMG) signals. These EMG signals were mapped to the developed synergy to control four joints of the dexterous artificial hand simultaneously.Five limb absent and ten able-bodied test subjects participated in a comparison study to complete a timed rotational task as quickly as possible with their natural hands (except for one subject with a bilateral hand absence), eight commercially available prosthetic hands, and the proposed synergy controller. Each test subject used two to four different artificial hands. With the able-bodied subjects, the developed synergy controller reduced task completion time by 177% on average. The limb absent subjects completed the task faster on average than with their own prostheses by 46%. There was a statistically significant improvement in task completion time with the synergy controller for three of the four limb absent participants with integrated prostheses, and was not statistically different for the fourth. The proposed synergy controller reduced average task completion time compared to commercially available prostheses. Additionally, the synergy controller is able to function in a small workspace and requires less physical

  11. Synthesis of dexterity measure of mechanisms by evolution of dissipative system

    Directory of Open Access Journals (Sweden)

    Grešl M.

    2007-11-01

    Full Text Available The paper deals with the new approach of solving traditional kinematical synthesis of mechanisms. The kinematical synthesis is reformulated as nonlinear dynamical problem. All searched parameters of the mechanism are in this dynamical dissipative system introduced as time-varying during motion of mechanism’s dimension iteration. The synthesis process is realized as the time evolution of such system. One of the most important objectives of the machine synthesis is the dexterity measure. The new approach is applied to optimization of this property.

  12. Unique sail-like structure of cor triatriatum dexter in three-dimensional echocardiogram.

    Science.gov (United States)

    Low, Ting Ting; Uy, Celia Catherine C; Wong, Raymond Ching Chiew

    2014-08-01

    Cor triatriatum dexter (CTD) is an extremely rare congenital condition arising from the persistence of the right valve of the sinus venosus. It divides the right atrium (RA) into 2 separate chambers. We report a case of a 50-year-old man who had an incidental finding of CTD on transesophageal echocardiogram. An incomplete membrane of the RA was seen, and three-dimensional echocardiogram delineated the structure clearly as a triangular sail-like structure with multiple orifices and a fenestration. © 2013, Wiley Periodicals, Inc.

  13. Cyanosis and Stroke due to Functional Cor Triatriatum Dexter in a Neonate.

    Science.gov (United States)

    León, Rachel L; Zaban, Nicholas B; Schamberger, Marcus S; Ho, Chang Y; Mietzsch, Ulrike

    2018-01-01

    Small remnants of the right valve of the sinus venosus are commonly found in adults, but the incidence and risk associated with these embryonic remnants in neonates are not well studied. The following report describes a cyanotic neonate with a large Eustachian valve remnant creating a functional cor triatriatum dexter who was initially diagnosed with persistent pulmonary hypertension of the newborn. The cyanosis in this infant improved over the first postnatal week with conservative management, but she suffered multifocal subcortical stroke, likely related to her intracardiac shunt. The clinical presentation and questions regarding long-term management of this rare diagnosis are explored. © 2018 S. Karger AG, Basel.

  14. Cor triatriatum dexter, atrial septal defects, and pulmonary stenosis-a rare association.

    Science.gov (United States)

    Simsek, Ziya; Koza, Yavuzer; Tas, Hakan

    2014-04-01

    Cor triatriatum dexter (CTD) is an extremely rare congenital anomaly in which the right atrium is divided into 2 chambers by a membrane. The estimated incidence of cor triatriatum has been reported as 0.1% of congenital cardiac malformations. The septation of the right atrium in the setting of CTD is the result of failed resorption of the right valve of the sinus venosus. This results in anterolateral and posteromedial portions of the divided right atrium. CTD can be diagnosed at any age, especially if it is incidentally discovered. © 2014, Wiley Periodicals, Inc.

  15. Complete A-V block: incidental or a part of cor triatriatum dexter.

    Science.gov (United States)

    Guler, Y; Akgun, T; Toprak, C; Guler, A; Esen, A M

    2014-05-01

    Cor triatriatum dexter (CTD) is an extremely rare cardiac anomaly in which the right atrium is divided into two distinct chambers by a membrane. The persistence of the right valve of sinus venosus results in a complete septation of the right atrium. This anomaly is frequently associated with other right-sided cardiac abnormalities. Its clinical manifestation and the need for intervention are determined by the number and the size of the fenestrations on the membrane, associated cardiac anomalies and arrhythmias. We describe a case of CTD in a patient with complete atrioventricular (A-V) block.

  16. Getting Manipulative about Math.

    Science.gov (United States)

    Scheer, Janet K.; And Others

    1984-01-01

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

  17. Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures

    International Nuclear Information System (INIS)

    Kang, Rongjie; Zheng Tianjiang; Guglielmino, Emanuele; Caldwell, Darwin G; Branson, David T

    2013-01-01

    Biological tentacles, such as octopus arms, have entirely flexible structures and virtually infinite degrees of freedom (DOF) that allow for elongation, shortening and bending at any point along the arm length. The amazing dexterity of biological tentacles has driven the growing implementation of continuum manipulators in robotic systems. This paper presents a pneumatic manipulator inspired by biological continuum structures in some of their key features and functions, such as continuum morphology, intrinsic compliance and stereotyped motions with hyper redundant DOF. The kinematics and dynamics of the manipulator are formulated and identified, and a hierarchical controller taking inspiration from the structure of an octopus nervous system is used to relate desired stereotyped motions to individual actuator inputs. Simulations and experiments are carried out to validate the model and prototype where good agreement was found between the two. (paper)

  18. Dual-arm manipulation module for use in decontamination and decommissioning operations

    International Nuclear Information System (INIS)

    Hamel, W.R.; Haley, D.C.; Dixon, W.E.

    1994-01-01

    A dual-arm manipulation module is under development for application in decontamination and decommissioning (D ampersand D) tasks. The development is led by Oak Ridge National Laboratory with support from Sandia National Laboratories, and with university and industry participation. The project is part of the Robotics Technology Development Program funded by the US Department of Energy, Environmental Restoration and Waste Management, Office of Technology Development. The dual-arm module is designed to provide dexterous manipulation capability for remote characterization, decontamination, and dismantlement operations, and the module is reconfigurable to meet various deployment requirements. Remote manipulation capability can benefit D ampersand D activities through reduced worker exposure to both contaminant and industrial hazards. When tasks conditions permit, increased use of robotic features reduce costs by increased efficiency of operation

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

    International Nuclear Information System (INIS)

    Naccarato, F.

    1996-01-01

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

  20. ADVERTISING AND LANGUAGE MANIPULATION

    Directory of Open Access Journals (Sweden)

    Cristina-Maria PRELIPCEANU

    2013-11-01

    Full Text Available Research has revealed that much of what happens in our minds as a result of language use is still hidden from our conscious awareness. Advertisers know this phenomenon better. They use the manipulation of language to suggest something about their products without directly claiming it to be true. Although the advertisers use colours, symbols, and imagery in advertisements, “the most direct way to study ads is through an analysis of the language employed” as all the other aspects are meant to reinforce the language message. Ads are designed to have an effect on consumers while being laughed at, belittle and all but ignored. Some modern advertisements appear to be almost dissuading consumers from the product – but this is just a modern technique. This paper is going to analyze a series of language techniques used by advertisers to arrest our attention, to arouse our interest, to stimulate desire for a product and ultimately to motivate us to buy it. Once we become familiar with the language strategies used in advertising messages we will be more able to make our own buying decisions.

  1. Neuron selection based on deflection coefficient maximization for the neural decoding of dexterous finger movements.

    Science.gov (United States)

    Kim, Yong-Hee; Thakor, Nitish V; Schieber, Marc H; Kim, Hyoung-Nam

    2015-05-01

    Future generations of brain-machine interface (BMI) will require more dexterous motion control such as hand and finger movements. Since a population of neurons in the primary motor cortex (M1) area is correlated with finger movements, neural activities recorded in M1 area are used to reconstruct an intended finger movement. In a BMI system, decoding discrete finger movements from a large number of input neurons does not guarantee a higher decoding accuracy in spite of the increase in computational burden. Hence, we hypothesize that selecting neurons important for coding dexterous flexion/extension of finger movements would improve the BMI performance. In this paper, two metrics are presented to quantitatively measure the importance of each neuron based on Bayes risk minimization and deflection coefficient maximization in a statistical decision problem. Since motor cortical neurons are active with movements of several different fingers, the proposed method is more suitable for a discrete decoding of flexion-extension finger movements than the previous methods for decoding reaching movements. In particular, the proposed metrics yielded high decoding accuracies across all subjects and also in the case of including six combined two-finger movements. While our data acquisition and analysis was done off-line and post processing, our results point to the significance of highly coding neurons in improving BMI performance.

  2. Predicting hand function in older adults: evaluations of grip strength, arm curl strength, and manual dexterity.

    Science.gov (United States)

    Liu, Chiung-Ju; Marie, Deana; Fredrick, Aaron; Bertram, Jessica; Utley, Kristen; Fess, Elaine Ewing

    2017-08-01

    Hand function is critical for independence in activities of daily living for older adults. The purpose of this study was to examine how grip strength, arm curl strength, and manual dexterous coordination contributed to time-based versus self-report assessment of hand function in community-dwelling older adults. Adults aged ≥60 years without low vision or neurological disorders were recruited. Purdue Pegboard Test, Jamar hand dynamometer, 30-second arm curl test, Jebsen-Taylor Hand Function Test, and the Late-Life Function and Disability Instrument were administered to assess manual dexterous coordination, grip strength, arm curl strength, time-based hand function, and self-report of hand function, respectively. Eighty-four adults (mean age = 72 years) completed the study. Hierarchical multiple regressions show that older adults with better arm curl strength (β = -.25, p function test. In comparison, older adults with better grip strength (β = .40, p function. The relationship between grip strength and hand function may be test-specific. Grip strength becomes a significant factor when the test requires grip strength to successfully complete the test tasks. Arm curl strength independently contributed to hand function in both time-based and self-report assessments, indicating that strength of extrinsic muscles of the hand are essential for hand function.

  3. Influence of Shift Work on Manual Dexterity and Reaction Time in Tunisian Nurses.

    Science.gov (United States)

    Merchaoui, Irtyah; Chaari, Neila; Bouhlel, Mohamed; Bouzgarrou, Lamia; Malchaire, Jacques; Akrout, Mohamed

    2017-01-01

    Major effects of shift schedule are related to sleep alertness and performance, but also to long term health outcomes. For nurses, these negative effects have consequences not only on the individual, but also on the workplace, as decreased alertness and reduced job performance could endanger human lives. The specific aim of our study is to assess the influence of shift schedule on nurses´ cognitive ability and rapidity of execution. Our survey is a cross sectional study which had been conducted for 15 months; it involved a sample of 293 participants representative of 1118 nurses working in two Tunisian university hospitals. It included an evaluation of the rapidity of execution performance through the manual dexterity test and the reaction time test. The study was completed by an assessment of the workability Index through a 7- item survey. No association was found between the groups of work schedules and the cognitive ability of execution speed. However, we found a significant decrease in cognitive performance in the nurses exceeding 10 years of job seniority for both schedules. We concluded to an impaired cognitive performance speed in the over 10-year seniority groups in both schedules. Recommendations should be focused on implementing periodic assessment of cognitive performance based on O'Connor finger dexterity test and time reaction test and on implementing effective preventive measures in hospitals after ten years of seniority at work. Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.org.

  4. Compromised Motor Dexterity Confounds Processing Speed Task Outcomes in Stroke Patients

    Directory of Open Access Journals (Sweden)

    Essie Low

    2017-09-01

    Full Text Available Most conventional measures of information processing speed require motor responses to facilitate performance. However, although not often addressed clinically, motor impairment, whether due to age or acquired brain injury, would be expected to confound the outcome measure of such tasks. The current study recruited 29 patients (20 stroke and 9 transient ischemic attack with documented reduction in dexterity of the dominant hand, and 29 controls, to investigate the extent to which 3 commonly used processing speed measures with varying motor demands (a Visuo-Motor Reaction Time task, and the Wechsler Adult Intelligence Scale-IV Symbol Search and Coding subtests may be measuring motor-related speed more so than cognitive speed. Analyses include correlations between indices of cognitive and motor speed obtained from two other tasks (Inspection Time and Pegboard task, respectively with the three speed measures, followed by hierarchical regressions to determine the relative contribution of cognitive and motor speed indices toward task performance. Results revealed that speed outcomes on tasks with relatively high motor demands, such as Coding, were largely reflecting motor speed in individuals with reduced dominant hand dexterity. Thus, findings indicate the importance of employing measures with minimal motor requirements, especially when the assessment of speed is aimed at understanding cognitive rather than physical function.

  5. Robotic finger perturbation training improves finger postural steadiness and hand dexterity.

    Science.gov (United States)

    Yoshitake, Yasuhide; Ikeda, Atsutoshi; Shinohara, Minoru

    2018-02-01

    The purpose of the study was to understand the effect of robotic finger perturbation training on steadiness in finger posture and hand dexterity in healthy young adults. A mobile robotic finger training system was designed to have the functions of high-speed mechanical response, two degrees of freedom, and adjustable loading amplitude and direction. Healthy young adults were assigned to one of the three groups: random perturbation training (RPT), constant force training (CFT), and control. Subjects in RPT and CFT performed steady posture training with their index finger using the robot in different modes: random force in RPT and constant force in CFT. After the 2-week intervention period, fluctuations of the index finger posture decreased only in RPT during steady position-matching tasks with an inertial load. Purdue pegboard test score improved also in RPT only. The relative change in finger postural fluctuations was negatively correlated with the relative change in the number of completed pegs in the pegboard test in RPT. The results indicate that finger posture training with random mechanical perturbations of varying amplitudes and directions of force is effective in improving finger postural steadiness and hand dexterity in healthy young adults. Copyright © 2017 Elsevier Ltd. All rights reserved.

  6. Bangladesh Norms for a Gender-Specific Functional Fine Dexterity Test (FFDT

    Directory of Open Access Journals (Sweden)

    Debra K. Lindstrom-Hazel

    2016-10-01

    Full Text Available Background: Good psychometrics and cultural relevance are needed for evidence-based practice. Occupational therapy (OT assessment tools in Bangladesh have been developed outside of Bangladesh and have not been validated or normed for Bangladeshis. This normative and psychometric study was to provide culturally relevant norms for in Bangladesh for bilateral fine motor. Method: The Functional Fine Dexterity Test (FFDT consists of two functional/self-care gender-specific task instruments: a shirt with five buttons for males and a pinning board for females. Raters were trained in timing these tasks. Results: Intra-Class Correlation (ICC scores were > .85 for all rater teams. Participants were timed three times while they completed the task. Convergent validity was examined using a Pearson’s Product-Moment correlation to compare the average of three trials of the FFDT and three trials of the Nine Hole Peg Test (NHPT. Male and female norms were developed for the FFDT using descriptive statistics. The sample included 180 Bangladesh participants. Convergent validity, when compared to the NHPT, ranged from r = .4 to .67 for males (ages 18-29 and 40-49, p < .05; and r = .53 to .76 for females (aged 18-39, p < .05. FFDT norms were developed for gender and age categories. Conclusion: The FFDT is a valid test to use for evaluating fine motor dexterity in Bangladesh. This is the first OT instrument to be studied for culturally relevancy.

  7. A piano training program to improve manual dexterity and upper extremity function in chronic stroke survivors

    Directory of Open Access Journals (Sweden)

    Myriam eVilleneuve

    2014-08-01

    Full Text Available Objective: Music-supported therapy was shown to induce improvements in motor skills in stroke survivors. Whether all stroke individuals respond similarly to the intervention and whether gains can be maintained over time remain unknown. We estimated the immediate and retention effects of a piano training program on upper extremity function in persons with chronic stroke. Methods: Thirteen stroke participants engaged in a 3-week piano training comprising of supervised sessions (9 x 60min and home practice. Fine and gross manual dexterity, movement coordination and functional use of the upper extremity were assessed at baseline, pre-intervention, post-intervention and at a 3-week follow-up. Results: Significant improvements were observed for all outcomes at post-intervention and follow-up, compared to pre-intervention scores. Larger magnitudes of change in manual dexterity and functional use of the upper extremity were associated with higher initial levels of motor recovery. Conclusions: Piano training can result in sustainable improvements in upper extremity function in chronic stroke survivors. Individuals with a higher initial level of motor recovery at baseline appear to benefit the most from this intervention.

  8. The relationship between walking, manual dexterity, cognition and activity/participation in persons with multiple sclerosis.

    Science.gov (United States)

    Kierkegaard, Marie; Einarsson, Ulrika; Gottberg, Kristina; von Koch, Lena; Holmqvist, Lotta Widén

    2012-05-01

    Multiple sclerosis has a vast impact on health, but the relationship between walking, manual dexterity, cognition and activity/participation is unclear. The specific aims were to explore the discriminative ability of measures of walking, manual dexterity and cognition, and to identify cut-off values in these measures, for prediction of independence in personal and instrumental activities of daily living (ADL) and activity/participation in social and lifestyle activities. Data from 164 persons with multiple sclerosis were collected during home visits with the following measures: the 2 × 5 m walk test, the Nine-hole Peg Test, the Symbol Digit Modalities Test, the Katz Personal and Instrumental ADL Indexes, and the Frenchay Activities Index (measuring frequency in social and lifestyle activities). The 2 × 5 m walk test and the Nine-hole Peg Test had high and better discriminative and predictive ability than the Symbol Digit Modalities Test. Cut-off values were identified. The accuracy of predictions was increased above all by combining the 2 × 5 m walk test and the Nine-hole Peg Test. The proposed cut-off values in the 2 × 5 m walk test and the Nine-hole Peg Test may be used as indicators of functioning and to identify persons risking activity limitations and participation restrictions. However, further studies are needed to confirm the usefulness in clinical practice.

  9. Dexterity test data contribute to proper glovebox over-glove use

    International Nuclear Information System (INIS)

    Cournoyer, Michael E.; Lawton, Cindy M.; Castro, Armanda M.; Costigan, Stephen A.; Apel, D.M.; Neal, G.E.; Castro, J.M.; Michelotti, R.A.

    2010-01-01

    Programmatic operations at the Los Alamos National Laboratory Plutonium Facility (TA-55) involve working with various amounts of plutonium and other highly toxic, alpha-emitting materials. The spread of radiological contamination on surfaces, airborne contamination, and excursions of contaminants into the operator's breathing zone are prevented through the use of a variety of gloveboxes (the glovebox, coupled with an adequate negative pressure gradient, provides primary confinement). The glovebox gloves are the weakest part of this engineering control. The Glovebox Glove Integrity Program, which controls glovebox gloves from procurement to disposal at TA-55, manages this vulnerability. A key element of this program is to consider measures that lower the overall risk of glovebox operations. Proper selection of over-gloves is one of these measures. Line management owning glovebox processes have the responsibility to approve the appropriate personal protective equipment/glovebox glove/over-glove combination. As low as reasonably achievable (ALARA) considerations to prevent unplanned glovebox glove openings must be balanced with glove durability and worker dexterity, both of which affect the final overall risk to the worker. In this study, the causes of unplanned glovebox glove openings, the benefits of over-glove features, the effect of over-gloves on task performance using standard dexterity tests, the pollution prevention benefits, and the recommended over-gloves for a task are presented.

  10. Sofrimento psíquico na perversão: o caso dexter

    Directory of Open Access Journals (Sweden)

    Fábio Roberto Rodrigues Belo

    2012-09-01

    Full Text Available A análise do personagem fictício Dexter permite construir hipóteses metapsicológicas sobre as origens da perversão. A posição perversa nesse caso deve-se à presença maciça de violência nas origens do sujeito psíquico. Dexter expressa o abandono sofrido pela atuação pulsional, os assassinatos em série, tentando inverter o estado de passividade no qual se encontra. Sua angústia pode ser organizada de duas formas distintas: a primeira é consciente, fornecida por seu pai, Harry, que o ensina a não deixar vestígios dos seus crimes. A segunda maneira é inconsciente, e traduz o desejo de submeter o outro à dor, fazendo com que, por meio do mecanismo de identificação projetiva, o perverso desfrute deste sofrimento que provoca, sendo remetido, então, às suas vivências originárias de submissão. Conclui-se que na perversão a angústia não apenas está presente, como também é constitutiva da escolha do sujeito de operar pela via da violência.

  11. Stent placement for palliation of cor triatriatum dexter in a dog with suspected patent foramen ovale.

    Science.gov (United States)

    Barncord, Kristin; Stauthammer, Christopher; Moen, Sean L; Hanson, Melissa; Gruenstein, Daniel H

    2016-03-01

    An 11 month old spayed, female dog presented with exercise intolerance and cyanosis upon exertion. Echocardiography revealed an imperforate cor triatriatum dexter with mild tricuspid valve dysplasia, an underfilled right ventricle and significant right to left shunting across a presumptive patent foramen ovale. Balloon dilation of the abnormal atrial membrane was initially successful in creating a communication between the right atrial chambers, but stenosis of the original perforation and persistent clinical signs prompted a second intervention. A balloon expandable biliary stent was placed across the abnormal partition, improving caudal venous return to the right ventricle and reducing the right to left shunt. Three months after stent placement, resting oxygen saturation had normalized. Six months after stent placement, exercise tolerance had improved and exertional cyanosis had resolved. Long term follow up will be necessary to assess for remodeling of the right ventricle with improved venous return. Stent placement can be considered as a palliative treatment option for cor triatriatum dexter, especially for stenosis post-balloon dilation. Copyright © 2015 Elsevier B.V. All rights reserved.

  12. Master-slave manipulator

    International Nuclear Information System (INIS)

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

    1981-01-01

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

  13. In Praise of Manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

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

  14. Cell manipulation in microfluidics

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  15. Manipulator comparative testing program

    International Nuclear Information System (INIS)

    Draper, J.V.; Handel, S.J.; Sundstrom, E.; Herndon, J.N.; Fujita, Y.; Maeda, M.

    1986-01-01

    The Manipulator Comparative Testing Program examined differences among manipulator systems from the United States and Japan. The manipulator systems included the Meidensha BILARM 83A, the Model M-2 of Central Research Laboratories Division of Sargent Industries (CRL), and the GCA Corporation PaR Systems Model 6000. The site of testing was the Remote Operations Maintenance Demonstration (ROMD) facility, operated by the Fuel Recycle Division in the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory (ORNL). In all stages of testing, operators using the CRL Model M-2 manipulator had consistently lower times to completion and error rates than they did using other machines. Performance was second best with the Meidensha BILARM 83A in master-slave mode. Performance with the BILARM in switchbox mode and the PaR 6000 manipulator was approximately equivalent in terms of criteria recorded in testing. These data show no impact of force reflection on task performance

  16. Genetic manipulation of Francisella tularensis

    Directory of Open Access Journals (Sweden)

    Xhavit eZogaj

    2011-01-01

    Full Text Available Francisella tularensis is a facultative intracellular pathogen that causes the disease tularemia. F. tularensis subsp. tularensis causes the most severe disease in humans and has been classified as a select A agent and potential bioweapon. There is currently no vaccine approved for human use, making genetic manipulation of this organism critical to unraveling the genetic basis of pathogenesis and developing countermeasures against tularemia. The development of genetic techniques applicable to F. tularensis have lagged behind those routinely used for other bacteria, primarily due to lack of research and the restricted nature of the biocontainment required for studying this pathogen. However, in recent years, genetic techniques, such as transposon mutagenesis and targeted gene disruption, have been developed, that have had a dramatic impact on our understanding of the genetic basis of F. tularensis virulence. In this review, we describe some of the methods developed for genetic manipulation of F. tularensis.

  17. Manipulation of biomimetic objects in acoustic levitation

    OpenAIRE

    Castro , Angelica

    2013-01-01

    This thesis contains 9 chapters making a total of 205 pages including articles. The articles are menctioned throughout the work and are listed as annexes. These articles were produced during the PhD.; Levitation is a promising tool for contactless guiding and non-toxic manipulation. Acoustic levitation by ultrasonic standing waves (USW) allows micron-scale particle manipulation in acoustic resonators. The main goal of this thesis is to explore the possibilities given by the acoustic levitatio...

  18. Sports Tournament Predictions Using Direct Manipulation

    OpenAIRE

    Vuillemot , Romain; Perin , Charles

    2016-01-01

    An advanced interface for sports tournament predictions uses direct manipulation to allow users to make nonlinear predictions. Unlike previous interface designs, the interface helps users focus on their prediction tasks by enabling them to first choose a winner and then fill out the rest of the bracket. In real-world tests of the proposed interface (for the 2014 FIFA World Cup tournament and 2015/2016 UEFA Champions League), the authors validated the use of direct manipulation as an alternati...

