WorldWideScience

Sample records for freedom atomic-scale manipulation

  1. Modelling atomic scale manipulation with the non-contact atomic force microscope

    International Nuclear Information System (INIS)

    Trevethan, T; Watkins, M; Kantorovich, L N; Shluger, A L; Polesel-Maris, J; Gauthier, S

    2006-01-01

    We present the results of calculations performed to model the process of lateral manipulation of an oxygen vacancy in the MgO(001) surface using the non-contact atomic force microscope (NC-AFM). The potential energy surfaces for the manipulation as a function of tip position are determined from atomistic modelling of the MgO(001) surface interacting with a Mg terminated MgO tip. These energies are then used to model the dynamical evolution of the system as the tip oscillates and at a finite temperature using a kinetic Monte Carlo method. The manipulation process is strongly dependent on the lateral position of the tip and the system temperature. It is also found that the expectation value of the point at which the vacancy jumps depends on the trajectory of the oscillating cantilever as the surface is approached. The effect of the manipulation on the operation of the NC-AFM is modelled with a virtual dynamic AFM, which explicitly simulates the entire experimental instrumentation and control loops. We show how measurable experimental signals can result from a single controlled atomic scale event and suggest the most favourable conditions for achieving successful atomic scale manipulation experimentally

  2. 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

  3. Toward in silico biomolecular manipulation through static modes: atomic scale characterization of HIV-1 protease flexibility.

    Science.gov (United States)

    Brut, Marie; Estève, Alain; Landa, Georges; Djafari Rouhani, Mehdi

    2014-03-20

    Probing biomolecular flexibility with atomic-scale resolution is a challenging task in current computational biology for fundamental understanding and prediction of biomolecular interactions and associated functions. This paper makes use of the static mode method to study HIV-1 protease considered as a model system to investigate the full biomolecular flexibility at the atomic scale, the screening of active site biomechanical properties, the blind prediction of allosteric sites, and the design of multisite strategies to target deformations of interest. Relying on this single calculation run of static modes, we demonstrate that in silico predictive design of an infinite set of complex excitation fields is reachable, thanks to the storage of the static modes in a data bank that can be used to mimic single or multiatom contact and efficiently anticipate conformational changes arising from external stimuli. All along this article, we compare our results to data previously published and propose a guideline for efficient, predictive, and custom in silico experiments.

  4. 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.

  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. 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

  7. MEMS based 6 degrees-of-freedom parallel kinematic precision micro manipulator

    NARCIS (Netherlands)

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

    2006-01-01

    A design is presented for a 6 Degree-of-freedom parallel kinematic precision micro manipulator comprising 3 translations of 20 μm stroke, and three small correction rotation strokes of 5°. The elastic deformations of the manipulator have been optimized for minimal elastic energy storage at a large

  8. 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...

  9. Kinematic modeling of a 7-degree of freedom spatial hybrid manipulator for medical surgery.

    Science.gov (United States)

    Singh, Amanpreet; Singla, Ekta; Soni, Sanjeev; Singla, Ashish

    2018-01-01

    The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to model manipulators consisting of lower pairs. However, the method leads to ambiguities when applied to closed-loop, tree-like and hybrid manipulators. Furthermore, in the dearth of any direct method to model closed-loop, tree-like and hybrid manipulators, revisions of this method have been proposed from time-to-time by different researchers. One such kind of revision using the concept of dummy frames has successfully been proposed and implemented by the authors on spatial hybrid manipulators. In that work, authors have addressed the orientational inconsistency of the D-H parameter method, restricted to body-attached frames only. In the current work, the condition of body-attached frames is relaxed and spatial frame attachment is considered to derive the kinematic model of a 7-degree of freedom spatial hybrid robotic arm, along with the development of closed-loop constraints. The validation of the new kinematic model has been performed with the help of a prototype of this 7-degree of freedom arm, which is being developed at Council of Scientific & Industrial Research-Central Scientific Instruments Organisation Chandigarh to aid the surgeon during a medical surgical task. Furthermore, the developed kinematic model is used to develop the first column of the Jacobian matrix, which helps in providing the estimate of the tip velocity of the 7-degree of freedom manipulator when the first joint velocity is known.

  10. Dynamic Modelling of a Four-Degree-of-Freedom Robotic Manipulator

    OpenAIRE

    Morris, A.S.; Neea, F

    1982-01-01

    The paper is concerned with deriving a dynamic model of a four-degree-of-freedom robotic manipulator. The equations of motion of the arm with respect to a non-stationary coordinate system are derived initially. This analysis is then extended to a robot arm, and consideration of inertial effects included. The dynamic model developed is useful without modification for arm speed control purposes. However, further work is required to include the effect of bending movements in the arm links before...

  11. Copper atomic-scale transistors

    Directory of Open Access Journals (Sweden)

    Fangqing Xie

    2017-03-01

    Full Text Available We investigated copper as a working material for metallic atomic-scale transistors and confirmed that copper atomic-scale transistors can be fabricated and operated electrochemically in a copper electrolyte (CuSO4 + H2SO4 in bi-distilled water under ambient conditions with three microelectrodes (source, drain and gate. The electrochemical switching-on potential of the atomic-scale transistor is below 350 mV, and the switching-off potential is between 0 and −170 mV. The switching-on current is above 1 μA, which is compatible with semiconductor transistor devices. Both sign and amplitude of the voltage applied across the source and drain electrodes (Ubias influence the switching rate of the transistor and the copper deposition on the electrodes, and correspondingly shift the electrochemical operation potential. The copper atomic-scale transistors can be switched using a function generator without a computer-controlled feedback switching mechanism. The copper atomic-scale transistors, with only one or two atoms at the narrowest constriction, were realized to switch between 0 and 1G0 (G0 = 2e2/h; with e being the electron charge, and h being Planck’s constant or 2G0 by the function generator. The switching rate can reach up to 10 Hz. The copper atomic-scale transistor demonstrates volatile/non-volatile dual functionalities. Such an optimal merging of the logic with memory may open a perspective for processor-in-memory and logic-in-memory architectures, using copper as an alternative working material besides silver for fully metallic atomic-scale transistors.

  12. Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs

    Directory of Open Access Journals (Sweden)

    Jianxun Fu

    2015-05-01

    Full Text Available This article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with this structure, the kinematic constrain equations are decoupled. Based on this character, the polynomial solutions of the forward kinematics problem are also presented. In this method, the closed-loop kinematic chain of the manipulator is divided into two parts, the solution forward position kinematics is obtained by a first-degree polynomial equation first, and then an eighth-degree polynomial equation in a single variable for the forward orientation kinematics is obtained. Based on those solutions, the configurations of the robot, including position and orientation of the end-effector, are graphically displayed. A numerical simulation is given to verify the algorithm, and the result implies that for a given set of input values, the manipulator can be assembled in eight different configurations at most. And a set of experiments illustrate the motion ability for forward kinematics of the prototype of this manipulator.

  13. 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

  14. Design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators

    International Nuclear Information System (INIS)

    Li, Yanbiao; Ji, Shiming; Wang, Zhongfei; Jin, Mingsheng; Liu, Yi; Jin, Zhenlin

    2013-01-01

    We addressed the issue of the design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators using the parameter statistics optimum method based on index atlases. The coxa joints have the advantages of high payload, high accuracy, and good technological efficiency. The first step of the design and prototyping used in this paper develops the direct and inverse displacement equations from the layout feature of the mechanical coxa joints. Then, the shapes of a constant-orientation workspace of the mechanical coxa joints are described, and the effects of the design parameters on the workspace volume are studied quantitatively. The next step deals with the graphical representation of the atlases that illustrates the relationship between performance evaluation index and design parameters based on the kinematics and torque analysis of the mechanical coxa joints. Finally, the geometric parameters of the coxa joints are obtained by the parameter statistics optimum method based on the index atlases. Considering assembly conditions, the design scheme of the mechanical coxa joints is developed, which provides a theoretical basis for the application of the mechanical coxa joints.

  15. Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

    Science.gov (United States)

    Nguyen, Charles C.; Pooran, Farhad J.

    1989-01-01

    This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

  16. Design principles for six degrees-of-freedom MEMS-based precision manipulators

    NARCIS (Netherlands)

    Brouwer, Dannis Michel

    2007-01-01

    In the future, the precision manipulation of small objects will become more and more important for appliances such as data storage, micro assembly, sample manipulation in microscopes, cell manipulation, and manipulation of beam paths by micro mirrors. At the same time, there is a drive towards

  17. Visions of Atomic Scale Tomography

    International Nuclear Information System (INIS)

    Kelly, T.F.; Miller, Michael K.; Rajan, Krishna; Ringer, S.P.

    2012-01-01

    A microscope, by definition, provides structural and analytical information about objects that are too small to see with the unaided eye. From the very first microscope, efforts to improve its capabilities and push them to ever-finer length scales have been pursued. In this context, it would seem that the concept of an ultimate microscope would have received much attention by now; but has it really ever been defined? Human knowledge extends to structures on a scale much finer than atoms, so it might seem that a proton-scale microscope or a quark-scale microscope would be the ultimate. However, we argue that an atomic-scale microscope is the ultimate for the following reason: the smallest building block for either synthetic structures or natural structures is the atom. Indeed, humans and nature both engineer structures with atoms, not quarks. So far as we know, all building blocks (atoms) of a given type are identical; it is the assembly of the building blocks that makes a useful structure. Thus, would a microscope that determines the position and identity of every atom in a structure with high precision and for large volumes be the ultimate microscope? We argue, yes. In this article, we consider how it could be built, and we ponder the answer to the equally important follow-on questions: who would care if it is built, and what could be achieved with it?

  18. Optimal continuous-path control for manipulators with redundant degrees of freedom

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1989-04-01

    Full Text Available A control system for macro-mini manipulators is presented. A position transformation from the end-effector reference to joint coordinates is found using kinematic optimization. Decoupling and optimal control is used to coordinate the motion of the macro and micro part. The redundant manipulator will then have the speed of the micro manipulator and the large workspace of the macro manipulator. When optimal control is used, the redundant manipulator may be even faster than the micro manipulator provided that a suitable performance index is used. The performance of the manipulator is optimized over the whole reference, and this will give better results than the purely kinematic instantaneous optimization which is the dominating technique in research literature.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-06-15

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

  20. Modification of Method for Solution of Direct Kinematic Problem for the Type of Platform Manipulators with Six Degrees of Freedom

    Directory of Open Access Journals (Sweden)

    A. L. Lapikov

    2014-01-01

    Full Text Available This paper considers creation of methods for research of multi-section manipulators of parallel structure. To solve this task it is necessary, firstly, to carry out generalization, systematization, and enhancement of existing models of platform manipulators with six degrees of freedom; secondly, it is necessary to modify previously suggested methods for solving the kinematic tasks for the specified type of manipulation mechanisms. The paper presents detailed domain analysis, describes major issues appearing in the course of research, and suggests basic methods of their solution. The paper demonstrates the necessity for modification of existing models through supplementing new parameters. Modification and generalization of the previously suggested method for solution of direct kinematic problem for the specified type of manipulators were carried out. Method for solution of this problem consists in establishing the dependence of functional relationship of Cartesian coordinates and orientation of the moving platform center on the values of generalized coordinates of manipulator (in case of platform manipulators, these are the lengths of telescopic legs connecting the base and the moving platform of the manipulator. The method is created in such a way that solution of direct kinematic problem results in finding of the analytical equation of the plane where the moving platform lies. The equation of the required plane is described through three points (attachment points of the moving platform joints. To define coordinate values of the joints, the system of nine non-linear equations is generated. It should be noted that the system of equations is composed of one-type equations with the same type of nonlinearity. The physical meaning of all the nine equations of the system is Euclidean distance between the points of the manipulator. The location and orientation of the manipulator are depicted as a homogenous transformation matrix. Vectors of translation

  1. A microcontroller-based three degree-of-freedom manipulator testbed. M.S. Thesis

    Science.gov (United States)

    Brown, Robert Michael, Jr.

    1995-01-01

    A wheeled exploratory vehicle is under construction at the Mars Mission Research Center at North Carolina State University. In order to serve as more than an inspection tool, this vehicle requires the ability to interact with its surroundings. A crane-type manipulator, as well as the necessary control hardware and software, has been developed for use as a sample gathering tool on this vehicle. The system is controlled by a network of four Motorola M68HC11 microcontrollers. Control hardware and software were developed in a modular fashion so that the system can be used to test future control algorithms and hardware. Actuators include three stepper motors and one solenoid. Sensors include three optical encoders and one cable tensiometer. The vehicle supervisor computer provides the manipulator system with the approximate coordinates of the target object. This system maps the workspace surrounding the given location by lowering the claw, along a set of evenly spaced vertical lines, until contact occurs. Based on this measured height information and prior knowledge of the target object size, the system determines if the object exists in the searched area. The system can find and retrieve a 1.25 in. diameter by 1.25 in. tall cylinder placed within the 47.5 sq in search area in less than 12 minutes. This manipulator hardware may be used for future control algorithm verification and serves as a prototype for other manipulator hardware.

  2. Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

    Science.gov (United States)

    Abdallah, Muhammad E. (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor)

    2013-01-01

    A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

  3. Analysis of Inverse Angle Method for Controlling Two Degree of Freedom Manipulator

    Directory of Open Access Journals (Sweden)

    Hendri Maja Saputra

    2012-07-01

    Full Text Available Driver mechanism with two degree of freedom (MP 2-DK is a robotic device that can be used for various applications such as turret drive system, gutling gun, launcher, radar antennas, and communications satellite antennas. The precision and the speed of a MP 2-DK are determined by its control system. The calculation inverse angle due to interference in six degree of freedom is necessary to control a MP 2 DK. This paper analyses three calculation methods of inverse angle which are iteration method using Jacobian matrix, reduction of matrix equations using positioning geometry, and an analytical derivation using a rotation matrix. The simulation results of the three methods showed that the first and the third methods could visually demonstrate three rotational disturbances, whereas the second method could only demonstrate the pitch and yaw (PY disturbances. The third method required less processing time than the first and the second methods. The best method based on this research was the method of rotation matrix.

  4. Integration of a high degree of freedom robotic manipulator on a large unmanned ground vehicle

    Science.gov (United States)

    Giesbrecht, Jared; Fairbrother, Blaine; Collier, Jack; Beckman, Blake

    2010-04-01

    The Multi-Agent Tactical Sentry Unmanned Ground Vehicle, developed at Defence R&D Canada - Suffield, has been in service with the Canadian Forces for five years. This tele-operated wheeled vehicle provides a capability for point detection of chemical, biological, radiological, and nuclear agents. Based on user experience, it is obvious that a manipulator capability would greatly enhance the vehicle's utility and increase its mobility in urban terrain. This paper details technical components of this development, and describes a number of trials undertaken to perform tasks with a manipulator arm such as picking up objects, opening vehicle and building doors, recording video, and creating 3D models of the environment. The lessons learned from these trials will guide further development of the technology.

  5. A three-degree-of-freedom parallel manipulator for concentrated solar power towers: Modeling, simulation and design

    Science.gov (United States)

    Ghosal, Ashitava; Shyam, R. B. Ashith

    2016-05-01

    There is an increased thrust to harvest solar energy in India to meet increasing energy requirements and to minimize imported fossil fuels. In a solar power tower system, an array of tracking mirrors or heliostats are used to concentrate the incident solar energy on an elevated stationary receiver and then the thermal energy converted to electricity using a heat engine. The conventional method of tracking are the Azimuth-Elevation (Az-El) or Target-Aligned (T-A) mount. In both the cases, the mirror is rotated about two mutually perpendicular axes and is supported at the center using a pedestal which is fixed to the ground. In this paper, a three degree-of-freedom parallel manipulator, namely the 3-RPS, is proposed for tracking the sun in a solar power tower system. We present modeling, simulation and design of the 3-RPS parallel manipulator and show its advantages over conventional Az-El and T-A mounts. The 3-RPS manipulator consists of three rotary (R), three prismatic (P) and three spherical (S) joints and the mirror assembly is mounted at three points in contrast to the Az-El and T-A mounts. The kinematic equations for sun tracking are derived for the 3-RPS manipulator and from the simulations, we obtain the range of motion of the rotary, prismatic and spherical joints. Since the mirror assembly is mounted at three points, the wind load and self-weight are distributed and as a consequence, the deflections due to loading are smaller than in conventional mounts. It is shown that the weight of the supporting structure is between 15% and 65% less than that of conventional systems. Hence, even though one additional actuator is used, the larger area mirrors can be used and costs can be reduced.

  6. An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

    Directory of Open Access Journals (Sweden)

    Tian Tixian

    2015-04-01

    Full Text Available A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.

  7. Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

    Science.gov (United States)

    Sharma, Richa; Gaur, Prerna; Mittal, A P

    2015-09-01

    The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Simulations of atomic-scale sliding friction

    DEFF Research Database (Denmark)

    Sørensen, Mads Reinholdt; Jacobsen, Karsten Wedel; Stoltze, Per

    1996-01-01

    Simulation studies of atomic-scale sliding friction have been performed for a number of tip-surface and surface-surface contacts consisting of copper atoms. Both geometrically very simple tip-surface structures and more realistic interface necks formed by simulated annealing have been studied....... Kinetic friction is observed to be caused by atomic-scale Stick and slip which occurs by nucleation and subsequent motion of dislocations preferably between close-packed {111} planes. Stick and slip seems ro occur in different situations. For single crystalline contacts without grain boundaries...... at the interface the stick and slip process is clearly observed for a large number of contact areas, normal loads, and sliding velocities. If the tip and substrate crystal orientations are different so that a mismatch exists in the interface, the stick and slip process is more fragile. It is then caused by local...

  9. Ohm's law survives to the atomic scale.

    Science.gov (United States)

    Weber, B; Mahapatra, S; Ryu, H; Lee, S; Fuhrer, A; Reusch, T C G; Thompson, D L; Lee, W C T; Klimeck, G; Hollenberg, L C L; Simmons, M Y

    2012-01-06

    As silicon electronics approaches the atomic scale, interconnects and circuitry become comparable in size to the active device components. Maintaining low electrical resistivity at this scale is challenging because of the presence of confining surfaces and interfaces. We report on the fabrication of wires in silicon--only one atom tall and four atoms wide--with exceptionally low resistivity (~0.3 milliohm-centimeters) and the current-carrying capabilities of copper. By embedding phosphorus atoms within a silicon crystal with an average spacing of less than 1 nanometer, we achieved a diameter-independent resistivity, which demonstrates ohmic scaling to the atomic limit. Atomistic tight-binding calculations confirm the metallicity of these atomic-scale wires, which pave the way for single-atom device architectures for both classical and quantum information processing.

  10. Atomic-Scale Principles of Combustion Nanocatalysis

    Science.gov (United States)

    2014-05-19

    Prescribed by ANSI Std. Z39.18 1 Atomic-Scale Factors Guiding the Design of Combustion Nanocatalysts: Structures, Electronic...Finland, October, 2011 Keynote Lecture, TNT-2011, Tenerife , Canary Islands, November, 2011. Invited Lecture, AFOSR Review of Catalytic Nanocombustion...if one wishes to create formaldehyde, and potentially methyl alcohol, one burns methane by tuning its reaction with oxygen to run at lower

  11. 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.)

  12. Atomic-scale friction : thermal effects and capillary condensation

    NARCIS (Netherlands)

    Jinesh, Kochupurackal Balakrishna Pillai

    2006-01-01

    This work entitled as "Atomic-scale friction: thermal effects and capillary condensation" is a study on the fundamental aspects of the origin of friction from the atomic-scale. We study two realistic aspects of atomic-scale friction, namely the effect of temperature and the effect of relative

  13. Multiscaling behavior of atomic-scale friction.

    Science.gov (United States)

    Jannesar, M; Jamali, T; Sadeghi, A; Movahed, S M S; Fesler, G; Meyer, E; Khoshnevisan, B; Jafari, G R

    2017-06-01

    The scaling behavior of friction between rough surfaces is a well-known phenomenon. It might be asked whether such a scaling feature also exists for friction at an atomic scale despite the absence of roughness on atomically flat surfaces. Indeed, other types of fluctuations, e.g., thermal and instrumental fluctuations, become appreciable at this length scale and can lead to scaling behavior of the measured atomic-scale friction. We investigate this using the lateral force exerted on the tip of an atomic force microscope (AFM) when the tip is dragged over the clean NaCl (001) surface in ultra-high vacuum at room temperature. Here the focus is on the fluctuations of the lateral force profile rather than its saw-tooth trend; we first eliminate the trend using the singular value decomposition technique and then explore the scaling behavior of the detrended data, which contains only fluctuations, using the multifractal detrended fluctuation analysis. The results demonstrate a scaling behavior for the friction data ranging from 0.2 to 2 nm with the Hurst exponent H=0.61±0.02 at a 1σ confidence interval. Moreover, the dependence of the generalized Hurst exponent, h(q), on the index variable q confirms the multifractal or multiscaling behavior of the nanofriction data. These results prove that fluctuation of nanofriction empirical data has a multifractal behavior which deviates from white noise.

  14. A Direct Kinematics Problem Solution for the Three-degree-of-freedom Parallel Structure Manipulator Based on Crank Mechanism

    Directory of Open Access Journals (Sweden)

    V. N. Paschenko

    2015-01-01

    Full Text Available The paper describes a mechanism representing a kind of mechanisms of parallel kinematics with three degrees of freedom based on the crank mechanism. This mechanism consists of two platforms, namely: the lower fixed and the upper movable. The upper platform is connected to the lower one by six movable elements, three of which are rods attached to the bases by means of spherical joints, and another three have a crank structure.The paper shows an approach to the solution of a direct task of kinematics based on mathematical modeling. The inverse problem of kinematics is formulated as follows: at specified angles of rotation drive (the values of generalized coordinates to determine the position of the top mobile platform.To solve this problem has been used a mathematical model describing the proposed system. On the basis of the constructed model were made the necessary calculations that allowed us using the values of crank angles connected with the engines to determine the position of the platform in space. To solve the problem we used the method of virtual points to reduce the number of equations and unknowns, which determine the position of the upper platform in space, at a crucial system from eighteen to nine, thus simplifying the solution.To check the solution correctness was carried out numerical experiment. Each generalized coordinate took on values in the range from -30 ° to 30 °; for them a direct positional problem was solved, and its result was inserted, as initial data, in the previous solved and proven inverse problem on the position of the platform under study.The paper presents comparative results of measurements with the calculated values of the generalized coordinates and draws the appropriate conclusions, that this model is in good compliance with the results observed in practice. One of the distinctive features of the proposed approach is that rotation angles of engines are used as the generalized coordinates. This allowed us

  15. 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.)