  19. Manual dexterity in hereditary motor and sensory neuropathy type 1a: severity of limitations and feasibility and reliability of two assessment instruments

    NARCIS (Netherlands)

    Videler, Annemieke J.; Beelen, Anita; van Schaik, Ivo N.; de Visser, Marianne; Nollet, Frans

    2008-01-01

    OBJECTIVE: To assess the prevalence and significance of impaired manual dexterity in hereditary motor and sensory neuropathy type 1a (HMSN 1a), with the Sollerman hand function and the Functional Dexterity test, and compare the reliability and agreement of the tests. DESIGN: Descriptive

  20. Manipulators for production and research

    International Nuclear Information System (INIS)

    Munro, Ian

    1987-01-01

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

  1. Powered manipulator control arm

    International Nuclear Information System (INIS)

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

    1975-01-01

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

  2. Simulation of robot manipulators

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  3. The direct manipulation shell

    International Nuclear Information System (INIS)

    Allen, M.E.; Christiansen, M.

    1992-01-01

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

  4. Geometric control of manipulators

    International Nuclear Information System (INIS)

    Thiruarooran, C.

    1996-01-01

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

  5. Compliant Aerial Manipulators

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  6. Usability of videogame-based dexterity training in the early rehabilitation phase of stroke patients : A pilot study

    NARCIS (Netherlands)

    Vanbellingen, Tim; Filius, Suzanne J.; Nyffeler, Thomas; van Wegen, Erwin E.H.

    2017-01-01

    Background: Approximately 70-80% of stroke survivors have limited activities of daily living, mainly due to dexterous problems. Videogame-based training (VBT) along with virtual reality seems to be beneficial to train upper limb function. Objective: To evaluate the usability of VBT using the Leap

  7. Optimal grasp planning for a dexterous robotic hand using the volume of a generalized force ellipsoid during accepted flattening

    Directory of Open Access Journals (Sweden)

    Peng Jia

    2017-01-01

    Full Text Available A grasp planning method based on the volume and flattening of a generalized force ellipsoid is proposed to improve the grasping ability of a dexterous robotic hand. First, according to the general solution of joint torques for a dexterous robotic hand, a grasping indicator for the dexterous hand—the maximum volume of a generalized external force ellipsoid and the minimum volume of a generalized contact internal force ellipsoid during accepted flattening—is proposed. Second, an optimal grasp planning method based on a task is established using the grasping indicator as an objective function. Finally, a simulation analysis and grasping experiment are performed. Results show that when the grasping experiment is conducted with the grasping configuration and positions of contact points optimized using the proposed grasping indicator, the root-mean-square values of the joint torques and contact internal forces of the dexterous hand are at a minimum. The effectiveness of the proposed grasping planning method is thus demonstrated.

  8. Physical Demand but Not Dexterity Is Associated with Motor Flexibility during Rapid Reaching in Healthy Young Adults

    NARCIS (Netherlands)

    Greve, Christian; Hortobagyi, Tibor; Bongers, Raoul M.

    2015-01-01

    Healthy humans are able to place light and heavy objects in small and large target locations with remarkable accuracy. Here we examine how dexterity demand and physical demand affect flexibility in joint coordination and end-effector kinematics when healthy young adults perform an upper extremity

  9. Cor triatriatum dexter, a very rare congenital anomaly presented in a complex pathological context – case presentation

    Directory of Open Access Journals (Sweden)

    Gozar Liliana

    2014-08-01

    Full Text Available Background Cor triatriatum dexter is an extremely rare congenital anomaly, and in most cases, without hemodynamic significance. Congenital cytomegalovirus infection is the most common viral infection, the majority of infected infants being asymptomatic and only 5-15% being symptomatic in the neonatal period.

  10. Manipulating Strings in Python

    Directory of Open Access Journals (Sweden)

    William J. Turkel

    2012-07-01

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

  11. Method and System for Controlling a Dexterous Robot Execution Sequence Using State Classification

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Platt, Robert J., Jr. (Inventor); Quillin, Nathaniel (Inventor); Permenter, Frank Noble (Inventor); Pfeiffer, Joseph (Inventor)

    2014-01-01

    A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.

  12. Usability of Videogame-Based Dexterity Training in the Early Rehabilitation Phase of Stroke Patients: A Pilot Study

    Directory of Open Access Journals (Sweden)

    Tim Vanbellingen

    2017-12-01

    Full Text Available BackgroundApproximately 70–80% of stroke survivors have limited activities of daily living, mainly due to dexterous problems. Videogame-based training (VBT along with virtual reality seems to be beneficial to train upper limb function.ObjectiveTo evaluate the usability of VBT using the Leap Motion Controller (LMC to train fine manual dexterity in the early rehabilitation phase of stroke patients as an add-on to conventional therapy. Additionally, this study aimed to estimate the feasibility and potential efficacy of the VBT.MethodsDuring 3 months, 64 stroke patients were screened for eligibility, 13 stroke patients were included (4 women and 9 men; age range: 24–91 years; mean time post stroke: 28.2 days.InterventionNine sessions of 30 min VBT, three times per week as an add-on to conventional therapy with stroke inpatients.Outcome measuresPrimary outcome was the usability of the system measured with the System Usability Scale. Secondary outcomes concerning feasibility were the compliance rate calculated from the total time spent on the intervention (TT compared to planned time, the opinion of participants via open-end questions, and the level of active participation measured with the Pittsburgh Rehabilitation Participation Scale. Regarding the potential efficacy secondary outcomes were: functional dexterity measured with the Nine Hole Peg Test (NHPT, subjective dexterity measured with the Dexterity Questionnaire 24, grip strength measured with the Jamar dynamometer, and motor impairment of the upper limb measured with the Fugl-Meyer Upper Extremity (FM-UE scale.ResultsPrimarily, the usability of the system was good to excellent. The patient’s perception of usability remained stable over a mean period of 3 weeks of VBT. Secondly, the compliance rate was good, and the level of active participation varied between good and very good. The opinion of the participants revealed that despite individual differences, the overall impression

  13. Usability of Videogame-Based Dexterity Training in the Early Rehabilitation Phase of Stroke Patients: A Pilot Study.

    Science.gov (United States)

    Vanbellingen, Tim; Filius, Suzanne J; Nyffeler, Thomas; van Wegen, Erwin E H

    2017-01-01

    Approximately 70-80% of stroke survivors have limited activities of daily living, mainly due to dexterous problems. Videogame-based training (VBT) along with virtual reality seems to be beneficial to train upper limb function. To evaluate the usability of VBT using the Leap Motion Controller (LMC) to train fine manual dexterity in the early rehabilitation phase of stroke patients as an add-on to conventional therapy. Additionally, this study aimed to estimate the feasibility and potential efficacy of the VBT. During 3 months, 64 stroke patients were screened for eligibility, 13 stroke patients were included (4 women and 9 men; age range: 24-91 years; mean time post stroke: 28.2 days). Nine sessions of 30 min VBT, three times per week as an add-on to conventional therapy with stroke inpatients. Primary outcome was the usability of the system measured with the System Usability Scale. Secondary outcomes concerning feasibility were the compliance rate calculated from the total time spent on the intervention (TT) compared to planned time, the opinion of participants via open-end questions, and the level of active participation measured with the Pittsburgh Rehabilitation Participation Scale. Regarding the potential efficacy secondary outcomes were: functional dexterity measured with the Nine Hole Peg Test (NHPT), subjective dexterity measured with the Dexterity Questionnaire 24, grip strength measured with the Jamar dynamometer, and motor impairment of the upper limb measured with the Fugl-Meyer Upper Extremity (FM-UE) scale. Primarily, the usability of the system was good to excellent. The patient's perception of usability remained stable over a mean period of 3 weeks of VBT. Secondly, the compliance rate was good, and the level of active participation varied between good and very good. The opinion of the participants revealed that despite individual differences, the overall impression of the therapy and device was good. Patients showed significant

  14. Control of a long reach manipulator with suspension cables for waste storage tank remediation. Final report

    International Nuclear Information System (INIS)

    Wang, S.L.

    1994-01-01

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

  15. Atomic and molecular manipulation

    CERN Document Server

    Mayne, Andrew J

    2011-01-01

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

  16. Balanced articulated manipulator

    International Nuclear Information System (INIS)

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

    1976-01-01

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

  17. Stainless steel decontamination manipulators

    International Nuclear Information System (INIS)

    Sullivan, R.J.

    1986-01-01

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

  18. Manipulating early pig embryos.

    Science.gov (United States)

    Niemann, H; Reichelt, B

    1993-01-01

    On the basis of established surgical procedures for embryo recovery and transfer, the early pig embryo can be subjected to various manipulations aimed at a long-term preservation of genetic material, the generation of identical multiplets, the early determination of sex or the alteration of the genetic make-up. Most of these procedures are still at an experimental stage and despite recent considerable progress are far from practical application. Normal piglets have been obtained after cryopreservation of pig blastocysts hatched in vitro, whereas all attempts to freeze embryos with intact zona pellucida have been unsuccessful. Pig embryos at the morula and blastocyst stage can be bisected microsurgically and the resulting demi-embryos possess a high developmental potential in vitro, whereas their development in vivo is impaired. Pregnancy rates are similar (80%) but litter size is reduced compared with intact embryos and twinning rate is approximately 2%. Pig blastomeres isolated from embryos up to the 16-cell stage can be grown in culture and result in normal blastocysts. Normal piglets have been born upon transfer of blastocysts derived from isolated eight-cell blastomeres, clearly underlining the totipotency of this developmental stage. Upon nuclear transfer the developmental capacity of reconstituted pig embryos is low and culture. Sex determination can be achieved either by separation of X and Y chromosome bearing spermatozoa by flow cytometry or by analysing the expression of the HY antigen in pig embryos from the eight-cell to morula stage. Microinjection of foreign DNA has been successfully used to alter growth and development of transgenic pigs, and to produce foreign proteins in the mammary gland or in the bloodstream, indicating that pigs can be used as donors for valuable human pharmaceutical proteins. Another promising area of gene transfer is the increase of disease resistance in transgenic lines of pigs. Approximately 30% of pig spermatozoa bind

  19. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2014-01-01

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

  20. Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator.

    Science.gov (United States)

    Moses, Matthew S; Murphy, Ryan J; Kutzer, Michael D M; Armand, Mehran

    2015-12-01

    This paper presents several mechanical models of a high-strength cable-driven dexterous manipulator designed for surgical procedures. A stiffness model is presented that distinguishes between contributions from the cables and the backbone. A physics-based model incorporating cable friction is developed and its predictions are compared with experimental data. The data show that under high tension and high curvature, the shape of the manipulator deviates significantly from a circular arc. However, simple parametric models can fit the shape with good accuracy. The motivating application for this study is to develop a model so that shape can be predicted using easily measured quantities such as tension, so that real-time navigation may be performed, especially in minimally-invasive surgical procedures, while reducing the need for hazardous imaging methods such as fluoroscopy.

  1. Outcome manipulation in corporate prediction markets

    DEFF Research Database (Denmark)

    Ottaviani, Marco; Sørensen, Peter Norman

    2007-01-01

    This paper presents a framework for applying prediction markets to corporate decision-making. The analysis is motivated by the recent surge of interest in markets as information aggregation devices and their potential use within firms. We characterize the amount of outcome manipulation that results...

  2. Manipulating the Gradient

    Science.gov (United States)

    Gaze, Eric C.

    2005-01-01

    We introduce a cooperative learning, group lab for a Calculus III course to facilitate comprehension of the gradient vector and directional derivative concepts. The lab is a hands-on experience allowing students to manipulate a tangent plane and empirically measure the effect of partial derivatives on the direction of optimal ascent. (Contains 7…

  3. Microrobots to Manipulate Cells

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    At DTU Fotonik we developed and harnessed the new and emerging research area of so-called Light Robotics including the 3D-printed micro-tools coined Wave-guided Optical Waveguides that can be real-time laser-manipulated in a 3D-volume with six-degrees-of-freedom. To be exploring the full potentia...

  4. Automated visual attention manipulation

    NARCIS (Netherlands)

    Bosse, T.; Lambalgen, R. van; Maanen, P.P. van; Treur, J.

    2009-01-01

    In this paper a system for visual attention manipulation is introduced and formally described. This system is part of the design of a software agent that supports naval crew in her task to compile a tactical picture of the situation in the field. A case study is described in hich the system is used

  5. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2015-01-01

    This book is for all those who wish to learn about data manipulation from scratch and excel at aggregating data effectively. It is expected that you have basic knowledge of R and have previously done some basic administration work with R.

  6. The TFTR maintenance manipulator

    International Nuclear Information System (INIS)

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

    1989-01-01

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

  7. Manipulating Combinatorial Structures.

    Science.gov (United States)

    Labelle, Gilbert

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

  8. Manipulation of the Commodity Futures Market Delivery Process.

    OpenAIRE

    Pirrong, Stephen Craig

    1993-01-01

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

  9. Why having one’s rationality openly exploited might be considered manipulation

    NARCIS (Netherlands)

    Kamphorst, B.A.; Kalis, A.

    2014-01-01

    This paper responds to Daniel Dennett’s 2012 Praemium Erasmianum Essay Erasmus: Sometimes a Spin Doctor is Right in which he makes a distinction between manipulation and non-manipulative influence. Dennett argues that influence on an individual’s decision-making process is not manipulative so long

  10. Two-dimensional spectroscopy: An approach to distinguish Förster and Dexter transfer processes in coupled nanostructures

    Science.gov (United States)

    Specht, Judith F.; Knorr, Andreas; Richter, Marten

    2015-04-01

    The linear and two-dimensional coherent optical spectra of Coulomb-coupled quantum emitters are discussed with respect to the underlying coupling processes. We present a theoretical analysis of the two different resonance energy transfer mechanisms between coupled nanostructures: Förster and Dexter interaction. Our investigation shows that the features visible in optical spectra of coupled quantum dots can be traced back to the nature of the underlying coupling mechanism (Förster or Dexter). Therefore, we discuss how the excitation transfer pathways can be controlled by choosing particular laser polarizations and mutual orientations of the quantum emitters in coherent two-dimensional spectroscopy. In this context, we analyze to what extent the delocalized double-excitonic states are bound to the optical selection rules of the uncoupled system.

  11. Local vibration inhibits H-reflex but does not compromise manual dexterity and does not increase tremor.

    Science.gov (United States)

    Budini, Francesco; Laudani, Luca; Bernardini, Sergio; Macaluso, Andrea

    2017-10-01

    The present work aimed at investigating the effects of local vibration on upper limb postural and kinetic tremor, on manual dexterity and on spinal reflex excitability. Previous studies have demonstrated a decrease in spinal reflex excitability and in force fluctuations in the lower limb but an increase in force fluctuation in the upper limbs. As hand steadiness is of vital importance in many daily-based tasks, and local vibration may also be applied in movement disorders, we decided to further explore this phenomenon. Ten healthy volunteers (26±3years) were tested for H reflex, postural and kinetic tremor and manual dexterity through a Purdue test. EMG was recorded from flexor carpi radialis (FCR) and extensor digitorum communis (EDC). Measurements were repeated at baseline, after a control period during which no vibration was delivered and after vibration. Intervention consisted in holding for two minutes a vibrating handle (frequency 75Hz, displacement∼7mm), control consisted in holding for two minutes the same handle powered off. Reflex excitability decreased after vibration whilst postural tremor and manual dexterity were not affected. Peak kinetic tremor frequency increased from baseline to control measurements (P=0.002). Co-activation EDC/FCR increased from control to vibration (P=0.021). These results show that two minutes local vibration lead to a decrease in spinal excitability, did not compromise manual dexterity and did not increase tremor; however, in contrast with expectations, tremor did not decrease. It is suggested that vibration activated several mechanisms with opposite effects, which resulted in a neutral outcome on postural and kinetic tremor. Copyright © 2017 Elsevier B.V. All rights reserved.

  12. Strength and fine dexterity recovery profiles after a primary motor cortex insult and effect of a neuronal cell graft.

    Science.gov (United States)

    Vaysse, Laurence; Conchou, Fabrice; Demain, Boris; Davoust, Carole; Plas, Benjamin; Ruggieri, Cyrielle; Benkaddour, Mehdi; Simonetta-Moreau, Marion; Loubinoux, Isabelle

    2015-08-01

    The aim of this study was to set up (a) a large primary motor cortex (M1) lesion in rodent and (b) the conditions for evaluating a long-lasting motor deficit in order to propose a valid model to test neuronal replacement therapies aimed at improving motor deficit recovery. A mitochondrial toxin, malonate, was injected to induce extensive destruction of the forelimb M1 cortex. Three key motor functions that are usually evaluated following cerebral lesion in the clinic-strength, target reaching, and fine dexterity-were assessed in rats by 2 tests, a forelimb grip strength test and a skilled reaching task (staircase) for reaching and dexterity. The potential enhancement of postlesion recovery induced by a neuronal cell transplantation was then explored and confirmed by histological analyses. Both tests showed a severe functional impairment 2 days post lesion, however, reaching remained intact. Deficits in forelimb strength were long lasting (up to 3 months) but spontaneously recovered despite the extensive lesion size. This natural grip strength recovery could be enhanced by cell therapy. Histological analyses confirmed the presence of grafted cells 3 months postgraft and showed partial tissue reconstruction with some living neuronal cells in the graft. In contrast, fine dexterity never recovered in the staircase test even after grafting. These results suggest that cell replacement was only partially effective and that the forelimb M1 area may be a node of the sensorimotor network, where compensation from secondary pathways could account for strength recovery but recovery of forelimb fine dexterity requires extensive tissue reconstruction. (c) 2015 APA, all rights reserved).

  13. Virtual airway simulation to improve dexterity among novices performing fibreoptic intubation.

    Science.gov (United States)

    De Oliveira, G S; Glassenberg, R; Chang, R; Fitzgerald, P; McCarthy, R J

    2013-10-01

    We developed a virtual reality software application (iLarynx) using built-in accelerometer properties of the iPhone(®) or iPad(®) (Apple Inc., Cupertino, CA, USA) that mimics hand movements for the performance of fibreoptic skills. Twenty novice medical students were randomly assigned to virtual airway training with the iLarynx software or no additional training. Eight out of the 10 subjects in the standard training group had at least one failed (> 120 s) attempt compared with two out of the 10 participants in the iLarynx group (p = 0.01). There were a total of 24 failed attempts in the standard training group and four in the iLarynx group (p < 0.005). Cusum analysis demonstrated continued group improvement in the iLarynx, but not in the standard training group. Virtual airway simulation using freely available software on a smartphone/tablet device improves dexterity among novices performing upper airway endoscopy. © 2013 The Association of Anaesthetists of Great Britain and Ireland.

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

    Science.gov (United States)

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

    2015-05-06

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

  15. Sports Tournament Predictions Using Direct Manipulation.

    Science.gov (United States)

    Vuillemot, Romain; Perin, Charles

    2016-01-01

    An advanced interface for sports tournament predictions uses direct manipulation to allow users to make nonlinear predictions. Unlike previous interface designs, the interface helps users focus on their prediction tasks by enabling them to first choose a winner and then fill out the rest of the bracket. In real-world tests of the proposed interface (for the 2014 FIFA World Cup tournament and 2015/2016 UEFA Champions League), the authors validated the use of direct manipulation as an alternative to widgets. Using visitor interaction logs, they were able to determine the strategies people use to perform predictions and identify potential areas of improvement for further prediction interfaces.

  16. A universal microscope manipulator

    Directory of Open Access Journals (Sweden)

    Peter S. Boyadzhiev

    2012-03-01

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

  17. Microradiographic microsphere manipulator

    International Nuclear Information System (INIS)

    Singleton, R.M.

    1980-01-01

    A method and apparatus are provided for radiographic characterization of small hollow spherical members (microspheres), constructed of either optically transparent or opaque materials. The apparatus involves a microsphere manipulator which holds a batch of microspheres between two parallel thin plastic films for contact microradiographic characterization or projection microradiography thereof. One plastic film is translated to relative to and parallel to the other to roll the microspheres through any desired angle to allow different views of the microspheres

  18. Manipulation of quantum evolution

    Science.gov (United States)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

    The free evolution of a non-relativistic charged particle is manipulated using time-dependent magnetic fields. It is shown that the application of a programmed sequence of magnetic pulses can invert the free evolution process, forcing an arbitrary wave packet to 'go back in time' to recover its past shape. The possibility of more general operations upon the Schrodinger wave packet is discussed.

  19. Manipulating atoms with photons

    International Nuclear Information System (INIS)

    Cohen-Tannoudji, C.N.

    1998-01-01

    The article is a translation of the lecture delivered on the occasion of the 1997 Nobel Prize awarding ceremony. The physical mechanisms which allow manipulating of neutral atoms with laser photons are described. A remark is also made concerning several possible applications of ultra-cool atoms and streams of future research. The article is completed by Prof. Cohen-Tannoudji's autobiography. (Z.J.)

  20. Protozoa manipulation by ultrasound

    Directory of Open Access Journals (Sweden)

    Yancy Milena Porras Rodríguez

    2004-01-01

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

  1. Pose Space Surface Manipulation

    Directory of Open Access Journals (Sweden)

    Yusuke Yoshiyasu

    2012-01-01

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

  2. Agent Control for Reconfigurable Open Kinematic Chain Manipulators

    Directory of Open Access Journals (Sweden)

    Janez Sluga

    2013-10-01

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

  3. Contralaterally Controlled Functional Electrical Stimulation Improves Hand Dexterity in Chronic Hemiparesis: A Randomized Trial.

    Science.gov (United States)

    Knutson, Jayme S; Gunzler, Douglas D; Wilson, Richard D; Chae, John

    2016-10-01

    It is unknown whether one method of neuromuscular electrical stimulation for poststroke upper limb rehabilitation is more effective than another. Our aim was to compare the effects of contralaterally controlled functional electrical stimulation (CCFES) with cyclic neuromuscular electrical stimulation (cNMES). Stroke patients with chronic (>6 months) moderate to severe upper extremity hemiparesis (n=80) were randomized to receive 10 sessions/wk of CCFES- or cNMES-assisted hand opening exercise at home plus 20 sessions of functional task practice in the laboratory for 12 weeks. The task practice for the CCFES group was stimulation assisted. The primary outcome was change in Box and Block Test (BBT) score at 6 months post treatment. Upper extremity Fugl-Meyer and Arm Motor Abilities Test were also measured. At 6 months post treatment, the CCFES group had greater improvement on the BBT, 4.6 (95% confidence interval [CI], 2.2-7.0), than the cNMES group, 1.8 (95% CI, 0.6-3.0), between-group difference of 2.8 (95% CI, 0.1-5.5), P=0.045. No significant between-group difference was found for the upper extremity Fugl-Meyer (P=0.888) or Arm Motor Abilities Test (P=0.096). Participants who had the largest improvements on BBT were <2 years post stroke with moderate (ie, not severe) hand impairment at baseline. Among these, the 6-month post-treatment BBT gains of the CCFES group, 9.6 (95% CI, 5.6-13.6), were greater than those of the cNMES group, 4.1 (95% CI, 1.7-6.5), between-group difference of 5.5 (95% CI, 0.8-10.2), P=0.023. CCFES improved hand dexterity more than cNMES in chronic stroke survivors. URL: http://www.clinicaltrials.gov. Unique identifier: NCT00891319. © 2016 American Heart Association, Inc.

  4. Burkholderia thailandensis: Genetic Manipulation.

    Science.gov (United States)

    Garcia, Erin C

    2017-05-16

    Burkholderia thailandensis is a Gram-negative bacterium endemic to Southeast Asian and northern Australian soils. It is non-pathogenic; therefore, it is commonly used as a model organism for the related human pathogens Burkholderia mallei and Burkholderia pseudomallei. B. thailandensis is relatively easily genetically manipulated and a variety of robust genetic tools can be used in this organism. This unit describes protocols for conjugation, natural transformation, mini-Tn7 insertion, and allelic exchange in B. thailandensis. © 2017 by John Wiley & Sons, Inc. Copyright © 2017 John Wiley & Sons, Inc.

  5. Spatial manipulation with microfluidics

    Directory of Open Access Journals (Sweden)

    Benjamin eLin

    2015-04-01

    Full Text Available Biochemical gradients convey information through space, time, and concentration, and are ultimately capable of spatially resolving distinct cellular phenotypes, such as differentiation, proliferation, and migration. How these gradients develop, evolve, and function during development, homeostasis, and various disease states is a subject of intense interest across a variety of disciplines. Microfluidic technologies have become essential tools for investigating gradient sensing in vitro due to their ability to precisely manipulate fluids on demand in well controlled environments at cellular length scales. This minireview will highlight their utility for studying gradient sensing along with relevant applications to biology.

  6. Remote control manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Sugawara, T

    1970-02-28

    A prior-art remote control manipulator comprises a horizontal suspension section, a master arm and a slave arm which are coupled to ends of the suspension section in a manner to pivotally move relative to the suspension section, and a connecting device which includes a tape and which joins both the arms. When the connecting device malfunctions, the slave arm can neither be extended nor contracted. Means to keep the tension of the tape is required which restricts the extension length of the slave arm. Further, the slave arm can be moved only in the axial direction. The invention described provides an improved remote control manipulator of the specified type. A moving device which moves the slave arm relative to the master arm without the intervention of the connecting device is mounted on a movable part of the slave arm, while pulleys which maintain the joining relationship of the connecting device are mounted on the movable part and fixed part of the slave arm. Owing to this construction, movement of the slave arm is assured despite troubles which may arise in the connecting device. In addition, no slack arises in the tape. By applying a similar construction to the horizontal suspension section, the suspension section can be stretched, and hence, the slave arm can be moved in a direction orthogonal to its axis.

  7. Dionis: A Novel Remote-Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

    Directory of Open Access Journals (Sweden)

    R. Beira

    2011-01-01

    Full Text Available The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS, a compact and accurate positioning mechanism, named Dionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation (RCM that is the MIS entry port. Another important feature of the proposed positioning manipulator is that it can be placed below the operating table plane, allowing a quick and direct access to the patient, without removing the robotic system. This, besides saving precious space in the operating room, may improve safety over existing solutions. The conceptual design of Dionis is presented in this paper. Solutions for the inverse and direct kinematics are developed, as well as the analytical workspace and singularity analysis. Due to its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fullfils the workspace specifications for MIS procedures.

  8. Hydraulic manipulator research at ORNL

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  9. Hydraulic manipulator research at ORNL

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-03-01

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

  10. the strategy of finger use in children's addition Relationship with short-term memory, finger dexterity, and addition skills

    OpenAIRE

    Asakawa, Atsushi; Sugimura, Shinichiro

    2009-01-01

    Previous research has shown that the children's use of the fingers in additon changes with age. In this study, a part of data on the strategy of finger use by Asakawa and Sugimura (2009) was reanalyzed to clarify the relationship between, short-term memory, finger dexterity and addition skills. A two-way ANOVA showed a significant interaction between memory span and finger use. Examination of simple main effect indicated that significant effect of memory span at the group of the children who ...

  11. Level of movement skills and dexterity in relation to movement activities of pre-school children in their ordinary lives

    OpenAIRE

    Kubátová, Šárka

    2014-01-01

    and keywords The level of movement skills and dexterity in relation to movement activities of pre- school children in their ordinary lives. The diploma thesis deals with the issue of movement activity of pre-school children. Movement activities are vital part of healthy life, especially for children. It should be an essential part of every activity, no matter if it is sport, game, relaxation or just a walk to school. It should be a common part of every pre-school child daily programme. The ac...

  12. Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

    Science.gov (United States)

    Singh, Inderjeet; Amara, Yacine; Melingui, Achille; Mani Pathak, Pushparaj; Merzouki, Rochdi

    2018-05-10

    Research on continuum manipulators is increasingly developing in the context of bionic robotics because of their many advantages over conventional rigid manipulators. Due to their soft structure, they have inherent flexibility, which makes it a huge challenge to control them with high performances. Before elaborating a control strategy of such robots, it is essential to reconstruct first the behavior of the robot through development of an approximate behavioral model. This can be kinematic or dynamic depending on the conditions of operation of the robot itself. Kinematically, two types of modeling methods exist to describe the robot behavior; quantitative methods describe a model-based method, and qualitative methods describe a learning-based method. In kinematic modeling of continuum manipulator, the assumption of constant curvature is often considered to simplify the model formulation. In this work, a quantitative modeling method is proposed, based on the Pythagorean hodograph (PH) curves. The aim is to obtain a three-dimensional reconstruction of the shape of the continuum manipulator with variable curvature, allowing the calculation of its inverse kinematic model (IKM). It is noticed that the performances of the PH-based kinematic modeling of continuum manipulators are considerable regarding position accuracy, shape reconstruction, and time/cost of the model calculation, than other kinematic modeling methods, for two cases: free load manipulation and variable load manipulation. This modeling method is applied to the compact bionic handling assistant (CBHA) manipulator for validation. The results are compared with other IKMs developed in case of CBHA manipulator.

  13. The Effect of Simultaneous Superficial and Proprioceptive Stimulations on Dexterity of Educable 6-7 Years Old Children with Down Syndrome

    Directory of Open Access Journals (Sweden)

    Meisam Mohammadi

    2011-04-01

    Full Text Available Objectives: Down syndrome is the most common chrosomal disorder in which the fine and gross motor skills due to lack of proper sensory experience are disturbed. The role of dexterity in activity of daily living, interaction with environment and independency is quiet crucial in Down syndrome. Therefore, the aim of this study was to investigate the effects of simultaneous application of superficial and proprioceptive stimuli on the dexterity of 6-7 year-old educable children with Down syndrome. Methods: Thirty–three educable children with Down syndrome were assigned in three groups (i.e. superficial, proprioceptive and simultaneous application respectively and voluntarily participated in the study. In the first group, children received only exteroceptive stimulation for 30 minutes, three times a week. Children in the second group received only proprioceptive stimulation in the same way. In the third group, children received both stimulations simultaneously. Dexterity was evaluated through Purdue Pegbourd Test after 5th, 10th, 15th, 20th, 25th, and 30th sessions. Results: Dexterity changes were significantly differed in all three groups (P0.05. Discussion: The findings of current study suggest that simultaneous application of superficial and proprioceptive senses could be used for improvement the dexterity in children with Down syndrome.

  14. Media and manipulation

    Directory of Open Access Journals (Sweden)

    Kovačević Braco

    2013-01-01

    Full Text Available The role and importance of the media are huge, both in everyday life and in cultural, spiritual and political life of modern man. Their power in the sense of political shaping of people and shaping of public opinion is very distinctive. In the process of propaganda to influence public opinion, they use various manipulative procedures in order to accomplish certain interests and objectives. Through the media, politics realizes its economic, ideological, political and even military activities. The war in the former Yugoslavia and former Bosnia and Herzegovina was also waged through the media. This media war still is spreading the hate speech, thus still causing conflicts and disintegration processes in the Balkans.

  15. Interactive protein manipulation

    Energy Technology Data Exchange (ETDEWEB)

    SNCrivelli@lbl.gov

    2003-07-01

    We describe an interactive visualization and modeling program for the creation of protein structures ''from scratch''. The input to our program is an amino acid sequence -decoded from a gene- and a sequence of predicted secondary structure types for each amino acid-provided by external structure prediction programs. Our program can be used in the set-up phase of a protein structure prediction process; the structures created with it serve as input for a subsequent global internal energy minimization, or another method of protein structure prediction. Our program supports basic visualization methods for protein structures, interactive manipulation based on inverse kinematics, and visualization guides to aid a user in creating ''good'' initial structures.

  16. Interactive protein manipulation

    International Nuclear Information System (INIS)

    2003-01-01

    We describe an interactive visualization and modeling program for the creation of protein structures ''from scratch''. The input to our program is an amino acid sequence -decoded from a gene- and a sequence of predicted secondary structure types for each amino acid-provided by external structure prediction programs. Our program can be used in the set-up phase of a protein structure prediction process; the structures created with it serve as input for a subsequent global internal energy minimization, or another method of protein structure prediction. Our program supports basic visualization methods for protein structures, interactive manipulation based on inverse kinematics, and visualization guides to aid a user in creating ''good'' initial structures

  17. Characteristics of manipulative in mathematics laboratory

    Science.gov (United States)

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

    2017-12-01

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

  18. Adaptive control of robotic manipulators

    Science.gov (United States)

    Seraji, H.

    1987-01-01

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

  19. Image manipulation as research misconduct.

    Science.gov (United States)

    Parrish, Debra; Noonan, Bridget

    2009-06-01

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

  20. The Manipulative Discourse of Gandalf

    Directory of Open Access Journals (Sweden)

    Farid Mohammadi

    2014-07-01

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

  1. Signatures of Förster and Dexter transfer processes in coupled nanostructures for linear and two-dimensional coherent optical spectroscopy

    Science.gov (United States)

    Specht, Judith F.; Richter, Marten

    2015-03-01

    In this manuscript, we study the impact of the two Coulomb induced resonance energy transfer processes, Förster and Dexter coupling, on the spectral signatures obtained by double quantum coherence spectroscopy. We show that the specific coupling characteristics allow us to identify the underlying excitation transfer mechanism by means of specific signatures in coherent spectroscopy. Therefore, we control the microscopic calculated coupling strength of spin preserving and spin flipping Förster transfer processes by varying the mutual orientation of the two quantum emitters. The calculated spectra reveal the optical selection rules altered by Förster and Dexter coupling between two semiconductor quantum dots. We show that Dexter coupling between bright and dark two-exciton states occurs.

  2. Hemispheric specialization in affective responses, cerebral dominance for language, and handedness: Lateralization of emotion, language, and dexterity.

    Science.gov (United States)

    Costanzo, Elsa Yolanda; Villarreal, Mirta; Drucaroff, Lucas Javier; Ortiz-Villafañe, Manuel; Castro, Mariana Nair; Goldschmidt, Micaela; Wainsztein, Agustina Edith; Ladrón-de-Guevara, María Soledad; Romero, Carlos; Brusco, Luis Ignacio; Camprodon, Joan A; Nemeroff, Charles; Guinjoan, Salvador Martín

    2015-07-15

    Hemispheric specialization in affective responses has received little attention in the literature. This is a fundamental variable to understand circuit dynamics of networks subserving emotion. In this study we put to test a modified "valence" hypothesis of emotion processing, considering that sadness and happiness are processed by each hemisphere in relation to dominance for language and handedness. Mood induction and language activation during functional magnetic resonance imaging (fMRI) were used in 20 right-handed and 20 nonright-handed subjects, focusing on interconnected regions known to play critical roles in affective responses: subgenual cingulate cortex, amygdala, and anterior insular cortex. We observed a consistent relationship between lateralization of affective processing, motor dexterity, and language in individuals with clear right-handedness. Sadness induces a greater activation of right-hemisphere cortical structures in right-handed, left-dominant individuals, which is not evident in nonright-handed subjects who show no consistent hemispheric dominance for language. In anterior insula, right-handed individuals displayed reciprocal activation of either hemisphere depending upon mood valence, whereas amygdala activation was predominantly left-sided regardless of mood valence. Nonright-handed individuals exhibited less consistent brain lateralization of affective processing regardless of language and motor dexterity lateralization. In contrast with traditional views on emotion processing lateralization, hemispheric specialization in affective responses is not a unitary process but is specific to the brain structure being activated. Copyright © 2015 Elsevier B.V. All rights reserved.

  3. Tree manipulation experiment

    Science.gov (United States)

    Nishina, K.; Takenaka, C.; Ishizuka, S.; Hashimoto, S.; Yagai, Y.

    2012-12-01

    Some forest operations such as thinning and harvesting management could cause changes in N cycling and N2O emission from soils, since thinning and harvesting managements are accompanied with changes in aboveground environments such as an increase of slash falling and solar radiation on the forest floor. However, a considerable uncertainty exists in effects of thinning and harvesting on N2O fluxes regarding changes in belowground environments by cutting trees. To focus on the effect of changes in belowground environments on the N2O emissions from soils, we conducted a tree manipulation experiment in Japanese cedar (Cryptomeria japonica) stand without soil compaction and slash falling near the chambers and measured N2O flux at 50 cm and 150 cm distances from the tree trunk (stump) before and after cutting. We targeted 5 trees for the manipulation and established the measurement chambers to the 4 directions around each targeted tree relative to upper slope (upper, left, right, lower positions). We evaluated the effect of logging on the emission by using hierarchical Bayesian model. HB model can evaluate the variability in observed data and their uncertainties in the estimation with various probability distributions. Moreover, the HB model can easily accommodate the non-linear relationship among the N2O emissions and the environmental factors, and explicitly take non-independent data (nested structure of data) for the estimation into account by using random effects in the model. Our results showed tree cutting stimulated N2O emission from soils, and also that the increase of N2O flux depended on the distance from the trunk (stump): the increase of N2O flux at 50 cm from the trunk (stump) was greater than that of 150 cm from the trunk. The posterior simulation of the HB model indicated that the stimulation of N2O emission by tree cut- ting could reach up to 200 cm in our experimental plot. By tree cutting, the estimated N2O emission at 0-40 cm from the trunk doubled

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

    International Nuclear Information System (INIS)

    Whyley, S.R.

    1985-01-01

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

  5. Stereoscopically Observing Manipulative Actions.

    Science.gov (United States)

    Ferri, S; Pauwels, K; Rizzolatti, G; Orban, G A

    2016-08-01

    The purpose of this study was to investigate the contribution of stereopsis to the processing of observed manipulative actions. To this end, we first combined the factors "stimulus type" (action, static control, and dynamic control), "stereopsis" (present, absent) and "viewpoint" (frontal, lateral) into a single design. Four sites in premotor, retro-insular (2) and parietal cortex operated specifically when actions were viewed stereoscopically and frontally. A second experiment clarified that the stereo-action-specific regions were driven by actions moving out of the frontoparallel plane, an effect amplified by frontal viewing in premotor cortex. Analysis of single voxels and their discriminatory power showed that the representation of action in the stereo-action-specific areas was more accurate when stereopsis was active. Further analyses showed that the 4 stereo-action-specific sites form a closed network converging onto the premotor node, which connects to parietal and occipitotemporal regions outside the network. Several of the specific sites are known to process vestibular signals, suggesting that the network combines observed actions in peripersonal space with gravitational signals. These findings have wider implications for the function of premotor cortex and the role of stereopsis in human behavior. © The Author 2016. Published by Oxford University Press.

  6. Stud manipulating device

    International Nuclear Information System (INIS)

    Bunyan, T.W.

    1980-01-01

    A device for inserting and removing studs from bores in a workpiece, for example a nuclear reactor vessel, comprises manipulating devices for operating on individual studs, each capable of tensioning a stud slackening a working nut on the stud, and subsequently removing the stud from the bore. A ring has dogs which can engage working nut recesses to interlock with the nut against relative rotation. Motors coupled to the ring rotate the working nut. A top nut is coupled to the motors to rotate the nut and screw it onto the stud. The top nut with other device parts can be raised and lowered on a tube by a hydraulic actuator. A hydraulic load cell between the top nut and a stool on the workpiece is pressurised to tension the stud by means of the top nut and thus facilitate rotation of the working nut when tightening or slackening. A dog clutch mechanism engages a stud end fitting against relative axial and rotational movement. The mechanism is raised and lowered on a guide member by an actuator. The mechanism has a tubular member and the drive coupling for the motors to the top nut includes a tubular member. Tubular members carry teeth which are engaged when the top nut is raised and the clutch mechanism is lowered, to provide a coupling between the motors and the mechanism for rotating the stud. (U.K.)

  7. Manipulation Robustness of Collaborative Filtering

    OpenAIRE

    Benjamin Van Roy; Xiang Yan

    2010-01-01

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

  8. Control system for the Fermilab Master-Slave servo manipulator

    International Nuclear Information System (INIS)

    Ducar, R.J.

    1977-01-01

    A control system for the Fermilab Master-Slave servo manipulator was developed. This new system offers a significant improvement in operational performance over the extant servo design with additional emphasis on simplicity of operation and maintainability. The servo manipulator is force-reflecting in each of the seven independent bilateral motions. Master force multiplication is automatically increased as the slave force is increased to its fifty pound capacity. The design incorporates triac control of the low inertia two-phase servomotors and makes extensive use of digital circuits in the servo loops. The manipulator is utilized in servicing radioactive beam-line targeting equipment

  9. Microtechnology for cell manipulation and sorting

    CERN Document Server

    Tseng, Peter; Carlo, Dino

    2017-01-01

    This book delves into the recent developments in the microscale and microfluidic technologies that allow manipulation at the single and cell aggregate level. Expert authors review the dominant mechanisms that manipulate and sort biological structures, making this a state-of-the-art overview of conventional cell sorting techniques, the principles of microfluidics, and of microfluidic devices. All chapters highlight the benefits and drawbacks of each technique they discuss, which include magnetic, electrical, optical, acoustic, gravity/sedimentation, inertial, deformability, and aqueous two-phase systems as the dominant mechanisms utilized by microfluidic devices to handle biological samples. Each chapter explains the physics of the mechanism at work, and reviews common geometries and devices to help readers decide the type of style of device required for various applications. This book is appropriate for graduate-level biomedical engineering and analytical chemistry students, as well as engineers and scientist...

  10. Single-photon manipulation in Nanophotonic Circuits

    DEFF Research Database (Denmark)

    Hansen, Sofie Lindskov

    Quantum dots in photonic nanostructures has long been known to be a very powerful and versatile solid-state platform for conducting quantum optics experiments. The present PhD thesis describes experimental demonstrations of single-photon generation and subsequent manipulation all realized...... on a gallium arsenide platform. This platform offers near-unity coupling between embedded single-photon emitters and a photonic mode, as well as the ability to suppress decoherence mechanisms, making it highly suited for quantum information applications. In this thesis we show how a single-photon router can...... be realized on a chip with embedded quantum dots. This allows for on-chip generation and manipulation of single photons. The router consists of an on-chip interferometer where the phase difference between the arms of the interferometer is controlled electrically. The response time of the device...

  11. Performance evaluation of the Personal Mobility and Manipulation Appliance (PerMMA).

    Science.gov (United States)

    Wang, Hongwu; Xu, Jijie; Grindle, Garrett; Vazquez, Juan; Salatin, Ben; Kelleher, Annmarie; Ding, Dan; Collins, Diane M; Cooper, Rory A

    2013-11-01

    The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot created to provide people with severe physical disabilities enhanced assistance in both mobility and manipulation. PerMMA aims to improve functional independence when a personal care attendant is not available on site. PerMMA integrates both a smart powered wheelchair and two dexterous robotic arms to assist its users in completing essential mobility and manipulation tasks during basic and instrumental activities of daily living (ADL). Two user interfaces were developed: a local control interface and a remote operator controller. This paper reports on the evaluation of PerMMA with end users completing basic ADL tasks. Participants with both lower and upper extremity impairments (N=15) were recruited to operate PerMMA and complete up to five ADL tasks in a single session of no more than two hours (to avoid fatigue or frustration of the participants). The performance of PerMMA was evaluated by participants completing ADL tasks with two different control modes: local mode and cooperative control. The users' task completion performance and answers on pre/post-evaluation questionnaires demonstrated not only the ease in learning and usefulness of PerMMA, but also their attitudes toward assistance from advanced technology like PerMMA. As a part of the iterative development process, results of this work will serve as supporting evidence to identify design criteria and other areas for improvement of PerMMA. Copyright © 2013 IPEM. All rights reserved.

  12. On-chip manipulation of single microparticles, cells, and organisms using surface acoustic waves.

    Science.gov (United States)

    Ding, Xiaoyun; Lin, Sz-Chin Steven; Kiraly, Brian; Yue, Hongjun; Li, Sixing; Chiang, I-Kao; Shi, Jinjie; Benkovic, Stephen J; Huang, Tony Jun

    2012-07-10

    Techniques that can dexterously manipulate single particles, cells, and organisms are invaluable for many applications in biology, chemistry, engineering, and physics. Here, we demonstrate standing surface acoustic wave based "acoustic tweezers" that can trap and manipulate single microparticles, cells, and entire organisms (i.e., Caenorhabditis elegans) in a single-layer microfluidic chip. Our acoustic tweezers utilize the wide resonance band of chirped interdigital transducers to achieve real-time control of a standing surface acoustic wave field, which enables flexible manipulation of most known microparticles. The power density required by our acoustic device is significantly lower than its optical counterparts (10,000,000 times less than optical tweezers and 100 times less than optoelectronic tweezers), which renders the technique more biocompatible and amenable to miniaturization. Cell-viability tests were conducted to verify the tweezers' compatibility with biological objects. With its advantages in biocompatibility, miniaturization, and versatility, the acoustic tweezers presented here will become a powerful tool for many disciplines of science and engineering.

  13. The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

  14. Direct Manipulation in Virtual Reality

    Science.gov (United States)

    Bryson, Steve

    2003-01-01

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

  15. Kinematic sensitivity of robot manipulators

    Science.gov (United States)

    Vuskovic, Marko I.

    1989-01-01

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

  16. Modeling manipulation in medical education.

    Science.gov (United States)

    Dailey, Jason I

    2010-05-01

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

  17. Design and realization of sort manipulator of crystal-angle sort machine

    Science.gov (United States)

    Wang, Ming-shun; Chen, Shu-ping; Guan, Shou-ping; Zhang, Yao-wei

    2005-12-01

    It is a current tendency of development in automation technology to replace manpower with manipulators in working places where dangerous, harmful, heavy or repetitive work is involved. The sort manipulator is installed in a crystal-angle sort machine to take the place of manpower, and engaged in unloading and sorting work. It is the outcome of combing together mechanism, electric transmission, and pneumatic element and micro-controller control. The step motor makes the sort manipulator operate precisely. The pneumatic elements make the sort manipulator be cleverer. Micro-controller's software bestows some simple artificial intelligence on the sort manipulator, so that it can precisely repeat its unloading and sorting work. The combination of manipulator's zero position and step motor counting control puts an end to accumulating error in long time operation. A sort manipulator's design in the practice engineering has been proved to be correct and reliable.

  18. Effects of repeated vibratory stimulation of wrist and elbow flexors on hand dexterity, strength, and sensory function in patients with chronic stroke: a pilot study.

    Science.gov (United States)

    Choi, Won-Ho

    2017-04-01

    [Purpose] The aim of this study was to investigate the effects of repeated vibratory stimulation to muscles related to hand functions on dexterity, strength, and sensory function in patients with chronic stroke. [Subjects and Methods] A total of 10 stroke patients with hemiplegia participated in this study. They were divided into two groups: a) Experimental and b) Control, with five randomly selected subjects for each group. The experimental group received vibratory stimulation, while the control group received the traditional physical therapy. Both interventions were performed for 30 minutes each session, three times a week for four weeks. [Results] There was a significant within-group improvement in the box and block test results in both groups for dexterity. Grip strength improved in both groups but the improvement was not statistically significant. [Conclusion] The vibratory stimulation activated the biceps brachii and flexor carpi radialis, which increased dexterity to grasp and lift the box and block from the surface. Therefore, repeated vibratory stimulation to muscles related to hand functions improved hand dexterity equality to the traditional physical therapy in patients with chronic stroke.

  19. Critical Terrorism Studies Since 11 September 2001: What Has Been Learned? Edited by David Miller, Jessie Blackbourn, Rani Dhanda and Helen Dexter. New York, NT: Routledge, 2014.

    Directory of Open Access Journals (Sweden)

    Mark Roberts

    2014-04-01

    Full Text Available Critical Terrorism Studies Since 11 September 2001: What Has Been Learned? Edited by David Miller, Jessie Blackbourn, Rani Dhanda and Helen Dexter. New York, NT: Routledge, 2014. ISBN 978-0-415-83852-8. Graphs. Tables. Sources cited. Index. Pp. viii, 144. $137.75.

  20. A vigilante serial killer as ethics educator? An exploration of Dexter as a tool for moral education in the professional domain

    NARCIS (Netherlands)

    Ommen, M.E. van; Daalmans, S.; Weijers, G.W.M.; Eden, A.; Leeuw, R.N.H. de; Buijzen, M.A.

    2017-01-01

    This study aims to inform the discussion over the proposed merit of morally ambiguous dramas as a tool in moral education in the professional domain, by providing insight into student groups' moral evaluations of Dexter. In-depth interviews (N = 61) were conducted among a diverse sample of law and

  1. Book review: Dexter Hoyos, Mastering the West. Rome and Carthage at War, Oxford-New York, Oxford University Press, 2015, pp. XXI, 337; ISBN 9780199860104

    Directory of Open Access Journals (Sweden)

    Gabriele Demurtas

    2017-11-01

    Full Text Available This essay offers a critical review of the volume by Dexter Hoyos «Mastering the West. Rome and Carthage at War», published in 2015 in Oxford-New York by the Oxford University Press, focused on the conflicts that involved Rome and Carthage between 264 and 146 BC for the supremacy in the western Mediterranean.