  16. TOPOLOGICAL LOCALISATION OF DEFECTS AT ATOMIC SCALE

    Directory of Open Access Journals (Sweden)

    Jean-Paul Jernot

    2011-05-01

    Full Text Available The problem addressed in this paper is the detection of defects on atomic structures. The procedure proposed is in two steps. At first a tessellation is built starting from the atoms. It consists of a partition of the space into cells, and is used to define the neighbourhood relationships between the atoms. Then, the local contribution to a topological parameter, namely the Euler-Poincare characteristic, is defined and measured for each cell. Within a regular tessellation, made of identical cells, this local contribution is equal to zero. Any local deviation from regularity corresponds to a tessellation containing cells with non-zero contributions. This allows us to locate the defects from a topological criterion and opens the way to a fully automatic detection of interfaces at atomic scale. The procedure is applied in 2D space for the detection of edge dislocations, grain boundaries and twins from HREM models and images. A 3D example is also given to illustrate its generality.

  17. Multiple atomic scale solid surface interconnects for atom circuits and molecule logic gates

    International Nuclear Information System (INIS)

    Joachim, C; Martrou, D; Gauthier, S; Rezeq, M; Troadec, C; Jie Deng; Chandrasekhar, N

    2010-01-01

    The scientific and technical challenges involved in building the planar electrical connection of an atomic scale circuit to N electrodes (N > 2) are discussed. The practical, laboratory scale approach explored today to assemble a multi-access atomic scale precision interconnection machine is presented. Depending on the surface electronic properties of the targeted substrates, two types of machines are considered: on moderate surface band gap materials, scanning tunneling microscopy can be combined with scanning electron microscopy to provide an efficient navigation system, while on wide surface band gap materials, atomic force microscopy can be used in conjunction with optical microscopy. The size of the planar part of the circuit should be minimized on moderate band gap surfaces to avoid current leakage, while this requirement does not apply to wide band gap surfaces. These constraints impose different methods of connection, which are thoroughly discussed, in particular regarding the recent progress in single atom and molecule manipulations on a surface.

  18. Photonic and Quantum Interactions of Atomic-Scale Junctions

    Data.gov (United States)

    National Aeronautics and Space Administration — In this proposal, the fundamental quantum and photonic interactions of bimetallic atomic-scale junctions (ASJs) will be explored, with three major space...

  19. Improved RBF Neural Network Based Soft Sensor: Application to the Optimal Robust Calibration of a Six Degrees of Freedom Parallel Kinematics Manipulator

    Directory of Open Access Journals (Sweden)

    Dan ZHANG

    2010-10-01

    Full Text Available Accuracy is paramount for the further development of parallel mechanism in real world, especially in industry. Previous research was focused on the improvement of rigidity and load capacity which is related with the stiffness matrix of closed loop kinematic structure. However, if the mechanical structure has been predefined or fabricated, stiffness matrix only can search for the optimal configuration in the workspace, but fails to enhance the accuracy at a given pose. In this research, the concept of optimal robust calibration is developed as an effective approach to largely reduce various errors of the predefined parallel mechanism. A novel coevolutionary radial basis function (RBF neural network based soft sensor is proposed to implement the optimal robust calibration procedure. A six- degrees-of-freedom parallel kinematics manipulator is selected as the case study to verify the proposed methodology. The results demonstrate that the coevolutionary neural network possesses the excellent performance as a smart soft sensor for the calibration of closed loop kinematic structure.

  20. Atomic scale structures of interfaces between kaolinite edges and water

    NARCIS (Netherlands)

    Liu, X.; Lu, X.; Wang, R.; Meijer, E.J.; Zhou, H.; He, H.

    2012-01-01

    This paper reports the atomic scale structures of kaolinite edge surfaces in contact with water. The commonly occurring edge surfaces are investigated (i.e. (0 1 0) and (1 1 0)) by using first principles molecular dynamics (FPMD) technique. For (1 1 0)-type edge surface, there are two different

  1. Contact and Alignment Marker Technology for Atomic Scale Device Fabrication

    NARCIS (Netherlands)

    Zuiddam, M.R.; Rogge, S.; Drift, E. van der; Ilge, B.; Palasantzas, G.

    1998-01-01

    This article reports on the technology to link atomic scale structures to macroscopic contact pads. Dedicated processes for electrode pattern formation in several materials have been developed and characterised. For pattern formation in CoSi2 a thermal compromise between proper silicide formation

  2. Polymorphism of dislocation core structures at the atomic scale.

    Science.gov (United States)

    Wang, Zhongchang; Saito, Mitsuhiro; McKenna, Keith P; Ikuhara, Yuichi

    2014-01-01

    Dislocation defects together with their associated strain fields and segregated impurities are of considerable significance in many areas of materials science. However, their atomic-scale structures have remained extremely challenging to resolve, limiting our understanding of these ubiquitous defects. Here, by developing a complex modelling approach in combination with bicrystal experiments and systematic atomic-resolution imaging, we are now able to pinpoint individual dislocation cores at the atomic scale, leading to the discovery that even simple magnesium oxide can exhibit polymorphism of core structures for a given dislocation species. These polymorphic cores are associated with local variations in strain fields, segregation of defects, and electronic states, adding a new dimension to understanding the properties of dislocations in real materials. The findings advance our fundamental understanding of basic behaviours of dislocations and demonstrate that quantitative prediction and characterization of dislocations in real materials is possible.

  3. Atomic scale modelling of materials of the nuclear fuel cycle

    International Nuclear Information System (INIS)

    Bertolus, M.

    2011-10-01

    This document written to obtain the French accreditation to supervise research presents the research I conducted at CEA Cadarache since 1999 on the atomic scale modelling of non-metallic materials involved in the nuclear fuel cycle: host materials for radionuclides from nuclear waste (apatites), fuel (in particular uranium dioxide) and ceramic cladding materials (silicon carbide). These are complex materials at the frontier of modelling capabilities since they contain heavy elements (rare earths or actinides), exhibit complex structures or chemical compositions and/or are subjected to irradiation effects: creation of point defects and fission products, amorphization. The objective of my studies is to bring further insight into the physics and chemistry of the elementary processes involved using atomic scale modelling and its coupling with higher scale models and experimental studies. This work is organised in two parts: on the one hand the development, adaptation and implementation of atomic scale modelling methods and validation of the approximations used; on the other hand the application of these methods to the investigation of nuclear materials under irradiation. This document contains a synthesis of the studies performed, orientations for future research, a detailed resume and a list of publications and communications. (author)

  4. Scanning Probe Microscopy for Atomic-scale Silicon Device Fabrication

    Science.gov (United States)

    Simmons, Michelle

    2005-03-01

    Over the past three decades the driving force behind the expansion of the microelectronics industry has been the ability to pack ever more features onto a silicon chip, achieved by continually miniaturising the size of the individual components. However, after 2015 there is no known technological route to reduce device sizes below 10nm. In this talk we demonstrate a complete fabrication strategy towards atomic-scale device fabrication in silicon using a combination of scanning tunneling microscopy and high purity crystal growth. In particular we overcome one of the major obstacles to making functional semiconductor devices with an STM -- connecting macroscopic leads to the device once it is removed from the vacuum environment [1]. We demonstrate key steps of the fabrication process, including the ability to place individual phosphorus atoms in silicon at precise locations [2] and encapsulate them in epitaxial silicon with minimal diffusion and segregation of the dopants [3]. We present magnetoresistance data showing the cross-over from 2D to 1D transport in nano-scale quantum wires and arrays. Finally we discuss the implications of these results for the construction of more sophisticated atomic-scale devices in silicon such as a silicon based quantum computer. [1] F.J. Ruess, L. Oberbeck, M.Y. Simmons, K.E.J. Goh, A.R. Hamilton, T. Hallam, N.J. Curson and R.G. Clark, ``Fabrication of quantum wires using scanning probe microscopy'', Nano Letters 4, 1969 (2004). [2] S. R. Schofield, N. J. Curson, M. Y. Simmons, F. J. Ruess, T. Hallam, L. Oberbeck and R. G.Clark, ``Atomically precise placement of single dopants in silicon'', Physical Review Letters 91, 136104 (2003). [3] L. Oberbeck, N. J. Curson, T. Hallam, M. Y. Simmons and R.G. Clark, ``Measurement of phosphorus segregation in silicon at the atomic-scale using scanning tunneling microscopy'', Appl. Phys. Lett. 83, 1359 (2004).

  5. pH in atomic scale simulations of electrochemical interfaces

    DEFF Research Database (Denmark)

    Rossmeisl, Jan; Chan, Karen; Ahmed, Rizwan

    2013-01-01

    Electrochemical reaction rates can strongly depend on pH, and there is increasing interest in electrocatalysis in alkaline solution. To date, no method has been devised to address pH in atomic scale simulations. We present a simple method to determine the atomic structure of the metal......|solution interface at a given pH and electrode potential. Using Pt(111)|water as an example, we show the effect of pH on the interfacial structure, and discuss its impact on reaction energies and barriers. This method paves the way for ab initio studies of pH effects on the structure and electrocatalytic activity...

  6. Spin mapping at the nanoscale and atomic scale

    Science.gov (United States)

    Wiesendanger, Roland

    2009-10-01

    The direct observation of spin structures with atomic-scale resolution, a long-time dream in condensed matter research, recently became a reality based on the development of spin-sensitive scanning probe methods, such as spin-polarized scanning-tunneling microscopy (SP-STM) and magnetic exchange force microscopy (MExFM). This article reviews the basic principles and methods of SP-STM and MExFM and describes recently achieved milestones in the application of these techniques to metallic and electrically insulating magnetic nanostructures. Discoveries of novel types of magnetic order at the nanoscale are presented as well as challenges for the future, including studies of local spin excitations based on spin-resolved inelastic tunneling spectroscopy and measurements of damping forces in MExFM experiments.

  7. The gold/ampicillin interface at the atomic scale

    Science.gov (United States)

    Tarrat, N.; Benoit, M.; Giraud, M.; Ponchet, A.; Casanove, M. J.

    2015-08-01

    In the fight against antibiotic resistance, gold nanoparticles (AuNP) with antibiotics grafted on their surfaces have been found to be potent agents. Ampicillin-conjugated AuNPs have been thus reported to overcome highly ampicillin-resistant bacteria. However, the structure at the atomic scale of these hybrid systems remains misunderstood. In this paper, the structure of the interface between an ampicillin molecule AMP and three flat gold facets Au(111), Au(110) and Au(100) has been investigated with numerical simulations (dispersion-corrected DFT). Adsorption energies, bond distances and electron densities indicate that the adsorption of AMP on these facets goes through multiple partially covalent bonding. The stability of the AuNP/AMP nanoconjugates is explained by large adsorption energies and their potential antibacterial activity is discussed on the basis of the constrained spatial orientation of the grafted antibiotic.In the fight against antibiotic resistance, gold nanoparticles (AuNP) with antibiotics grafted on their surfaces have been found to be potent agents. Ampicillin-conjugated AuNPs have been thus reported to overcome highly ampicillin-resistant bacteria. However, the structure at the atomic scale of these hybrid systems remains misunderstood. In this paper, the structure of the interface between an ampicillin molecule AMP and three flat gold facets Au(111), Au(110) and Au(100) has been investigated with numerical simulations (dispersion-corrected DFT). Adsorption energies, bond distances and electron densities indicate that the adsorption of AMP on these facets goes through multiple partially covalent bonding. The stability of the AuNP/AMP nanoconjugates is explained by large adsorption energies and their potential antibacterial activity is discussed on the basis of the constrained spatial orientation of the grafted antibiotic. Electronic supplementary information (ESI) available. See DOI: 10.1039/c5nr03318g

  8. Tuning magnetotransport in a compensated semimetal at the atomic scale

    Science.gov (United States)

    Wang, Lin; Gutiérrez-Lezama, Ignacio; Barreteau, Céline; Ubrig, Nicolas; Giannini, Enrico; Morpurgo, Alberto F.

    2015-11-01

    Either in bulk form, or in atomically thin crystals, layered transition metal dichalcogenides continuously reveal new phenomena. The latest example is 1T'-WTe2, a semimetal found to exhibit the largest known magnetoresistance in the bulk, and predicted to become a topological insulator in strained monolayers. Here we show that reducing the thickness through exfoliation enables the electronic properties of WTe2 to be tuned, which allows us to identify the mechanisms responsible for the observed magnetotransport down to the atomic scale. The longitudinal resistance and the unconventional magnetic field dependence of the Hall resistance are reproduced quantitatively by a classical two-band model for crystals as thin as six monolayers, whereas a crossover to an Anderson insulator occurs for thinner crystals. Besides establishing the origin of the magnetoresistance of WTe2, our results represent a complete validation of the classical theory for two-band electron-hole transport, and indicate that atomically thin WTe2 layers remain gapless semimetals.

  9. Iron phosphate glasses: Bulk properties and atomic scale structure

    Energy Technology Data Exchange (ETDEWEB)

    Joseph, Kitheri; Stennett, Martin C.; Hyatt, Neil C.; Asuvathraman, R.; Dube, Charu L.; Gandy, Amy S.; Govindan Kutty, K. V.; Jolley, Kenny; Vasudeva Rao, P. R.; Smith, Roger

    2017-10-01

    Bulk properties such as glass transition temperature, density and thermal expansion of iron phosphate glass compositions, with replacement of Cs by Ba, are investigated as a surrogate for the transmutation of 137Cs to 137Ba, relevant to the immobilisation of Cs in glass. These studies are required to establish the appropriate incorporation rate of 137Cs in iron phosphate glass. Density and glass transition temperature increases with the addition of BaO indicating the shrinkage and reticulation of the iron phosphate glass network. The average thermal expansion coefficient reduces from 19.8 × 10-6 K-1 to 13.4 × 10-6 K-1, when 25 wt. % of Cs2O was replaced by 25 wt. % of BaO in caesium loaded iron phosphate glass. In addition to the above bulk properties, the role of Ba as a network modifier in the structure of iron phosphate glass is examined using various spectroscopic techniques. The FeII content and average coordination number of iron in the glass network was estimated using Mössbauer spectroscopy. The FeII content in the un-doped iron phosphate glass and barium doped iron phosphate glasses was 20, 21 and 22 ± 1% respectively and the average Fe coordination varied from 5.3 ± 0.2 to 5.7 ± 0.2 with increasing Ba content. The atomic scale structure was further probed by Fe K-edge X-ray absorption spectroscopy. The average coordination number provided by extended X-ray absorption fine structure spectroscopy and X-ray absorption near edge structure was in good agreement with that given by the Mössbauer data.

  10. EON: software for long time simulations of atomic scale systems

    Science.gov (United States)

    Chill, Samuel T.; Welborn, Matthew; Terrell, Rye; Zhang, Liang; Berthet, Jean-Claude; Pedersen, Andreas; Jónsson, Hannes; Henkelman, Graeme

    2014-07-01

    The EON software is designed for simulations of the state-to-state evolution of atomic scale systems over timescales greatly exceeding that of direct classical dynamics. States are defined as collections of atomic configurations from which a minimization of the potential energy gives the same inherent structure. The time evolution is assumed to be governed by rare events, where transitions between states are uncorrelated and infrequent compared with the timescale of atomic vibrations. Several methods for calculating the state-to-state evolution have been implemented in EON, including parallel replica dynamics, hyperdynamics and adaptive kinetic Monte Carlo. Global optimization methods, including simulated annealing, basin hopping and minima hopping are also implemented. The software has a client/server architecture where the computationally intensive evaluations of the interatomic interactions are calculated on the client-side and the state-to-state evolution is managed by the server. The client supports optimization for different computer architectures to maximize computational efficiency. The server is written in Python so that developers have access to the high-level functionality without delving into the computationally intensive components. Communication between the server and clients is abstracted so that calculations can be deployed on a single machine, clusters using a queuing system, large parallel computers using a message passing interface, or within a distributed computing environment. A generic interface to the evaluation of the interatomic interactions is defined so that empirical potentials, such as in LAMMPS, and density functional theory as implemented in VASP and GPAW can be used interchangeably. Examples are given to demonstrate the range of systems that can be modeled, including surface diffusion and island ripening of adsorbed atoms on metal surfaces, molecular diffusion on the surface of ice and global structural optimization of nanoparticles.

  11. The Inverse Kinematic Problem Solution for the Slider-crank Mechanism-based Parallel Structure Manipulator with Three Degrees of Freedom

    Directory of Open Access Journals (Sweden)

    A. V. Romanov

    2015-01-01

    Full Text Available The paper discusses a mechanism, which is a modification of the parallel kinematics mechanisms with three degrees of freedom (DOF based on the slider-crank mechanism. The mechanism comprises a lower fixed and an upper movable platforms. The upper platform is connected to the lower one by six movable elements. Three of these elements are rods attached to the bases by means of spherical joints and three other ones have a slider-crank structure.An approach based on the mathematical modeling methods to solve an inverse kinematics is presented. The inverse kinematics problem was formulated as follows: to determine the value of crank angles, allowing us to achieve a specified position of the upper platform in space. To check the correctness of the solution was made an experimental unit. Also a set of required sensors and control boards were defined and an experiment design was provided. The paper presents comparison results of measurements with the calculated values of the generalized coordinates and draws appropriate conclusions. One of the distinctive features of the proposed approach is that the motor rotation angles are used as the generalized coordinates. So the paper formulates the possibilities to use the constructed model for the further development of control systems on its basis.

  12. Freedom Project

    Directory of Open Access Journals (Sweden)

    Alejandra Suarez

    2014-02-01

    Full Text Available Freedom Project trains prisoners in nonviolent communication and meditation. Two complementary studies of its effects are reported in this article. The first study is correlational; we found decreased recidivism rates among prisoners trained by Freedom Project compared with recidivism rates in Washington state. The second study compared trained prisoners with a matched-pair control group and found improvement in self-reported anger, self-compassion, and certain forms of mindfulness among the trained group. Ratings of role-plays simulating difficult interactions show increased social skills among the group trained by Freedom Project than in the matched controls.

  13. Semiotic Freedom

    DEFF Research Database (Denmark)

    Bruni, Luis Emilio

    2008-01-01

    ), but stress also their necessity in the study of any given biological and cognitive system. I draw a distinction between horizontal and vertical emergence in order to arrive at a notion of ‘second order emergence' that affords us a more viable definition of semiotic freedom. I will then attempt to show......-down approach i.e., by starting from the highest levels of semiotic freedom and cognitive processes, and exploring how those processes disaggregate into lesser degrees of freedom. I thus hope to bridge the gap between those levels from above....

  14. Embodied freedom

    Directory of Open Access Journals (Sweden)

    H.G. Geertsema

    2011-06-01

    Full Text Available In this article I explore the relationship between freedom and embodiment. Firstly I argue that freedom is an essential part of our being human, whatever science might say, and should be understood as the possibility to be ourselves. I propose an understanding that starts from the perspective of the second person. In the second part I analyse the writing of a scientific article as a case study of the experience of freedom in a concrete practice. I show how normative elements are a necessary part of such a practice. In the third part I argue that the “free agent” is in fact the concrete person who acts and thinks. I also discuss the place of causation. In the final part I elaborate on the view of the person, as understood from a second person perspective, and on the meaning of freedom, taking my starting point in the biblical understanding.

  15. Academic Freedom.

    Science.gov (United States)

    Tobin, Brian G.

    The strength of academic freedom has always depended upon historical circumstances. In the United States, higher education began with institutions founded and controlled by religious sects. The notion of who gets educated and to what ends expanded as American democracy expanded. By the 1980's, legitimate calls for equality became a general…

  16. Intellectual Freedom

    Science.gov (United States)

    Knox, Emily

    2011-01-01

    Support for intellectual freedom, a concept codified in the American Library Association's Library Bill of Rights and Code of Ethics, is one of the core tenets of modern librarianship. According to the most recent interpretation of the Library Bill of Rights, academic librarians are encouraged to incorporate the principles of intellectual freedom…

  17. Dye-sensitized solar cells: Atomic scale investigation of interface structure and dynamics

    International Nuclear Information System (INIS)

    Ma Wei; Zhang Fan; Meng Sheng

    2014-01-01

    Recent progress in dye-sensitized solar cells (DSC) research is reviewed, focusing on atomic-scale investigations of the interface electronic structures and dynamical processes, including the structure of dye adsorption onto TiO 2 , ultrafast electron injection, hot-electron injection, multiple-exciton generation, and electron—hole recombination. Advanced experimental techniques and theoretical approaches are briefly summarized, and then progressive achievements in photovoltaic device optimization based on insights from atomic scale investigations are introduced. Finally, some challenges and opportunities for further improvement of dye solar cells are presented. (invited review — international conference on nanoscience and technology, china 2013)

  18. Atomic-scale structure of single-layer MoS2 nanoclusters

    DEFF Research Database (Denmark)

    Helveg, S.; Lauritsen, J. V.; Lægsgaard, E.