  2. A Vigilante Serial Killer as Ethics Educator? An Exploration of "Dexter" as a Tool for Moral Education in the Professional Domain

    Science.gov (United States)

    van Ommen, Merel; Daalmans, Serena; Weijers, Addy; Eden, Allison; de Leeuw, Rebecca N. H.; Buijzen, Moniek

    2017-01-01

    This study aims to inform the discussion over the proposed merit of morally ambiguous dramas as a tool in moral education in the professional domain, by providing insight into student groups' moral evaluations of "Dexter." In-depth interviews (N = 61) were conducted among a diverse sample of law and (developmental) psychology students.…

  3. Test re-test reliability and construct validity of the star-track test of manual dexterity

    DEFF Research Database (Denmark)

    Kildebro, Niels; Amirian, Ilda; Gögenur, Ismail

    2015-01-01

    Objectives. We wished to determine test re-test reliability and construct validity of the star-track test of manual dexterity. Design. Test re-test reliability was examined in a controlled study. Construct validity was tested in a blinded randomized crossover study. Setting. The study was performed...... at a university hospital in Denmark. Participants. A total of 11 subjects for test re-test and 20 subjects for the construct validity study were included. All subjects were healthy volunteers. Intervention. The test re-test trial had two measurements with 2 days pause in between. The interventions...... in the construct validity study included baseline measurement, intervention 1: fatigue, intervention 2: stress, and intervention 3: fatigue and stress. There was a 2 day pause between each intervention. Main outcome measure. An integrated measure of completion time and number of errors was used. Results. All...

  4. Dexterous hand gestures recognition based on low-density sEMG signals for upper-limb forearm amputees

    Directory of Open Access Journals (Sweden)

    John Jairo Villarejo Mayor

    2017-08-01

    Full Text Available Abstract Introduction Intuitive prosthesis control is one of the most important challenges in order to reduce the user effort in learning how to use an artificial hand. This work presents the development of a novel method for pattern recognition of sEMG signals able to discriminate, in a very accurate way, dexterous hand and fingers movements using a reduced number of electrodes, which implies more confidence and usability for amputees. Methods The system was evaluated for ten forearm amputees and the results were compared with the performance of able-bodied subjects. Multiple sEMG features based on fractal analysis (detrended fluctuation analysis and Higuchi’s fractal dimension combined with traditional magnitude-based features were analyzed. Genetic algorithms and sequential forward selection were used to select the best set of features. Support vector machine (SVM, K-nearest neighbors (KNN and linear discriminant analysis (LDA were analyzed to classify individual finger flexion, hand gestures and different grasps using four electrodes, performing contractions in a natural way to accomplish these tasks. Statistical significance was computed for all the methods using different set of features, for both groups of subjects (able-bodied and amputees. Results The results showed average accuracy up to 99.2% for able-bodied subjects and 98.94% for amputees using SVM, followed very closely by KNN. However, KNN also produces a good performance, as it has a lower computational complexity, which implies an advantage for real-time applications. Conclusion The results show that the method proposed is promising for accurately controlling dexterous prosthetic hands, providing more functionality and better acceptance for amputees.

  5. The Effects of Sex Hormonal Fluctuations during Menstrual Cycle on Cortical Excitability and Manual Dexterity (a Pilot Study.

    Directory of Open Access Journals (Sweden)

    Maryam Zoghi

    Full Text Available To investigate whether hormonal fluctuations during the menstrual cycle affect corticospinal excitability, intracortical inhibition (ICI or facilitation (ICF in primary motor cortex, and also whether the hormonal fluctuations have any effect on manual dexterity in neurologically intact women.Twenty volunteers (10 Female, 10 Male were included in this study. The levels of progesterone and estradiol were measured from saliva during the women's menstrual follicular, ovulation and mid-luteal phases. Motor evoked potentials were recorded from the right first dorsal interosseous muscle. Single and paired-pulse Transcranial Magnetic Stimulation (TMS were delivered in a block of 20 stimuli. With paired-pulse technique, 3ms and 10ms inter-stimulus intervals were used to assess ICI and ICF, respectively. The Grooved Pegboard Test (GPT was completed in each session before the TMS assessments. Male participants were tested at similar time intervals as female participants.Mixed design ANOVA revealed that GPT score in female participants was significantly lower at the mid-luteal phase compared to the ovulation phase (p = 0.017. However, it was not correlated with progesterone or estrogen fluctuations during the menstrual cycle. The results also showed that the effect of phase, sex and the interaction of phase by sex for resting motor threshold, ICI or ICF were not significant (p > 0.05.Manual dexterity performance fluctuates during the menstrual cycle in neurologically intact women, which might be due to the balance of the neuromodulatory effects of P4 and E2 in the motor cortex during different phases.

  6. Technology and control for hydraulic manipulators

    International Nuclear Information System (INIS)

    Measson, Y.; David, O.; Louveau, F.; Friconneau, J.P.

    2003-01-01

    Hydraulic manipulators are candidate for fusion reactor maintenance. Their main advantages are their large payload with respect to volume and mass, their reliability and their robustness. However, due to their force control limitations, they are disqualified for precise manipulation and are dangerous for the environment and themselves in case of unexpected collision. CEA, in collaboration with CYBERNETIX and IFREMER has developed the advanced hydraulic robot MAESTRO. Force and hybrid control has been developed in order to avoid the previous problems. Using 'pressure' control servo-valve instead of the standard 'flow' control servo-valve (standard configuration of the MAESTRO) makes a real simplification of the control loop. No more pressure sensors are needed for monitoring the hydraulic joint in force control mode and using this kind of valves makes big safety improvements. The French company IN-LHC, designed and manufactured a prototype of servo-valve that fits the performances and space constraints of the Maestro arm. A characterisation of this new product was made on a mock-up and a set of these prototypes integrated in the Maestro slave-arm. A comparison between the two actuating technologies was made and showed that the performances of the pressure servo-valves make it applicable to general application

  7. Computational simulator of robotic manipulators

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  8. Can earnings manipulation create value?

    OpenAIRE

    Anton Miglo

    2008-01-01

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

  9. Soft Manipulators and Grippers: A Review

    Directory of Open Access Journals (Sweden)

    Josie Hughes

    2016-11-01

    Full Text Available Soft robotics is a growing area of research which utilises the compliance and adaptability of soft structures to develop highly adaptive robotics for soft interactions. One area in which soft robotics has the ability to make significant impact is in the development of soft grippers and manipulators. With an increased requirement for automation, robotics systems are required to perform task in unstructured and not well defined environments; conditions which conventional rigid robotics are not best suited. This requires a paradigm shift in the methods and materials used to develop robots such that they can adapt to and work safely in human environments. One solution to this is soft robotics, which enables soft interactions with the surroundings whilst maintaining the ability to apply significant force. This review paper assess the current materials and methods, actuation methods and sensors which are used in the development of soft manipulators. The achievements and shortcomings of recent technology in these key areas are evaluated, and this paper concludes with a discussion on the potential impacts of soft manipulators on industry and society.

  10. Authorship and citation manipulation in academic research

    Science.gov (United States)

    2017-01-01

    Some scholars add authors to their research papers or grant proposals even when those individuals contribute nothing to the research effort. Some journal editors coerce authors to add citations that are not pertinent to their work and some authors pad their reference lists with superfluous citations. How prevalent are these types of manipulation, why do scholars stoop to such practices, and who among us is most susceptible to such ethical lapses? This study builds a framework around how intense competition for limited journal space and research funding can encourage manipulation and then uses that framework to develop hypotheses about who manipulates and why they do so. We test those hypotheses using data from over 12,000 responses to a series of surveys sent to more than 110,000 scholars from eighteen different disciplines spread across science, engineering, social science, business, and health care. We find widespread misattribution in publications and in research proposals with significant variation by academic rank, discipline, sex, publication history, co-authors, etc. Even though the majority of scholars disapprove of such tactics, many feel pressured to make such additions while others suggest that it is just the way the game is played. The findings suggest that certain changes in the review process might help to stem this ethical decline, but progress could be slow. PMID:29211744

  11. Control Automation in Undersea Search and Manipulation

    Science.gov (United States)

    Weltman, Gershon; Freedy, Amos

    1974-01-01

    Automatic decision making and control mechanisms of the type termed "adaptive" or "intelligent" offer unique advantages for exploration and manipulation of the undersea environment, particularly at great depths. Because they are able to carry out human-like functions autonomously, such mechanisms can aid and extend the capabilities of the human operator. This paper reviews past and present work in the areas of adaptive control and robotics with the purpose of establishing logical guidelines for the application of automatic techniques underwater. Experimental research data are used to illustrate the importance of information feedback, personnel training, and methods of control allocation in the interaction between operator and intelligent machine.

  12. Rehab-let: touchscreen tablet for self-training impaired dexterity post stroke: study protocol for a pilot randomized controlled trial.

    Science.gov (United States)

    Rand, Debbie; Zeilig, Gabi; Kizony, Rachel

    2015-06-18

    Impaired dexterity of the weaker upper extremity is common post stroke and it is recommended that these individuals practice many repetitions of movement to regain function. However, stroke rehabilitation methods do not achieve the required intensity to be effective. Touchscreen tablet technology may be used as a motivating tool for self-training impaired dexterity of the weaker upper extremity post stroke. Rehab-let is a self-training protocol utilizing game apps on a touchscreen for practicing movement of the weaker upper extremity. We will conduct a pilot randomized controlled trial to assess Rehab-let compared to traditional self-training to improve dexterity of the weaker hand, and to increase self-training time and satisfaction in individuals with subacute stroke. Forty individuals with stroke undergoing subacute rehabilitation will be randomly allocated to Rehab-let or a traditional self-training program using therapeutic aids such as balls, blocks and pegs. All participants will be requested to perform self-training for 60 minutes a day, 5 times a week for 4 weeks. Dexterity assessed by The Nine Hole Peg Test is the main outcome measure. Assessments will be administered pre and post the self-training intervention by assessors blind to the group allocation. The outcomes of this study will inform the design of a fully powered randomized controlled trial to evaluate the effectiveness of Rehab-let. If found to be effective, Rehab-let can be used during subacute rehabilitation to increase treatment intensity and improve dexterity. Potentially, Rehab-let can also be used after discharge and might be ideal for individuals with mild stroke who are often not referred to formal rehabilitation. Current Controlled Trials NCT02136433 registered on 17 September 2014.

  13. On-chip particle trapping and manipulation

    Science.gov (United States)

    Leake, Kaelyn Danielle

    The ability to control and manipulate the world around us is human nature. Humans and our ancestors have used tools for millions of years. Only in recent years have we been able to control objects at such small levels. In order to understand the world around us it is frequently necessary to interact with the biological world. Optical trapping and manipulation offer a non-invasive way to move, sort and interact with particles and cells to see how they react to the world around them. Optical tweezers are ideal in their abilities but they require large, non-portable, and expensive setups limiting how and where we can use them. A cheap portable platform is required in order to have optical manipulation reach its full potential. On-chip technology offers a great solution to this challenge. We focused on the Liquid-Core Anti-Resonant Reflecting Optical Waveguide (liquid-core ARROW) for our work. The ARROW is an ideal platform, which has anti-resonant layers which allow light to be guided in liquids, allowing for particles to easily be manipulated. It is manufactured using standard silicon manufacturing techniques making it easy to produce. The planner design makes it easy to integrate with other technologies. Initially I worked to improve the ARROW chip by reducing the intersection losses and by reducing the fluorescence and background on the ARROW chip. The ARROW chip has already been used to trap and push particles along its channel but here I introduce several new methods of particle trapping and manipulation on the ARROW chip. Traditional two beam traps use two counter propagating beams. A trapping scheme that uses two orthogonal beams which counter to first instinct allow for trapping at their intersection is introduced. This scheme is thoroughly predicted and analyzed using realistic conditions. Simulations of this method were done using a program which looks at both the fluidics and optical sources to model complex situations. These simulations were also used to

  14. Radical Chemistry and Charge Manipulation with an Atomic Force Microscope

    Science.gov (United States)

    Gross, Leo

    The fuctionalization of tips by atomic manipulation dramatically increased the resolution of atomic force microscopy (AFM). The combination of high-resolution AFM with atomic manipulation now offers the unprecedented possibility to custom-design individual molecules by making and breaking bonds with the tip of the microscope and directly characterizing the products on the atomic scale. We recently applied this technique to generate and study reaction intermediates and to investigate chemical reactions trigged by atomic manipulation. We formed diradicals by dissociating halogen atoms and then reversibly triggered ring-opening and -closing reactions via atomic manipulation, allowing us to switch and control the molecule's reactivity, magnetic and optical properties. Additional information about charge states and charge distributions can be obtained by Kelvin probe force spectroscopy. On multilayer insulating films we investigated single-electron attachment, detachment and transfer between individual molecules. EU ERC AMSEL (682144), EU project PAMS (610446).

  15. Human-inspired feedback synergies for environmental interaction with a dexterous robotic hand.

    Science.gov (United States)

    Kent, Benjamin A; Engeberg, Erik D

    2014-11-07

    Effortless control of the human hand is mediated by the physical and neural couplings inherent in the structure of the hand. This concept was explored for environmental interaction tasks with the human hand, and a novel human-inspired feedback synergy (HFS) controller was developed for a robotic hand which synchronized position and force feedback signals to mimic observed human hand motions. This was achieved by first recording the finger joint motion profiles of human test subjects, where it was observed that the subjects would extend their fingers to maintain a natural hand posture when interacting with different surfaces. The resulting human joint angle data were used as inspiration to develop the HFS controller for the anthropomorphic robotic hand, which incorporated finger abduction and force feedback in the control laws for finger extension. Experimental results showed that by projecting a broader view of the tasks at hand to each specific joint, the HFS controller produced hand motion profiles that closely mimic the observed human responses and allowed the robotic manipulator to interact with the surfaces while maintaining a natural hand posture. Additionally, the HFS controller enabled the robotic hand to autonomously traverse vertical step discontinuities without prior knowledge of the environment, visual feedback, or traditional trajectory planning techniques.

  16. Human-inspired feedback synergies for environmental interaction with a dexterous robotic hand

    International Nuclear Information System (INIS)

    Kent, Benjamin A; Engeberg, Erik D

    2014-01-01

    Effortless control of the human hand is mediated by the physical and neural couplings inherent in the structure of the hand. This concept was explored for environmental interaction tasks with the human hand, and a novel human-inspired feedback synergy (HFS) controller was developed for a robotic hand which synchronized position and force feedback signals to mimic observed human hand motions. This was achieved by first recording the finger joint motion profiles of human test subjects, where it was observed that the subjects would extend their fingers to maintain a natural hand posture when interacting with different surfaces. The resulting human joint angle data were used as inspiration to develop the HFS controller for the anthropomorphic robotic hand, which incorporated finger abduction and force feedback in the control laws for finger extension. Experimental results showed that by projecting a broader view of the tasks at hand to each specific joint, the HFS controller produced hand motion profiles that closely mimic the observed human responses and allowed the robotic manipulator to interact with the surfaces while maintaining a natural hand posture. Additionally, the HFS controller enabled the robotic hand to autonomously traverse vertical step discontinuities without prior knowledge of the environment, visual feedback, or traditional trajectory planning techniques. (paper)

  17. Quantitative assessment of paretic limb dexterity and interlimb coordination during bilateral arm rehabilitation training.

    Science.gov (United States)

    Xu, Chang; Li, Siyi; Wang, Kui; Hou, Zengguang; Yu, Ningbo

    2017-07-01

    In neuro-rehabilitation after stroke, the conventional constrained induced movement therapy (CIMT) has been well-accepted. Existing bilateral trainings are mostly on mirrored symmetrical motion. However, complementary bilateral movements are dominantly involved in activities of daily living (ADLs), and functional bilateral therapies may bring better skill transfer from trainings to daily life. Neurophysiological evidence is also growing. In this work, we firstly introduce our bilateral arm training system realized with a haptic interface and a motion sensor, as well as the tasks that have been designed to train both the manipulation function of the paretic arm and coordination of bilateral upper limbs. Then, we propose quantitative measures for functional assessment of complementary bilateral training performance, including kinematic behavior indices, smoothness, submovement and bimanual coordination. After that, we describe the experiments with healthy subjects and the results with respect to these quantitative measures. Feasibility and sensitivity of the proposed indices were evaluated through comparison of unilateral and bilateral training outcomes. The proposed bilateral training system and tasks, as well as the quantitative measures, have been demonstrated effective for training and assessment of unilateral and bilateral arm functions.

  18. Manipulating Noise Frequencies Alters Hemispheric Contributions to Decision Making

    Science.gov (United States)

    Gallagher, Patrick; Dagenbach, Dale

    2007-01-01

    Participants listened to the Asian disease problem framed in terms of either gains or losses and chose between two plans to combat the disease. All participants heard the problem embedded in other sounds; for some it was the relatively lower-frequency information, and for others it was the relatively higher-frequency information. The classic…

  19. High precision redundant robotic manipulator

    International Nuclear Information System (INIS)

    Young, K.K.D.

    1998-01-01

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

  20. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

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

  1. Rotor-Flying Manipulator: Modeling, Analysis, and Control

    Directory of Open Access Journals (Sweden)

    Bin Yang

    2014-01-01

    Full Text Available Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM, are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance.

  2. Understanding pharmaceutical research manipulation in the context of accounting manipulation.

    Science.gov (United States)

    Brown, Abigail

    2013-01-01

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

  3. Learning Area and Perimeter with Virtual Manipulatives

    Science.gov (United States)

    Bouck, Emily; Flanagan, Sara; Bouck, Mary

    2015-01-01

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

  4. A six degrees of freedom mems manipulator

    NARCIS (Netherlands)

    de Jong, B.R.

    2006-01-01

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

  5. Manipulator vehicles and loading shovels

    International Nuclear Information System (INIS)

    Brudermueller, G.; Krueger, W.

    1992-01-01

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

  6. Compliance & dexterity, factors to consider in home care and maintenance procedures Adherencia e destreza: factores a considerar en programas preventivos

    Directory of Open Access Journals (Sweden)

    Victoria Criado

    2007-01-01

    Full Text Available Mechanical plaque control appears to be the primary means of controlling supragingival dental plaque build-up. Although daily oral hygiene practices and periodic professional care are considered the basis for any program aimed at the prevention and treatment of oral diseases, these procedures are technically demanding, time consuming and can be affected by the compliance and manual dexterity of the patient. Individual skills and acquired behavior patterns determine effectiveness of a preventive program and oral hygiene practice. Successful preventive programs and home care procedures clearly depend on the interaction and commitment between the dental professional and the patient. Identifying the capacity of the individual to comply with the professional recommendations and evaluating the dexterity of the patient to remove supragingival dental plaque will permit the implementation of an adequate preventive program and can help on the selection of adjunctive antimicrobial agents and devices needed to reach an effective oral care routine.El control de la placa dental parece ser el mecanismo primario para controlar el crecimiento de la placa dental supragingival. Aunque la práctica diaria de la higiene bucal y el cuidado profesional periódico, son considerados la base para cualquier programa dirigido a la prevención y tratamiento de las enfermedades de la cavidad bucal, estos procedimientos son técnicamente exigentes, consumen tiempo y pueden ser afectados por la aceptación y la destreza manual del paciente. Las destrezas individuales y los patrones de comportamiento adquiridos, determinan la efectividad de un programa preventivo y la práctica de la higiene bucal. El éxito de los programas preventivos y los procedimientos del cuidado bucal en el hogar dependen claramente de la interacción y compromiso entre el odontólogo y el paciente. La importancia de identificar la capacidad del individuo para cumplir con las recomendaciones y la

  7. Force-Sensing Actuator with a Compliant Flexure-Type Joint for a Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Mathieu Grossard

    2015-12-01

    Full Text Available This paper deals with the mechatronic design of a novel self-sensing motor-to-joint transmission to be used for the actuation of robotic dexterous manipulators. Backdrivability, mechanical simplicity and efficient flexure joint structures are key concepts that have guided the mechanical design rationale to provide the actuator with force sensing capabilities. Indeed, a self-sensing characteristic is achieved by the specific design of high-resolution cable-driven actuators based on a DC motor, a ball-screw and a monolithic compliant anti-rotation system together with a novel flexure pivot providing a frictionless mechanical structure. That novel compliant pivot with a large angular range and a small center shift has been conceived of to provide the inter-phalangeal rotational degree of freedom of the fingers’ joints to be used for integration in a multi-fingered robotic gripper. Simultaneously, it helps to remove friction at the joint level of the mechanism. Experimental tests carried out on a prototype show an accurate matching between the model and the real behavior. Overall, this mechatronic design contributes to the improvement of the manipulation skills of robotic grippers, thanks to the combination of high performance mechanics, high sensitivity to external forces and compliance control capability.

  8. Dynamic Control of Kinematically Redundant Robotic Manipulators

    Directory of Open Access Journals (Sweden)

    Erling Lunde

    1987-07-01

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

  9. High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information

    Directory of Open Access Journals (Sweden)

    Wataru Fukui

    2011-01-01

    Full Text Available We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through experiments.

  10. Manipulations to regenerate aspen ecosystems

    Science.gov (United States)

    Wayne D. Shepperd

    2001-01-01

    Vegetative regeneration of aspen can be initiated through manipulations that provide hormonal stimulation, proper growth environment, and sucker protection - the three elements of the aspen regeneration triangle. The correct course of action depends upon a careful evaluation of the size, vigor, age, and successional status of the existing clone. Soils and site...

  11. Adaptive Control Of Remote Manipulator

    Science.gov (United States)

    Seraji, Homayoun

    1989-01-01

    Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

  12. Indicial tensor manipulation on MACSYMA

    International Nuclear Information System (INIS)

    Bogen, R.A.; Pavelle, R.

    1977-01-01

    A new computational tool for physical calculations is described. It is the first computer system capable of performing indicial tensor calculus (as opposed to component tensor calculus). It is now operational on the symbolic manipulation system MACSYMA. The authors outline the capabilities of the system and describe some of the physical problems considered as well as others being examined at this time. (Auth.)

  13. Manipulations of Totalitarian Nazi Architecture

    Science.gov (United States)

    Antoszczyszyn, Marek

    2017-10-01

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

  14. Mapping and Manipulating Facial Expression

    Science.gov (United States)

    Theobald, Barry-John; Matthews, Iain; Mangini, Michael; Spies, Jeffrey R.; Brick, Timothy R.; Cohn, Jeffrey F.; Boker, Steven M.

    2009-01-01

    Nonverbal visual cues accompany speech to supplement the meaning of spoken words, signify emotional state, indicate position in discourse, and provide back-channel feedback. This visual information includes head movements, facial expressions and body gestures. In this article we describe techniques for manipulating both verbal and nonverbal facial…

  15. A Low-Cost Open Source 3D-Printable Dexterous Anthropomorphic Robotic Hand with a Parallel Spherical Joint Wrist for Sign Languages Reproduction

    Directory of Open Access Journals (Sweden)

    Andrea Bulgarelli

    2016-06-01

    Full Text Available We present a novel open-source 3D-printable dexterous anthropomorphic robotic hand specifically designed to reproduce Sign Languages’ hand poses for deaf and deaf-blind users. We improved the InMoov hand, enhancing dexterity by adding abduction/adduction degrees of freedom of three fingers (thumb, index and middle fingers and a three-degrees-of-freedom parallel spherical joint wrist. A systematic kinematic analysis is provided. The proposed robotic hand is validated in the framework of the PARLOMA project. PARLOMA aims at developing a telecommunication system for deaf-blind people, enabling remote transmission of signs from tactile Sign Languages. Both hardware and software are provided online to promote further improvements from the community.

  16. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

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

  17. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    International Nuclear Information System (INIS)

    Geisinger, Joseph W. Ph.D.

    2001-01-01

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

  18. Willamette oxygen supplementation studies -- Scale analyses, Dexter water quality parameters, and adult recoveries: Annual progress report, September 30, 1998--September 29, 1999

    International Nuclear Information System (INIS)

    Ewing, R.D.

    1999-01-01

    This report examines the relationship between scale characteristics of returning adults to determine the fork length at which they entered the ocean. These lengths are then related to the length frequencies of fish in the various experimental groups at the time they left the hatchery. This report summarizes the water quality parameters at Dexter Rearing Ponds and presents the complete returns for all experimental groups

  19. Deconstruyendo a Dexter. Microanálisis y reinterpretación de una serie televisiva en la web

    Directory of Open Access Journals (Sweden)

    Rafael Marfil Carmona

    2011-04-01

    Full Text Available El presente artículo expone, de forma resumida, un planteamiento metodológico para analizar producciones audiovisuales, aportando un ejemplo concreto de las posibilidades que ofrece la web para finalizar ese proceso a través de la expresión creativa. Se propone una metodología integradora aplicable, en el caso aportado, a un ejercicio de microanálisis de la secuencia introductoria a la serie de televisión Dexter (M. Cuesta, T. Goldwyn y R. Lieberman; Showtime television, 2006, mostrando finalmente un interesante ejemplo de reinterpretación en la web, como es el remake titulado Malviviendo (malviviendo.com, ejemplo del uso del lenguaje audiovisual y los nuevos medios de difusión (youtube e internet TV como fase final de un proceso conceptual-creativo. El recorrido analítico parte de una reflexión conceptual y crítica para finalizar en la expresión a través de los propios medios audiovisuales.

  20. Protective gloves for use in high-risk patients: how much do they affect the dexterity of the surgeon?

    Science.gov (United States)

    Phillips, A. M.; Birch, N. C.; Ribbans, W. J.

    1997-01-01

    Twenty-five orthopaedic surgeons underwent eight motor and sensory tests while using four different glove combinations and without gloves. As well as single and double latex, surgeons wore a simple Kevlar glove with latex inside and outside and then wore a Kevlar and Medak glove with latex inside and outside, as recommended by the manufacturers. The effect of learning with each sequence was neutralised by randomising the glove order. The time taken to complete each test was recorded and, where appropriate, error rates were noted. Simple sensory tests took progressively longer to perform so that using the thickest glove combination led to the completion times being doubled. Error rates increased significantly. Tests of stereognosis also took longer and use of the thickest glove combination caused these tests to take three times as long on average. Error rates again increased significantly. However, prolongation of motor tasks was less marked. We conclude that, armed with this quantitative analysis of sensitivity and dexterity impairment, surgeons can judge the relative difficulties that may be incurred as a result of wearing the gloves against the benefits that they offer in protection. PMID:9135240

  1. Study of Sequential Dexter Energy Transfer in High Efficient Phosphorescent White Organic Light-Emitting Diodes with Single Emissive Layer

    Science.gov (United States)

    Kim, Jin Wook; You, Seung Il; Kim, Nam Ho; Yoon, Ju-An; Cheah, Kok Wai; Zhu, Fu Rong; Kim, Woo Young

    2014-11-01

    In this study, we report our effort to realize high performance single emissive layer three color white phosphorescent organic light emitting diodes (PHOLEDs) through sequential Dexter energy transfer of blue, green and red dopants. The PHOLEDs had a structure of; ITO(1500 Å)/NPB(700 Å)/mCP:Firpic-x%:Ir(ppy)3-0.5%:Ir(piq)3-y%(300 Å)/TPBi(300 Å)/Liq(20 Å)/Al(1200 Å). The dopant concentrations of FIrpic, Ir(ppy)3 and Ir(piq)3 were adjusted and optimized to facilitate the preferred energy transfer processes attaining both the best luminous efficiency and CIE color coordinates. The presence of a deep trapping center for charge carriers in the emissive layer was confirmed by the observed red shift in electroluminescent spectra. White PHOLEDs, with phosphorescent dopant concentrations of FIrpic-8.0%:Ir(ppy)3-0.5%:Ir(piq)3-0.5% in the mCP host of the single emissive layer, had a maximum luminescence of 37,810 cd/m2 at 11 V and a luminous efficiency of 48.10 cd/A at 5 V with CIE color coordinates of (0.35, 0.41).

  2. Review: Lewis A. Dexter (2006. Elite and Specialized Interviewing. With a New Introduction by Alan Ware and Martín Sánchez-Jankowski

    Directory of Open Access Journals (Sweden)

    Beate Littig

    2008-01-01

    Full Text Available The European Consortium for Political Research (ECPR republished in 2006 the book of the political scientist L.A. DEXTER on "Elite and Specialized Interviewing." According to DEXTER the main characteristic of this type of interviews is non-standardized treatment. Through this the interviewee is given the chance to present his or her own relevance with regard to the topic and situation at stake. What seems to be self-evident in the context of qualitative social research today—the importance of the interviewee's definition of the situation and the topic at stake—can be regarded as an innovation in the 1970ies considering the predominance of quantitative social research. DEXTER's essay gives a broad variety of hints of how to approach and practically interview elites, which are still up-to-date. Thus the book can be labeled as a classic, despite the fact that the methodological reflections about qualitative social research, including elite interviewing or as in the German-speaking context expert interviews have become much more detailed and divers. URN: urn:nbn:de:0114-fqs080151

  3. Manipulators

    International Nuclear Information System (INIS)

    Papet, I.; Lune, P.; Pellerin, O.; Sapoval, M.; Brisse, H.; Clement, J.P.; Ribeiro, A.; Gomes, H.; Marcus, C.; Rehel, J.L.

    2005-01-01

    These two articles bring notions relative to the safety of procedures, specially in term of irradiation, they give information on different methods in order to reduce the radiation doses delivered to the patients, especially when the examinations concern children or young patients. (N.C.)

  4. Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

    International Nuclear Information System (INIS)

    Unseren, M.A.

    1993-04-01

    The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associated with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993

  5. Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1993-04-01

    The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associated with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993.

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

    CSIR Research Space (South Africa)

    Dube, C

    2011-11-01

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

  7. A control method for manipulators with redundancy

    International Nuclear Information System (INIS)

    Furusho, Junji; Usui, Hiroyuki

    1989-01-01

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

  8. Adaptive hybrid control of manipulators

    Science.gov (United States)

    Seraji, H.

    1987-01-01

    Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

  9. Master-slave type manipulator

    International Nuclear Information System (INIS)

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

    1979-01-01

    Remote control manipulator of the master-slave type for carrying out work on the other side of a shield wall. This appliance allows a Y movement relative displacement, the function of which is to extend the range of the manipulator towards the front and also to facilitate its installation, the lateral rotation or inclination of the slave arm in relation to the master arm, and the Z movement extension through which the length of the slave arm is increased in comparison with that of the master arm. Devices have been developed which transform the linear movements into rotational movements to enable these movements to be transmitted through rotational seal fittings capable of ensuring the safety of the separation between the operator's environment and that in the work area. Particular improvements have been made to the handles, handle seals, pincer mechanisms, etc [fr

  10. Viruses manipulate the marine environment.

    Science.gov (United States)

    Rohwer, Forest; Thurber, Rebecca Vega

    2009-05-14

    Marine viruses affect Bacteria, Archaea and eukaryotic organisms and are major components of the marine food web. Most studies have focused on their role as predators and parasites, but many of the interactions between marine viruses and their hosts are much more complicated. A series of recent studies has shown that viruses have the ability to manipulate the life histories and evolution of their hosts in remarkable ways, challenging our understanding of this almost invisible world.

  11. Manipulating a stated choice experiment

    DEFF Research Database (Denmark)

    Fosgerau, Mogens; Borjesson, Maria

    2015-01-01

    This paper considers the design of a stated choice experiment intended to measure the marginal rate of substitution (MRS) between cost and an attribute such as time using a conventional logit model. Focusing the experimental design on some target MRS will bias estimates towards that value....... The paper shows why this happens. The resulting estimated MRS can then be manipulated by adapting the target MRS in the experimental design. (C) 2015 Elsevier Ltd. All rights reserved....

  12. List manipulation in Turbo Prolog

    Directory of Open Access Journals (Sweden)

    V.Cotelea

    1995-06-01

    Full Text Available The present paper is concerned with list processing in Turbo Prolog language. It doesn't claim to be an exhaustive description of operations which can be performed upon lists. Nevertheless adduced programs are most representative, more or less known to specialists in logic programming domain. By means of examples are explained the list manipulation techniques, use of recursion, declarative comparison of predicates, analysis and fixation of acceptable prototypes and some problems of predicates' inconsistency. Index terms. Prolog, list, recursion.

  13. Manipulation of Biofilm Microbial Ecology

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-08-15

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

  14. Manipulator for testing a top-opened reactor pressure vessel

    International Nuclear Information System (INIS)

    Bauer, R.; Kastl, H.

    1991-01-01

    The design is described of a manipulator to be inserted into the inside of reactor pressure vessels opened at the top. The main components of the manipulator include a fixed column protruding into the pressure vessel and a support which is slidable on the column and carries the bearing component for the measuring, testing, inspection and repair instruments. The device includes a driving equipment for the support as well as the power supply for the sets accommodated on the support, with the aim to reduce the failure rate of the manipulator as a whole, shorten the time necessary for its assembling and thus the time of staying in the reactor pressure vessel and, at the same time, make its maintenance and operation easier. (Z.S.). 13 figs

  15. A review of magnetic resonance imaging compatible manipulators in surgery.

    Science.gov (United States)

    Elhawary, H; Zivanovic, A; Davies, B; Lampérth, M

    2006-04-01

    Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.

  16. Control of an automated mobile manipulator using artificial immune system

    Science.gov (United States)

    Deepak, B. B. V. L.; Parhi, Dayal R.

    2016-03-01

    This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

  17. Particle Manipulation Methods in Droplet Microfluidics.

    Science.gov (United States)

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

    2018-02-06

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

  18. Modeling spatial and temporal variations in temperature and salinity during stratification and overturn in Dexter Pit Lake, Tuscarora, Nevada, USA

    Science.gov (United States)

    Balistrieri, L.S.; Tempel, R.N.; Stillings, L.L.; Shevenell, L.A.

    2006-01-01

    This paper examines the seasonal cycling of temperature and salinity in Dexter pit lake in arid northern Nevada, and describes an approach for modeling the physical processes that operate in such systems. The pit lake contains about 596,200 m3 of dilute, near neutral (pHs 6.7-9) water. Profiles of temperature, conductivity, and selected element concentrations were measured almost monthly during 1999 and 2000. In winter (January-March), the pit lake was covered with ice and bottom water was warmer (5.3 ??C) with higher total dissolved solids (0.298 g/L) than overlying water (3.96 ??C and 0.241 g/L), suggesting inflow of warm (11.7 ??C) groundwater with a higher conductivity than the lake (657 versus 126-383 ??S/cm). Seasonal surface inflow due to spring snowmelt resulted in lower conductivity in the surface water (232-247 ??S/cm) relative to deeper water (315-318 ??S/cm). The pit lake was thermally stratified from late spring through early fall, and the water column turned over in late November (2000) or early December (1999). The pit lake is a mixture of inflowing surface water and groundwater that has subsequently been evapoconcentrated in the arid environment. Linear relationships between conductivity and major and some minor (B, Li, Sr, and U) ions indicate conservative mixing for these elements. Similar changes in the elevations of the pit lake surface and nearby groundwater wells during the year suggest that the pit lake is a flow-through system. This observation and geochemical information were used to configure an one-dimensional hydrodynamics model (Dynamic Reservoir Simulation Model or DYRESM) that predicts seasonal changes in temperature and salinity based on the interplay of physical processes, including heating and cooling (solar insolation, long and short wave radiation, latent, and sensible heat), hydrologic flow (inflow and outflow by surface and ground water, pumping, evaporation, and precipitation), and transfers of momentum (wind stirring

  19. Modeling spatial and temporal variations in temperature and salinity during stratification and overturn in Dexter Pit Lake, Tuscarora, Nevada, USA

    International Nuclear Information System (INIS)

    Balistrieri, Laurie S.; Tempel, Regina N.; Stillings, Lisa L.; Shevenell, Lisa A.

    2006-01-01

    This paper examines the seasonal cycling of temperature and salinity in Dexter pit lake in arid northern Nevada, and describes an approach for modeling the physical processes that operate in such systems. The pit lake contains about 596,200 m 3 of dilute, near neutral (pHs 6.7-9) water. Profiles of temperature, conductivity, and selected element concentrations were measured almost monthly during 1999 and 2000. In winter (January-March), the pit lake was covered with ice and bottom water was warmer (5.3 deg. C) with higher total dissolved solids (0.298 g/L) than overlying water (3.96 deg. C and 0.241 g/L), suggesting inflow of warm (11.7 deg. C) groundwater with a higher conductivity than the lake (657 versus 126-383 μS/cm). Seasonal surface inflow due to spring snowmelt resulted in lower conductivity in the surface water (232-247 μS/cm) relative to deeper water (315-318 μS/cm). The pit lake was thermally stratified from late spring through early fall, and the water column turned over in late November (2000) or early December (1999). The pit lake is a mixture of inflowing surface water and groundwater that has subsequently been evapoconcentrated in the arid environment. Linear relationships between conductivity and major and some minor (B, Li, Sr, and U) ions indicate conservative mixing for these elements. Similar changes in the elevations of the pit lake surface and nearby groundwater wells during the year suggest that the pit lake is a flow-through system. This observation and geochemical information were used to configure an one-dimensional hydrodynamics model (Dynamic Reservoir Simulation Model or DYRESM) that predicts seasonal changes in temperature and salinity based on the interplay of physical processes, including heating and cooling (solar insolation, long and short wave radiation, latent, and sensible heat), hydrologic flow (inflow and outflow by surface and ground water, pumping, evaporation, and precipitation), and transfers of momentum (wind

  20. Comparison of functional recovery of manual dexterity after unilateral spinal cord lesion or motor cortex lesion in adult macaque monkeys

    Directory of Open Access Journals (Sweden)

    Florence eHoogewoud

    2013-07-01

    Full Text Available In relation to mechanisms involved in functional recovery of manual dexterity from cervical cord injury or from motor cortical injury, our goal was to determine whether the movements that characterize post-lesion functional recovery are comparable to original movement patterns or do monkeys adopt distinct strategies to compensate the deficits depending on the type of lesion? To this aim, data derived from earlier studies, using a skilled finger task (the modified Brinkman board from which pellets are retrieved from vertical or horizontal slots, in spinal cord and motor cortex injured monkeys were analyzed and compared. Twelve adult macaque monkeys were subjected to a hemi-section of the cervical cord (n=6 or to a unilateral excitotoxic lesion of the hand representation in the primary motor cortex (n=6. In addition, in each subgroup, one half of monkeys (n=3 were treated for 30 days with a function blocking antibody against the neurite growth inhibitory protein Nogo-A, while the other half (n=3 represented control animals. The motor deficits, and the extent and time course of functional recovery were assessed.For some of the parameters investigated (wrist angle for horizontal slots and movement types distribution for vertical slots after cervical injury; movement types distribution for horizontal slots after motor cortex lesion, post-lesion restoration of the original movement patterns (true recovery led to a quantitatively better functional recovery. In the motor cortex lesion groups, pharmacological reversible inactivation experiments showed that the peri-lesion territory of the primary motor cortex or re-arranged, spared domain of the lesion zone, played a major role in the functional recovery, together with the ipsilesional intact premotor cortex.

  1. Involvement of the Left Supramarginal Gyrus in Manipulation Judgment Tasks: Contributions to Theories of Tool Use.

    Science.gov (United States)

    Lesourd, Mathieu; Osiurak, François; Navarro, Jordan; Reynaud, Emanuelle

    2017-09-01

    Two theories of tool use, namely the gesture engram and the technical reasoning theories, make distinct predictions about the involvement of the left inferior parietal lobe (IPL) in manipulation judgement tasks. The objective here is to test these alternative predictions based on previous studies on manipulation judgment tasks using transcranial magnetic stimulations (TMS) targeting the left supramarginal gyrus (SMG). We review recent TMS studies on manipulation judgement tasks and confront these data with predictions made by both tool use theories. The left SMG is a highly intertwined region, organized following several functionally distinct areas and TMS may have disrupted a cortical network involved in the ability to use tools rather than only one functional area supporting manipulation knowledge. Moreover, manipulation judgement tasks may be impaired following virtual lesions outside the IPL. These data are more in line with the technical reasoning hypothesis, which assumes that the left IPL does not store manipulation knowledge per se. (JINS, 2017, 23, 685-691).

  2. Towards the development of a soft manipulator as an assistive robot for personal care of elderly people

    Directory of Open Access Journals (Sweden)

    Yasmin Ansari

    2017-03-01

    Full Text Available Manipulators based on soft robotic technologies exhibit compliance and dexterity which ensures safe human–robot interaction. This article is a novel attempt at exploiting these desirable properties to develop a manipulator for an assistive application, in particular, a shower arm to assist the elderly in the bathing task. The overall vision for the soft manipulator is to concatenate three modules in a serial manner such that (i the proximal segment is made up of cable-based actuation to compensate for gravitational effects and (ii the central and distal segments are made up of hybrid actuation to autonomously reach delicate body parts to perform the main tasks related to bathing. The role of the latter modules is crucial to the application of the system in the bathing task; however, it is a nontrivial challenge to develop a robust and controllable hybrid actuated system with advanced manipulation capabilities and hence, the focus of this article. We first introduce our design and experimentally characterize its functionalities, which include elongation, shortening, omnidirectional bending. Next, we propose a control concept capable of solving the inverse kinetics problem using multiagent reinforcement learning to exploit these functionalities despite high dimensionality and redundancy. We demonstrate the effectiveness of the design and control of this module by demonstrating an open-loop task space control where it successfully moves through an asymmetric 3-D trajectory sampled at 12 points with an average reaching accuracy of 0.79 cm ± 0.18 cm. Our quantitative experimental results present a promising step toward the development of the soft manipulator eventually contributing to the advancement of soft robotics.

  3. An evolutionary resolution of manipulation conflict.

    Science.gov (United States)

    González-Forero, Mauricio

    2014-07-01

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

  4. Using Manipulatives to Teach Elementary Mathematics

    Science.gov (United States)

    Boggan, Matthew; Harper, Sallie; Whitmire, Anna

    2010-01-01

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

  5. Adverse events among seniors receiving spinal manipulation and exercise in a randomized clinical trial

    DEFF Research Database (Denmark)

    Maiers, Michele; Evans, Roni; Hartvigsen, Jan

    2015-01-01

    Spinal manipulative therapy (SMT) and exercise have demonstrated effectiveness for neck pain (NP). Adverse events (AE) reporting in trials, particularly among elderly participants, is inconsistent and challenges informed clinical decision making. This paper provides a detailed report of AE experi...

  6. Interpersonal relationship manipulation at a personal level

    Directory of Open Access Journals (Sweden)

    Andreja Hribernik

    2010-12-01

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

  7. Genetic manipulation of Methanosarcina spp.

    Directory of Open Access Journals (Sweden)

    Petra Regine Adelheid Kohler

    2012-07-01

    Full Text Available The discovery of the third domain of life, the Archaea, is one of the most exciting findings of the last century. These remarkable prokaryotes are well known for their adaptations to extreme environments; however, Archaea have also conquered moderate environments. Many of the archaeal biochemical processes, such as methane production, are unique in nature and therefore of great scientific interest. Although formerly restricted to biochemical and physiological studies, sophisticated systems for genetic manipulation have been developed during the last two decades for methanogenic archaea, halophilic archaea and thermophilic, sulfur-metabolizing archaea. The availability of these tools has allowed for more complete studies of archaeal physiology and metabolism and most importantly provides the basis for the investigation of gene expression, regulation and function. In this review we provide an overview of methods for genetic manipulation of Methanosarcina spp., a group of methanogenic archaea that are key players in the global carbon cycle and which can be found in a variety of anaerobic environments.

  8. Covariance Manipulation for Conjunction Assessment

    Science.gov (United States)

    Hejduk, M. D.

    2016-01-01

    The manipulation of space object covariances to try to provide additional or improved information to conjunction risk assessment is not an uncommon practice. Types of manipulation include fabricating a covariance when it is missing or unreliable to force the probability of collision (Pc) to a maximum value ('PcMax'), scaling a covariance to try to improve its realism or see the effect of covariance volatility on the calculated Pc, and constructing the equivalent of an epoch covariance at a convenient future point in the event ('covariance forecasting'). In bringing these methods to bear for Conjunction Assessment (CA) operations, however, some do not remain fully consistent with best practices for conducting risk management, some seem to be of relatively low utility, and some require additional information before they can contribute fully to risk analysis. This study describes some basic principles of modern risk management (following the Kaplan construct) and then examines the PcMax and covariance forecasting paradigms for alignment with these principles; it then further examines the expected utility of these methods in the modern CA framework. Both paradigms are found to be not without utility, but only in situations that are somewhat carefully circumscribed.

  9. Medical Practice Makes Perfect

    Science.gov (United States)

    1998-01-01

    Cedaron Medical Inc., was founded in 1990 as a result of a NASA SBIR (Small Business Innovative Research) grant from Johnson Space Center to develop a Hand Testing and Exercise Unit for use in space. From that research came Dexter, a comprehensive workstation that creates a paperless environment for medical data management.

  10. Effects of action observation therapy on hand dexterity and EEG-based cortical activation patterns in patients with post-stroke hemiparesis.

    Science.gov (United States)

    Kuk, Eun-Ju; Kim, Jong-Man; Oh, Duck-Won; Hwang, Han-Jeong

    2016-10-01

    Previous reports have suggested that action observation training (AOT) is beneficial in enhancing the early learning of new motor tasks; however, EEG-based investigation has received little attention for AOT. The purpose of this study was to illustrate the effects of AOT on hand dexterity and cortical activation in patients with post-stroke hemiparesis. Twenty patients with post-stroke hemiparesis were randomly divided into either the experimental group (EG) or control group (CG), with 10 patients in each group. Prior to the execution of motor tasks (carrying wooden blocks from one box to another), subjects in the EG and CG observed a video clip displaying the execution of the same motor task and pictures showing landscapes, respectively. Outcome measures included the box and block test (BBT) to evaluate hand dexterity and EEG-based brain mapping to detect changes in cortical activation. The BBT scores (EG: 20.50 ± 6.62 at pre-test and 24.40 ± 5.42 at post-test; CG: 20.20 ± 6.12 at pre-test and 20.60 ± 7.17 at post-test) revealed significant main effects for the time and group and significant time-by-group interactions (p < 0.05). For the subjects in the EG, topographical representations obtained with the EEG-based brain mapping system were different in each session of the AOT and remarkable changes occurred from the 2nd session of AOT. Furthermore, the middle frontal gyrus was less active at post-test than at pre-test. These findings support that AOT may be beneficial in altering cortical activation patterns and hand dexterity.

  11. A large divertor manipulator for ASDEX Upgrade

    Energy Technology Data Exchange (ETDEWEB)

    Herrmann, Albrecht, E-mail: albrecht.herrmann@ipp.mpg.de; Jaksic, Nikola; Leitenstern, Peter; Greuner, Henri; Krieger, Karl; Marné, Pascal de; Oberkofler, Martin; Rohde, Volker; Schall, Gerd

    2015-10-15

    Highlights: • A large divertor manipulator for ASDEX Upgrade is developed and tested. • It allows replacing a relevant part of the divertor by dedicated targets and probes. • Modified solid standard targets. • Electrical and mechanical probes for dedicated investigations. • Test of actively cooled component. - Abstract: In 2013 a new bulk tungsten divertor, Div-III, was installed in ASDEX Upgrade (AUG). During the concept and design phase of Div-III the option of adaptable divertor instrumentation and divertor modification as contribution for divertor investigations in preparation of ITER was given a high priority. To gain flexibility for the test of divertor modifications without affecting the operational space of AUG, the large divertor manipulator, DIM-II, was designed and installed. DIM-II allows to retract 2 out of 128 outer divertor target tiles including the water cooled support structure into a target exchange box and to replace these targets without breaking the vacuum of the AUG vessel. DIM-II is based on a carriage-rail system with a driving rod pushing a front-end with the target module into the divertor position for plasma operation. Three types of front-ends are foreseen for physics investigations: (i) modified standard targets clamped to the standard cooling structure, (ii) dedicated front-ends making use of the whole available volume of about 230 × 160 × 80 mm{sup 3} and (iii) actively cooled/heated targets for cooling water temperatures up to 230 °C. This paper presents the DIM-II design including the FEM calculations for the modified divertor support structure and the front-end options, as well as the test procedure and operation mode.

  12. Quem é Dexter Morgan? A questão da identidade e da ética presentes em uma série de televisão

    Directory of Open Access Journals (Sweden)

    Rubens Francisco Torres

    2010-10-01

    Full Text Available Dexter é um seriado americano que mostra a vida de um serial killer que mata outros assassinos. Nessa série estão presentes muitos temas filosóficos importantes, como a busca pela identidade pessoal, o valor da ética, e quais as implicações que uma atitude pode ou não ter, de acordo com a maneira que escolhemos resolvê-la. O artigo procura destacar como esses temas estão presentes no seriado, e como são determinantes para a evolução das personagens na trama. 

  13. Survey of advanced general-purpose software for robot manipulators

    International Nuclear Information System (INIS)

    Latombe, J.C.

    1983-01-01

    Computer-controlled sensor-based robots will more and more common in industry. This paper attempts to survey the main trends of the development of advanced general-purpose software for robot manipulators. It is intended to make clear that robots are not only mechanical devices. They are truly programmable machines, and their programming, which occurs in an imperfectly modelled world,is somewhat different from conventional computer programming. (orig.)

  14. Electromagnetic illusion with isotropic and homogeneous materials through scattering manipulation

    International Nuclear Information System (INIS)

    Yang, Fan; Mei, Zhong Lei; Jiang, Wei Xiang; Cui, Tie Jun

    2015-01-01

    A new isotropic and homogeneous illusion device for electromagnetic waves is proposed. This single-shelled device can change the fingerprint of the covered object into another one by manipulating the scattering of the composite structure. We show that an electrically small sphere can be disguised as another small one with different electromagnetic parameters. The device can even make a dielectric sphere (electrically small) behave like a conducting one. Full-wave simulations confirm the performance of proposed illusion device. (paper)

  15. Wave Manipulation by Topology Optimization

    DEFF Research Database (Denmark)

    Andkjær, Jacob Anders

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

  16. Ion manipulation method and device

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Gordon A.; Baker, Erin M.; Smith, Richard D.; Ibrahim, Yehia M.