    2000-01-01

    We have studied using scanning tunneling microscopy (STM) the atomic-scale realm of molybdenum disulfide (MoS2) nanoclusters, which are of interest as a model system in hydrodesulfurization catalysis. The STM gives the first real space images of the shape and edge structure of single-layer MoS2 n...... nanoparticles synthesized on Au(lll), and establishes a new picture of the active edge sires of the nanoclusters. The results demonstrate a way to get detailed atomic-scale information on catalysts in general....

  19. Atomic-Scale Tuning of Layered Binary Metal Oxides for High Temperature Moving Assemblies

    Science.gov (United States)

    2015-06-01

    AFRL-OSR-VA-TR-2015-0166 Atomic-Scale Tuning of Layered Binary Metal OxideS ASHLIE MARTINI UNIVERSITY OF CALIFORNIA MERCED Final Report 06/01/2015...TASK NUMBER 5f.  WORK UNIT NUMBER 7.  PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) UNIVERSITY OF CALIFORNIA MERCED 5200 N LAKE RD MERCED , CA 95343...Organization / Institution name University of California Merced Grant/Contract Title The full title of the funded effort. Atomic-scale Tuning of Layered Binary

  20. Continuum mechanics at the atomic scale : Insights into non-adhesive contacts using molecular dynamics simulations

    NARCIS (Netherlands)

    Solhjoo, Soheil; Vakis, Antonis I.

    2016-01-01

    Classical molecular dynamics (MD) simulations were performed to study non-adhesive contact at the atomic scale. Starting from the case of Hertzian contact, it was found that the reduced Young’s modulus E* for shallow indentations scales as a function of, both, the indentation depth and the contact

  1. Atomic-Scale Lightning Rod Effect in Plasmonic Picocavities: A Classical View to a Quantum Effect.

    Science.gov (United States)

    Urbieta, Mattin; Barbry, Marc; Zhang, Yao; Koval, Peter; Sánchez-Portal, Daniel; Zabala, Nerea; Aizpurua, Javier

    2018-01-23

    Plasmonic gaps are known to produce nanoscale localization and enhancement of optical fields, providing small effective mode volumes of about a few hundred nm 3 . Atomistic quantum calculations based on time-dependent density functional theory reveal the effect of subnanometric localization of electromagnetic fields due to the presence of atomic-scale features at the interfaces of plasmonic gaps. Using a classical model, we explain this as a nonresonant lightning rod effect at the atomic scale that produces an extra enhancement over that of the plasmonic background. The near-field distribution of atomic-scale hot spots around atomic features is robust against dynamical screening and spill-out effects and follows the potential landscape determined by the electron density around the atomic sites. A detailed comparison of the field distribution around atomic hot spots from full quantum atomistic calculations and from the local classical approach considering the geometrical profile of the atoms' electronic density validates the use of a classical framework to determine the effective mode volume in these extreme subnanometric optical cavities. This finding is of practical importance for the community of surface-enhanced molecular spectroscopy and quantum nanophotonics, as it provides an adequate description of the local electromagnetic fields around atomic-scale features with use of simplified classical methods.

  2. 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...

  3. 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

  4. Electronic Architecture for a Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    Oscar Aviles

    2018-02-01

    Full Text Available A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environment through the manipulation of objects. This article will present the electronic design for a mobile robot manipulator with five degrees of freedom and a 6-wheel traction with four of these directional.

  5. Measurement of phosphorus segregation in silicon at the atomic scale using scanning tunneling microscopy

    International Nuclear Information System (INIS)

    Oberbeck, L.; Curson, N.J.; Hallam, T.; Simmons, M.Y.; Bilger, G.; Clark, R.G.

    2004-01-01

    In order to fabricate precise atomic-scale devices in silicon using a combination of scanning tunneling microscopy (STM) to position dopant atoms and molecular beam epitaxy to encapsulate the dopants it is necessary to minimize the segregation/diffusion of dopant atoms during silicon encapsulation. We characterize the surface segregation/diffusion of phosphorus atoms from a δ-doped layer in silicon after encapsulation at 250 deg. C and room temperature using secondary ion mass spectrometry (SIMS) and STM. We show that the surface phosphorus density can be reduced to a few percent of the initial δ-doped density if the phosphorus atoms are encapsulated with 5 monolayers of epitaxial silicon at room temperature. We highlight the limitations of SIMS to determine phosphorus segregation at the atomic scale and the advantage of using STM directly

  6. Atomic scale mass delivery driven by bend kink in single walled carbon nanotube

    International Nuclear Information System (INIS)

    Kan Biao; Ding Jianning; Ling Zhiyong; Yuan Ningyi; Cheng Guanggui

    2010-01-01

    The possibility of atomic scale mass delivery by bend kink in single walled carbon nanotube was investigated with the aid of molecular dynamics simulation. By keeping the bending angle while moving the tube end, the encapsulated atomic scale mass such as atom, molecule and atom group were successfully delivered through the nanotube. The van der Waals interaction between the encapsulated mass and the tube wall provided the driving force for the delivery. There were no dramatic changes in the van der Waals interaction, and a smooth and steady delivery was achieved when constant loading rate was applied. The influence of temperature on the atom group delivery was also analyzed. It is found raising temperature is harmful to the smooth movement of the atom group. However, the delivery rate can be promoted under higher temperature when the atom group is situated before the kink during the delivery.

  7. Recent advances in atomic-scale spin-polarized scanning tunneling microscopy.

    Science.gov (United States)

    Smith, Arthur R; Yang, Rong; Yang, Haiqiang; Dick, Alexey; Neugebauer, Joerg; Lambrecht, Walter R L

    2005-02-01

    The Mn3N2 (010) surface has been studied using spin-polarized scanning tunneling microscopy at the atomic scale. The principle objective of this work is to elucidate the properties and potential of this technique to measure atomic-scale magnetic structures. The experimental approach involves the use of a combined molecular beam epitaxy/scanning tunneling microscopy system that allows the study of atomically clean magnetic surfaces. Several key findings have been obtained. First, both magnetic and non-magnetic atomic-scale information has been obtained in a single spin-polarized image. Magnetic modulation of the height profile having an antiferromagnetic super-period of c = 12.14 A (6 atomic rows) together with a non-magnetic superstructure having a period of c/2 = 6.07 A (3 atomic rows) was observed. Methods of separation of magnetic and non-magnetic profiles are presented. Second, bias voltage-dependent spin-polarized images show a reversal of the magnetic modulation at a particular voltage. This reversal is clearly due to a change in the sign of the magnetic term in the tunnel current. Since this term depends on both the tip's as well as the sample's magnetic local density of states, the reversal can be caused by either the sample or the tip. Third, the shape of the line profile was found to vary with the bias voltage, which is related to the energy-dependent spin contribution from the 2 chemically inequivalent Mn sites on the surface. Overall, the results shown here expand the application of the method of spin-polarized scanning tunneling microscopy to measure atomic-scale magnetic structures. (c) 2005 Wiley-Liss, Inc.

  8. Atomic-scale evolution of a growing core-shell nanoparticle.

    Science.gov (United States)

    Mangel, Shai; Aronovitch, Eran; Enyashin, Andrey N; Houben, Lothar; Bar-Sadan, Maya

    2014-09-10

    Understanding the atomic-scale growth at solid/solution interfaces is an emerging frontier in molecular and materials chemistry. This is particularly challenging when studying chemistry occurring on the surfaces of nanoparticles in solution. Here, we provide atomic-scale resolution of growth, in a statistical approach, at the surfaces of inorganic nanoparticles by state-of-the-art aberration-corrected transmission electron microscopy (TEM) and focal series reconstruction. Using well-known CdSe nanoparticles, we unfold new information that, for the first time, allows following growth directly, and the subsequent formation of CdS shells. We correlate synthetic procedures with resulting atomic structure by revealing the distribution of lattice disorder (such as stacking faults) within the CdSe core particles. With additional sequential synthetic steps, an ongoing transformation of the entire structure occurs, such that annealing takes place and stacking faults are eliminated from the core. The general strategy introduced here can now be used to provide equally revealing atomic-scale information concerning the structural evolution of inorganic nanostructures.

  9. Atomic-scale epitaxial aluminum film on GaAs substrate

    Directory of Open Access Journals (Sweden)

    Yen-Ting Fan

    2017-07-01

    Full Text Available Atomic-scale metal films exhibit intriguing size-dependent film stability, electrical conductivity, superconductivity, and chemical reactivity. With advancing methods for preparing ultra-thin and atomically smooth metal films, clear evidences of the quantum size effect have been experimentally collected in the past two decades. However, with the problems of small-area fabrication, film oxidation in air, and highly-sensitive interfaces between the metal, substrate, and capping layer, the uses of the quantized metallic films for further ex-situ investigations and applications have been seriously limited. To this end, we develop a large-area fabrication method for continuous atomic-scale aluminum film. The self-limited oxidation of aluminum protects and quantizes the metallic film and enables ex-situ characterizations and device processing in air. Structure analysis and electrical measurements on the prepared films imply the quantum size effect in the atomic-scale aluminum film. Our work opens the way for further physics studies and device applications using the quantized electronic states in metals.

  10. Kinematic Analysis 6dof Delta Manipulator

    Directory of Open Access Journals (Sweden)

    Dawid PIETRALA

    2014-12-01

    Full Text Available In the paper the solid and kinematic model of delta type parallel manipulator with six degrees of freedom is proposed. Method of determining the manipulator kinematics equations using the notation of Denavitt – Hartenberg is presented. For given movements of manipulator platform the trajectory of drives are illustrated. Also working space for various platform orientations are showed.

  11. Significant improvements in stability and reproducibility of atomic-scale atomic force microscopy in liquid

    International Nuclear Information System (INIS)

    Akrami, S M R; Nakayachi, H; Fukuma, T; Watanabe-Nakayama, T; Asakawa, H

    2014-01-01

    Recent advancement of dynamic-mode atomic force microscopy (AFM) for liquid-environment applications enabled atomic-scale studies on various interfacial phenomena. However, instabilities and poor reproducibility of the measurements often prevent systematic studies. To solve this problem, we have investigated the effect of various tip treatment methods for atomic-scale imaging and force measurements in liquid. The tested methods include Si coating, Ar plasma, Ar sputtering and UV/O 3 cleaning. We found that all the methods provide significant improvements in both the imaging and force measurements in spite of the tip transfer through the air. Among the methods, we found that the Si coating provides the best stability and reproducibility in the measurements. To understand the origin of the fouling resistance of the cleaned tip surface and the difference between the cleaning methods, we have investigated the tip surface properties by x-ray photoelectron spectroscopy and contact angle measurements. The results show that the contaminations adsorbed on the tip during the tip transfer through the air should desorb from the surface when it is immersed in aqueous solution due to the enhanced hydrophilicity by the tip treatments. The tip surface prepared by the Si coating is oxidized when it is immersed in aqueous solution. This creates local spots where stable hydration structures are formed. For the other methods, there is no active mechanism to create such local hydration sites. Thus, the hydration structure formed under the tip apex is not necessarily stable. These results reveal the desirable tip properties for atomic-scale AFM measurements in liquid, which should serve as a guideline for further improvements of the tip treatment methods. (paper)

  12. Performance measurement of mobile manipulators

    Science.gov (United States)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

    This paper describes a concept for measuring the reproducible performance of mobile manipulators to be used for assembly or other similar tasks. An automatic guided vehicle with an onboard robot arm was programmed to repeatedly move to and stop at a novel, reconfigurable mobile manipulator artifact (RMMA), sense the RMMA, and detect targets on the RMMA. The manipulator moved a laser retroreflective sensor to detect small reflectors that can be reconfigured to measure various manipulator positions and orientations (poses). This paper describes calibration of a multi-camera, motion capture system using a 6 degree-of-freedom metrology bar and then using the camera system as a ground truth measurement device for validation of the reproducible mobile manipulator's experiments and test method. Static performance measurement of a mobile manipulator using the RMMA has proved useful for relatively high tolerance pose estimation and other metrics that support standard test method development for indexed and dynamic mobile manipulator applications.

  13. Ultrafast, laser-based, x-ray science: the dawn of atomic-scale cinematography

    Energy Technology Data Exchange (ETDEWEB)

    Barty, C.P.J. [University of California, Department of Applied Mechanics and Engineering Science, Urey Hall, Mali Code 0339, San Diego, La Jolla, CA (United States)

    2000-03-01

    The characteristics of ultrafast chirped pulse amplification systems are reviewed. Application of ultrafast chirped pulse amplification to the generation of femtosecond, incoherent, 8-keV line radiation is outlined and the use of femtosecond laser-based, x-rays for novel time-resolved diffraction studies of crystalline dynamics with sub-picosecond temporal resolution and sub-picometer spatial resolution is reviewed in detail. Possible extensions of laser-based, x-ray technology and evaluation of alternative x-ray approaches for time-resolved studies of the atomic scale dynamics are given. (author)

  14. Nanometer-scale metallic grains connected with atomic-scale conductors

    Science.gov (United States)

    Anaya, A.; Korotkov, A. L.; Bowman, M.; Waddell, J.; Davidovic, D.

    2003-03-01

    We describe a technique for connecting a nanometer-scale gold grain to leads by atomic-scale gold point contacts. These devices differ from previous metallic quantum dots in that the conducting channels are relatively well transmitting. We investigate the dependence of the Coulomb blockade on contact resistance. The high-resistance devices display Coulomb blockade and the low-resistance devices display a zero-bias conductance dip, both in quantitative agreement with theory. We find that in the intermediate regime, where the sample resistance is close to h/e2, the I-V curve displays a Coulomb staircase with symmetric contact capacitances.

  15. Visible Light Emission from Atomic Scale Patterns Fabricated by the Scanning Tunneling Microscope

    DEFF Research Database (Denmark)

    Thirstrup, C.; Sakurai, M.; Stokbro, Kurt

    1999-01-01

    Scanning tunneling microscope (STM) induced light emission from artificial atomic scale structures comprising silicon dangling bonds on hydrogen-terminated Si(001) surfaces has been mapped spatially and analyzed spectroscopically in the visible spectral range. The light emission is based on a novel...... mechanism involving optical transitions between a tip state and localized states on the sample surface. The wavelength of the photons can be changed by the bias voltage of the STM. The spatial resolution of the photon maps is as good as that of STM topographic images and the photons are emitted from...

  16. Atomic-scale simulations of the mechanical deformation of nanocrystalline metals

    DEFF Research Database (Denmark)

    Schiøtz, Jakob; Vegge, Tejs; Di Tolla, Francesco

    1999-01-01

    that the main deformation mode is sliding in the grain boundaries through a large number of uncorrelated events, where a few atoms (or a few tens of atoms) slide with respect to each other. Little dislocation activity is seen in the grain interiors. The localization of the deformation to the grain boundaries......Nanocrystalline metals, i.e., metals in which the grain size is in the nanometer range, have a range of technologically interesting properties including increased hardness and yield strength. We present atomic-scale simulations of the plastic behavior of nanocrystalline copper. The simulations show...

  17. The Meaning of Freedom

    Directory of Open Access Journals (Sweden)

    Luis Eduardo Hoyos

    2009-12-01

    Full Text Available In the article it is pretended to prepare the conceptual field for the correct use of the attribution of freedom. It is defended the importance to consider the complementarity of freedom of action and freedom of the will and it is argued for a non-metaphysical conception of adscription of freedom. The adequate use of the attribution of freedom is social and normative. This means additionally that the freedom is not a presupposition of the moral responsibility and the authorship, but on the contrary the moral responsibility and the authorship are presuppositions of the attribution of freedom.

  18. Academic Freedom in Higher Education

    Directory of Open Access Journals (Sweden)

    Tokay GEDİKOĞLU

    2013-12-01

    Full Text Available In this study, the concept ‘academic freedom’ is discussed, its implications and value for the academics, institutions of higher education, and the society are focused, and a few suggestions for the Turkish higher education are made. Academic freedom is defined as the freedom of the academic staff to look for and to find the truth in their scientific field, to publish the findings, and to teach these findings to their students without any external intervention. The concept has gained a further definition with inclusion of research activities into academic freedom as part of the reform attempts started in the German higher education in the 19th century. Therefore, academic freedom is at the very core of the missions of the institutions of higher education; that is, teaching-learning and research. On the point of academic staff and their academic activities of the academic freedom, the subjects such as the aim of the course, choosing the teaching materials and textbooks, the lecturer, and the criteria for the measurement and evaluation of the course take place. And he point of research covers the aim of the study, academicians can’t be imposed the involve in an academic and artistic studies that conflict their values and beliefs; researchers should comply with codes of ethical principles and practices during the process of researching; and research outputs should be reported accurately and honestly without any misleading manipulation. Academic freedom does not provide any exemption from accountability in academic activities of the faculty, nor does it provide any right to act against the well-being of the society, current laws and regulations, and codes of ethical principles and practices.

  19. Atomic-scale processes at the fluorite-water interface visualized by frequency modulation atomic force microscopy

    OpenAIRE

    Kobayashi, Naritaka; Itakura, Shiro; Asakawa, Hitoshi; Fukuma, Takeshi

    2013-01-01

    The crystal growth and dissolution processes of a fluorite (CaF 2) crystal have attracted much attention due to the importance in the industrial, environmental, and medical applications. While previous studies clarified nanoscale processes at the fluorite-water interface, atomic-scale origins of the processes have yet to be understood. In this study, we have investigated atomic-scale processes at the fluorite-water interface by frequency modulation atomic force microscopy (FM-AFM). We perform...

  20. Contextual freedom: absoluteness versus relativity of freedom.

    Science.gov (United States)

    Pahlavan, Farzaneh; Amirrezvani, Ali

    2013-10-01

    Our commentary is focused on the idea that "freedom" takes on its full significance whenever its relativistic nature, in the short- and long terms, is taken into account. Given the transformations brought about by "globalization," application of a general model of freedom based on ecological-economic factors clearly seems to be rather untimely. We examine this idea through egocentric and ethnocentric views of the social and environmental analyses of "freedom."

  1. Atomic scale 0-π transition and pairing symmetry in a Josephson junction with a ferromagnetic insulator

    International Nuclear Information System (INIS)

    Kawabata, S.; Kashiwaya, S.; Tanaka, Y.; Golubov, A. A.; Asano, Y.

    2011-01-01

    Full text: A superconducting ring with a π-junction made from superconductor (S) / ferromagnetic- metal (FM) / superconductor (S) exhibits a spontaneous current without an external magnetic field and the corresponding magnetic flux is half a flux quantum in the ground state. Such a π-ring provides so-called 'quiet qubit' that can be efficiently decoupled from the fluctuation of the external field. However, the usage of FM gives rise to strong Ohmic dissipation. Therefore, the realization of π-junctions without FM is highly desired for qubit applications. We theoretically consider the possibility of the π-junction formation in the mesoscopic Josephson junctions with ferromagnetic insulators (FI) by taking into account the band structure of such materials explicitly. In the case of the fully polarized FIs, e.g., La 2 BaCuO 5 (LBCO) and K 2 CuF 4 , we found the formation of a π-junction and a novel atomic-scale 0-π transition induced by increasing the FI thickness LF. In this talk, I will discuss a thermal stability and material-parameter dependences of the atomic-scale 0-π transition as well as possibility of the odd-frequency pairing in such systems. (author)

  2. Evidence for atomic scale disorder in indium nitride from perturbed angular correlation spectroscopy

    International Nuclear Information System (INIS)

    Dogra, R; Shrestha, S K; Byrne, A P; Ridgway, M C; Edge, A V J; Vianden, R; Penner, J; Timmers, H

    2005-01-01

    The crystal lattice of bulk grains and state-of-the-art films of indium nitride was investigated at the atomic scale with perturbed angular correlation spectroscopy using the 111 In/Cd radioisotope probe. The probe was introduced during sample synthesis, by diffusion and by ion implantation. The mean quadrupole interaction frequency ν Q = 28 MHz was observed at the indium probe site in all types of indium nitride samples with broad frequency distributions. The observed small, but non-zero, asymmetry parameter indicates broken symmetry around the probe atoms. Results have been compared with theoretical calculations based on the point charge model. The consistency of the experimental results and their independence of the preparation technique suggest that the origin of the broad frequency distribution is inherent to indium nitride, indicating a high degree of disorder at the atomic scale. Due to the low dissociation temperature of indium nitride, furnace and rapid thermal annealing at atmospheric pressure reduce the lattice disorder only marginally

  3. Atomic-Scale Nuclear Spin Imaging Using Quantum-Assisted Sensors in Diamond

    Directory of Open Access Journals (Sweden)

    A. Ajoy

    2015-01-01

    Full Text Available Nuclear spin imaging at the atomic level is essential for the understanding of fundamental biological phenomena and for applications such as drug discovery. The advent of novel nanoscale sensors promises to achieve the long-standing goal of single-protein, high spatial-resolution structure determination under ambient conditions. In particular, quantum sensors based on the spin-dependent photoluminescence of nitrogen-vacancy (NV centers in diamond have recently been used to detect nanoscale ensembles of external nuclear spins. While NV sensitivity is approaching single-spin levels, extracting relevant information from a very complex structure is a further challenge since it requires not only the ability to sense the magnetic field of an isolated nuclear spin but also to achieve atomic-scale spatial resolution. Here, we propose a method that, by exploiting the coupling of the NV center to an intrinsic quantum memory associated with the nitrogen nuclear spin, can reach a tenfold improvement in spatial resolution, down to atomic scales. The spatial resolution enhancement is achieved through coherent control of the sensor spin, which creates a dynamic frequency filter selecting only a few nuclear spins at a time. We propose and analyze a protocol that would allow not only sensing individual spins in a complex biomolecule, but also unraveling couplings among them, thus elucidating local characteristics of the molecule structure.

  4. Joint denoising and distortion correction of atomic scale scanning transmission electron microscopy images

    Science.gov (United States)

    Berkels, Benjamin; Wirth, Benedikt

    2017-09-01

    Nowadays, modern electron microscopes deliver images at atomic scale. The precise atomic structure encodes information about material properties. Thus, an important ingredient in the image analysis is to locate the centers of the atoms shown in micrographs as precisely as possible. Here, we consider scanning transmission electron microscopy (STEM), which acquires data in a rastering pattern, pixel by pixel. Due to this rastering combined with the magnification to atomic scale, movements of the specimen even at the nanometer scale lead to random image distortions that make precise atom localization difficult. Given a series of STEM images, we derive a Bayesian method that jointly estimates the distortion in each image and reconstructs the underlying atomic grid of the material by fitting the atom bumps with suitable bump functions. The resulting highly non-convex minimization problems are solved numerically with a trust region approach. Existence of minimizers and the model behavior for faster and faster rastering are investigated using variational techniques. The performance of the method is finally evaluated on both synthetic and real experimental data.

  5. The attitudes toward massage (ATOM) scale: reliability, validity, and associated findings.

    Science.gov (United States)

    Moyer, Christopher A; Rounds, James

    2009-01-01

    Despite the key role of attitudes in guiding behavior, no systematic examination of attitudes toward massage has been conducted and no standard assessments have been created. We developed the attitudes toward massage (ATOM) scale, a nine-item measure of an overall attitude toward massage that includes two distinct subscales assessing the attitudes of Massage as Healthful and Massage as Pleasant. These subscales are reliable (alpha>.70 and >.80, respectively), covary with major personality traits and dispositional sensitivities, and are positively correlated with broader attitudes toward complementary and alternative medicine. Clinical evidence suggests that these attitudes change in response to receiving massage, though further research is needed. Supplemental items administered with the ATOM illustrate a general preference for female massage therapists while also showing this preference to be stronger in men. Attitudes pertaining to massage and sexual arousal, which may stand in the way of trying massage for some persons, are also examined. With or without the supplemental items, the ATOM scale is an easily administered measure for assessing attitudes toward massage that can be used in research or practice settings.

  6. Compound semiconductor alloys: From atomic-scale structure to bandgap bowing

    Science.gov (United States)

    Schnohr, C. S.

    2015-09-01

    Compound semiconductor alloys such as InxGa1-xAs, GaAsxP1-x, or CuInxGa1-xSe2 are increasingly employed in numerous electronic, optoelectronic, and photonic devices due to the possibility of tuning their properties over a wide parameter range simply by adjusting the alloy composition. Interestingly, the material properties are also determined by the atomic-scale structure of the alloys on the subnanometer scale. These local atomic arrangements exhibit a striking deviation from the average crystallographic structure featuring different element-specific bond lengths, pronounced bond angle relaxation and severe atomic displacements. The latter, in particular, have a strong influence on the bandgap energy and give rise to a significant contribution to the experimentally observed bandgap bowing. This article therefore reviews experimental and theoretical studies of the atomic-scale structure of III-V and II-VI zincblende alloys and I-III-VI2 chalcopyrite alloys and explains the characteristic findings in terms of bond length and bond angle relaxation. Different approaches to describe and predict the bandgap bowing are presented and the correlation with local structural parameters is discussed in detail. The article further highlights both similarities and differences between the cubic zincblende alloys and the more complex chalcopyrite alloys and demonstrates that similar effects can also be expected for other tetrahedrally coordinated semiconductors of the adamantine structural family.

  7. Quantitative characterization of the atomic-scale structure of oxyhydroxides in rusts formed on steel surfaces

    International Nuclear Information System (INIS)

    Saito, M.; Suzuki, S.; Kimura, M.; Suzuki, T.; Kihira, H.; Waseda, Y.

    2005-01-01

    Quantitative X-ray structural analysis coupled with anomalous X-ray scattering has been used for characterizing the atomic-scale structure of rust formed on steel surfaces. Samples were prepared from rust layers formed on the surfaces of two commercial steels. X-ray scattered intensity profiles of the two samples showed that the rusts consisted mainly of two types of ferric oxyhydroxide, α-FeOOH and γ-FeOOH. The amounts of these rust components and the realistic atomic arrangements in the components were estimated by fitting both the ordinary and the environmental interference functions with a model structure calculated using the reverse Monte Carlo simulation technique. The two rust components were found to be the network structure formed by FeO 6 octahedral units, the network structure itself deviating from the ideal case. The present results also suggest that the structural analysis method using anomalous X-ray scattering and the reverse Monte Carlo technique is very successful in determining the atomic-scale structure of rusts formed on the steel surfaces

  8. Sensing Noncollinear Magnetism at the Atomic Scale Combining Magnetic Exchange and Spin-Polarized Imaging.

    Science.gov (United States)

    Hauptmann, Nadine; Gerritsen, Jan W; Wegner, Daniel; Khajetoorians, Alexander A

    2017-09-13

    Storing and accessing information in atomic-scale magnets requires magnetic imaging techniques with single-atom resolution. Here, we show simultaneous detection of the spin-polarization and exchange force with or without the flow of current with a new method, which combines scanning tunneling microscopy and noncontact atomic force microscopy. To demonstrate the application of this new method, we characterize the prototypical nanoskyrmion lattice formed on a monolayer of Fe/Ir(111). We resolve the square magnetic lattice by employing magnetic exchange force microscopy, demonstrating its applicability to noncollinear magnetic structures for the first time. Utilizing distance-dependent force and current spectroscopy, we quantify the exchange forces in comparison to the spin-polarization. For strongly spin-polarized tips, we distinguish different signs of the exchange force that we suggest arises from a change in exchange mechanisms between the probe and a skyrmion. This new approach may enable both nonperturbative readout combined with writing by current-driven reversal of atomic-scale magnets.

  9. Direct evidence of atomic-scale structural fluctuations in catalyst nanoparticles.

    Science.gov (United States)

    Lin, Pin Ann; Gomez-Ballesteros, Jose L; Burgos, Juan C; Balbuena, Perla B; Natarajan, Bharath; Sharma, Renu

    2017-05-01

    Rational catalyst design requires an atomic scale mechanistic understanding of the chemical pathways involved in the catalytic process. A heterogeneous catalyst typically works by adsorbing reactants onto its surface, where the energies for specific bonds to dissociate and/or combine with other species (to form desired intermediate or final products) are lower. Here, using the catalytic growth of single-walled carbon nanotubes (SWCNTs) as a prototype reaction, we show that the chemical pathway may in-fact involve the entire catalyst particle, and can proceed via the fluctuations in the formation and decomposition of metastable phases in the particle interior. We record in situ and at atomic resolution, the dynamic phase transformations occurring in a Cobalt catalyst nanoparticle during SWCNT growth, using a state-of-the-art environmental transmission electron microscope (ETEM). The fluctuations in catalyst carbon content are quantified by the automated, atomic-scale structural analysis of the time-resolved ETEM images and correlated with the SWCNT growth rate. We find the fluctuations in the carbon concentration in the catalyst nanoparticle and the fluctuations in nanotube growth rates to be of complementary character. These findings are successfully explained by reactive molecular dynamics (RMD) simulations that track the spatial and temporal evolution of the distribution of carbon atoms within and on the surface of the catalyst particle. We anticipate that our approach combining real-time, atomic-resolution image analysis and molecular dynamics simulations will facilitate catalyst design, improving reaction efficiencies and selectivity towards the growth of desired structure.

  10. Simulation of a Mobile Manipulator on Webots

    Directory of Open Access Journals (Sweden)

    Oscar F. Avilés S.

    2018-02-01

    Full Text Available A mobile manipulator is a mobile platform with a mounted serial manipulator. A Mobile Manipulator is a system subject to its kinematic restrictions and the degrees of freedom of the manipulator arm mounted on it. These systems combine the advantages of mobile platforms and robotic arms, and reduce their disadvantages. For example, a mobile manipulator has larger working space when it has a mobile platform, as it offers more functionality during operation. For the previously mentioned in this work will be shown the implementation in the robotic simulation software Webots, a mobile manipulator that allows to determine its operation in a virtual environment

  11. Algorithm For Control Of Underactuated Manipulators

    Science.gov (United States)

    Jain, Abhinandan; Rodriguez, Guillermo

    1994-01-01

    Algorithm for improved control of underactuated multiple-link robotic manipulators developed via spatial-algebra-operator approach. Aspects of this approach described in several previous articles in NASA Tech Briefs-most recently "Robot Control Based on Spatial-Operator Algebra" (NPO-17918). Underactuated manipulator has fewer actuators than it has degrees of freedom. Complexity of underactuated systems managed by unified analysis. It has implications for fault-tolerant control, and many practical manipulators underactuated. Examples include manipulators with flexible joints and/or flexible links; space/underwater robots; manipulators that operate with some actuators that turned off because of failure or because of need to conserve energy; manipulators that grasp objects loosely, and manipulators that grasp objects with internal degrees of freedom (e.g., plungers, rollers).

  12. Fabrication of atomic-scale gold junctions by electrochemical plating using a common medical liquid

    Science.gov (United States)

    Umeno, A.; Hirakawa, K.

    2005-04-01

    Fabrication of nanometer-separated gold junctions has been performed using "iodine tincture," a medical liquid known as a disinfectant, as an etching/deposition electrolyte. In the gold-dissolved iodine tincture, gold electrodes were grown or eroded slowly enough to form quantum point contacts in an atomic scale. The resistance evolution during the electrochemical deposition showed plateaus at integer multiples of the resistance quantum, (2e2/h)-1, at room temperature (e: the elementary charge, h: the Planck constant). Iodine tincture is a commercially available common material, which makes the fabrication process to be simple and cost effective. Moreover, in contrast to the conventional electrochemical approaches, this method is free from highly toxic cyanide compounds or extraordinarily strong acids.

  13. Fabrication Of Atomic-scale Gold Junctions By Electrochemical Plating Technique Using A Common Medical Disinfectant

    Science.gov (United States)

    Umeno, Akinori; Hirakawa, Kazuhiko

    2005-06-01

    Iodine tincture, a medical liquid familiar as a disinfectant, was introduced as an etching/deposition electrolyte for the fabrication of nanometer-separated gold electrodes. In the gold dissolved iodine tincture, the gold electrodes were grown or eroded slowly in atomic scale, enough to form quantum point contacts. The resistance evolution during the electrochemical deposition showed plateaus at integer multiples of the resistance quantum, (2e2/h)-1, at the room temperature. The iodine tincture is a commercially available common material, which makes the fabrication process to be the simple and cost effective. Moreover, in contrast to the conventional electrochemical approaches, this method is free from highly toxic cyanide compounds or extraordinary strong acid. We expect this method to be a useful interface between single-molecular-scale structures and macroscopic opto-electronic devices.

  14. Molecular dynamics modeling of bonding two materials by atomic scale friction stir welding

    Science.gov (United States)

    Konovalenko S., Iv.; Konovalenko, Ig. S.; Psakhie, S. G.

    2017-12-01

    Molecular dynamics model of atomic scale friction stir welding has been developed. Formation of a butt joint between two crystallites was modeled by means of rotating rigid conical tool traveling along the butt joint line. The formed joint had an intermixed atomic structure composed of atoms initially belonged to the opposite mated piece of metal. Heat removal was modeled by adding the extra viscous force to peripheral atomic layers. This technique provides the temperature control in the tool-affected zone during welding. Auxiliary vibration action was added to the rotating tool. The model provides the variation of the tool's angular velocity, amplitude, frequency and direction of the auxiliary vibration action to provide modeling different welding modes.

  15. Physical essence of the multibody contact-sliding at atomic scale

    Science.gov (United States)

    Han, Xuesong

    2014-01-01

    Investigation the multibody contact-sliding occurred at atomic discrete contact spot will play an important role in determine the origin of tribology behavior and evaluates the micro-mechanical property of nanomaterials and thus optimizing the design of surface texture. This paper carries out large scale parallel molecular dynamics simulation on contact-sliding at atomic scale to uncover the special physical essence. The research shows that some kind of force field exists between nanodot pair and the interaction can be expressed by the linear combination of exponential function while the effective interaction distance limited in 1 angstrom for nanodot with several tens of nanometer diameter. The variation tendency about the interaction force between nanodot array is almost the same between nanodot pairs and thus the interaction between two nanodot array can be characterized by parallel mechanical spring. Multibody effect which dominates the interaction between atoms or molecules will gradually diminish with the increasing of length scales.

  16. Atomic-scale pathway of early-stage precipitation in Al–Mg–Si alloys

    International Nuclear Information System (INIS)

    Fallah, Vahid; Korinek, Andreas; Ofori-Opoku, Nana; Raeisinia, Babak; Gallerneault, Mark; Provatas, Nikolas; Esmaeili, Shahrzad

    2015-01-01

    Strengthening in age-hardenable alloys is mainly achieved through nano-scale precipitates whose formation paths from the atomic-scale, solute-enriched entities are rarely analyzed and understood in a directly verifiable way. Here, we discover a pathway for the earliest-stage precipitation in Al–Mg–Si alloys: solute clustering leading to three successive variants of face-centered cubic (fcc) clusters, followed by the formation of non-fcc GP-zones. The clusters, which originally assume a spherical morphology (C1), evolve into elongated clusters and orient themselves on {111} Al (C2) and subsequently on {100} Al planes and 〈100〉 Al directions (C3). We also analyze the association of quenched-in dislocations with clustering phenomena. The results of this work can open a new frontier in advancing alloy-process-property design for commercially important age-hardenable Al alloys

  17. Atomic-Scale Visualization of Quantum Interference on a Weyl Semimetal Surface by Scanning Tunneling Microscopy.

    Science.gov (United States)

    Zheng, Hao; Xu, Su-Yang; Bian, Guang; Guo, Cheng; Chang, Guoqing; Sanchez, Daniel S; Belopolski, Ilya; Lee, Chi-Cheng; Huang, Shin-Ming; Zhang, Xiao; Sankar, Raman; Alidoust, Nasser; Chang, Tay-Rong; Wu, Fan; Neupert, Titus; Chou, Fangcheng; Jeng, Horng-Tay; Yao, Nan; Bansil, Arun; Jia, Shuang; Lin, Hsin; Hasan, M Zahid

    2016-01-26

    Weyl semimetals may open a new era in condensed matter physics, materials science, and nanotechnology after graphene and topological insulators. We report the first atomic scale view of the surface states of a Weyl semimetal (NbP) using scanning tunneling microscopy/spectroscopy. We observe coherent quantum interference patterns that arise from the scattering of quasiparticles near point defects on the surface. The measurements reveal the surface electronic structure both below and above the chemical potential in both real and reciprocal spaces. Moreover, the interference maps uncover the scattering processes of NbP's exotic surface states. Through comparison between experimental data and theoretical calculations, we further discover that the orbital and/or spin texture of the surface bands may suppress certain scattering channels on NbP. These results provide a comprehensive understanding of electronic properties on Weyl semimetal surfaces.

  18. Atomic scale properties of magnetic Mn-based alloys probed by emission Mössbauer spectroscopy

    CERN Multimedia

    Mn-based alloys are characterized by a wealth of properties, which are of interest both from fundamental physics point of view and particularly attractive for different applications in modern technology: from magnetic storage to sensing and spin-based electronics. The possibility to tune their magnetic properties through post-growth thermal processes and/or stoichiometry engineering is highly important in order to target different applications (i.e. Mn$_{x}$Ga) or to increase their Curie temperature above room temperature (i.e. off-stoichiometric MnSi). In this project, the Mössbauer effect will be applied at $^{57}$Fe sites following implantation of radioactive $^{57}$Mn, to probe the micro-structure and magnetism of Mn-based alloys on the atomic-scale. The proposed experimental plan is devoted to establish a direct correlation between the local structure and bulk magnetism (and other physical properties) of Mn-based alloys.

  19. Mechanical deformation of atomic-scale metallic contacts: Structure and mechanisms

    DEFF Research Database (Denmark)

    Sørensen, Mads Reinholdt; Brandbyge, Mads; Jacobsen, Karsten Wedel

    1998-01-01

    electronic conductance. Various defects such as intersecting stacking faults, local disorder, and vacancies are created during the deformation. Disordered regions act as weak spots that reduce the strength of the contacts. The disorder tends to anneal out again during the subsequent atomic rearrangements......We have simulated the mechanical deformation of atomic-scale metallic contacts under tensile strain using molecular dynamics and effective medium theory potentials. The evolution of the structure of the contacts and the underlying deformation mechanisms are described along with the calculated...... that the results measured in a nanocontact experiment depend significantly on the elastic stiffness of the experimental apparatus. For a soft setup, some of the atomic rearrangements might not be detected, whereas others are amplified....

  20. Atomic Scale Modulation of Self-Rectifying Resistive Switching by Interfacial Defects

    KAUST Repository

    Wu, Xing

    2018-04-14

    Higher memory density and faster computational performance of resistive switching cells require reliable array‐accessible architecture. However, selecting a designated cell within a crossbar array without interference from sneak path currents through neighboring cells is a general problem. Here, a highly doped n++ Si as the bottom electrode with Ni‐electrode/HfOx/SiO2 asymmetric self‐rectifying resistive switching device is fabricated. The interfacial defects in the HfOx/SiO2 junction and n++ Si substrate result in the reproducible rectifying behavior. In situ transmission electron microscopy is used to quantitatively study the properties of the morphology, chemistry, and dynamic nucleation–dissolution evolution of the chains of defects at the atomic scale. The spatial and temporal correlation between the concentration of oxygen vacancies and Ni‐rich conductive filament modifies the resistive switching effect. This study has important implications at the array‐level performance of high density resistive switching memories.

  1. Quantifying atom-scale dopant movement and electrical activation in Si:P monolayers.

    Science.gov (United States)

    Wang, Xiqiao; Hagmann, Joseph A; Namboodiri, Pradeep; Wyrick, Jonathan; Li, Kai; Murray, Roy E; Myers, Alline; Misenkosen, Frederick; Stewart, M D; Richter, Curt A; Silver, Richard M

    2018-03-01

    Advanced hydrogen lithography techniques and low-temperature epitaxial overgrowth enable the patterning of highly phosphorus-doped silicon (Si:P) monolayers (ML) with atomic precision. This approach to device fabrication has made Si:P monolayer systems a testbed for multiqubit quantum computing architectures and atomically precise 2-D superlattice designs whose behaviors are directly tied to the deterministic placement of single dopants. However, dopant segregation, diffusion, surface roughening, and defect formation during the encapsulation overgrowth introduce large uncertainties to the exact dopant placement and activation ratio. In this study, we develop a unique method by combining dopant segregation/diffusion models with sputter profiling simulation to monitor and control, at the atomic scale, dopant movement using room-temperature grown locking layers (LLs). We explore the impact of LL growth rate, thickness, rapid thermal annealing, surface accumulation, and growth front roughness on dopant confinement, local crystalline quality, and electrical activation within Si:P 2-D systems. We demonstrate that dopant movement can be more efficiently suppressed by increasing the LL growth rate than by increasing the LL thickness. We find that the dopant segregation length can be suppressed below a single Si lattice constant by increasing the LL growth rates at room temperature while maintaining epitaxy. Although dopant diffusivity within the LL is found to remain high (on the order of 10 -17 cm 2 s -1 ) even below the hydrogen desorption temperature, we demonstrate that exceptionally sharp dopant confinement with high electrical quality within Si:P monolayers can be achieved by combining a high LL growth rate with low-temperature LL rapid thermal annealing. The method developed in this study provides a key tool for 2-D fabrication techniques that require precise dopant placement to suppress, quantify, and predict a single dopant's movement at the atomic scale.

  2. Atomic-scale investigations of the struct. and dynamics of complex catalytic materials

    Energy Technology Data Exchange (ETDEWEB)

    Karl Sohlberg, Drexel University

    2007-05-16

    By some accounts, catalysis impacts ≥ 30% of GDP in developed countries [Maxwell, I. E. Nature 394, 325-326 (1998)]. Catalysis is the enabling technology for petroleum production, for control of gaseous emissions from petroleum combustion, and for the production of industrial and consumer chemicals. Future applications of catalysis are potentially even more far reaching. There is an ever-growing need to move the economy from a fossil-fuel energy base to cleaner alternatives. Hydrogen-based combustion systems and fuel cells could play a dominant role, given a plentiful and inexpensive source of hydrogen. Photocatalysis is the most promising clean technology for hydrogen production, relying solely on water and sunlight, but performance enhancements in photocatalysis are needed to make this technology economically competitive. Given the enormously wide spread utilization of catalysts, even incremental performance enhancements would have far-reaching benefits for multiple end-use sectors. In the area of fuel and chemical production, such improvements would translate into vast reductions in energy consumption. At the consumption end, improvements in the catalysts involved would yield tremendous reductions in pollution. In the area of photocatalysis, such efficiency improvements could finally render hydrogen an economically viable fuel. Prerequisite to the non-empirical design and refinement of improved catalysts is the identification of the atomic-scale structure and properties of the catalytically active sites. This has become a major industrial research priority. The focus of this research program was to combine atomic-resolution Z-contrast electron microscopy with first-principles density functional theory calculations to deliver an atomic-scale description of heterogeneous catalytic systems that could form the basis for non-empirical design of improved catalysts with greater energy efficiency.

  3. Freedom and Happiness

    NARCIS (Netherlands)

    R. Veenhoven (Ruut)

    2000-01-01

    textabstractFreedom in nations can affect the happiness of citizens both positively and negatively. This study takes stock of the balance of effects. It considers 1) whether there is a positive net-effect at all, 2) which freedom variants contribute most to happiness 3) in what conditions. Freedom

  4. Freedom, structure, and creativity

    NARCIS (Netherlands)

    Rietzschel, Eric; Reiter-Palmon, Roni; Kaufman, James

    2018-01-01

    Creativity is commonly thought to depend on freedom and a lack of constraints. While this is true to a large extent, it neglects the creative potential of structure and constraints. In this chapter, I will address the relation between freedom, structure, and creativity. I will explain that freedom,

  5. Manipulating a Co adatom on a stepped Cu surface by an STM tip: A theoretical study

    International Nuclear Information System (INIS)

    Liu, L.; Huang, R.Z.; Sun, Y.S.N.; Du, C.C.; Zhang, R.J.; Zheng, Y.X.; Wu, Y.X.