    2017-11-07

    An ion manipulation method and device is disclosed. The device includes a pair of substantially parallel surfaces. An array of inner electrodes is contained within, and extends substantially along the length of, each parallel surface. The device includes a first outer array of electrodes and a second outer array of electrodes. Each outer array of electrodes is positioned on either side of the inner electrodes, and is contained within and extends substantially along the length of each parallel surface. A DC voltage is applied to the first and second outer array of electrodes. A RF voltage, with a superimposed electric field, is applied to the inner electrodes by applying the DC voltages to each electrode. Ions either move between the parallel surfaces within an ion confinement area or along paths in the direction of the electric field, or can be trapped in the ion confinement area.

  17. Multidiscipline simulation of elastic manipulators

    Directory of Open Access Journals (Sweden)

    T. Rølvåg

    1992-10-01

    Full Text Available This paper contributes to multidiscipline simulation of elastic robot manipulators in FEDEM. All developments presented in this paper are based on the formulations in FEDEM, a simulation system developed by the authors which combines finite element, mechanism and control analysis. In order to establish this general simulation system as an efficient multidiscipline robot design tool a robot control system including a high level robot programming language, interpolation algorithms, path generation algorithms, forward and inverse kinematics, control systems, gear and transmission models are implemented. These new features provide a high level of integration between traditionally separate design disciplines from the very beginning of the design and optimization process. Several simulations have shown that high fidelity mathematical models can be derived and used as a basis for dynamic analysis and controller design in FEDEM.

  18. A links manipulator simulation program interim report

    International Nuclear Information System (INIS)

    Noble, R.A.

    1987-04-01

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

  19. Probabilistic approach to manipulator kinematics and dynamics

    International Nuclear Information System (INIS)

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

    2001-01-01

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

  20. Collision Detection for Underwater ROV Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Satja Sivčev

    2018-04-01

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

  1. Master-slave-manipulator 'EMSM I'

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.

    1976-01-01

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

  2. Master-slave-manipulator EMSM I

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.

    1976-01-01

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

  3. Positional control of space robot manipulator

    Science.gov (United States)

    Kurochkin, Vladislav; Shymanchuk, Dzmitry

    2018-05-01

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

  4. Managerial Incentives and Stock Price Manipulation

    OpenAIRE

    Peng, Lin; Röell, Ailsa A

    2009-01-01

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

  5. Seismic qualification of existing safety class manipulators

    International Nuclear Information System (INIS)

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

    1992-01-01

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

  6. Manipulating Liquids With Acoustic Radiation Pressure Phased Arrays

    Science.gov (United States)

    Oeftering, Richard C.

    1999-01-01

    High-intensity ultrasound waves can produce the effects of "Acoustic Radiation Pressure" (ARP) and "acoustic streaming." These effects can be used to propel liquid flows and to apply forces that can be used to move or manipulate floating objects or liquid surfaces. NASA's interest in ARP includes the remote-control agitation of liquids and the manipulation of bubbles and drops in liquid experiments and propellant systems. A high level of flexibility is attained by using a high-power acoustic phased array to generate, steer, and focus a beam of acoustic waves. This is called an Acoustic Radiation Pressure Phased Array, or ARPPA. In this approach, many acoustic transducer elements emit wavelets that converge into a single beam of sound waves. Electronically coordinating the timing, or "phase shift," of the acoustic waves makes it possible to form a beam with a predefined direction and focus. Therefore, a user can direct the ARP force at almost any desired point within a liquid volume. ARPPA lets experimenters manipulate objects anywhere in a test volume. This flexibility allow it to be used for multiple purposes, such as to agitate liquids, deploy and manipulate drops or bubbles, and even suppress sloshing in spacecraft propellant tanks.

  7. An Integrated Framework for Human-Robot Collaborative Manipulation.

    Science.gov (United States)

    Sheng, Weihua; Thobbi, Anand; Gu, Ye

    2015-10-01

    This paper presents an integrated learning framework that enables humanoid robots to perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task performed jointly by a human and a humanoid robot is chosen for validation purpose. The proposed framework is split into two phases: 1) phase I-learning to grasp the table and 2) phase II-learning to perform the manipulation task. An imitation learning approach is proposed for phase I. In phase II, the behavior of the robot is controlled by a combination of two types of controllers: 1) reactive and 2) proactive. The reactive controller lets the robot take a reactive control action to make the table horizontal. The proactive controller lets the robot take proactive actions based on human motion prediction. A measure of confidence of the prediction is also generated by the motion predictor. This confidence measure determines the leader/follower behavior of the robot. Hence, the robot can autonomously switch between the behaviors during the task. Finally, the performance of the human-robot team carrying out the collaborative manipulation task is experimentally evaluated on a platform consisting of a Nao humanoid robot and a Vicon motion capture system. Results show that the proposed framework can enable the robot to carry out the collaborative manipulation task successfully.

  8. Responsiveness of performance-based outcome measures for mobility, balance, muscle strength and manual dexterity in adults with myotonic dystrophy type 1.

    Science.gov (United States)

    Kierkegaard, Marie; Petitclerc, Émilie; Hébert, Luc J; Mathieu, Jean; Gagnon, Cynthia

    2018-02-28

    To assess changes and responsiveness in outcome measures of mobility, balance, muscle strength and manual dexterity in adults with myotonic dystrophy type 1. A 9-year longitudinal study conducted with 113 patients. The responsiveness of the Timed Up and Go test, Berg Balance Scale, quantitative muscle testing, grip and pinch-grip strength, and Purdue Pegboard Test was assessed using criterion and construct approaches. Patient-reported perceived changes (worse/stable) in balance, walking, lower-limb weakness, stair-climbing and hand weakness were used as criteria. Predefined hypotheses about expected area under the receiver operating characteristic curves (criterion approach) and correlations between relative changes (construct approach) were explored. The direction and magnitude of median changes in outcome measures corresponded with patient-reported changes. Median changes in the Timed Up and Go test, grip strength, pinch-grip strength and Purdue Pegboard Test did not, in general, exceed known measurement errors. Most criterion (72%) and construct (70%) approach hypotheses were supported. Promising responsiveness was found for outcome measures of mobility, balance and muscle strength. Grip strength and manual dexterity measures showed poorer responsiveness. The performance-based outcome measures captured changes over the 9-year period and responsiveness was promising. Knowledge of measurement errors is needed to interpret the meaning of these longitudinal changes.

  9. 3D Laser Scanner for Underwater Manipulation

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2018-04-01

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

  10. Long-reach manipulators for decommissioning

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  11. Nano-manipulation of single DNA molecules

    International Nuclear Information System (INIS)

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

    2004-01-01

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

  12. Bioprinting Living Biofilms through Optogenetic Manipulation.

    Science.gov (United States)

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

    2018-04-18

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

  13. 3D Laser Scanner for Underwater Manipulation.

    Science.gov (United States)

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

    2018-04-04

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

  14. Estudo anatômico das vias bilíferas em búfalos: comportamento do ductus choledocus, ductus cysticus e vesica fellea. Sistematização do ductus biliferus principalis dexter

    Directory of Open Access Journals (Sweden)

    Wilson Machado de Souza

    1994-06-01

    Full Text Available Os autores estudaram o comportamento do ductus choledocus, ductus cysticus e vesica fellea e a constituição do ductus biliferus principalis dexter, parte das vias bilíferas em 40 búfalas da raça Jaffarabadi, adultas. Os fígados tiveram suas vias biliares injetadas com látex Neoprene 650 e celobar, e o procedimento utilizado pelos autores para evidenciação dos componentes estudados foram a dissecação e radiografias. Nos 40 órgãos analisados constatou-se que o ductus choledocus na maioria (97,5% sem tributários, acolhe num caso isolado (2,5% afluente inominado do lobus quadratus. Este ductus apresenta-se formado pela confluência dos ductus biliferus principalis dexter e do sinister (75%, pela confluência das raízes dorsomedial e ventrolateral mais o ductus biliferus principalis sinister (22,5%, e pela junção do ductus hepaticus e ductus cysticus (2,5%. O ductus cysticus, componente constante do ductus biliferus principalis dexter, associa-se ao ductus biliferus lateralis lobi dextri (67,5%, endereçando-se nas outras glândulas (32,5% a troncos diversos. A vesica fellea em 87,5% das peças mostra-se livre de afluentes, enquanto nas demais dessecações (12,5% recebe duetos hepaticocísticos oriundos apenas do lobus quadratus (5%, simultaneamente do lobus dexter e do lobus quadratus (5%, e unicamente do território lateral do lobus dexter (5%. O ductus biliferus principalis dexter é formado pelo ductus lateralis lobi dextri e ductus cysticus (100% e pelo ductus medialis lobi dextri, ductus dorsalis lobi dextri e ductus processi caudati (92,5%.

  15. Engineering and manipulating exciton wave packets

    Science.gov (United States)

    Zang, Xiaoning; Montangero, Simone; Carr, Lincoln D.; Lusk, Mark T.

    2017-05-01

    When a semiconductor absorbs light, the resulting electron-hole superposition amounts to a uncontrolled quantum ripple that eventually degenerates into diffusion. If the conformation of these excitonic superpositions could be engineered, though, they would constitute a new means of transporting information and energy. We show that properly designed laser pulses can be used to create such excitonic wave packets. They can be formed with a prescribed speed, direction, and spectral make-up that allows them to be selectively passed, rejected, or even dissociated using superlattices. Their coherence also provides a handle for manipulation using active, external controls. Energy and information can be conveniently processed and subsequently removed at a distant site by reversing the original procedure to produce a stimulated emission. The ability to create, manage, and remove structured excitons comprises the foundation for optoexcitonic circuits with application to a wide range of quantum information, energy, and light-flow technologies. The paradigm is demonstrated using both tight-binding and time-domain density functional theory simulations.

  16. Dielectric nanoresonators for light manipulation

    Science.gov (United States)

    Yang, Zhong-Jian; Jiang, Ruibin; Zhuo, Xiaolu; Xie, Ya-Ming; Wang, Jianfang; Lin, Hai-Qing

    2017-07-01

    Nanostructures made of dielectric materials with high or moderate refractive indexes can support strong electric and magnetic resonances in the optical region. They can therefore function as nanoresonators. In addition to plasmonic metal nanostructures that have been widely investigated, dielectric nanoresonators provide a new type of building blocks for realizing powerful and versatile nanoscale light manipulation. In contrast to plasmonic metal nanostructures, nanoresonators made of appropriate dielectric materials are low-cost, earth-abundant and have very small or even negligible light energy losses. As a result, they will find potential applications in a number of photonic devices, especially those that require low energy losses. In this review, we describe the recent progress on the experimental and theoretical studies of dielectric nanoresonators. We start from the basic theory of the electromagnetic responses of dielectric nanoresonators and their fabrication methods. The optical properties of individual dielectric nanoresonators are then elaborated, followed by the coupling behaviors between dielectric nanoresonators, between dielectric nanoresonators and substrates, and between dielectric nanoresonators and plasmonic metal nanostructures. The applications of dielectric nanoresonators are further described. Finally, the challenges and opportunities in this field are discussed.

  17. IMU-based online kinematic calibration of robot manipulator.

    Science.gov (United States)

    Du, Guanglong; Zhang, Ping

    2013-01-01

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

  18. IMU-Based Online Kinematic Calibration of Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Guanglong Du

    2013-01-01

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

  19. Manipulation or Mobilisation for Neck Pain

    NARCIS (Netherlands)

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

    2010-01-01

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

  20. Analysis of singularity in redundant manipulators

    International Nuclear Information System (INIS)

    Watanabe, Koichi

    2000-03-01

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

  1. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2004-01-01

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

  2. Even Middle Graders Can Learn with Manipulatives.

    Science.gov (United States)

    Holden, Linda

    1987-01-01

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

  3. Judging Nudging : Answering the Manipulation Objection

    NARCIS (Netherlands)

    Nys, Thomas; Engelen, Bart

    2017-01-01

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

  4. Tools for Manipulation and Characterisation of Nanostructures

    DEFF Research Database (Denmark)

    Mølhave, Kristian; Bøggild, Peter

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

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

    NARCIS (Netherlands)

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

    2005-01-01

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

  6. Expert operator preferences in remote manipulator control systems

    International Nuclear Information System (INIS)

    Sundstrom, E.; Draper, J.V.; Fausz, A.; Woods, H.

    1995-06-01

    This report describes a survey of expert remote manipulator operators designed to identify features of control systems related to operator efficiency and comfort. It provides information for designing the control center for the Single-Shell Tank Waste Retrieval Manipulator System (TWRMS) Test Bed, described in a separate report. Research questions concerned preferred modes of control, optimum work sessions, sources of operator fatigue, importance of control system design features, and desired changes in control rooms. Participants comprised four expert remote manipulator operators at Oak Ridge National Laboratory, who individually have from 9 to 20 years of experience using teleoperators. The operators had all used rate and position control, and all preferred bilateral (force-reflecting) position control. They reported spending an average of 2.75 h in control of a teleoperator system during a typical shift. All were accustomed to working in a crew of two and alternating control and support roles in 2-h rotations in an 8-h shift. Operators reported that fatigue in using remote manipulator systems came mainly from watching TV monitors and making repetitive motions. Three of four experienced symptoms, including headaches and sore eyes, wrists, and back. Of 17 features of control rooms rated on importance, highest ratings went to comfort and support provided by the operator chair, location of controls, location of video monitors, video image clarity, types of controls, and control modes. When asked what they wanted to change, operators said work stations designed for comfort; simpler, lighter hand-controls; separate controls for each camera; better placement of remote camera; color monitors; and control room layouts that support crew interaction. Results of this small survey reinforced the importance of ergonomic factors in remote manipulation

  7. Interaction control of a redundant mobile manipulator

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  8. Maximum allowable load on wheeled mobile manipulators

    International Nuclear Information System (INIS)

    Habibnejad Korayem, M.; Ghariblu, H.

    2003-01-01

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

  9. Laser Diode Beam Basics, Manipulations and Characterizations

    CERN Document Server

    Sun, Haiyin

    2012-01-01

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

  10. Adaptive hidden Markov model with anomaly States for price manipulation detection.

    Science.gov (United States)

    Cao, Yi; Li, Yuhua; Coleman, Sonya; Belatreche, Ammar; McGinnity, Thomas Martin

    2015-02-01

    Price manipulation refers to the activities of those traders who use carefully designed trading behaviors to manually push up or down the underlying equity prices for making profits. With increasing volumes and frequency of trading, price manipulation can be extremely damaging to the proper functioning and integrity of capital markets. The existing literature focuses on either empirical studies of market abuse cases or analysis of particular manipulation types based on certain assumptions. Effective approaches for analyzing and detecting price manipulation in real time are yet to be developed. This paper proposes a novel approach, called adaptive hidden Markov model with anomaly states (AHMMAS) for modeling and detecting price manipulation activities. Together with wavelet transformations and gradients as the feature extraction methods, the AHMMAS model caters to price manipulation detection and basic manipulation type recognition. The evaluation experiments conducted on seven stock tick data from NASDAQ and the London Stock Exchange and 10 simulated stock prices by stochastic differential equation show that the proposed AHMMAS model can effectively detect price manipulation patterns and outperforms the selected benchmark models.

  11. Case Study: Students’ Symbolic Manipulation in Calculus Among UTHM Students

    Science.gov (United States)

    Ali, Maselan; Sufahani, Suliadi; Ahmad, Wan N. A. W.; Ghazali Kamardan, M.; Saifullah Rusiman, Mohd; Che-Him, Norziha

    2018-04-01

    Words are symbols representing certain aspects of mathematics. The main purpose of this study is to gain insight into students’ symbolic manipulation in calculus among UTHM students. This study make use the various methods in collecting data which are documentation, pilot study, written test and follow up individual interviews. Hence, the results analyzed and interpreted based on action-process-object-schema framework which is based on Piaget’s ideas of reflective abstraction, the concept of relational and instrumental understanding and the zone of proximal development idea. The students’ reply in the interview session is analyzed and then the overall performance is discussed briefly to relate with the students flexibility in symbolic manipulation in linking to the graphical idea, the students interpretation towards different symbolic structure in calculus and the problem that related to overgeneralization in their calculus problems solving.

  12. Trajectory generation for manipulators using linear quadratic optimal tracking

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1989-04-01

    Full Text Available The reference trajectory is normally known in advance in manipulator control which makes it possible to apply linear quadratic optimal tracking. This gives a control system which rounds corners and generates optimal feedforward. The method may be used for references consisting of straight-line segments as an alternative to the two-step method of using splines to smooth the reference and then applying feedforward. In addition, the method can be used for more complex trajectories. The actual dynamics of the manipulator are taken into account, and this results in smooth and accurate tracking. The method has been applied in combination with the computed torque technique and excellent performance was demonstrated in a simulation study. The method has also been applied experimentally to an industrial spray-painting robot where a saw-tooth reference was tracked. The corner was rounded extremely well, and the steady-state tracking error was eliminated by the optimal feedforward.

  13. Automated Detection of Client-State Manipulation Vulnerabilities

    DEFF Research Database (Denmark)

    Møller, Anders; Schwarz, Mathias

    2012-01-01

    automated tools that can assist the programmers in the application development process by detecting weaknesses. Many vulnerabilities are related to web application code that stores references to application state in the generated HTML documents to work around the statelessness of the HTTP protocol....... In this paper, we show that such client-state manipulation vulnerabilities are amenable to tool supported detection. We present a static analysis for the widely used frameworks Java Servlets, JSP, and Struts. Given a web application archive as input, the analysis identifies occurrences of client state...... and infers the information flow between the client state and the shared application state on the server. This makes it possible to check how client-state manipulation performed by malicious users may affect the shared application state and cause leakage or modifications of sensitive information. The warnings...

  14. Manipulating colloids with charges and electric fields

    Science.gov (United States)

    Leunissen, M. E.

    2007-02-01

    This thesis presents the results of experimental investigations on a variety of colloidal suspensions. Colloidal particles are at least a hundred times larger than atoms or molecules, but suspended in a liquid they display the same phase behavior, including fluid and crystalline phases. Due to their relatively large size, colloids are much easier to investigate and manipulate, though. This makes them excellent condensed matter model systems. With this in mind, we studied micrometer-sized perspex (‘PMMA’) spheres, labeled with a fluorescent dye for high-resolution confocal microscopy imaging, and suspended in a low-polar mixture of the organic solvents cyclohexyl bromide and cis-decalin. This system offered us the flexibility to change the interactions between the particles from ‘hard-sphere-like’ to long-ranged repulsive (between like-charged particles), long-ranged attractive (between oppositely charged particles) and dipolar (in an electric field). We investigated the phase behavior of our suspensions as a function of the particle concentration, the ionic strength of the solvent and the particles’ charges. In this way, we obtained new insight in the freezing and melting behavior of like-charged and oppositely charged colloids. Interestingly, we found that the latter can readily form large crystals, thus defying the common belief that plus-minus interactions inevitably lead to aggregation. Moreover, we demonstrated that these systems can serve as a reliable model system for classical ionic matter (‘salts’), and that opposite-charge interactions can greatly facilitate the self-assembly of new structures with special properties for applications. On a slightly different note, we also studied electrostatic effects in mixtures of the cyclohexyl bromide solvent and water, both with and without colloidal particles present. This provided new insight in the stabilization mechanisms of oil-water emulsions and gave us control over the self-assembly of various

  15. Task based synthesis of serial manipulators

    Directory of Open Access Journals (Sweden)

    Sarosh Patel

    2015-05-01

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

  16. Dexterous Control of Seven Functional Hand Movements Using Cortically-Controlled Transcutaneous Muscle Stimulation in a Person With Tetraplegia

    Directory of Open Access Journals (Sweden)

    Samuel C. Colachis

    2018-04-01

    Full Text Available Individuals with tetraplegia identify restoration of hand function as a critical, unmet need to regain their independence and improve quality of life. Brain-Computer Interface (BCI-controlled Functional Electrical Stimulation (FES technology addresses this need by reconnecting the brain with paralyzed limbs to restore function. In this study, we quantified performance of an intuitive, cortically-controlled, transcutaneous FES system on standardized object manipulation tasks from the Grasp and Release Test (GRT. We found that a tetraplegic individual could use the system to control up to seven functional hand movements, each with >95% individual accuracy. He was able to select one movement from the possible seven movements available to him and use it to appropriately manipulate all GRT objects in real-time using naturalistic grasps. With the use of the system, the participant not only improved his GRT performance over his baseline, demonstrating an increase in number of transfers for all objects except the Block, but also significantly improved transfer times for the heaviest objects (videocassette (VHS, Can. Analysis of underlying motor cortex neural representations associated with the hand grasp states revealed an overlap or non-separability in neural activation patterns for similarly shaped objects that affected BCI-FES performance. These results suggest that motor cortex neural representations for functional grips are likely more related to hand shape and force required to hold objects, rather than to the objects themselves. These results, demonstrating multiple, naturalistic functional hand movements with the BCI-FES, constitute a further step toward translating BCI-FES technologies from research devices to clinical neuroprosthetics.

  17. The Effects of Listening to Persian Music on the Hand Dexterity and Depression in a Patient with Stroke: A Case Report

    Directory of Open Access Journals (Sweden)

    Reyhaneh Maktoufi

    2015-09-01

    Full Text Available Introduction: Nowadays the use of music therapy for neurological disorders in developed countries is widely emphasized. Despite this, there is little scientific evidence regarding the use of this method for the treatment of Iranian patients with stroke. Case report: Since Iranian patients are more familiar with Persian music, this study was performed to describe the effects of listening to the Persian music played with Daf (an Iranian music instrument in a 54-year-old man with chronic stroke. Discussion: This case report could show for the first time, the positive effect of passive listening to Persian music with Iranian Daf instrument on the hand dexterity and depression in a patient with chronic stroke.

  18. Completion of the Heysham 2 peripheral manipulator

    International Nuclear Information System (INIS)

    Shipp, R.; Ewen, R.O.

    1996-01-01

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

  19. W-026, acceptance test report manipulator system

    International Nuclear Information System (INIS)

    Watson, T.L.

    1997-01-01

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

  20. Interpersonal relationship manipulation at a personal level

    OpenAIRE

    Andreja Hribernik

    2010-01-01

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

  1. Development of the heavy manipulator vehicle system

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  2. Captive bottlenose dolphins (Tursiops truncatus spontaneously using water flow to manipulate objects.

    Directory of Open Access Journals (Sweden)

    Chisato Yamamoto

    Full Text Available Several terrestrial animals and delphinids manipulate objects in a tactile manner, using parts of their bodies, such as their mouths or hands. In this paper, we report that bottlenose dolphins (Tursiops truncatus manipulate objects not by direct bodily contact, but by spontaneous water flow. Three of four dolphins at Suma Aqualife Park performed object manipulation with food. The typical sequence of object manipulation consisted of a three step procedure. First, the dolphins released the object from the sides of their mouths while assuming a head-down posture near the floor. They then manipulated the object around their mouths and caught it. Finally, they ceased to engage in their head-down posture and started to swim. When the dolphins moved the object, they used the water current in the pool or moved their head. These results showed that dolphins manipulate objects using movements that do not directly involve contact between a body part and the object. In the event the dolphins dropped the object on the floor, they lifted it by making water flow in one of three methods: opening and closing their mouths repeatedly, moving their heads lengthwise, or making circular head motions. This result suggests that bottlenose dolphins spontaneously change their environment to manipulate objects. The reason why aquatic animals like dolphins do object manipulation by changing their environment but terrestrial animals do not may be that the viscosity of the aquatic environment is much higher than it is in terrestrial environments. This is the first report thus far of any non-human mammal engaging in object manipulation using several methods to change their environment.

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

    Science.gov (United States)

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

    2012-06-01

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

  4. Surgical manipulation of mammalian embryos in vitro.

    Science.gov (United States)

    Naruse, I; Keino, H; Taniguchi, M

    1997-04-01

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

  5. Autonomous Task Primitives for Complex Manipulation Operations

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of this research effort is to enable robots to autonomously perform the complex manipulation tasks that are necessary to maintain a spacecraft. Robots, like...

  6. Spinal Manipulation for Low-Back Pain

    Science.gov (United States)

    ... V W X Y Z Spinal Manipulation for Low-Back Pain Share: On This Page Introduction Key Points About ... will help ensure coordinated and safe care. About Low-Back Pain Back pain is one of the most common ...

  7. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2003-01-01

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

  8. Analysis, reconstruction and manipulation using arterial snakes

    KAUST Repository

    Li, Guo; Liu, Ligang; Zheng, Hanlin; Mitra, Niloy J.