    2014-01-01

    A successful atomic manipulation may be influenced by many factors such as bias voltage, tip structure and manipulation modes et al. Here, performing atomic-scale simulations with ab initio based many-body potentials, we have studied the vertical and lateral manipulation of a single Co adatom on metallic Cu surfaces using STM tips at zero bias voltage. A suitable scheme for manipulating the Co adatom on a Cu(5 5 4) surface is proposed. The optimum tip height for a successful lateral manipulation is determined and the reliability of the lateral manipulation of the adatom on the stepped surface is assessed

  6. Chemical mapping and quantification at the atomic scale by scanning transmission electron microscopy.

    Science.gov (United States)

    Chu, Ming-Wen; Chen, Cheng Hsuan

    2013-06-25

    With innovative modern material-growth methods, a broad spectrum of fascinating materials with reduced dimensions-ranging from single-atom catalysts, nanoplasmonic and nanophotonic materials to two-dimensional heterostructural interfaces-is continually emerging and extending the new frontiers of materials research. A persistent central challenge in this grand scientific context has been the detailed characterization of the individual objects in these materials with the highest spatial resolution, a problem prompting the need for experimental techniques that integrate both microscopic and spectroscopic capabilities. To date, several representative microscopy-spectroscopy combinations have become available, such as scanning tunneling microscopy, tip-enhanced scanning optical microscopy, atom probe tomography, scanning transmission X-ray microscopy, and scanning transmission electron microscopy (STEM). Among these tools, STEM boasts unique chemical and electronic sensitivity at unparalleled resolution. In this Perspective, we elucidate the advances in STEM and chemical mapping applications at the atomic scale by energy-dispersive X-ray spectroscopy and electron energy loss spectroscopy with a focus on the ultimate challenge of chemical quantification with atomic accuracy.

  7. Structure and transport at grain boundaries in polycrystalline olivine: An atomic-scale perspective

    Science.gov (United States)

    Mantisi, Boris; Sator, Nicolas; Guillot, Bertrand

    2017-12-01

    Structure and transport properties at grain boundaries in polycrystalline olivine have been investigated at the atomic scale by molecular dynamics simulation (MD) using an empirical ionocovalent interaction potential. On the time scale of the simulation (a few tens of nanoseconds for a system size of ∼650,000 atoms) grain boundaries and grain interior were identified by mapping the atomic displacements along the simulation run. In the investigated temperature range (1300-1700 K) the mean thickness of the grain boundary phase is evaluated between 0.5 and 2 nm, a value which depends on temperature and grain size. The structure of the grain boundary phase is found to be disordered (amorphous-like) and is different from the one exhibited by the supercooled liquid. The self-diffusion coefficients of major elements in the intergranular region range from ∼10-13 to 10-10 m2/s between 1300 and 1700 K (with DSigb viscosity has been evaluated from the Green-Kubo relation expressing the viscosity as function of the stress tensor time correlation function. In spite of a slow convergence of the calculation by MD, the grain boundary viscosity was estimated about ∼105 Pa s at 1500 K, a value in agreement with high-temperature viscoelastic relaxation data. An interesting information gained from MD is that sliding at grain boundaries is essentially controlled by the internal friction between the intergranular phase and the grain edges.

  8. Atomic Scale Imaging of Nucleation and Growth Trajectories of an Interfacial Bismuth Nanodroplet.

    Science.gov (United States)

    Li, Yingxuan; Bunes, Benjamin R; Zang, Ling; Zhao, Jie; Li, Yan; Zhu, Yunqing; Wang, Chuanyi

    2016-02-23

    Because of the lack of experimental evidence, much confusion still exists on the nucleation and growth dynamics of a nanostructure, particularly of metal. The situation is even worse for nanodroplets because it is more difficult to induce the formation of a nanodroplet while imaging the dynamic process with atomic resolution. Here, taking advantage of an electron beam to induce the growth of Bi nanodroplets on a SrBi2Ta2O9 platelet under a high resolution transmission electron microscope (HRTEM), we directly observed the detailed growth pathways of Bi nanodroplets from the earliest stage of nucleation that were previously inaccessible. Atomic scale imaging reveals that the dynamics of nucleation involves a much more complex trajectory than previously predicted based on classical nucleation theory (CNT). The monatomic Bi layer was first formed in the nucleation process, which induced the formation of the prenucleated clusters. Following that, critical nuclei for the nanodroplets formed both directly from the addition of atoms to the prenucleated clusters by the classical growth process and indirectly through transformation of an intermediate liquid film based on the Stranski-Krastanov growth mode, in which the liquid film was induced by the self-assembly of the prenucleated clusters. Finally, the growth of the Bi nanodroplets advanced through the classical pathway and sudden droplet coalescence. This study allows us to visualize the critical steps in the nucleation process of an interfacial nanodroplet, which suggests a revision of the perspective of CNT.

  9. Point defects and irradiation in oxides: simulations at the atomic scale

    International Nuclear Information System (INIS)

    Crocombette, J.P.

    2005-12-01

    The studies done by Jean-Paul Crocombette between 1996 and 2005 in the Service de Recherches de Metallurgie Physique of the Direction de l'Energie Nucleaire in Saclay are presented in this Habilitation thesis. These works were part of the material science researches on the ageing, especially under irradiation, of oxides of interest for the nuclear industry. In this context simulation studies at the atomic scale were performed on two elementary components of ageing under irradiation : point defects and displacement cascades ; using two complementary simulation techniques : ab initio electronic structure calculations and empirical potential molecular dynamics. The first part deals with point defects : self defects (vacancies or interstitials) or hetero-atomic dopants. One first recalls the energetics of such defects in oxides, the specific features of defects calculations and the expected accuracy of these calculations. Then one presents the results obtained on uranium dioxide, oxygen in silver and amorphous silica. The second part tackles the modelling of disintegration recoil nuclei in various?displacement cascades created by crystalline matrices for actinide waste disposal. Cascade calculations give access to the amorphization mechanisms under irradiation of these materials. One thus predicts that the amorphization in zircon takes place directly in the tracks whereas in lanthanum zirconate, the amorphization proceeds through the accumulation of point defects. Finally the prospects of these studies are discussed. (author)

  10. Atomic Scale Modeling of Laser Shock induced Spallation of FCC Metals

    Science.gov (United States)

    Galitskiy, Sergey; Ivanov, Dmitry; Dongare, Avinash

    2017-06-01

    An atomistic-continuum approach combining the molecular dynamics (MD) simulations with a two temperature model (TTM) was used to simulate the laser induced shock loading and spall failure in FCC metals. The combined TTM-MD approach incorporates the laser energy absorption, fast electron heat conduction, and the electron-phonon non-equilibrium interaction, as well as the shock wave propagation, plastic deformation, and failure processes (spallation) in metals at atomic scales. The simulations are carried out for systems corresponding to dimensions of up to 500 nm in the loading direction for various Cu and Al microstructures and laser loading conditions (intensity and pulse durations). The front end of the metal that absorbs the laser energy is observed to undergo melting and a shock wave is generated that travels towards the rear surface. The shock wave reaches the rear surface, reflects, and interacts with the its tail to create a high triaxial tensile stress region and initiates spall failure (void nucleation). The predicted values of spall strength and wave velocities of shock waves compare very well with experimentally reported values at these dimensions and laser loading conditions. The effect of microstructure and the defect evolution in the system on the predicted spall failure behavior will be presented.

  11. Atomic-scale properties of Ni-based FCC ternary, and quaternary alloys

    International Nuclear Information System (INIS)

    Tamm, Artur; Aabloo, Alvo; Klintenberg, Mattias; Stocks, Malcolm; Caro, Alfredo

    2015-01-01

    The aim of this study is to characterize some atomic-scale properties of Ni-based FCC multicomponent alloys. For this purpose, we use Monte Carlo method combined with density functional theory calculations to study short-range order (SRO), atomic displacements, electronic density of states, and magnetic moments in equimolar ternary NiCrCo, and quaternary NiCrCoFe alloys. According to our study, the salient features for the ternary alloy are a negative SRO parameter between Ni–Cr and a positive between Cr–Cr pairs as well as a weakly magnetic state. For the quaternary alloy we predict negative SRO parameter for Ni–Cr and Ni–Fe pairs and positive for Cr–Cr and Fe–Fe pairs. Atomic displacements for both ternary and quaternary alloys are negligible. In contrast to the ternary, the quaternary alloy shows a complex magnetic structure. The electronic structure of the ternary and quaternary alloys shows differences near the Fermi energy between a random solid solution and the predicted structure with SRO. Despite that, the calculated EXAFS spectra does not show enough contrast to discriminate between random and ordered structures. The predicted SRO has an impact on point-defect energetics, electron–phonon coupling and thermodynamic functions and thus, SRO should not be neglected when studying properties of these two alloys

  12. Atomic-scale origin of piezoelectricity in wurtzite ZnO.

    Science.gov (United States)

    Lee, Jung-Hoon; Lee, Woo-Jin; Lee, Sung-Hoon; Kim, Seong Min; Kim, Sungjin; Jang, Hyun Myung

    2015-03-28

    ZnO has been extensively studied by virtue of its remarkably high piezoelectric responses, especially in nanowire forms. Currently, the high piezoelectricity of wurtzite ZnO is understood in terms of the covalent-bonding interaction between Zn 3d and O 2p orbitals. However, the Zn 3d orbitals are not capable of forming hybridized orbitals with the O 2pz orbitals since the Zn ion is characterized by fully filled non-interacting 3d orbitals. To resolve this puzzling problem, we have investigated the atomic-scale origin of piezoelectricity by exploiting density-functional theory calculations. On the basis of the computed orbital-resolved density of states and the band structure over the Γ-M first Brillouin zone, we propose an intriguing bonding mechanism that accounts for the observed high piezoelectricity - intra-atomic 3dz(2)-4pz orbital self-mixing of Zn, followed by asymmetric hybridization between the Zn 3dz(2)-4pz self-mixed orbital and the O 2pz orbital along the polar c-axis of the wurtzite ZnO.

  13. Atomic-scale engineering of ferroelectric-ferromagnetic interfaces of epitaxial perovskite films for functional properties.

    Science.gov (United States)

    Hausmann, Simon; Ye, Jingfan; Aoki, Toshihiro; Zheng, Jian-Guo; Stahn, Jochen; Bern, Francis; Chen, Binda; Autieri, Carmine; Sanyal, Biplab; Esquinazi, Pablo D; Böni, Peter; Paul, Amitesh

    2017-09-06

    Besides epitaxial mismatch that can be accommodated by lattice distortions and/or octahedral rotations, ferroelectric-ferromagnetic interfaces are affected by symmetry mismatch and subsequent magnetic ordering. Here, we have investigated La 0.67 Sr 0.33 MnO 3 (LSMO) samples with varying underlying unit cells (uc) of BaTiO 3 (BTO) layer on (001) and (110) oriented substrates in order to elucidate the role of symmetry mismatch. Lattice mismatch for 3 uc of BTO and symmetry mismatch for 10 uc of BTO, both associated with local MnO 6 octahedral distortions of the (001) LSMO within the first few uc, are revealed by scanning transmission electron microscopy. Interestingly, we find exchange bias along the in-plane [110]/[100] directions only for the (001) oriented samples. Polarized neutron reflectivity measurements confirm the existence of a layer with zero net moment only within (001) oriented samples. First principle density functional calculations show that even though the bulk ground state of LSMO is ferromagnetic, a large lattice constant together with an excess of La can stabilize an antiferromagnetic LaMnO 3 -type phase at the interface region and explain the experimentally observed exchange bias. Atomic scale tuning of MnO 6 octahedra can thus be made possible via symmetry mismatch at heteroepitaxial interfaces. This aspect can act as a vital parameter for structure-driven control of physical properties.

  14. Nuclear magnetic resonance in atomic-scale superconductor/magnet multilayered systems

    CERN Document Server

    Kanegae, Y

    2003-01-01

    We investigate the nuclear spin-lattice relaxation rate (T sub 1 T) sup - sup 1 in atomic-scale superconductor/magnet multilayered systems and discuss the discrepancy between two recent (T sub 1 T) sup - sup 1 experiments on Ru in RuSr sub 2 YCu sub 2 O sub 8. When the magnetic layers is are in the antiferromagnetic state, (T sub 1 T) sup - sup 1 in the magnetic layers is shown to decrease with decreasing due to the excitation gap associated with the magnetic ordering. The proximity effect of superconductivity on (T sub 1 T) sup - sup 1 in the magnetic layer is negligibly small. Our result indicates that the temperature dependence of (T sub 1 T) sup - sup 1 on Ru in RuSr sub 2 YCu sub 2 O sub 8 likely originates from the antiferromagnetism in the RuO sub 2 layers, but not from the superconductivity in the CuO sub 2 layers. (author)

  15. Dissecting the Mechanism of Martensitic Transformation via Atomic-Scale Observations

    Science.gov (United States)

    Yang, Xu-Sheng; Sun, Sheng; Wu, Xiao-Lei; Ma, Evan; Zhang, Tong-Yi

    2014-08-01

    Martensitic transformation plays a pivotal role in the microstructural evolution and plasticity of many engineering materials. However, so far the underlying atomic processes that accomplish the displacive transformation have been obscured by the difficulty in directly observing key microstructural signatures on atomic scale. To resolve this long-standing problem, here we examine an AISI 304 austenitic stainless steel that has a strain/microstructure-gradient induced by surface mechanical attrition, which allowed us to capture in one sample all the key interphase regions generated during the γ(fcc) --> ɛ(hcp) --> α'(bcc) transition, a prototypical case of deformation induced martensitic transformation (DIMT). High-resolution transmission electron microscopy (HRTEM) observations confirm the crucial role of partial dislocations, and reveal tell-tale features including the lattice rotation of the α' martensite inclusion, the transition lattices at the ɛ/α' interfaces that cater the shears, and the excess reverse shear-shuffling induced γ necks in the ɛ martensite plates. These direct observations verify for the first time the 50-year-old Bogers-Burgers-Olson-Cohen (BBOC) model, and enrich our understanding of DIMT mechanisms. Our findings have implications for improved microstructural control in metals and alloys.

  16. Quantized edge modes in atomic-scale point contacts in graphene.

    Science.gov (United States)

    Kinikar, Amogh; Phanindra Sai, T; Bhattacharyya, Semonti; Agarwala, Adhip; Biswas, Tathagata; Sarker, Sanjoy K; Krishnamurthy, H R; Jain, Manish; Shenoy, Vijay B; Ghosh, Arindam

    2017-07-01

    The zigzag edges of single- or few-layer graphene are perfect one-dimensional conductors owing to a set of gapless states that are topologically protected against backscattering. Direct experimental evidence of these states has been limited so far to their local thermodynamic and magnetic properties, determined by the competing effects of edge topology and electron-electron interaction. However, experimental signatures of edge-bound electrical conduction have remained elusive, primarily due to the lack of graphitic nanostructures with low structural and/or chemical edge disorder. Here, we report the experimental detection of edge-mode electrical transport in suspended atomic-scale constrictions of single and multilayer graphene created during nanomechanical exfoliation of highly oriented pyrolytic graphite. The edge-mode transport leads to the observed quantization of conductance close to multiples of G 0  = 2e 2 /h. At the same time, conductance plateaux at G 0 /2 and a split zero-bias anomaly in non-equilibrium transport suggest conduction via spin-polarized states in the presence of an electron-electron interaction.

  17. Epitaxial top-gated atomic-scale silicon wire in a three-dimensional architecture.

    Science.gov (United States)

    McKibbin, S R; Scappucci, G; Pok, W; Simmons, M Y

    2013-02-01

    Three-dimensional (3D) control of dopant profiles in silicon is a critical requirement for fabricating atomically precise transistors. We demonstrate conductance modulation through an atomic scale 3 nm wide δ-doped silicon-phosphorus wire using a vertically separated epitaxial doped Si:P top-gate. We show that intrinsic crystalline silicon grown at low temperatures (∼250 °C) serves as an effective gate dielectric permitting us to achieve large gate ranges (∼2.6 V) with leakage currents below 1 pA. Combining scanning tunneling lithography for precise lateral confinement, with monolayer doping and low temperature epitaxial overgrowth for precise vertical confinement, we can realize multiple layers of nano-patterned dopants in a single crystal material. These results demonstrate the viability of highly doped, vertically separated epitaxial gates in an all-crystalline architecture with long-term implications for monolithic 3D silicon circuits and for the realization of atomically precise donor architectures for quantum computing.

  18. Quantized edge modes in atomic-scale point contacts in graphene

    Science.gov (United States)

    Kinikar, Amogh; Phanindra Sai, T.; Bhattacharyya, Semonti; Agarwala, Adhip; Biswas, Tathagata; Sarker, Sanjoy K.; Krishnamurthy, H. R.; Jain, Manish; Shenoy, Vijay B.; Ghosh, Arindam

    2017-07-01

    The zigzag edges of single- or few-layer graphene are perfect one-dimensional conductors owing to a set of gapless states that are topologically protected against backscattering. Direct experimental evidence of these states has been limited so far to their local thermodynamic and magnetic properties, determined by the competing effects of edge topology and electron-electron interaction. However, experimental signatures of edge-bound electrical conduction have remained elusive, primarily due to the lack of graphitic nanostructures with low structural and/or chemical edge disorder. Here, we report the experimental detection of edge-mode electrical transport in suspended atomic-scale constrictions of single and multilayer graphene created during nanomechanical exfoliation of highly oriented pyrolytic graphite. The edge-mode transport leads to the observed quantization of conductance close to multiples of G0 = 2e2/h. At the same time, conductance plateaux at G0/2 and a split zero-bias anomaly in non-equilibrium transport suggest conduction via spin-polarized states in the presence of an electron-electron interaction.

  19. Numerical atomic scale simulations of the microstructural evolution of ferritic alloys under irradiation

    International Nuclear Information System (INIS)

    Vincent, E.

    2006-12-01

    In this work, we have developed a model of point defect (vacancies and interstitials) diffusion whose aim is to simulate by kinetic Monte Carlo (KMC) the formation of solute rich clusters observed experimentally in irradiated FeCuNiMnSi model alloys and in pressure vessel steels. Electronic structure calculations have been used to characterize the interactions between point defects and the different solute atoms. Each of these solute atoms establishes an attractive bond with the vacancy. As for Mn, which is the element which has the weakest bond with the vacancy, it establishes more favourable bonds with interstitials. Binding energies, migration energies as well as other atomic scale properties, determined by ab initio calculations, have led to a parameter set for the KMC code. Firstly, these parameters have been optimised on thermal ageing experiments realised on the FeCu binary alloy and on complex alloys, described in the literature. The vacancy diffusion thermal annealing simulations show that when a vacancy is available, all the solutes migrate and form clusters, in agreement with the observed experimental tendencies. Secondly, to simulate the microstructural evolution under irradiation, we have introduced interstitials in the KMC code. Their presence leads to a more efficient transport of Mn. The first simulations of electron and neutron irradiations show that the model results are globally qualitatively coherent with the experimentally observed tendencies. (author)

  20. Effect of interlayer bonding strength and bending stiffness on 2-dimensional materials’ frictional properties at atomic-scale steps

    International Nuclear Information System (INIS)

    Lang, Haojie; Peng, Yitian; Zeng, Xingzhong

    2017-01-01

    Highlights: • Bending of uncovered step edge of 2-dimensional materials could be a common phenomenon during friction processes. • 2-dimensional materials with large interlayer bonding strength possess good frictional properties at step. • Increased bending stiffness of step edge could be the major reason that lateral force increased with step height. - Abstract: Atomic-scale steps generally presented in 2-dimensional materials have important influence on the overall nanotribological properties of surface. Frictional properties at atomic-scale steps of two types of 2-dimensional materials are studied using calibrated atomic force microscopy (AFM) tip sliding against the steps. The lateral force at uncovered step is larger than covered step due to the bending of step edge. The lateral force at monolayer uncovered step edge of h-BN is lower than graphene because h-BN possesses higher interlayer bonding strength than graphene and the bending of h-BN step edge is suppressed to some extent. The high uncovered step exhibits much larger lateral force than low uncovered step, which could be mainly induced by increased bending stiffness of step edge rather than increased step height. The results revealed that interlayer bonding strength and bending stiffness have great influence on the lateral force at atomic-scale steps. The studies can provide a further understanding of frictional properties at atomic scale steps and could be helpful for the applications of 2-dimensional materials as lubricant coating.

  1. Effect of interlayer bonding strength and bending stiffness on 2-dimensional materials’ frictional properties at atomic-scale steps

    Energy Technology Data Exchange (ETDEWEB)

    Lang, Haojie; Peng, Yitian, E-mail: yitianpeng@dhu.edu.cn; Zeng, Xingzhong

    2017-07-31

    Highlights: • Bending of uncovered step edge of 2-dimensional materials could be a common phenomenon during friction processes. • 2-dimensional materials with large interlayer bonding strength possess good frictional properties at step. • Increased bending stiffness of step edge could be the major reason that lateral force increased with step height. - Abstract: Atomic-scale steps generally presented in 2-dimensional materials have important influence on the overall nanotribological properties of surface. Frictional properties at atomic-scale steps of two types of 2-dimensional materials are studied using calibrated atomic force microscopy (AFM) tip sliding against the steps. The lateral force at uncovered step is larger than covered step due to the bending of step edge. The lateral force at monolayer uncovered step edge of h-BN is lower than graphene because h-BN possesses higher interlayer bonding strength than graphene and the bending of h-BN step edge is suppressed to some extent. The high uncovered step exhibits much larger lateral force than low uncovered step, which could be mainly induced by increased bending stiffness of step edge rather than increased step height. The results revealed that interlayer bonding strength and bending stiffness have great influence on the lateral force at atomic-scale steps. The studies can provide a further understanding of frictional properties at atomic scale steps and could be helpful for the applications of 2-dimensional materials as lubricant coating.

  2. Freedom & Self-Knowledge

    NARCIS (Netherlands)

    Ometto, D.L.A.

    2016-01-01

    Freedom of the will is a never-ending source of puzzlement for academic philosophers. At the same time, it is something deeply familiar to everyone. For the relevant concept of freedom underlies much, if not all, of our ordinary discourse and thinking about ourselves and others. However, our attempt

  3. Electronic Structure Changes Due to Crystal Phase Switching at the Atomic Scale Limit.

    Science.gov (United States)

    Knutsson, Johan Valentin; Lehmann, Sebastian; Hjort, Martin; Lundgren, Edvin; Dick, Kimberly A; Timm, Rainer; Mikkelsen, Anders

    2017-10-24

    The perfect switching between crystal phases with different electronic structure in III-V nanowires allows for the design of superstructures with quantum wells only a single atomic layer wide. However, it has only been indirectly inferred how the electronic structure will vary down to the smallest possible crystal segments. We use low-temperature scanning tunneling microscopy and spectroscopy to directly probe the electronic structure of Zinc blende (Zb) segments in Wurtzite (Wz) InAs nanowires with atomic-scale precision. We find that the major features in the band structure change abruptly down to a single atomic layer level. Distinct Zb electronic structure signatures are observed on both the conduction and valence band sides for the smallest possible Zb segment: a single InAs bilayer. We find evidence of confined states in the region of both single and double bilayer Zb segments indicative of the formation of crystal segment quantum wells due to the smaller band gap of Zb as compared to Wz. In contrast to the internal electronic structure of the nanowire, surface states located in the band gap were found to be only weakly influenced by the presence of the smallest Zb segments. Our findings directly demonstrate the feasibility of crystal phase switching for the ultimate limit of atomistic band structure engineering of quantum confined structures. Further, it indicates that band gap values obtained for the bulk are reasonable to use even for the smallest crystal segments. However, we also find that the suppression of surface and interface states could be necessary in the use of this effect for engineering of future electronic devices.

  4. Declaration of Academic Freedom

    Directory of Open Access Journals (Sweden)

    Gökhan ÇETİNSAYA

    2014-04-01

    Full Text Available 1. Universities are the institutions where all the opinions, various truth claims as well as social and political problems are discussed in a liberal and civilized way and the complicated problems are expressed clearly without any oppression and prevention. 2. Academic freedom includes first and foremost the right of freedom of research and thus freedom of using the essential knowledge methods, the right of possessing the necessary tools and conditions required for the research and the rights of scientific production, informing, learning and dissemination. 3. Academics possess the rights to benefit from the academic freedom without any limitation, to research and investigate according to their own preferences and interests, and to teach these without being exposed to any oppression and prevention. 4. This freedom of teaching that the academics have should not be used in a manner restricting students' freedom of learning; academics should avoid from being dogmatic in the research and education processes and respect students' rights of thinking differently and expressing themselves. 5. Academics accordingly should lead the students to evaluate and understand the new thoughts as a whole and to be tolerant to the thoughts they do not agree and to think in various ways. Also, academics should encourage the students to create their own opinions based on evidences and enable them to express these opinions freely and respect their freedom of expression. 6. Campuses should be safe environments where the students can express their own opinions freely. Suppressing the intellectual diversity and the plurality of viewpoints will decrease the productivity of teaching and learning process, restrict students' freedom of learning, and constrain the chance of formation of critical and in-depth thinking. 7. Critical thinking develops only in the campuses where various thoughts are expressed in a liberal way. Students should feel that they would not be prevented

  5. Atomic-scale evolution of modulated phases at the ferroelectric-antiferroelectric morphotropic phase boundary controlled by flexoelectric interaction

    Energy Technology Data Exchange (ETDEWEB)

    Borisevich, Albina Y [ORNL; Eliseev, Eugene [National Academy of Science of Ukraine, Kiev, Ukraine; Morozovska, A. N. [National Academy of Science of Ukraine, Kiev, Ukraine; Cheng, Ching-Jung [ORNL; Lin, Jiunn-Yuan [National Chiao Tung University, Hsinchu, Taiwan; Chu, Ying-Hao [National Chiao Tung University, Hsinchu, Taiwan; Kan, Daisuke [University of Maryland; Takeuchi, Ichiro [ORNL; Valanoor, Nagarajan V [ORNL; Kalinin, Sergei V [ORNL

    2012-01-01

    Physical and structural origins of morphotropic phase boundaries (MPBs) in ferroics remain elusive despite decades of studies. The leading competing theories employ either low symmetry bridging phases or adaptive phases with nanoscale textures to describe different subsets of the macroscopic data, while the decisive atomic-scale information has so far been missing. We report direct atomically-resolved mapping of polarization and structure order parameter fields in Sm-doped BiFeO3 system and their evolution as the system approaches MPB. We further show that both the experimental phase diagram and the phase evolution observed by STEM can be explained by taking into account flexoelectric interaction, which renders the effective domain wall energy negative, thus stabilizing modulated phases in the vicinity of the MPB. Our study highlights the importance of local order parameter mapping at the atomic scale and establishes a hitherto unobserved physical origin of spatially modulated phases existing in the vicinity of the MPB.

  6. Globalization and Economic Freedom

    DEFF Research Database (Denmark)

    Bjørnskov, Christian

    2006-01-01

    This paper employs a panel data set to estimate the effect of globalization on four measures of economic freedom. Contrary to previous studies, the paper distinguishes between three separate types of globalization: economic, social and political. It also separates effects for poor and rich...... countries, and autocracies and democracies. The results show that economic globalization is negatively associated with government size and positively with regulatory freedom in rich countries; social globalization is positively associated with legal quality in autocracies and with the access to sound money...... in democracies. Political globalization is not associated with economic freedom...

  7. Freedom in mundane mobilities

    DEFF Research Database (Denmark)

    Mikkelsen, Marie V.; Cohen, Scott A.

    2015-01-01

    of the world. Through in-situ interviews with families caravanning in Denmark, the primary aim of this study is to challenge existing dominant discourses surrounding the subject of freedom within leisure and tourism studies. Second, we shed further light on an under-researched medium of mobility......, that of domestic caravanning. This serves to not only disrupt representations of freedom as occurring through exoticised, masculinised and individualised practices, but to give attention to the domestic, banal contexts where the everyday and tourism intersect, which are often overlooked. This novel repositioning...... opens up new avenues in tourism studies for critical research into the geographies of freedom in mundane, everyday contexts....

  8. Robot Manipulators

    Science.gov (United States)

    1988-01-01

    Space Shuttle's Remote Manipulator System (Canadarm) is a 50 foot robot arm used to deploy, retrieve or repair satellites in orbit. Initial spinoff version is designed to remove, inspect and replace large components of Ontario Hydro's CANDU nuclear reactors, which supply 50 percent of Ontario Hydro's total power reduction. CANDU robot is the first of SPAR's Remote Manipulator Systems intended for remote materials handling operations in nuclear servicing, chemical processing, smelting and manufacturing. Inco Limited used remote manipulator for remote control mining equipment to enhance safety and productivity of Inco's hardrock mining operations. System not only improves safety in a hazardous operation that costs more than a score of lives annually, it also increases productivity fourfold. Remote Manipulator System Division is also manufacturing a line of industrial robots and developing additional system for nuclear servicing, mining, defense and space operations.

  9. Elucidation of atomic scale mechanisms for polytetrafluoroethylene tribology using molecular dynamics simulation

    Science.gov (United States)

    Barry, Peter R.

    Polytetrafluoroethylene (PTFE) is a polymer that has been widely exploited commercially as a result of its low friction, 'non-stick' properties. The polymer has found usage as 'non-stick,' chemically resistant coatings for bearings, valves, rollers and pipe linings with applications in industries ranging from food and chemical processing to construction, automotive and aerospace. The major drawback of PTFE in low friction applications involves its excessive wear rate. For decades, scientists and engineers have sought to improve the polymer's wear resistance while maintaining its low sliding friction by reinforcing the polymer matrix with a host of filler materials ranging from fibril to particulate. In this study, a different approach is taken in which the atomic scale phenomena between two crystalline PTFE surfaces in sliding contact are examined. The goal is to obtain atomic-level insights into PTFE's low friction and high wear rate to aid in the designing of effective polymer based tribological composites for extreme condition applications. To accomplish this, several tribological conditions were varied. These included sliding direction of the two polymer surfaces with respect to their chain alignment, sliding velocity, degree of crystalline phase rigidity, interfacial contact pressure, sample temperature and the presence of fluorocarbon fluids between the two crystalline PTFE surfaces. From these studies, it was found that crystalline PTFE-PTFE sliding demonstrates friction anisotropy. Low friction and molecular wear was observed when sliding in the direction of the chain alignment with high friction and wear behavior dominating when sliding in a direction perpendicular to the chain alignment. For the range of cross-link density (average linear density of 6.2 to 11.1 A) and sliding rate (5 m/s to 20 m/s) explored, a significant change in friction behavior or wear mechanisms was not observed. Under conditions of increased normal load or low temperature however

  10. Understanding the Atomic Scale Mechanisms that Control the Attainment of Ultralow Friction and Wear in Carbon-Based Materials

    Science.gov (United States)

    2016-01-16

    2015. 15. Invited. New Insights into Friction and Wear through In-Situ Nanotribology. Joint Symposium of the Surface Science Society of Japan and...and Carpick, R.W. Influence of Surface Passivation on the Friction and Wear Behavior of Ultrananocrystalline Diamond and Tetrahedral Amorphous Carbon...AFRL-AFOSR-JP-TR-2016-0053 Understanding the Atomic Scale Mechanism that controls the attainment of ultralow friction and wear in carbon based

  11. Counter-intuitive experimental evidence on the initiation of radical crack in ceramic thin films at the atomic scale

    Directory of Open Access Journals (Sweden)

    Chunqiang Zhuang

    2015-10-01

    Full Text Available The basic issue related to radial crack in ceramic thin films has received considerable attention due to the fact that the radial crack plays an important role in evaluating the toughness properties of ceramic materials. In this work, an atomic-scale new experimental evidence is clearly presented to reveal the counter-intuitive initiation, the nucleation and the propagation mechanism of the radial crack in Al-Cr-N ceramic thin films.

  12. Door breaching robotic manipulator

    Science.gov (United States)

    Schoenfeld, Erik; Parrington, Lawrence; von Muehlen, Stephan

    2008-04-01

    As unmanned systems become more commonplace in military, police, and other security forces, they are tasked to perform missions that the original hardware was not designed for. Current military robots are built for rough outdoor conditions and have strong inflexible manipulators designed to handle a wide range of operations. However, these manipulators are not well suited for some essential indoor tasks, including opening doors. This is a complicated kinematic task that places prohibitively difficult control challenges on the robot and the operator. Honeybee and iRobot have designed a modular door-breaching manipulator that mechanically simplifies the demands upon operator and robot. The manipulator connects to the existing robotic arm of the iRobot PackBot EOD. The gripper is optimized for grasping a variety of door knobs, levers, and car-door handles. It works in conjunction with a compliant wrist and magnetic lock-out mechanism that allows the wrist to remain rigid until the gripper has a firm grasp of the handle and then bend with its rotation and the swing of the door. Once the door is unlatched, the operator simply drives the robot through the doorway while the wrist compensates for the complex, multiple degree-of-freedom motion of the door. Once in the doorway the operator releases the handle, the wrist pops back into place, and the robot is ready for the next door. The new manipulator dramatically improves a robot's ability to non-destructively breach doors and perform an inspection of a room's content, a capability that was previously out of reach of unmanned systems.

  13. In Situ Atomic-Scale Observation of Droplet Coalescence Driven Nucleation and Growth at Liquid/Solid Interfaces.

    Science.gov (United States)

    Li, Junjie; Wang, Zhongchang; Deepak, Francis Leonard

    2017-06-27

    Unraveling dynamical processes of liquid droplets at liquid/solid interfaces and the interfacial ordering is critical to understanding solidification, liquid-phase epitaxial growth, wetting, liquid-phase joining, crystal growth, and lubrication processes, all of which are linked to different important applications in material science. In this work, we observe direct in situ atomic-scale behavior of Bi droplets segregated on SrBi 2 Ta 2 O 9 by using aberration-corrected transmission electron microscopy and demonstrate ordered interface and surface structures for the droplets on the oxide at the atomic scale and unravel a nucleation mechanism involving droplet coalescence at the liquid/solid interface. We identify a critical diameter of the formed nanocrystal in stabilizing the crystalline phase and reveal lattice-induced fast crystallization of the droplet at the initial stage of the coalescence of the nanocrystal with the droplet. Further sequential observations show the stepped coalescence and growth mechanism of the nanocrystals at the atomic scale. These results offer insights into the dynamic process at liquid/solid interfaces, which may have implications for many functionalities of materials and their applications.

  14. Personal Freedom beyond Limits

    Directory of Open Access Journals (Sweden)

    Juan Fernando Sellés

    2013-07-01

    Full Text Available In this work we distinguish between freedom in the human manifestations (intelligence, will,actions and personal freedom in the personal intimacy. This second is beyond the freedom reached bythe classic and modern thought, since it takes root in the personnel act of being. Because of it, it is not possible to characterize this freedom like the classic description as ‘domain over the own acts’, becauseit is a description of ‘categorial’ order; neither like present day ‘autonomy’ or ‘independence’, becausethe existence of one person alone is impossible, since ‘person’ means relation, personal free openingto other persons, description of the ‘transcendental’ order and, therefore, to the margin of limits.

  15. Human freedom and enhancement.

    Science.gov (United States)

    Heilinger, Jan-Christoph; Crone, Katja

    2014-02-01

    Ideas about freedom and related concepts like autonomy and self-determination play a prominent role in the moral debate about human enhancement interventions. However, there is not a single understanding of freedom available, and arguments referring to freedom are simultaneously used to argue both for and against enhancement interventions. This gives rise to misunderstandings and polemical arguments. The paper attempts to disentangle the different distinguishable concepts, classifies them and shows how they relate to one another in order to allow for a more structured and clearer debate. It concludes in identifying the individual underpinnings and the social conditions of choice and decision-making as particularly salient dimensions of freedom in the ethical debate about human enhancement.

  16. Underwater manipulator

    Science.gov (United States)

    Schrum, P.B.; Cohen, G.H.

    1993-04-20

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  17. Underwater manipulator

    International Nuclear Information System (INIS)

    Schrum, P.B.; Cohen, G.H.

    1993-01-01

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer ±45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer ±10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion

  18. [Drug addiction and freedom].

    Science.gov (United States)

    Albuquerque, M A

    1982-03-01

    The author, in a historical and philosophical approach, analyses the concept of freedom as opposed to slavery. He also refers to the legal and social restrictions and studies the determinism and free will as the causes of human behaviour. Quoting Spinoza, the author states that man accepts the idea of freedom because he realizes the "how" of his options but ignores "why". Without the hypothesis of causality and determinism, there seems to have no science. Without freedom, there seems to be no anthropos man (Jimeno Valdez). The principles of anticausality, of nonreproducibility and of differentiation characterize the human freedom, but are contrary to the way science works. According to the social and political point of view, it was established that the State has the right to oblige and to violently limit freedom. Practically speaking, though, the State is violent just for being the State; the dominant groups are the government because they are and they have been violent. There is a need to limit and to discipline this right of the State of being violent within the dilemma of safety and freedom. By working, the slave avoided the whip. And by doing this, he encouraged the behaviour of the one who whipped him. The non-aversive attitudes limit the freedom in the modern world more and more for they also enchain our will, a rebellion becoming impossible. One is not granted the freedom; it shall be conquered and kept. Freedom, either as a concept or a phenomenon, is always relative. The concept of toxicomania or pharmacodependance is analysed according to the same perspective. The conclusion is that this is always more a problem of the society than of the individual, and this is how it has to be understood and treated. The present world is described as a millenial human culture specifically characterized by eight groups of phenomena: 1. Transport increased human mobility, reduced the relative dimensions of the earth, mixed peoples, compared cultures and created

  19. Efficient Kinematic Computations For 7-DOF Manipulators

    Science.gov (United States)

    Seraji, Homayoun; Long, Mark K.; Kreutz-Delgado, Kenneth

    1994-01-01

    Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).

  20. 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…

  1. Atomic-scale investigation of nuclear quantum effects of surface water: Experiments and theory

    Science.gov (United States)

    Guo, Jing; Li, Xin-Zheng; Peng, Jinbo; Wang, En-Ge; Jiang, Ying

    2017-12-01

    Quantum behaviors of protons in terms of tunneling and zero-point motion have significant effects on the macroscopic properties, structure, and dynamics of water even at room temperature or higher. In spite of tremendous theoretical and experimental efforts, accurate and quantitative description of the nuclear quantum effects (NQEs) is still challenging. The main difficulty lies in that the NQEs are extremely susceptible to the structural inhomogeneity and local environments, especially when interfacial systems are concerned. In this review article, we will highlight the recent advances of scanning tunneling microscopy and spectroscopy (STM/S), which allows the access to the quantum degree of freedom of protons both in real and energy space. In addition, we will also introduce recent development of ab initio path-integral molecular dynamics (PIMD) simulations at surfaces/interfaces, in which both the electrons and nuclei are treated as quantum particles in contrast to traditional ab initio molecular dynamics (MD). Then we will discuss how the combination of STM/S and PIMD are used to directly visualize the concerted quantum tunneling of protons within the water clusters and quantify the impact of zero-point motion on the strength of a single hydrogen bond (H bond) at a water/solid interface. Those results may open up the new possibility of exploring the exotic quantum states of light nuclei at surfaces, as well as the quantum coupling between the electrons and nuclei.

  2. Freedom of Expression

    Directory of Open Access Journals (Sweden)

    Guilherme Canela

    2007-06-01

    Full Text Available The freedoms of expression and of the press are basic pillars of the western democracies. The contemporary theoretical framework which gives support to these rights was generated in the wake of the liberal revolutions which took place in Western Europe and in North America starting from the second half of the 1600s. Our purpose in this text is to present the current scene regarding this topic, focusing whenever pertinent on the Brazilian case, and seeking to question the unconditional defense of the freedoms of expression and of the press made by the thinkers who founded these principles vis-á-vis contemporary issues of the communicational universe. Going beyond theoretical-conceptual refl ections, we present and analyze the results of a content analysis showing how 53 Brazilian newspapers and 4 magazines with nationwide circulation report (or not topics relating to freedom of expression and of the press.

  3. Revealing the correlation between real-space structure and chiral magnetic order at the atomic scale

    Science.gov (United States)

    Hauptmann, Nadine; Dupé, Melanie; Hung, Tzu-Chao; Lemmens, Alexander K.; Wegner, Daniel; Dupé, Bertrand; Khajetoorians, Alexander A.

    2018-03-01

    We image simultaneously the geometric, the electronic, and the magnetic structures of a buckled iron bilayer film that exhibits chiral magnetic order. We achieve this by combining spin-polarized scanning tunneling microscopy and magnetic exchange force microscopy (SPEX) to independently characterize the geometric as well as the electronic and magnetic structures of nonflat surfaces. This new SPEX imaging technique reveals the geometric height corrugation of the reconstruction lines resulting from strong strain relaxation in the bilayer, enabling the decomposition of the real-space from the electronic structure at the atomic level and the correlation with the resultant spin-spiral ground state. By additionally utilizing adatom manipulation, we reveal the chiral magnetic ground state of portions of the unit cell that were not previously imaged with spin-polarized scanning tunneling microscopy alone. Using density functional theory, we investigate the structural and electronic properties of the reconstructed bilayer and identify the favorable stoichiometry regime in agreement with our experimental result.

  4. Thoughts on freedom.

    Science.gov (United States)

    Hallingby, L

    1981-11-01

    The tradition of personal freedom as Americans know it is not known in China. In America, people are free to choose their own lifestyle but they cannot walk the streets in safety for fear of crime and violence. In a sense, they are not free. In China, one is not free to choose an occupation and a place to live and work, but people are free to walk the streets in safety. Perhaps the true difference between the U.S. and China is not the presence or absence of freedom, but rather the nature of the freedom involved. There are certain underlying assumptions which explain why personal freedom is not very important in China: 1) everyone belongs to a series of larger units, the family, the neighborhood commune, and society; and 2) the effect of an individual's actions on the larger unit is more important than the immediate effect on the individual. Thus, the Chinese do not have the freedom to engage in self-defeating and self-destructive behavior that Americans tend to engage in. In the U.S., people have the right to become alcoholics, to become drug addicts and to have as many babies at as young an age as their bodies will allow. The negative effects of these types of behavior are less important to Americans as the individual's right to free choice. Sexual pleasures and sexual freedom are not paramount concerns in China, but there is 1 basic lifestyle which everyone is expected to follow: marriage, parenting of 1 child, living with the parents of 1 spouse or the other, and caring for one's parents in their old age. The Chinese are not free to choose to cohabitate without being married, to remain single, to remain childless, or to be single parents. These lifestyles and sexual practices find their roots in the fact that China is a monolithic society where everyone thinks and behaves in the same way, and also in the fact that sexual taboos are motivated by practical or economic, rather than religious and moral concerns. Although women are encouraged to have an abortion if

  5. Molecular dynamics modeling of bonding two materials by atomic scale friction stir welding at different process parameters

    Science.gov (United States)

    Konovalenko S., Iv.; Psakhie, S. G.

    2017-12-01

    Using the molecular dynamics method, we simulated the atomic scale butt friction stir welding on two crystallites and varied the onset FSW tool plunge depth. The effects of the plunge depth value on the thermomechanical evolution of nanosized crystallites and mass transfer in the course of FSW have been studied. The increase of plunge depth values resulted in more intense heating and reducing the plasticized metal resistance to the tool movement. The mass transfer intensity was hardly dependent on the plunge depth value. The plunge depth was recommended to be used as a FSW process control parameter in addition to the commonly used ones.