    2010-01-01

    , and manipulating such arterial surfaces. The core of the algorithm is a novel deformable model, called arterial snake, that simultaneously captures the topology and geometry of the arterial objects. The recovered snakes produce a natural decomposition of the raw

  9. Disrupting reconsolidation: pharmacological and behavioral manipulations

    NARCIS (Netherlands)

    Soeter, M.; Kindt, M.

    2011-01-01

    We previously demonstrated that disrupting reconsolidation by pharmacological manipulations "deleted" the emotional expression of a fear memory in humans. If we are to target reconsolidation in patients with anxiety disorders, the disruption of reconsolidation should produce content-limited

  10. ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

    Directory of Open Access Journals (Sweden)

    Camelia PAVEL

    2014-04-01

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

  11. Optoelectronic Tweezers for Microparticle and Cell Manipulation

    Science.gov (United States)

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

    2014-01-01

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

  12. Tension Stiffened and Tendon Actuated Manipulator

    Science.gov (United States)

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

    2015-01-01

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

  13. Manipulation Robustness of Collaborative Filtering Systems

    OpenAIRE

    Benjamin Van Roy; Xiang Yan

    2009-01-01

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

  14. Counterweight system for master-slave manipulator

    International Nuclear Information System (INIS)

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

    1981-01-01

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

  15. Manipulation of Cash-Settled Futures Contracts.

    OpenAIRE

    Pirrong, Craig

    2001-01-01

    Replacement of delivery settlement of futures contracts with cash settlement is frequently proposed to reduce the frequency of market manipulation. This article shows that it is always possible to design a delivery-settled futures contract that is less susceptible to cornering by a large long than any given cash-settled contract. Such a contract is more susceptible to manipulation by large shorts, however. Therefore, cash settlement does not uniformly dominate delivery settlement as a means o...

  16. Price Manipulation in an Experimental Asset Market

    OpenAIRE

    Veiga Helena; Vorsatz Marc

    2006-01-01

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

  17. Billing and coding for osteopathic manipulative treatment.

    Science.gov (United States)

    Snider, Karen T; Jorgensen, Douglas J

    2009-08-01

    Some osteopathic physicians are not properly reimbursed by insurance companies after providing osteopathic manipulative treatment (OMT) to their patients. Common problems associated with lack of reimbursements include insurers bundling OMT with the standard evaluation and management service and confusing OMT with chiropractic manipulative treatment or physical therapy services. The authors suggest methods of appeal for denied reimbursement claims that will also prevent future payment denials.

  18. Manipulatives Implementation For Supporting Learning Of Mathematics For Prospective Teachers

    Science.gov (United States)

    Sulistyaningsih, D.; Mawarsari, V. D.; Hidayah, I.; Dwijanto

    2017-04-01

    Manipulatives are needed by teachers to facilitate students understand of mathematics which is abstract. As a prospective mathematics teacher, the student must have good skills in making manipulatives. Aims of this study is to describe the implementation of learning courses of manipulative workshop in mathematics education courses by lecturer at Universitas Muhammadiyah Semarang which includes the preparation of learning, general professional ability, the professional capacity specifically, ability of self-development, development class managing, planning and implementation of learning, a way of delivering the material, and evaluation of learning outcomes. Data collection techniques used were questionnaires, interviews, and observation. The research instrument consisted of a questionnaire sheet, sheet observation and interview guides. Validity is determined using data triangulation and triangulation methods. Data were analyzed using an interactive model. The results showed that the average value of activities in preparation for learning, fosters capabilities of general professional, specialized professional, self-development, manage the classroom, implementing the learning, how to deliver the material, and how to evaluate learning outcomes are 79%, 73%, 67%, 75%, 83%, 72%, 64%, and 54%, respectively

  19. Advanced manipulator system for large hot cells

    International Nuclear Information System (INIS)

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

    1981-01-01

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

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

    Science.gov (United States)

    Kwon, Dong-Soo

    1991-01-01

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

  1. Decision Making

    Directory of Open Access Journals (Sweden)

    Pier Luigi Baldi

    2006-06-01

    Full Text Available This article points out some conditions which significantly exert an influence upon decision and compares decision making and problem solving as interconnected processes. Some strategies of decision making are also examined.

  2. MEMS-based platforms for mechanical manipulation and characterization of cells

    Science.gov (United States)

    Pan, Peng; Wang, Wenhui; Ru, Changhai; Sun, Yu; Liu, Xinyu

    2017-12-01

    Mechanical manipulation and characterization of single cells are important experimental techniques in biological and medical research. Because of the microscale sizes and highly fragile structures of cells, conventional cell manipulation and characterization techniques are not accurate and/or efficient enough or even cannot meet the more and more demanding needs in different types of cell-based studies. To this end, novel microelectromechanical systems (MEMS)-based technologies have been developed to improve the accuracy, efficiency, and consistency of various cell manipulation and characterization tasks, and enable new types of cell research. This article summarizes existing MEMS-based platforms developed for cell mechanical manipulation and characterization, highlights their specific design considerations making them suitable for their designated tasks, and discuss their advantages and limitations. In closing, an outlook into future trends is also provided.

  3. Development of a super-redundant multijoint manipulator for maintenance of nuclear reactors

    International Nuclear Information System (INIS)

    Ma, Shugen; Hirose, Shigeo.

    1994-01-01

    A tendon-driven manipulator, the CT Arm, has a specific tendon traction transmission mechanism, in which a pair of tendons for driving a joint is pulled from base actuators via pulleys mounted on the based-side joints. The mechanism makes the most of the coupled drive function of the tendon tractions and thus enables the lightweight manipulator to exhibit enormous payload capability. By this tendon-driven mechanism, a multijoint manipulator with super-redundant degrees of freedom could be realized, which is suitable to the maintenance of nuclear reactors. In this article, we introduce the CT Arm and discuss the possibility to generate a multijoint maintenance manipulator which has a super-redundant degrees of freedom. (author)

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

    Directory of Open Access Journals (Sweden)

    Dragomir Dimitrijevic

    2015-08-01

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

  5. Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    Huangsheng Xie

    2014-01-01

    Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

  6. Smart Skins and Tactile-Feedback Motion Control for Robotic Manipulators, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Future high-dexterity robots promise enormous benefits to many areas of human endeavor performing operations difficult or hazardous for humans such as extra...

  7. Sistem kontrol gerak kinematika robot gripper manipulator

    Directory of Open Access Journals (Sweden)

    Wayan Widhiada

    2018-01-01

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

  8. Dynamic whole-body robotic manipulation

    Science.gov (United States)

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

    2013-05-01

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

  9. Distinguishing manipulated stocks via trading network analysis

    Science.gov (United States)

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

    2011-10-01

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

  10. Better with Byzantine: Manipulation-Optimal Mechanisms

    Science.gov (United States)

    Othman, Abraham; Sandholm, Tuomas

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

  11. On market manipulation and umboðssvik/mandatsvig

    DEFF Research Database (Denmark)

    Werlauff, Erik

    2017-01-01

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

  12. Development of Needle Insertion Manipulator for Central Venous Catheterization

    Science.gov (United States)

    Kobayashi, Yo; Hong, Jaesung; Hamano, Ryutaro; Hashizume, Makoto; Okada, Kaoru; Fujie, Masakatsu G.

    Central venous catheterization is a procedure, which a doctor insert a catheter into the patient’s vein for transfusion. Since there are risks of bleeding from arterial puncture or pneumothorax from pleural puncture. Physicians are strictly required to make needle reach up into the vein and to stop the needle in the middle of vein. We proposed a robot system for assisting the venous puncture, which can relieve the difficulties in conventional procedure, and the risks of complication. This paper reports the design structuring and experimental results of needle insertion manipulator. First, we investigated the relationship between insertion force and angle into the vein. The results indicated that the judgment of perforation using the reaction force is possible in case where the needling angle is from 10 to 20 degree. The experiment to evaluate accuracy of the robot also revealed that it has beyond 0.5 mm accuracy. We also evaluated the positioning accuracy in the ultrasound images. The results displays that the accuracy is beyond 1.0 mm and it has enough for venous puncture. We also carried out the venous puncture experiment to the phantom and confirm our manipulator realized to make needle reach up into the vein.

  13. Model : making

    OpenAIRE

    Bottle, Neil

    2013-01-01

    The Model : making exhibition was curated by Brian Kennedy in collaboration with Allies & Morrison in September 2013. For the London Design Festival, the Model : making exhibition looked at the increased use of new technologies by both craft-makers and architectural model makers. In both practices traditional ways of making by hand are increasingly being combined with the latest technologies of digital imaging, laser cutting, CNC machining and 3D printing. This exhibition focussed on ...

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

    Science.gov (United States)

    Hartley, Breanne K.

    2009-01-01

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

  15. Particle manipulation techniques in AEgIS

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-07-15

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

  16. Manipulation of microfluidic droplets by electrorheological fluid

    KAUST Repository

    Zhang, Menying

    2009-09-01

    Microfluidics, especially droplet microfluidics, attracts more and more researchers from diverse fields, because it requires fewer materials and less time, produces less waste and has the potential of highly integrated and computer-controlled reaction processes for chemistry and biology. Electrorheological fluid, especially giant electrorheological fluid (GERF), which is considered as a kind of smart material, has been applied to the microfluidic systems to achieve active and precise control of fluid by electrical signal. In this review article, we will introduce recent results of microfluidic droplet manipulation, GERF and some pertinent achievements by introducing GERF into microfluidic system: digital generation, manipulation of "smart droplets" and droplet manipulation by GERF. Once it is combined with real-time detection, integrated chip with multiple functions can be realized. © 2009 Wiley-VCH Verlag GmbH & Co. KGaA.

  17. A digital joint controller for manipulators

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  18. Planning Robotic Manipulation Strategies for Sliding Objects

    Science.gov (United States)

    Peshkin, Michael A.

    Automated planning of grasping or manipulation requires an understanding of both the physics and the geometry of manipulation, and a representation of that knowledge which facilitates the search for successful strategies. We consider manipulation on a level conveyor belt or tabletop, on which a part may slide when touched by a robot. Manipulation plans for a given part must succeed in the face of two types of uncertainty: that of the details of surfaces in contact, and that of the initial configuration of the part. In general the points of contact between the part and the surface it slides on will be unknown, so the motion of the part in response to a push cannot be predicted exactly. Using a simple variational principle (which is derived), we find the set of possible motions of a part for a given push, for all collections of points of contact. The answer emerges as a locus of centers of rotation (CORs). Manipulation plans made using this locus will succeed despite unknown details of contact. Results of experimental tests of the COR loci are presented. Uncertainty in the initial configuration of a part is usually also present. To plan in the presence of uncertainty, configuration maps are defined, which map all configurations of a part before an elementary operation to all possible outcomes, thus encapsulating the physics and geometry of the operation. The configuration map for an operation sequence is a product of configuration maps of elementary operations. Using COR loci we compute configuration maps for elementary sliding operations. Appropriate search techniques are applied to find operation sequences which succeed in the presence of uncertainty in the initial configuration and unknown details of contact. Such operation sequences may be used as parts feeder designs or as manipulation or grasping strategies for robots. As an example we demonstrate the automated design of a class of passive parts feeders consisting of multiple sequential fences across a conveyor

  19. Boiler inspection manipulator for Torness Power Station

    International Nuclear Information System (INIS)

    Carrey, R.T.A.; Playle, M.J.

    1996-01-01

    In-service inspection at Torness Advanced Gas-cooled Reactor is achieved, via penetrations above and below the core area and boilers and through eight circulator penetrations for inspection of the sub-diagrid area. A manipulator is described which can access the area above the reactor core via any of these eight peripheral penetrations. The design and fabrication of the manipulator has led to innovation with a number of possible solutions being tendered. In reactor deployment of the successful design is expected in early 1997. (UK)

  20. Reconfigurable metamaterials for terahertz wave manipulation

    Science.gov (United States)

    Hashemi, Mohammed R.; Cakmakyapan, Semih; Jarrahi, Mona

    2017-09-01

    Reconfigurable metamaterials have emerged as promising platforms for manipulating the spectral and spatial properties of terahertz waves without being limited by the characteristics of naturally existing materials. Here, we present a comprehensive overview of various types of reconfigurable metamaterials that are utilized to manipulate the intensity, phase, polarization, and propagation direction of terahertz waves. We discuss various reconfiguration mechanisms based on optical, electrical, thermal, and mechanical stimuli while using semiconductors, superconductors, phase-change materials, graphene, and electromechanical structures. The advantages and disadvantages of different reconfigurable metamaterial designs in terms of modulation efficiency, modulation bandwidth, modulation speed, and system complexity are discussed in detail.

  1. Radioactive source manipulator and stowage device

    International Nuclear Information System (INIS)

    Burton, C.

    1980-01-01

    A description is given of a radioactive source manipulator and stowage device comprising: a cylindrical body; a transversely disposed socket formed near one end of said cylindrical body for receiving a radioactive source; a cylindrical sleeve rotatably mounted on said cylindrical body; and an aperture formed in the wall of said sleeve whereby rotation of said sleeve to axially align said aperture with said socket will permit a radioactive source to be inserted into and removed from said socket and rotation of said sleeve to move said aperture out of alignment with said socket when the socket contains a radioactive source readies the device for manipulation and stowage

  2. Complexity in Climate Change Manipulation Experiments

    DEFF Research Database (Denmark)

    Kreyling, Juergen; Beier, Claus

    2014-01-01

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

  3. The Ethics/ Skills Interface in Image Manipulation

    Directory of Open Access Journals (Sweden)

    Jenny Webber

    2000-05-01

    Full Text Available Image manipulation using computer technology has become a basic skill required in various graphics dependent industries such as advertising, and the print and electronic media, and for specialist use in institutions for in-house and on-line publishing and the creation of Web pages. The 'seamless' alteration of photographs and other visual images made possible by computer technology has allowed misrepresentation with intent to deceive, and difficulty in establishing copyright of original images. The dilemma in teaching techniques of image manipulation is to create a basis for ethical practice HCI in this paper refers to the ethics/skills interface in the education and work of multimedia practitioners.

  4. Steel making

    CERN Document Server

    Chakrabarti, A K

    2014-01-01

    "Steel Making" is designed to give students a strong grounding in the theory and state-of-the-art practice of production of steels. This book is primarily focused to meet the needs of undergraduate metallurgical students and candidates for associate membership examinations of professional bodies (AMIIM, AMIE). Besides, for all engineering professionals working in steel plants who need to understand the basic principles of steel making, the text provides a sound introduction to the subject.Beginning with a brief introduction to the historical perspective and current status of steel making together with the reasons for obsolescence of Bessemer converter and open hearth processes, the book moves on to: elaborate the physiochemical principles involved in steel making; explain the operational principles and practices of the modern processes of primary steel making (LD converter, Q-BOP process, and electric furnace process); provide a summary of the developments in secondary refining of steels; discuss principles a...

  5. Evaluation of Remote Collaborative Manipulation for Scientific Data Analysis

    OpenAIRE

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

    2012-01-01

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

  6. An Analysis of Manipulation Strategies in Stock Markets

    OpenAIRE

    Rasim Ozcan

    2012-01-01

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

  7. Perception and manipulation of game control

    NARCIS (Netherlands)

    Plass - Oude Bos, D.; van de Laar, B.L.A.; Reuderink, B.; Poel, Mannes; Nijholt, Antinus; Reidsma, Dennis; Choi, Insook; Bargar, Robin

    Brain-computer interfaces do not provide perfect recognition of user input, for similar reasons as natural input modalities. How well can users assess the amount of control they have, and how much control do they need? We describe an experiment where we manipulated the control users had in a

  8. Text Manipulation Techniques and Foreign Language Composition.

    Science.gov (United States)

    Walker, Ronald W.

    1982-01-01

    Discusses an approach to teaching second language composition which emphasizes (1) careful analysis of model texts from a limited, but well-defined perspective and (2) the application of text manipulation techniques developed by the word processing industry to student compositions. (EKN)

  9. Motion planning for gantry mounted manipulators

    DEFF Research Database (Denmark)

    Olsen, Anders Lau; Petersen, Henrik Gordon

    2007-01-01

    We present a roadmap based planner for finding robot motions for gantry mounted manipulators for a line welding application at Odense Steel Shipyard (OSS). The robot motions are planned subject to constraints on when the gantry may be moved. We show that random sampling of gantry configurations...

  10. Subpicosecond Coherent Manipulation of X-Rays

    International Nuclear Information System (INIS)

    Adams, Bernhard W.

    2004-01-01

    The Takagi-Taupin theory is synthesized with the eikonal theory in a unified space-time approach, based upon microscopic electromagnetism. It is designed specifically to address x-ray diffraction in crystal structures being modified within down to a few femtosconds. Possible applications in the subpicosecond coherent manipulation of x-rays are given

  11. The risk associated with spinal manipulation

    DEFF Research Database (Denmark)

    Nielsen, Sabrina Mai; Tarp, Simon; Christensen, Robin

    2017-01-01

    BACKGROUND: Spinal manipulative therapy (SMT) is a widely used manual treatment, but many reviews exist with conflicting conclusions about the safety of SMT. We performed an overview of reviews to elucidate and quantify the risk of serious adverse events (SAEs) associated with SMT. METHODS: We...

  12. Microbial manipulation of host sex determination

    NARCIS (Netherlands)

    Beukeboom, Leo W.

    A recent study in the lepidopteran Ostrinia scapulalis shows that endosymbionts can actively manipulate the sex determination mechanism of their host. Wolbachia bacteria alter the sex-specific splicing of the doublesex master switch gene. In ZZ males of this female heterogametic system, the female

  13. High degree-of-freedom dynamic manipulation

    Science.gov (United States)

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

    2012-06-01

    The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal, we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are utilized to optimize for several criteria such as payload capability and task completion speed while also obeying constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased payload capacity is accomplished through coordinated body motion.

  14. WORKER, a program for histogram manipulation

    International Nuclear Information System (INIS)

    Bolger, J.E.; Ellinger, H.; Moore, C.F.

    1979-01-01

    A set of programs is provided which may link to any user-written program, permitting dynamic creation of histograms as well as display, manipulation and transfer of histogrammed data. With wide flexibility, constants within the user's code may be set or monitored at any time during execution. (Auth.)

  15. Identity and incentives: impact on accounting manipulation

    NARCIS (Netherlands)

    Abernethy, M.A.; Bouwens, J.; Kroos, P.

    2012-01-01

    This study examines how individual characteristics of managers influence the incidence of accounting manipulation. We examine one particular characteristic argued to reduce agency costs, namely the extent to which an individual identifies with the firm (OI). Drawing on a database collected from

  16. Temperature manipulation during layer chick embryogenesis

    NARCIS (Netherlands)

    Walstra, I.; Napel, ten J.; Kemp, B.; Brand, van den H.

    2010-01-01

    The current study investigated the effects of temperature manipulation (TM) during late embryogenesis on temperature preference, response to high environmental temperature, behavior, and performance in young layer chicks. Control (CC) embryos (n = 96) were incubated at 37.8°C eggshell temperature

  17. Manipulating quantum states with aspheric lenses

    International Nuclear Information System (INIS)

    Wang Zhiwei; Ren Xifeng; Huang Yunfeng; Zhang Yongsheng; Guo Guangcan

    2005-01-01

    We present an experimental demonstration to manipulate the width and position of the down-converted beam waist. Our results can be used to engineer the two-photon orbital angular momentum (OAM) entangled states (such as concentrating OAM entangled states) and generate Hermite-Gaussian (HG) modes entangled states

  18. Automatic camera tracking for remote manipulators

    International Nuclear Information System (INIS)

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

    1984-04-01

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

  19. Ideas on Manipulative Math for Young Children.

    Science.gov (United States)

    Murray, Anne

    2001-01-01

    Presents a case study of one kindergarten class in which the mathematics center is the popular area in the room. Focuses on how math is best understood if activities follow the five-C formula: collaborative, concrete, comprehensive, connecting, and cavorting. Describes how children used manipulatives to construct mathematics concepts…

  20. Redefining trade-based market manipulation

    NARCIS (Netherlands)

    Nelemans, Matthijs

    2008-01-01

    Trade-based market manipulation, which is usually described as trading shares to initiate a price change or to cause an artificial price, has received wide attention in policy and academic discussions, although the behavior is still poorly defined in both legal and economic literature. This Article

  1. Spin tunneling and manipulation in nanostructures.

    Science.gov (United States)

    Sherman, E Ya; Ban, Yue; Gulyaev, L V; Khomitsky, D V

    2012-09-01

    The results for joint effects of tunneling and spin-orbit coupling on spin dynamics in nanostructures are presented for systems with discrete and continuous spectra. We demonstrate that tunneling plays the crucial role in the spin dynamics and the abilities of spin manipulation by external electric field. This result can be important for design of nanostructures-based spintronics devices.

  2. Using magnetic nanoparticles to manipulate biological objects

    International Nuclear Information System (INIS)

    Liu Yi; Gao Yu; Xu Chenjie

    2013-01-01

    The use of magnetic nanoparticles (MNPs) for the manipulation of biological objects, including proteins, genes, cellular organelles, bacteria, cells, and organs, are reviewed. MNPs are popular candidates for controlling and probing biological objects with a magnetic force. In the past decade, progress in the synthesis and surface engineering of MNPs has further enhanced this popularity. (topical review - magnetism, magnetic materials, and interdisciplinary research)

  3. Automatic camera tracking for remote manipulators

    International Nuclear Information System (INIS)

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

    1984-07-01

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

  4. Atomic and Molecular Manipulation of Chemical Interactions

    National Research Council Canada - National Science Library

    Ho, Wilson

    2007-01-01

    .... In effect, the goal is to carry out chemical changes by manipulating individual atoms and molecules to induce different bonding geometry and to create new interactions with their environment. These studies provide the scientific basis for the advancement of technology in catalysis, molecular electronics, optics, chemical and biological sensing, and magnetic storage.

  5. A plasmonic spanner for metal particle manipulation

    NARCIS (Netherlands)

    Zhang, Y.; Shi, W.; Shen, Z.; Man, Z.; Min, C.; Shen, J.; Zhu, S.; Urbach, H.P.; Yuan, X.

    2015-01-01

    Typically, metal particles are difficult to manipulate with conventional optical vortex (OV) tweezers, because of their strong absorption and scattering. However, it has been shown that the vortex field of surface plasmonic polaritons, called plasmonic vortex (PV), is capable of stable trapping and

  6. Impedance Control of a Redundant Parallel Manipulator

    DEFF Research Database (Denmark)

    Méndez, Juan de Dios Flores; Schiøler, Henrik; Madsen, Ole

    2017-01-01

    This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping...

  7. Interactive data manipulation program. FAWTEK user guide

    International Nuclear Information System (INIS)

    Boyer, W.B.; Sauer, S.

    1980-02-01

    This report describes the interactive data acquisition and manipulation program FAWTEK.'The program allows users of the electron beam data acquisition facility to control the R7912 digitizers and to perform a variety of mathematical operations on data arrays. Commands are entered in a high level language via a Tektronix 4010 terminal console. Each command directive and associated parameters is described in detail

  8. Development of an advanced robot manipulator system

    International Nuclear Information System (INIS)

    Oomichi, Takeo; Higuchi, Masaru; Shimizu, Yujiro; Ohnishi, Ken

    1991-01-01

    A sophisticated manipulator system for an advanced robot was developed under the 'Advanced Robot Technology Development' Program promoted and supported by the Agency of Industrial Science and Technology of MITI. The authors have participated in the development of a fingered manipulator with force and tactile sensors applicable to a masterslave robot system. Our slave manipulator is equipped with four fingers. Though the finger needs many degrees of freedom so as to be suitable for skilful handing of an object, our fingers are designed to have minimum degree of freedom in order to reduce weight. Each finger tip was designed to be similar to a human finger which has flexibility, softness and contact feeling. The shape of the master finger manipulator was so designed that the movement of the fingers is smoother and that the constraint feeling of the operator is smaller. We were adopted to a pneumatic pressure system for transmitting the tactile feeling of the slave fingers to the master fingers. A multiple sensory bilateral control system which gives an operator a feeling of force and tactile reduces his feeling of constraint in carrying out work with a robot system. (author)

  9. Intracellular manipulation of chromatin using magnetic nanoparticles

    NARCIS (Netherlands)

    Kanger, Johannes S.; Subramaniam, Vinod; van Driel, Roel

    2008-01-01

    Magnetic tweezers are widely used for manipulating small magnetic beads inside the cell cytoplasm in order to gain insight into the structural and mechanical properties of the cytoskeleton. Here we discuss the use of magnetic tweezers for the study of nuclear architecture and the mechanical

  10. Money, Manipulation and Misunderstanding on Manus Island

    DEFF Research Database (Denmark)

    Wallis, Joanne; Dalsgaard, Steffen

    2016-01-01

    Island, on domestic affairs in PNG, and on the relationship between PNG and Australia. Overall, it concludes that the costs arising from the money, manipulation and misunderstanding generated by the centre seem likely to outweigh the purported benefits, particularly for Manusians and other ordinary Papua...