  6. Atomic-scale insight into the origin of pyridine inhibition of MoS2-based hydrotreating catalysts

    DEFF Research Database (Denmark)

    Temel, Burcin; Tuxen, Anders K.; Kibsgaard, Jakob

    2010-01-01

    Basic nitrogen-containing compounds such as pyridine are well known to be inhibitors of the hydrodesulfurization (HDS) reaction for the MoS2-based catalysts. From an interplay of scanning tunneling microscopy (STM) experiments and density functional theory (DFT) calculations, atomic-scale insight...... into pyridine adsorption on MoS2 is obtained. In agreement with previous IR-spectroscopy and DFT studies, the STM results show that the pyridine molecule itself interacts weakly or not at all with the MoS2 nanoclusters. However, in the presence of hydrogen at the MoS2 edges, adsorbed species are revealed by STM...

  7. Atomic-scale investigation of interface-facilitated deformation twinning in severely deformed Ag-Cu nanolamellar composites

    Energy Technology Data Exchange (ETDEWEB)

    An, X. H., E-mail: anxianghai@gmail.com, E-mail: xiaozhou.liao@sydenye.edu.au; Cao, Y.; Liao, X. Z., E-mail: anxianghai@gmail.com, E-mail: xiaozhou.liao@sydenye.edu.au [School of Aerospace, Mechanical and Mechatronic Engineering, The University of Sydney, Sydney, New South Wales 2006 (Australia); Zhu, S. M.; Nie, J. F. [Department of Materials Engineering, Monash University, Melbourne, Victoria 3800 (Australia); Kawasaki, M. [Division of Materials Science and Engineering, Hanyang University, 17 Haengdang-dong, Seongdong-gu, Seoul 133-791 (Korea, Republic of); Ringer, S. P. [School of Aerospace, Mechanical and Mechatronic Engineering, The University of Sydney, Sydney, New South Wales 2006 (Australia); Australian Centre for Microscopy and Microanalysis, The University of Sydney, Sydney, New South Wales 2006 (Australia); Langdon, T. G. [Departments of Aerospace and Mechanical Engineering and Materials Science, University of Southern California, Los Angeles, California 90089-1453 (United States); Materials Research Group, Faculty of Engineering and the Environment, University of Southampton, Southampton SO17 1BJ (United Kingdom); Zhu, Y. T. [Department of Materials Science and Engineering, North Carolina State University, Raleigh, North Carolina 27695-7919 (United States); School of Materials Science and Engineering, Nanjing University of Science and Technology, Nanjing (China)

    2015-07-06

    We report an atomic-scale investigation of interface-facilitated deformation twinning behaviour in Ag-Cu nanolamellar composites. Profuse twinning activities in Ag supply partial dislocations to directly transmit across the Ag-Cu lamellar interface that promotes deformation twinning in the neighbouring Cu lamellae although the interface is severely deformed. The trans-interface twin bands change the local structure at the interface. Our analysis suggests that the orientation relationship and interfacial structure between neighbouring Ag-Cu lamellae play a crucial role in such special interface-facilitated twinning behaviour.

  8. Macro-mechanics controls quantum mechanics: mechanically controllable quantum conductance switching of an electrochemically fabricated atomic-scale point contact.

    Science.gov (United States)

    Staiger, Torben; Wertz, Florian; Xie, Fangqing; Heinze, Marcel; Schmieder, Philipp; Lutzweiler, Christian; Schimmel, Thomas

    2018-01-12

    Here, we present a silver atomic-scale device fabricated and operated by a combined technique of electrochemical control (EC) and mechanically controllable break junction (MCBJ). With this EC-MCBJ technique, we can perform mechanically controllable bistable quantum conductance switching of a silver quantum point contact (QPC) in an electrochemical environment at room temperature. Furthermore, the silver QPC of the device can be controlled both mechanically and electrochemically, and the operating mode can be changed from 'electrochemical' to 'mechanical', which expands the operating mode for controlling QPCs. These experimental results offer the perspective that a silver QPC may be used as a contact for a nanoelectromechanical relay.

  9. 76 FR 72243 - Proposed Information Collection (Operation Enduring Freedom/Operation Iraqi Freedom Veterans...

    Science.gov (United States)

    2011-11-22

    ... AFFAIRS Proposed Information Collection (Operation Enduring Freedom/ Operation Iraqi Freedom Veterans... facilities for returning Operation Enduring Freedom/ Operation Iraqi Freedom veterans and their families.... Title: Operation Enduring Freedom/Operation Iraqi Freedom Veterans Health Needs Assessment, VA Form 10...

  10. Freedom to Compete?

    DEFF Research Database (Denmark)

    Buch-Hansen, Hubert

    2012-01-01

    . To this end, the article focuses on companies associated with the European Roundtable of Industrialists (ERT), a highly influential network consisting of top executives from a range of Europe’s largest TNCs that has consistently urged political decision-makers to give companies the ‘freedom to compete’. We...

  11. Thinking Academic Freedom

    Science.gov (United States)

    Lange, Lis

    2016-01-01

    This lecture argues that the politicisation and instrumentalisation of the university caused by neoliberal frames has as a result the depoliticisation of knowledge and of the academic as individual. This depoliticisation has turned academic freedom into a right to disengage not only from the political fight around these issues but also from the…

  12. Nursing and human freedom.

    Science.gov (United States)

    Risjord, Mark

    2014-01-01

    Debates over how to conceptualize the nursing role were prominent in the nursing literature during the latter part of the twentieth century. There were, broadly, two schools of thought. Writers like Henderson and Orem used the idea of a self-care deficit to understand the nurse as doing for the patient what he or she could not do alone. Later writers found this paternalistic and emphasized the importance of the patient's free will. This essay uses the ideas of positive and negative freedom to explore the differing conceptions of autonomy which are implicit in this debate. The notion of positive freedom has often been criticized as paternalistic, and the criticisms of self-care in the nursing literature echo criticisms from political philosophy. Recent work on relational autonomy and on the relationship between autonomy and identity are used to address these objections. This essay argues for a more nuanced conception of the obligation to support autonomy that includes both positive (freedom to) and negative (freedom from) dimensions. This conception of autonomy provides a moral foundation for conceptualizing nursing in something like Henderson's terms: as involving the duty to expand the patient's capacities. The essay concludes by generalizing the lesson. Respect for autonomy on the part of any health care provider requires both respect for the patient's choices and a commitment to expand the patient's ability to actualize their choices. © 2013 John Wiley & Sons Ltd.

  13. Your True Freedom

    Directory of Open Access Journals (Sweden)

    Jena Rausch

    2015-02-01

    Full Text Available Your True Freedom is about my journey teaching inmates the fundamental truths of self worth, self acceptance and self love--through writing, mindfulness meditation and emotional healing. It is a journey that continues to enlighten me and to heal and free the inmates with whom I work.

  14. 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

  15. In situ atomic-scale observation of oxygen-driven core-shell formation in Pt3Co nanoparticles.

    Science.gov (United States)

    Dai, Sheng; You, Yuan; Zhang, Shuyi; Cai, Wei; Xu, Mingjie; Xie, Lin; Wu, Ruqian; Graham, George W; Pan, Xiaoqing

    2017-08-07

    The catalytic performance of core-shell platinum alloy nanoparticles is typically superior to that of pure platinum nanoparticles for the oxygen reduction reaction in fuel cell cathodes. Thorough understanding of core-shell formation is critical for atomic-scale design and control of the platinum shell, which is known to be the structural feature responsible for the enhancement. Here we reveal details of a counter-intuitive core-shell formation process in platinum-cobalt nanoparticles at elevated temperature under oxygen at atmospheric pressure, by using advanced in situ electron microscopy. Initial segregation of a thin platinum, rather than cobalt oxide, surface layer occurs concurrently with ordering of the intermetallic core, followed by the layer-by-layer growth of a platinum shell via Ostwald ripening during the oxygen annealing treatment. Calculations based on density functional theory demonstrate that this process follows an energetically favourable path. These findings are expected to be useful for the future design of structured platinum alloy nanocatalysts.Core-shell platinum alloy nanoparticles are promising catalysts for oxygen reduction, however a deeper understanding of core-shell formation is still required. Here the authors report oxygen-driven formation of core-shell Pt 3 Co nanoparticles, seen at the atomic scale with in situ electron microscopy at ambient pressure.

  16. Atomic scale determination of enzyme flexibility and active site stability through static modes: case of dihydrofolate reductase.

    Science.gov (United States)

    Brut, Marie; Estève, Alain; Landa, Georges; Renvez, Guillaume; Djafari Rouhani, Mehdi; Vaisset, Marc

    2011-02-24

    A Static Mode approach is used to screen the biomechanical properties of DHFR. In this approach, a specific external stimulus may be designed at the atomic scale granularity to arrive at a proper molecular mechanism. In this frame, we address the issues related to the overall molecular flexibility versus loop motions and versus enzymatic activity. We show that backbone motions are particularly important to ensure DHFR domain communication and notably highlight the role of a α-helix in Met20 loop motion. We also investigate the active site flexibility in different bound states. Whereas in the occluded conformation the Met20 loop is highly flexible, in the closed conformation backbone motions are no longer significant, the Met20 loop is rigidified by new intra- and intermolecular weak bonds, which stabilizes the complex and promotes the hydride transfer. Finally, while various simulations, including I14 V and I14A mutations, confirm that Ile14 is a key residue in catalytic activity, we isolate and characterize at the atomic scale how a specific intraresidue chemical group makes it possible to assist ligand positioning, to direct the nicotinamide ring toward the folate ring.

  17. Determination of atomic-scale chemical composition at semiconductor heteroepitaxial interfaces by high-resolution transmission electron microscopy.

    Science.gov (United States)

    Wen, C; Ma, Y J

    2018-03-01

    The determination of atomic structures and further quantitative information such as chemical compositions at atomic scale for semiconductor defects or heteroepitaxial interfaces can provide direct evidence to understand their formation, modification, and/or effects on the properties of semiconductor films. The commonly used method, high-resolution transmission electron microscopy (HRTEM), suffers from difficulty in acquiring images that correctly show the crystal structure at atomic resolution, because of the limitation in microscope resolution or deviation from the Scherzer-defocus conditions. In this study, an image processing method, image deconvolution, was used to achieve atomic-resolution (∼1.0 Å) structure images of small lattice-mismatch (∼1.0%) AlN/6H-SiC (0001) and large lattice-mismatch (∼8.5%) AlSb/GaAs (001) heteroepitaxial interfaces using simulated HRTEM images of a conventional 300-kV field-emission-gun transmission electron microscope under non-Scherzer-defocus conditions. Then, atomic-scale chemical compositions at the interface were determined for the atomic intermixing and Lomer dislocation with an atomic step by analyzing the deconvoluted image contrast. Furthermore, the effect of dynamical scattering on contrast analysis was also evaluated for differently weighted atomic columns in the compositions. Copyright © 2018 Elsevier Ltd. All rights reserved.

  18. Knowledge Yearning for Freedom

    Directory of Open Access Journals (Sweden)

    Ljiljana Gavrilović

    2016-02-01

    Full Text Available The paper is concerned with the restriction of access to knowledge/books in the contemporary digitalized global world, in which the access to knowledge has to be paid for, and wherein definitions of modes of payment control who has or doesn’t have the right to knowledge. The second part of the article deals with the struggle for the freedom of words/knowledge, and actions through which the authors/producers of knowledge and art fight the restrictions not only to the freedom of speech, but also creativity and innovation, which should be the aim of all copyright and intellectual right laws, the contemporary application of which has become its own opposite.

  19. Bioethics and academic freedom.

    Science.gov (United States)

    Singer, Peter

    1990-01-01

    The author describes the events surrounding his attempts to lecture on the subject of euthanasia in West Germany in June 1989. Singer, who defends the view that active euthanasia for some newborns with handicaps may be ethically permissible, had been invited to speak to professional and academic groups. Strong public protests against Singer and his topic led to the cancellation of some of his engagements, disruptions during others, and harrassment of the German academics who had invited him to speak. These incidents and the subject of euthanasia became matters of intense national debate in West Germany, but there was little public or academic support for Singer's right to be heard. Singer argues that bioethics and bioethicists must have the freedom to challenge conventional moral beliefs, and that the events in West Germany illustrate the grave danger to that freedom from religious and political intolerance.

  20. Freedom and Association

    OpenAIRE

    Hill, Christopher Leslie Gowens

    2017-01-01

    The project Freedom and Association is a flexible, fluid, and personal investment in practice that loosens forms of language and opens up structures of value that cohere onto words and objects. The non-fixed, process-based nature of the practical component of the research is extended in an understanding of post anarchism - as an ongoing, lived experience of the everyday and of friendship. I define anarchism as the rejection of dominant power structures and as pertaini...

  1. "Development as Freedom"

    OpenAIRE

    Haider Ali Khan

    2004-01-01

    This chapter offers a historical and analytical introduction to the school of thought that views 'development as freedom'. Since it is impossible to do justice to the depth and complexity of this 'new' approach to development in just one short chapter, I explore a few significant dimensions of the concept beginning with Amartya Sen's pioneering contributions. I also look at clarifications by Nussbaum and others who offer a list of important functionings that can be included in the capabilitie...

  2. Disaggregating Corporate Freedom of Religion

    DEFF Research Database (Denmark)

    Lægaard, Sune

    2015-01-01

    to religion as a separate and independent jurisdiction with its own system of law over which religious groups are sovereign. I discuss the relationship between, on the one hand, ordinary rights of freedom of association and freedom of religion and, on the other hand, this idea of corporate freedom of religion...

  3. Academic Freedom: The Ethical Imperative

    Science.gov (United States)

    Slattery, Patrick

    2008-01-01

    In this article, the author takes his cue for discussions of academic freedom from Simone de Beauvoir as found in her classic text, "The Ethics of Ambiguity." Like other existentialists, de Beauvoir emphasizes that freedom and responsibility are intimately linked. Academic freedom is an ethical responsibility that compels the author to teach and…

  4. Intellectual Workers and Essential Freedoms.

    Science.gov (United States)

    Edley, Christopher Jr.

    2000-01-01

    Journalists and college professors deserve certain privileges, including freedom of speech and academic freedom, but they must adapt their work to increasingly diverse populations. They must confront public mistrust, convince people that these freedoms are worthwhile, and protect essential public rights through what they study and teach and to…

  5. Atomic scale study of surface orientations and energies of Ti 2 O 3 crystals

    Energy Technology Data Exchange (ETDEWEB)

    Gu, Meng [Department of Materials Science and Engineering, Southern University of Science and Technology, 1088 Xueyuan Blvd, Shenzhen, Guangdong 518055, China; Wang, Zhiguo [School of Physical Electronics, University of Electronic Science and Technology of China, Chengdu 610054, People' s Republic of China; Wang, Chongmin [Environmental Molecular Science Laboratory, 902 Battelle Boulevard, Richland, Washington 99352, USA; Zheng, Jianming [Energy and Environmental Directorate, Pacific Northwest National Laboratory, 902 Battelle Boulevard, Richland, Washington 99352, USA

    2017-10-30

    For nanostructured particles, the faceting planes and their terminating chemical species are two critical factors that govern the chemical behavior of the particle. The surface atomistic structure and termination of the Ti2O3 crystals were analyzed using atomic-scale aberration-corrected scanning transmission electron microscopy (STEM) combining with density functional theory (DFT) calculations. STEM imaging reveals that the Ti2O3 crystal are most often faceted along (001), (012), (-114) and (1-20) planes. DFT calculation indicates that the (012) surface with TiO-termination have the lowest cleavage energy and correspondingly the lowest surface energy, indicating that (012) will be the most stable and prevalent surfaces in Ti2O3 nanocrystals. These observations provide insights for exploring the interfacial process involving Ti2O3 nanoparticles.

  6. Experimental verification of orbital engineering at the atomic scale: Charge transfer and symmetry breaking in nickelate heterostructures

    Science.gov (United States)

    Phillips, Patrick J.; Rui, Xue; Georgescu, Alexandru B.; Disa, Ankit S.; Longo, Paolo; Okunishi, Eiji; Walker, Fred; Ahn, Charles H.; Ismail-Beigi, Sohrab; Klie, Robert F.

    2017-05-01

    Epitaxial strain, layer confinement, and inversion symmetry breaking have emerged as powerful new approaches to control the electronic and atomic-scale structural properties of complex metal oxides. Trivalent rare-earth (RE) nickelate R E NiO3 heterostructures have been shown to be exemplars since the orbital occupancy, degeneracy, and, consequently, electronic/magnetic properties can be altered as a function of epitaxial strain, layer thickness, and superlattice structure. One recent example is the tricomponent LaTiO3-LaNiO3-LaAlO3 superlattice which exhibits charge transfer and orbital polarization as the result of its interfacial dipole electric field. A crucial step towards control of these parameters for future electronic and magnetic device applications is to develop an understanding of both the magnitude and range of the octahedral network's response towards interfacial strain and electric fields. An approach that provides atomic-scale resolution and sensitivity towards the local octahedral distortions and orbital occupancy is therefore required. Here, we employ atomic-resolution imaging coupled with electron spectroscopies and first-principles theory to examine the role of interfacial charge transfer and symmetry breaking in a tricomponent nickelate superlattice system. We find that nearly complete charge transfer occurs between the LaTiO3 and LaNiO3 layers, resulting in a mixed Ni2 +/Ni3 + valence state. We further demonstrate that this charge transfer is highly localized with a range of about 1 unit cell within the LaNiO3 layers. We also show how Wannier-function-based electron counting provides a simple physical picture of the electron distribution that connects directly with formal valence charges. The results presented here provide important feedback to synthesis efforts aimed at stabilizing new electronic phases that are not accessible by conventional bulk or epitaxial film approaches.

  7. 76 FR 58565 - Proposed Information Collection (Operation Enduring Freedom/Operation Iraqi Freedom Seriously...

    Science.gov (United States)

    2011-09-21

    ... AFFAIRS Proposed Information Collection (Operation Enduring Freedom/ Operation Iraqi Freedom Seriously... Enduring Freedom/Operation Iraqi Freedom veterans regarding benefits. DATES: Written comments and... techniques or the use of other forms of information technology. Title: Operation Enduring Freedom/Operation...

  8. Wired to freedom

    DEFF Research Database (Denmark)

    Jepsen, Kim Sune Karrasch; Bertilsson, Margareta

    2017-01-01

    dimension of life science through a notion of public politics adopted from the political theory of John Dewey. We show how cochlear implantation engages different social imaginaries on the collective and individual levels and we suggest that users share an imaginary of being “wired to freedom” that involves...... new access to social life, continuous communicative challenges, common practices, and experiences. In looking at their lives as “wired to freedom,” we hope to promote a wider spectrum of civic participation in the benefit of future life science developments within and beyond the field of Cochlear...

  9. Slavery, antislavery, freedom

    Directory of Open Access Journals (Sweden)

    Bridget Brereton

    2002-01-01

    Full Text Available [First paragraph] Empire and Antislavery: Spain, Cuba, and Puerto Rico, 1833-1874. CHRISTOPHER SCHMIDT-NOWARA. Pittsburgh PA: University of Pittsburgh Press, 1999. xv + 239 pp. (Cloth US$ 50.00, Paper US$ 22.95 Beyond Slavery: Explorations of Race, Labor, and Citizenship in Postemancipation Societies. FREDERICK COOPER, THOMAS C. HOLT & REBECCA J. SCOTT. Chapel Hill: University of North Carolina Press, 2000. xiii + 198 pp. (Cloth US$ 34.95, Paper US$ 15.95 From Slavery to Freedom: Comparative Studies in the Rise andFall of Atlantic Slavery. SEYMOUR DRESCHER. New York: New York University Press, 1999. xxv + 454 pp. (Cloth US$ 45.00 Terms of Labor: Slavery, Serfdom, and Free Labor. STANLEY L. ENGERMAN (ed.. Stanford CA: Stanford University Press, 1999. vi + 350 pp. (Cloth US$ 55.00 These four books explore antislavery movements in the Atlantic world, and consider some of the consequences of abolition in postemancipation societies. They are immensely rich studies which engage one of the liveliest areas of enquiry in modern historiography - the transition from slavery to freedom in New World societies - and which represent U.S. historical scholarship at its finest. Each falls into a different category of academic publication.

  10. Academic Freedom as Fundamental Right

    OpenAIRE

    Cippitani, Roberto

    2015-01-01

    [EN] The paper aims at defining in particular the concept of academic freedom within the context of the European legal sources. Even though the idea of a special corporative status for professors was born during the Middle Ages, it was only during the second half of the twentieth century that the Constitutions recognised academic freedom as an individual’s legal right.. Such an individual right is regulated within the category of the freedom of expression, even if it is characteri...

  11. Which Freedom of the Press?

    DEFF Research Database (Denmark)

    Rytter, Jens Elo

    2010-01-01

    The article surveys the historical and current meaning of "Freedom of the Press" in constitutional and human rights law. Two different conceptions exist, the narrow one defining freedom of the press as the freedom of every one to publish without prior restraint, the broader one defining it as a...... privileged freedom of the organised press to gather and report on information of public interest. These two conceptions have very different answers to the question of whether the press should enjoy some privilege to be exempt from ordinary legislation when such legislation restricts the access of the press to inform...

  12. 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.