  11. Parallelogram mechanisms for mine manipulator arms

    Energy Technology Data Exchange (ETDEWEB)

    Yoncheva, N

    1983-01-01

    Kinematic equations are written for the mechanism of a manipulator arm which is used as the operational element of a basic machine and is shaped like a parallelogram. The drive is accomplished using a hydraulic cylinder. A transfer functions method is used to acquire kinematic equations of the final shifts and equations for determining accelerations.

  12. Kinematically Optimal Robust Control of Redundant Manipulators

    Science.gov (United States)

    Galicki, M.

    2017-12-01

    This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

  13. Constraint solving for direct manipulation of features

    NARCIS (Netherlands)

    Lourenco, D.; Oliveira, P.; Noort, A.; Bidarra, R.

    2006-01-01

    In current commercial feature modeling systems, support for direct manipulation of features is not commonly available. This is partly due to the strong reliance of such systems on constraints, but also to the lack of speed of current constraint solvers. In this paper, an approach to the optimization

  14. Conjugate Gradient Algorithms For Manipulator Simulation

    Science.gov (United States)

    Fijany, Amir; Scheid, Robert E.

    1991-01-01

    Report discusses applicability of conjugate-gradient algorithms to computation of forward dynamics of robotic manipulators. Rapid computation of forward dynamics essential to teleoperation and other advanced robotic applications. Part of continuing effort to find algorithms meeting requirements for increased computational efficiency and speed. Method used for iterative solution of systems of linear equations.

  15. Role Of Expectancy Manipulation In Systematic Desensitization

    Science.gov (United States)

    Brown, H. Alan

    1973-01-01

    Expectancy, relaxation, and hierarchy content were manipulated. Findings did not support the hypothesis that expectancy was the only factor in desensitization, but did clarify the role of expectancy vis-a-vis the counterconditioning elements typically discussed in the literature. (Author)

  16. Multimodal Electrothermal Silicon Microgrippers for Nanotube Manipulation

    DEFF Research Database (Denmark)

    Nordström Andersen, Karin; Petersen, Dirch Hjorth; Carlson, Kenneth

    2009-01-01

    Microgrippers that are able to manipulate nanoobjects reproducibly are key components in 3-D nanomanipulation systems. We present here a monolithic electrothermal microgripper prepared by silicon microfabrication, and demonstrate pick-and-place of an as-grown carbon nanotube from a 2-D array onto...

  17. Manipulation of magnetic particles in microfluidic volumes

    NARCIS (Netherlands)

    Gao, Y.; Reenen, van A.; Hulsen, M.A.; Jong, de A.M.; Prins, M.W.J.; Toonder, den J.M.J.

    2013-01-01

    This paper reports various ways of field-based manipulation of magnetic colloidal particles to enhance biochemical reactions in lab-on-chip systems [1]. For one (I), we show the possibility to assemble the suspended magnetic micro-particles as tunable re-formable micro-stirrers capable of performing

  18. HUMAN NATURE: BETWEEN PERSUASION AND MANIPULATION

    Directory of Open Access Journals (Sweden)

    CRISTINA LUCIA ȘUTIU

    2014-11-01

    Full Text Available Each word is an attempt to influence other persons, as Alex Mucchielli said. Communication, by using words, is a characteristic of human beings, and it plays an important role in everyday life. Communication can be seen as an attempt to share information through a process of symbolic interaction between human beings. It is an essential life process through which humans create, transmit and utilize information by words. Putting words in act, we can express feelings, we can share opinions and we can obtain whatever we want, finally. It is essential to take into account certain ethical rules whenever we start a communication process. As the main purpose of communication is to convince people, this goal can be achieved only by using persuasion and/or manipulation. The last century is a sort of witness as regards the use of words in order to persuade people to adhere to certain ideological precepts and to determine them to act in a certain desirable way by the initiators of the communication process. Practically, there is a fine line between persuasion and manipulation; and in this situation, it is hard for ordinary people to distinguish between them. Manipulation appears like a persuasive process and it hides its true aims. This is the only way by which it can operate and for that it is considered immoral and invasive in the mind and soul of people. Human beings are now in the position to look for a way to protect themselves against such an invasive act and to find a way to distinguish between correct and false information. What can we do? In this study we analyze persuasion and manipulation from an ethical point of view and we search for paths to protect ourselves from the manipulative techniques.

  19. Manipulator Comparative Testing Program: Final report

    International Nuclear Information System (INIS)

    Draper, J.V.; Handel, S.J.; Sundstrom, E.; Herndon, J.N; Fujita, Y.; Maeda, M.

    1987-02-01

    The manipulator systems tested included the Meidensha BILARM 83A, the Central Research Laboratories Model M-2, and the GCA PaR Systems Model 6000. Six manipulator and control mode combinations were evaluated: (1) the BILARM in master/slave mode without force reflection, (2) the BILARM in master/slave mode with force reflection, (3) the Model M-2 in master/slave mode without force reflection, (4) the Model M-2 in master/slave mode with force reflection, (5) the BILARM with switchbox controls, and (6) the PaR 6000 with switchbox controls. The experiments examined differences between master/slave systems with and without force reflection and differences between master/slave systems and switchbox-controlled systems. A fourth experiment examined the relative contributions of the remote viewing system and the manipulator system to the performance of remote handling tasks. Results of the experiments showed that operators using the Model M-2 in master/slave mode had significantly faster times to completion than operators using the BILARM in master/slave mode, with about the same error rate per trial. Operators were slower using the BILARM with force reflection than without it, and they committed more errors. There was no statistically significant difference between force-reflection and nonforce-reflection conditions for the M-2 manipulator for any of the performance criteria. Tasks and procedures used in this testing were not sensitive to differences within any single system. No inferences about the effect of force reflection on remote task performance should be made from these data. The two manipulator systems in switchbox mode had significantly slower times to completion than any system in master/slave mode, with approximately the same error rate per trial. There were no significant differences between the BILARM in switchbox mode and the PaR arm

  20. Make Sense?

    DEFF Research Database (Denmark)

    Gyrd-Jones, Richard; Törmälä, Minna

    Purpose: An important part of how we sense a brand is how we make sense of a brand. Sense-making is naturally strongly connected to how we cognize about the brand. But sense-making is concerned with multiple forms of knowledge that arise from our interpretation of the brand-related stimuli......: Declarative, episodic, procedural and sensory. Knowledge is given meaning through mental association (Keller, 1993) and / or symbolic interaction (Blumer, 1969). These meanings are centrally related to individuals’ sense of identity or “identity needs” (Wallpach & Woodside, 2009). The way individuals make...... sense of brands is related to who people think they are in their context and this shapes what they enact and how they interpret the brand (Currie & Brown, 2003; Weick, Sutcliffe, & Obstfeld, 2005; Weick, 1993). Our subject of interest in this paper is how stakeholders interpret and ascribe meaning...

  1. From computing with numbers to computing with words. From manipulation of measurements to manipulation of perceptions.

    Science.gov (United States)

    Zadeh, L A

    2001-04-01

    Interest in issues relating to consciousness has grown markedly during the last several years. And yet, nobody can claim that consciousness is a well-understood concept that lends itself to precise analysis. It may be argued that, as a concept, consciousness is much too complex to fit into the conceptual structure of existing theories based on Aristotelian logic and probability theory. An approach suggested in this paper links consciousness to perceptions and perceptions to their descriptors in a natural language. In this way, those aspects of consciousness which relate to reasoning and concept formation are linked to what is referred to as the methodology of computing with words (CW). Computing, in its usual sense, is centered on manipulation of numbers and symbols. In contrast, computing with words, or CW for short, is a methodology in which the objects of computation are words and propositions drawn from a natural language (e.g., small, large, far, heavy, not very likely, the price of gas is low and declining, Berkeley is near San Francisco, it is very unlikely that there will be a significant increase in the price of oil in the near future, etc.). Computing with words is inspired by the remarkable human capability to perform a wide variety of physical and mental tasks without any measurements and any computations. Familiar examples of such tasks are parking a car, driving in heavy traffic, playing golf, riding a bicycle, understanding speech, and summarizing a story. Underlying this remarkable capability is the brain's crucial ability to manipulate perceptions--perceptions of distance, size, weight, color, speed, time, direction, force, number, truth, likelihood, and other characteristics of physical and mental objects. Manipulation of perceptions plays a key role in human recognition, decision and execution processes. As a methodology, computing with words provides a foundation for a computational theory of perceptions: a theory which may have an important

  2. Communicative Pragmatic Parameters of Manipulative Formulas in the Advertising Text

    Directory of Open Access Journals (Sweden)

    Areshenkova Oleksandra

    2016-12-01

    Full Text Available Background: Advertising communication tends to shorten the use of the language means. This characteristic explains the deliberate usage of such linguistic constructions that primarily influence the potential consumer. The role of advertising has increased in the modern world. Its strengthening intensifies the interest in the study of this social phenomenon among the scientists in various fields. The relevance of the study is obvious due to the fact that the issues of verbal influence on the recipient remains unexplored in modern Ukrainian linguistics. Purpose: clarifying the role of manipulative formulas in pragmatic implementation of advertisement guidelines. Results: This article makes an attempt to define and describe a set of basic communicative and pragmatic properties in modern advertising texts. The research represents main communicative and speech characteristics of advertising texts. The author analyzes the role of evaluation in producing the impact of communicative effect on the recipient. Also it reveals the efficiency of using impact-oriented language means in advertising texts. Discussion: Hidden evaluation of the advertised goods / services is an effective communicative pragmatic tool influencing the buyer. The latent assessment is provided by manipulative formulas (all, million; №1, leader; 100%; professional, expert.

  3. Effect of Spinal Manipulative Therapy on the Singing Voice.

    Science.gov (United States)

    Fachinatto, Ana Paula A; Duprat, André de Campos; Silva, Marta Andrada E; Bracher, Eduardo Sawaya Botelho; Benedicto, Camila de Carvalho; Luz, Victor Botta Colangelo; Nogueira, Maruan Nogueira; Fonseca, Beatriz Suster Gomes

    2015-09-01

    This study investigated the effect of spinal manipulative therapy (SMT) on the singing voice of male individuals. Randomized, controlled, case-crossover trial. Twenty-nine subjects were selected among male members of the Heralds of the Gospel. This association was chosen because it is a group of persons with similar singing activities. Participants were randomly assigned to two groups: (A) chiropractic SMT procedure and (B) nontherapeutic transcutaneous electrical nerve stimulation (TENS) procedure. Recordings of the singing voice of each participant were taken immediately before and after the procedures. After a 14-day period, procedures were switched between groups: participants who underwent SMT on the first day were subjected to TENS and vice versa. Recordings were subjected to perceptual audio and acoustic evaluations. The same recording segment of each participant was selected. Perceptual audio evaluation was performed by a specialist panel (SP). Recordings of each participant were randomly presented thus making the SP blind to intervention type and recording session (before/after intervention). Recordings compiled in a randomized order were also subjected to acoustic evaluation. No differences in the quality of the singing on perceptual audio evaluation were observed between TENS and SMT. No differences in the quality of the singing voice of asymptomatic male singers were observed on perceptual audio evaluation or acoustic evaluation after a single spinal manipulative intervention of the thoracic and cervical spine. Copyright © 2015 The Voice Foundation. Published by Elsevier Inc. All rights reserved.

  4. Manipulation of red blood cells with electric field

    Science.gov (United States)

    Saboonchi, Hossain; Esmaeeli, Asghar

    2009-11-01

    Manipulation of bioparticles and macromolecules is the central task in many biological and biotechnological processes. The current methods for physical manipulation takes advantage of different forces such as acoustic, centrifugal, magnetic, electromagnetic, and electric forces, as well as using optical tweezers or filtration. Among all these methods, however, the electrical forces are particularly attractive because of their favorable scale up with the system size which makes them well-suited for miniaturization. Currently the electric field is used for transportation, poration, fusion, rotation, and separation of biological cells. The aim of the current research is to gain fundamental understanding of the effect of electric field on the human red blood cells (RBCs) using direct numerical simulation. A front tracking/finite difference technique is used to solve the fluid flow and electric field equations, where the fluid in the cell and the blood (plasma) is modeled as Newtonian and incompressible, and the interface separating the two is treated as an elastic membrane. The behavior of RBCs is investigated as a function of the controlling parameters of the problem such as the strength of the electric field.

  5. On Enzyme-Based Anticancer Molecular Dietary Manipulations

    Directory of Open Access Journals (Sweden)

    Andrea Sapone

    2012-01-01

    Full Text Available Evidence from both epidemiological and experimental observations has fuelled the belief that the high consumption of fruits and vegetables rich in nutrients and phytochemicals may help prevent cancer and heart disease in humans. This concept has been drastically simplified from the dietary approaches to the use of single bioactive components both as a single supplement or in functional foods to manipulate xenobiotic metabolism. These procedures, which aim to induce mutagen/carcinogen detoxification or inhibit their bioactivation, fail to take into account the multiple and paradoxical biological outcomes of enzyme modulators that make their effects unpredictable. Here, we show that the idea that the physiological roles of specific catalysts may be easily manipulated by regular long-term administration of isolated nutrients and other chemicals derived from food plants is not viable. In contrast, we claim that the consumption of healthy diets is most likely to reduce mutagenesis and cancer risk, and that both research endeavours and dietary recommendations should be redirected away from single molecules to dietary patterns as a main strategy for public health policy.

  6. Magnetic manipulation device for the optimization of cell processing conditions.

    Science.gov (United States)

    Ito, Hiroshi; Kato, Ryuji; Ino, Kosuke; Honda, Hiroyuki

    2010-02-01

    Variability in human cell phenotypes make it's advancements in optimized cell processing necessary for personalized cell therapy. Here we propose a strategy of palm-top sized device to assist physically manipulating cells for optimizing cell preparations. For the design of such a device, we combined two conventional approaches: multi-well plate formatting and magnetic cell handling using magnetite cationic liposomes (MCLs). From our previous works, we showed the labeling applications of MCL on adhesive cells for various tissue engineering approaches. To feasibly transfer cells in multi-well plate, we here evaluated the magnetic response of MCL-labeled suspension type cells. The cell handling performance of Jurkat cells proved to be faster and more robust compared to MACS (Magnetic Cell Sorting) bead methods. To further confirm our strategy, prototype palm-top sized device "magnetic manipulation device (MMD)" was designed. In the device, the actual cell transportation efficacy of Jurkat cells was satisfying. Moreover, as a model of the most distributed clinical cell processing, primary peripheral blood mononuclear cells (PBMCs) from different volunteers were evaluated. By MMD, individual PBMCs indicated to have optimum Interleukin-2 (IL-2) concentrations for the expansion. Such huge differences of individual cells indicated that MMD, our proposing efficient and self-contained support tool, could assist the feasible and cost-effective optimization of cell processing in clinical facilities. Copyright (c) 2009 The Society for Biotechnology, Japan. Published by Elsevier B.V. All rights reserved.

  7. Experimental temperature manipulations alter songbird autumnal nocturnal migratory restlessness

    Directory of Open Access Journals (Sweden)

    Berchtold Adrienne

    2017-02-01

    Full Text Available Migrating birds may respond to a variety of environmental cues in order to time migration. During the migration season nocturnally migrating songbirds may migrate or stop-over at their current location, and when migrating they may vary the rate or distance of migration on any given night. It has long been known that a variety of weather-related factors including wind speed and direction, and temperature, are correlated with migration in free-living birds, however these variables are often correlated with each other. In this study we experimentally manipulated temperature to determine if it would directly modulate nocturnal migratory restlessness in songbirds. We experimentally manipulated temperature between 4, 14, and 24°C and monitored nocturnal migratory restlessness during autumn in white-throated sparrows (Zonotrichia albicollis. White-throated sparrows are relatively shortdistance migrants with a prolonged autumnal migration, and we thus predicted they might be sensitive to weatherrelated cues when deciding whether to migrate or stopover. At warm temperatures (24°C none of the birds exhibited migratory restlessness. The probability of exhibiting migratory restlessness, and the intensity of this restlessness (number of infra-red beam breaks increased at cooler (14°C, 4°C temperatures. These data support the hypothesis that one of the many factors that birds use when making behavioural decisions during migration is temperature, and that birds can respond to temperature directly independently of other weather-related cues.

  8. The materiality of dung: the manipulation of dung in Neolithic Mediterranean caves

    Directory of Open Access Journals (Sweden)

    Dimitrij Mlekuž

    2009-12-01

    Full Text Available This paper discusses the formation of layers of burnt herbivore dung in Neolithic, Eneolithic and Bronze Age Mediterranean caves. While these layers are clearly connected with transhumant pastoralism and the practice of keeping herds in the caves, their formation should not be seen as the result of purely practical and ‘rational’ reasons. In this paper, I develop an argument that they are remnants of a complex manipulation of substances which includes burning dung to make white ash. Thus instead of seeing dung as a culturally neutral refuse which has to be disposed of, we might see its burning and deposition as the cultural manipulation of potent substance.

  9. Computer control of a multi-link manipulator

    International Nuclear Information System (INIS)

    Holt, J.E.; Thiruarooran, C.

    1988-01-01

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

  10. Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

    Science.gov (United States)

    Rajay Vedaraj, I. S.; Jain, Ritika; Rao, B. V. A.

    2014-07-01

    After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator

  11. Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

    International Nuclear Information System (INIS)

    Vedaraj, I S Rajay; Jain, Ritika; Rao, B V A

    2014-01-01

    After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator

  12. Decision making.

    Science.gov (United States)

    Chambers, David W

    2011-01-01

    A decision is a commitment of resources under conditions of risk in expectation of the best future outcome. The smart decision is always the strategy with the best overall expected value-the best combination of facts and values. Some of the special circumstances involved in decision making are discussed, including decisions where there are multiple goals, those where more than one person is involved in making the decision, using trigger points, framing decisions correctly, commitments to lost causes, and expert decision makers. A complex example of deciding about removal of asymptomatic third molars, with and without an EBD search, is discussed.

  13. Modular manual control device for manipulators

    International Nuclear Information System (INIS)

    Dzholdasbekov, U.A.; Lukyanov, A.T.; Slutsky, L.I.; Safontsev, E.A.; Dzhamalov, N.K.

    1991-01-01

    The device described in this patent comprises a base, a series of connected modules, each with a position pickup and a handle. One module is provided for each degree of mobility of the manipulator being controlled; the modular construction enables the control of manipulators with differing degrees of mobility. One rotary movement module and three orthogonal linear movement modules are provided. Each linear module has two parallel guides between which a carriage is supported for movement by balls. The position pickup is provided on the carriage. The rotary module comprises inner and outer casings, relative movement of which is detected by pickup. Further rotary pickups may be provided for rotation about axes. A close/open switch and a speed control pickup may also be provided. (author)

  14. Acoustic Resonator Optimisation for Airborne Particle Manipulation

    Science.gov (United States)

    Devendran, Citsabehsan; Billson, Duncan R.; Hutchins, David A.; Alan, Tuncay; Neild, Adrian

    Advances in micro-electromechanical systems (MEMS) technology and biomedical research necessitate micro-machined manipulators to capture, handle and position delicate micron-sized particles. To this end, a parallel plate acoustic resonator system has been investigated for the purposes of manipulation and entrapment of micron sized particles in air. Numerical and finite element modelling was performed to optimise the design of the layered acoustic resonator. To obtain an optimised resonator design, careful considerations of the effect of thickness and material properties are required. Furthermore, the effect of acoustic attenuation which is dependent on frequency is also considered within this study, leading to an optimum operational frequency range. Finally, experimental results demonstrated good particle levitation and capture of various particle properties and sizes ranging to as small as 14.8 μm.

  15. Bacterial pathogen manipulation of host membrane trafficking.

    Science.gov (United States)

    Asrat, Seblewongel; de Jesús, Dennise A; Hempstead, Andrew D; Ramabhadran, Vinay; Isberg, Ralph R

    2014-01-01

    Pathogens use a vast number of strategies to alter host membrane dynamics. Targeting the host membrane machinery is important for the survival and pathogenesis of several extracellular, vacuolar, and cytosolic bacteria. Membrane manipulation promotes bacterial replication while suppressing host responses, allowing the bacterium to thrive in a hostile environment. This review provides a comprehensive summary of various strategies used by both extracellular and intracellular bacteria to hijack host membrane trafficking machinery. We start with mechanisms used by bacteria to alter the plasma membrane, delve into the hijacking of various vesicle trafficking pathways, and conclude by summarizing bacterial adaptation to host immune responses. Understanding bacterial manipulation of host membrane trafficking provides insights into bacterial pathogenesis and uncovers the molecular mechanisms behind various processes within a eukaryotic cell.

  16. Beam Techniques - Beam Control and Manipulation

    International Nuclear Information System (INIS)

    Minty, Michiko G

    2003-01-01

    We describe commonly used strategies for the control of charged particle beams and the manipulation of their properties. Emphasis is placed on relativistic beams in linear accelerators and storage rings. After a brief review of linear optics, we discuss basic and advanced beam control techniques, such as transverse and longitudinal lattice diagnostics, matching, orbit correction and steering, beam-based alignment, and linac emittance preservation. A variety of methods for the manipulation of particle beam properties are also presented, for instance, bunch length and energy compression, bunch rotation, changes to the damping partition number, and beam collimation. The different procedures are illustrated by examples from various accelerators. Special topics include injection and extraction methods, beam cooling, spin transport and polarization

  17. How to manipulate magnetic states of antiferromagnets

    Science.gov (United States)

    Song, Cheng; You, Yunfeng; Chen, Xianzhe; Zhou, Xiaofeng; Wang, Yuyan; Pan, Feng

    2018-03-01

    Antiferromagnetic materials, which have drawn considerable attention recently, have fascinating features: they are robust against perturbation, produce no stray fields, and exhibit ultrafast dynamics. Discerning how to efficiently manipulate the magnetic state of an antiferromagnet is key to the development of antiferromagnetic spintronics. In this review, we introduce four main methods (magnetic, strain, electrical, and optical) to mediate the magnetic states and elaborate on intrinsic origins of different antiferromagnetic materials. Magnetic control includes a strong magnetic field, exchange bias, and field cooling, which are traditional and basic. Strain control involves the magnetic anisotropy effect or metamagnetic transition. Electrical control can be divided into two parts, electric field and electric current, both of which are convenient for practical applications. Optical control includes thermal and electronic excitation, an inertia-driven mechanism, and terahertz laser control, with the potential for ultrafast antiferromagnetic manipulation. This review sheds light on effective usage of antiferromagnets and provides a new perspective on antiferromagnetic spintronics.

  18. Manipulating Quantum Coherence in Solid State Systems

    CERN Document Server

    Flatté, Michael E; The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems"

    2007-01-01

    The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems", in Cluj-Napoca, Romania, August 29-September 9, 2005, presented a fundamental introduction to solid-state approaches to achieving quantum computation. This proceedings volume describes the properties of quantum coherence in semiconductor spin-based systems and the behavior of quantum coherence in superconducting systems. Semiconductor spin-based approaches to quantum computation have made tremendous advances in the past several years. Coherent populations of spins can be oriented, manipulated and detected experimentally. Rapid progress has been made towards performing the same tasks on individual spins (nuclear, ionic, or electronic) with all-electrical means. Superconducting approaches to quantum computation have demonstrated single qubits based on charge eigenstates as well as flux eigenstates. These topics have been presented in a pedagogical fashion by leading researchers in the fields of semiconductor-spin-based qu...

  19. Robotic-Movement Payload Lifter and Manipulator

    Science.gov (United States)

    Doggett, William R. (Inventor); King, Bruce D. (Inventor); Collins, Timothy J. (Inventor); Dorsey, John T. (Inventor)

    2011-01-01

    A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

  20. Analyzing Array Manipulating Programs by Program Transformation

    Science.gov (United States)

    Cornish, J. Robert M.; Gange, Graeme; Navas, Jorge A.; Schachte, Peter; Sondergaard, Harald; Stuckey, Peter J.

    2014-01-01

    We explore a transformational approach to the problem of verifying simple array-manipulating programs. Traditionally, verification of such programs requires intricate analysis machinery to reason with universally quantified statements about symbolic array segments, such as "every data item stored in the segment A[i] to A[j] is equal to the corresponding item stored in the segment B[i] to B[j]." We define a simple abstract machine which allows for set-valued variables and we show how to translate programs with array operations to array-free code for this machine. For the purpose of program analysis, the translated program remains faithful to the semantics of array manipulation. Based on our implementation in LLVM, we evaluate the approach with respect to its ability to extract useful invariants and the cost in terms of code size.