  13. Freedom and european military conflicts.

    Directory of Open Access Journals (Sweden)

    Ks. Archimandryta Andrzej (Borkowski

    2014-11-01

    Full Text Available In the period of globalization, numerous armed conflicts and wars we often appeal to freedom and human rights. When we talk of freedom in the time we live in we usually mean it to be a possibility of free choice among various things. In contemporary common understanding freedom means choice. Such a definition is far insufficient to an Orthodox Christian. Freedom is something more than a simple difference between obviousness and indecision. Our spiritual attention needs to be directed towards something much more deeper. It should be directed to a struggle in order to overcome results of our fallen nature. According to contemporary understanding freedom is identified also with a possibility to do what is pleasing to ourselves. But such understanding is equally faulty. From theological point of view the term of true freedom denotes God’s grace and therefore human freedom is connected with and dependent on the absolute freedom of God. We do believe that God is the only giver of freedom and justice and He even exceeds them. God does not determine Himself. God simply exists. In such a way God has introduced Himself to Mores in the burning bush: „Εγώ ειμί ο Ών” (I am that I am. Ultimately all the contemporary crisises have their source in an absolute external freedom, freedom of flesh – having lost the notion of sin it transforms into a merciless, tyrannical lawlessness. Distinct manifestation of it are incessant armed conflicts in Europe.

  14. The atomic-scale nucleation mechanism of NiTi metallic glasses upon isothermal annealing studied via molecular dynamics simulations.

    Science.gov (United States)

    Li, Yang; Li, JiaHao; Liu, BaiXin

    2015-10-28

    Nucleation is one of the most essential transformation paths in phase transition and exerts a significant influence on the crystallization process. Molecular dynamics simulations were performed to investigate the atomic-scale nucleation mechanisms of NiTi metallic glasses upon devitrification at various temperatures (700 K, 750 K, 800 K, and 850 K). Our simulations reveal that at 700 K and 750 K, nucleation is polynuclear with high nucleation density, while at 800 K it is mononuclear. The underlying nucleation mechanisms have been clarified, manifesting that nucleation can be induced either by the initial ordered clusters (IOCs) or by the other precursors of nuclei evolved directly from the supercooled liquid. IOCs and other precursors stem from the thermal fluctuations of bond orientational order in supercooled liquids during the quenching process and during the annealing process, respectively. The simulation results not only elucidate the underlying nucleation mechanisms varied with temperature, but also unveil the origin of nucleation. These discoveries offer new insights into the devitrification mechanism of metallic glasses.

  15. Atomic-scale structure relaxation, chemistry and charge distribution of dislocation cores in SrTiO3.

    Science.gov (United States)

    Gao, Peng; Ishikawa, Ryo; Feng, Bin; Kumamoto, Akihito; Shibata, Naoya; Ikuhara, Yuichi

    2018-01-01

    By using the state-of-the-art microscopy and spectroscopy in aberration-corrected scanning transmission electron microscopes, we determine the atomic arrangements, occupancy, elemental distribution, and the electronic structures of dislocation cores in the 10° tilted SrTiO 3 bicrystal. We identify that there are two different types of oxygen deficient dislocation cores, i.e., the SrO plane terminated Sr 0.82 Ti 0.85 O 3-x (Ti 3.67+ , 0.48 ≤ x ≤ 0.91) and TiO 2 plane terminated Sr 0.63 Ti 0.90 O 3-y (Ti 3.60+ , 0.57 ≤ y ≤ 1). They have the same Burgers vector of a[100] but different atomic arrangements and chemical properties. Besides the oxygen vacancies, Sr vacancies and rocksalt-like titanium oxide reconstruction are also identified in the dislocation core with TiO 2 plane termination. Our atomic-scale study reveals the true atomic structures and chemistry of individual dislocation cores, providing useful insights into understanding the properties of dislocations and grain boundaries. Copyright © 2017 Elsevier B.V. All rights reserved.

  16. Atomic scale modeling of twinning in hexagonal metals: germination and migration of disconnections in zirconium, titanium and magnesium

    International Nuclear Information System (INIS)

    Mackain, Olivier

    2017-01-01

    We perform an atomic scale study of twinning in three hexagonal close packed metals: zirconium, titanium and magnesium. For that, we use two energetic models, an empirical potential suited for the study of zirconium and ab initio calculations in order to compare the three metals. The study of perfect twin boundaries shows that their surface energies are not relevant to predict which twin system is going to activate experimentally. We study nucleation and then migration of disconnections, that is to say interfacial dislocations whose glide along twin plane leads to twin thickening. We show that disconnections nucleation, rather than their migration, is the rate limiting step of twin thickening. In particular, by developing a coupling with elastic theory, we extract the core energies of each disconnection. With this method we prove that for a given twin system, the disconnection with the lowest formation energy is always the one compatible with twin mode observed experimentally, even if its elastic energy is higher. Finally, we construct the preliminary elements of a model considering the effect of stress on nucleation of disconnection. (author) [fr

  17. Atomic-scale study of the adsorption of calcium fluoride on Si(100) at low-coverage regime

    International Nuclear Information System (INIS)

    Chiaravalloti, Franco; Dujardin, Gerald; Riedel, Damien; Pinto, Henry P.; Foster, Adam S.

    2011-01-01

    We investigate, experimentally and theoretically, the initial stage of the formation of Ca/Si and Si/F structures that occurs during the adsorption of CaF 2 molecules onto a bare Si(100) surface heated to 1000 K in a low-coverage regime (0.3 monolayer). A low-temperature (5 K) scanning tunneling microscope (STM) is used to observe the topographies and the electronic properties of the exposed silicon surfaces. Our atomic-scale study reveals that several chemical reactions arise during CaF 2 deposition, such as dissociation of the CaF 2 molecules and etching of the surface silicon dimers. The experimental and calculated STM topographies are compared using the density functional theory, and this comparison enables us to identify two types of reacted structures on the Si(100) surface. The first type of observed complex surface structure consists of large islands formed with a semiperiodic sequence of 3 x 2 unit cells. The second one is made of isolated Ca adatoms adsorbed at specific sites on the Si(100)-2 x 1 surface.

  18. Rubidium distribution at atomic scale in high efficient Cu(In,Ga)Se2 thin-film solar cells

    Science.gov (United States)

    Vilalta-Clemente, Arantxa; Raghuwanshi, Mohit; Duguay, Sébastien; Castro, Celia; Cadel, Emmanuel; Pareige, Philippe; Jackson, Philip; Wuerz, Roland; Hariskos, Dimitrios; Witte, Wolfram

    2018-03-01

    The introduction of a rubidium fluoride post deposition treatment (RbF-PDT) for Cu(In,Ga)Se2 (CIGS) absorber layers has led to a record efficiency up to 22.6% for thin-film solar cell technology. In the present work, high efficiency CIGS samples with RbF-PDT have been investigated by atom probe tomography (APT) to reveal the atomic distribution of all alkali elements present in CIGS layers and compared with non-treated samples. A Scanning Electron Microscopy Dual beam station (Focused Ion Beam-Gas Injection System) as well as Transmission Kikuchi diffraction is used for atom probe sample preparation and localization of the grain boundaries (GBs) in the area of interest. The analysis of the 3D atomic scale APT reconstructions of CIGS samples with RbF-PDT shows that inside grains, Rb is under the detection limit, but the Na concentration is enhanced as compared to the reference sample without Rb. At the GBs, a high concentration of Rb reaching 1.5 at. % was found, and Na and K (diffusing from the glass substrate) are also segregated at GBs but at lower concentrations as compared to Rb. The intentional introduction of Rb leads to significant changes in the chemical composition of CIGS matrix and at GBs, which might contribute to improve device efficiency.

  19. Towards the atomic-scale characterization of isolated iron sites confined in a nitrogen-doped graphene matrix

    Energy Technology Data Exchange (ETDEWEB)

    Liu, Qingfei; Liu, Yun; Li, Haobo [State Key Laboratory of Catalysis, CAS Center for Excellence in Nanoscience, Dalian National Laboratory for Clean Energy, Dalian Institute of Chemical Physics, Chinese Academy of Sciences, Dalian, 116023 (China); University of Chinese Academy of Sciences, Beijing, 100039 (China); Li, Lulu [College of Chemistry, Faculty of Chemical, Environmental and Biological Science and Technology, Dalian University of Technology, Dalian, 116023 (China); Deng, Dehui [State Key Laboratory of Catalysis, CAS Center for Excellence in Nanoscience, Dalian National Laboratory for Clean Energy, Dalian Institute of Chemical Physics, Chinese Academy of Sciences, Dalian, 116023 (China); Yang, Fan, E-mail: fyang@dicp.ac.cn [State Key Laboratory of Catalysis, CAS Center for Excellence in Nanoscience, Dalian National Laboratory for Clean Energy, Dalian Institute of Chemical Physics, Chinese Academy of Sciences, Dalian, 116023 (China); Bao, Xinhe, E-mail: xhbao@dicp.ac.cn [State Key Laboratory of Catalysis, CAS Center for Excellence in Nanoscience, Dalian National Laboratory for Clean Energy, Dalian Institute of Chemical Physics, Chinese Academy of Sciences, Dalian, 116023 (China)

    2017-07-15

    Highlights: • Local atomic and electronic structure of the Fe-N-C catalyst characterized by STM and STS. • The combination of air-AFM, UHV-STM and DFT calculations for the characterization of powder catalysts. • The selection of solvent is vital to the homogeneous dispersion of powder catalyst on a planar support. - Abstract: Atomic scale characterization of the surface structure of powder catalysts is essential to the identification of active sites, but remains a major challenge in catalysis research. We described here a procedure that combines atomic force microscopy (AFM), operated in air, and scanning tunneling microscopy (STM), operated in UHV, to obtain the atomic structure and local electronic properties of powder catalysts. The atomically dispersed Fe-N-C catalyst was used as an example, which was synthesized by low temperature ball milling methods. We discussed the effect of solvents in the dispersion of powder catalysts on a planar support, which is key to the subsequent atomic characterization. From the morphology, atomic structure and local electronic properties of the Fe-N-C catalyst, our combined measurements also provide an insight for the effect of ball milling in the preparation of atomically dispersed metal catalysts.

  20. Atomic-scale microstructures of Zr2Al3C4 and Zr3Al3C5 ceramics

    International Nuclear Information System (INIS)

    Lin, Z.J.; Zhuo, M.J.; He, L.F.; Zhou, Y.C.; Li, M.S.; Wang, J.Y.

    2006-01-01

    The microstructures of bulk Zr 2 Al 3 C 4 and Zr 3 Al 3 C 5 ceramics have been investigated using transmission electron microscopy and scanning transmission electron microscopy. These two carbides were determined to have a point group 6/mmm and a space group P6 3 /mmc using selected-area electron diffraction and convergent beam electron diffraction. The atomic-scale microstructures of Zr 2 Al 3 C 4 and Zr 3 Al 3 C 5 were investigated through high-resolution imaging and Z-contrast imaging. Furthermore, intergrowth between Zr 2 Al 3 C 4 and Zr 3 Al 3 C 5 was identified. Stacking faults in Zr 3 Al 3 C 5 were found to result from the insertion of an additional Zr-C layer. Cubic ZrC was occasionally identified to be incorporated in elongated Zr 3 Al 3 C 5 grains. In addition, Al may induce a twinned ZrC structure and lead to the formation of ternary zirconium aluminum carbides

  1. Fast Atomic-Scale Elemental Mapping of Crystalline Materials by STEM Energy-Dispersive X-Ray Spectroscopy Achieved with Thin Specimens.

    Science.gov (United States)

    Lu, Ping; Yuan, Renliang; Zuo, Jian Min

    2017-02-01

    Elemental mapping at the atomic-scale by scanning transmission electron microscopy (STEM) using energy-dispersive X-ray spectroscopy (EDS) provides a powerful real-space approach to chemical characterization of crystal structures. However, applications of this powerful technique have been limited by inefficient X-ray emission and collection, which require long acquisition times. Recently, using a lattice-vector translation method, we have shown that rapid atomic-scale elemental mapping using STEM-EDS can be achieved. This method provides atomic-scale elemental maps averaged over crystal areas of ~few 10 nm2 with the acquisition time of ~2 s or less. Here we report the details of this method, and, in particular, investigate the experimental conditions necessary for achieving it. It shows, that in addition to usual conditions required for atomic-scale imaging, a thin specimen is essential for the technique to be successful. Phenomenological modeling shows that the localization of X-ray signals to atomic columns is a key reason. The effect of specimen thickness on the signal delocalization is studied by multislice image simulations. The results show that the X-ray localization can be achieved by choosing a thin specimen, and the thickness of less than about 22 nm is preferred for SrTiO3 in [001] projection for 200 keV electrons.

  2. The Erosion of Academic Freedom

    Science.gov (United States)

    Ledoux, Michael W.; Marshall, Thomas; McHenry, Nadine

    2010-01-01

    This article originated from a single question: do the restrictions that various accrediting agencies place on teacher educators limit, or entirely eliminate, academic freedom? Considering that question makes it apparent the problem is much broader than academic freedom. The issue has two foci: personal identity and the impact of market…

  3. Freedom as Satisfaction?

    DEFF Research Database (Denmark)

    Rostbøll, Christian Fogh

    2004-01-01

    with harmony in one's entire volitional system, Frankfurt may solve the infi nite regress objection but he does so at the cost of ending up with a description of freedom, which comes very close to being identical to his own description of the wanton. Frankfurt's account leaves open the question of whether......This article is a critical assessment of Harry Frankfurt's hierarchical theory of freedom. It spells out and distinguishes several different and irreconcilable conceptions of freedom present in Frankfurt's work. I argue that Frankfurt is ambiguous in his early formulation as to what conception...... of freedom of the will the hierarchical theory builds on, an avoidability or a satisfaction conception. This ambiguity causes problems in his later attempts to respond to the objections of wantonness of second-order desires and of infi nite regress. With his more recent idea of freedom as being satisfi ed...

  4. Let Freedom Ring! Let Peace Reign!

    Science.gov (United States)

    Moore, Mary Elizabeth Mullino

    2012-01-01

    True freedom and true peace are cousins, but they can only work together if the freedom of one people is seen in relation to the freedom of another. Struggles for freedom and peace can only enhance each other if the peace people seek is a robust harmony in which conflict is embraced and people are encouraged to imagine a far stronger freedom and…

  5. Academic Freedom: Its Nature, Extent and Value

    Science.gov (United States)

    Barrow, Robin

    2009-01-01

    Academic freedom does not refer to freedom to engage in any speech act, but to freedom to hold any belief and espouse it in an appropriately academic manner. This freedom belongs to certain institutions, rather than to individuals, because of their academic nature. Academic freedom should be absolute, regardless of any offence it may on occasion…

  6. Pharmacy and freedom.

    Science.gov (United States)

    Cowen, D L

    1984-03-01

    The development of pharmacy in Western civilization has been influenced by ideas of individual liberty; the impact of these ideas is traced. For a short time during the French Revolution, individuals without qualifications could practice pharmacy, but abuses prompted return of regulation; from 1803, pharmacy was closely regulated by the state. Liberal thinking in 19th-century Britain left control of pharmacy mainly within the profession; regulation was definitive rather than restrictive. With the influence of Jacksonian Democracy and freedom of trade in the United States, there were no effective pharmacy regulations until the late 19th century and few educational requirements for licensure until the 1920s. In Germany, the old system of concessions and privileges was upset after World War II when any qualified pharmacist was allowed to open a shop wherever desired in the American-occupied zone; the courts upheld this policy as the basis for establishment of pharmacies in West Germany. Liberty in dispensing drugs has been limited out of concern for the well-being of individuals and of society as a whole. In Great Britain and the U.S., restrictions on dispensing antedated laws establishing qualifications for pharmacists. The history of pharmacy demonstrates that there are moral and social barriers to realization of the ideals of liberty. History also suggests that if pharmacists assume responsibilities that use their specialized training, they can defend against inroads by nonpharmacists.

  7. Adsorption of Synthetic Cationic Polymers on Model Phospholipid Membranes: Insight from Atomic-Scale Molecular Dynamics Simulations.

    Science.gov (United States)

    Kostritskii, Andrei Yu; Kondinskaia, Diana A; Nesterenko, Alexey M; Gurtovenko, Andrey A

    2016-10-11

    Although synthetic cationic polymers represent a promising class of effective antibacterial agents, the molecular mechanisms behind their antimicrobial activity remain poorly understood. To this end, we employ atomic-scale molecular dynamics simulations to explore adsorption of several linear cationic polymers of different chemical structure and protonation (polyallylamine (PAA), polyethylenimine (PEI), polyvinylamine (PVA), and poly-l-lysine (PLL)) on model bacterial membranes (4:1 mixture of zwitterionic phosphatidylethanolamine (PE) and anionic phosphatidylglycerol (PG) lipids). Overall, our findings show that binding of polycations to the anionic membrane surface effectively neutralizes its charge, leading to the reorientation of water molecules close to the lipid/water interface and to the partial release of counterions to the water phase. In certain cases, one has even an overcharging of the membrane, which was shown to be a cooperative effect of polymer charges and lipid counterions. Protonated amine groups of polycations are found to interact preferably with head groups of anionic lipids, giving rise to formation of hydrogen bonds and to a noticeable lateral immobilization of the lipids. While all the above findings are mostly defined by the overall charge of a polymer, we found that the polymer architecture also matters. In particular, PVA and PEI are able to accumulate anionic PG lipids on the membrane surface, leading to lipid segregation. In turn, PLL whose charge twice exceeds charges of PVA/PEI does not induce such lipid segregation due to its considerably less compact architecture and relatively long side chains. We also show that partitioning of a polycation into the lipid/water interface is an interplay between its protonation level (the overall charge) and hydrophobicity of the backbone. Therefore, a possible strategy in creating highly efficient antimicrobial polymeric agents could be in tuning these polycation's properties through proper

  8. A visualized investigation at the atomic scale of the antitumor effect of magnetic nanomedicine on gastric cancer cells.

    Science.gov (United States)

    Liu, Xiaokang; Deng, Xia; Li, Xinghua; Xue, Desheng; Zhang, Haoli; Liu, Tao; Liu, Qingfang; Mellors, Nigel J; Li, Yumin; Peng, Yong

    2014-07-01

    Discovering which anticancer drugs attack which organelle(s) of cancer cells is essential and significant, not only for understanding their therapeutic and adverse effects, but also to enable the development of new-generation therapeutics. Here, we show that novel Fe3O4-carboxymethyl cellulose-5-fluorouracil (Fe3O4-CMC-5FU) nanomedicine can apparently enhance the antitumor effect on gastric cancer cells, and its mechanism of killing the SGC-7901 gastric cancer cells can be directly observed at the atomic scale. The novel nanomedicine was prepared using the traditional antitumor drug 5FU to chemically bond onto the functionalized Fe3O4 nanoparticles (Fe3O4-CMC-5FU nanomedicine), and then was fed into SGC-7901 gastric cancer cells. The inorganic Fe3O4 nanoparticles were used to track the distribution and antitumor effect of the nanomedicine within individual SGC-7901 gastric cancer cells. Atomic-level observation and tracking the elemental distribution inside individual cells proved that the magnetic nanomedicine killed the gastric cells mainly by attacking their mitochondria. The enhanced therapeutic efficacy derives from the localized high concentration and poor mobility of the aggregated Fe3O4-CMC-5FU nanomedicine in the cytoplasm. A brand new mechanism of Fe3O4-CMC-5FU nanomedicine killing SGC-7901 gastric cancer cells by attacking their mitochondria was discovered, which is different from the classical mechanism utilized by traditional medicine 5FU, which kills gastric cancer cells by damaging their DNA. Our work might provide a partial solution in nanomedicines or even modern anticancer medicine for the visualized investigation of their antitumor effect.

  9. The College Student's Freedom of Expression

    Science.gov (United States)

    Gibbs, Annette

    1974-01-01

    Discussion of means to ensure freedom of expression by college students. Areas of expression noted are student newspapers, lectures by off-campus speakers, freedom to assemble peaceably and freedom to associate. (EK)

  10. 76 FR 73022 - Agency Information Collection (Operation Enduring Freedom/Operation Iraqi Freedom Seriously...

    Science.gov (United States)

    2011-11-28

    ... AFFAIRS Agency Information Collection (Operation Enduring Freedom/ Operation Iraqi Freedom Seriously... Enduring Freedom/Operation Iraqi Freedom Seriously Injured/Ill Service Member Veteran Worksheet, VA Form 21... Operation Enduring Freedom or Operation Iraqi Freedom service members who have at least six months remaining...

  11. 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)

  12. Power operated manipulators (Paper No. 019)

    International Nuclear Information System (INIS)

    Modi, R.K.; Radke, M.G.; Ramaswamy, N.V.; Ramkumar, M.S.

    1987-02-01

    Power manipulators (PM) have been developed for use in radioactive laboratories, reprocessing cells and waste handling projects, where jobs weighing upto 50 kg, are required to be handled and manoeuvred. Physical dimensions and mounting arrangements can be suitably designed to exploit the capabilities of the power manipulator. In general 'PM' consists of a jaw and some degrees of freedom (jaw rotation, jaw extension, elbow rotation, shoulder pivot, shoulder rotation, verticle motion, cross travel and longitudual travel). Number of degrees of freedom can be reduced or increased to suit a particular hot cell. All motions are powered and controlled by separate electric motors through control panel and a pendant control. Special efforts are made to make the assemblies very light, to reduce the load on prime mover and compact, to make it accessible in narrow areas. The power manipulator consists of wrist, elbow and shoulder assemblies. This assembly is fastened to any one mounting system, viz telescopic unit and gantry unit, wall bracket, column mounting, floor mounting, trolley mounting, etc. Two power manipulators PM 102 and PM 201 have been designed and are under manufacture in private industries. (author). 3 figs

  13. Efficient inverse position transformation for TR 4000S robot manipulator

    Directory of Open Access Journals (Sweden)

    Kesheng Wang

    1989-04-01

    Full Text Available An efficient method is developed for computing the inverse kinematic position solution with a closed form for the TR 4000S spray painting robot manipulator with five degrees of freedom and non-spherical wrist construction. The inverse kinematic problem is defined as the transformation from Cartesian space to the joint space. The solution is based on the geometrical separation of the arm and wrist of a robot manipulator and shows that it is very systematic, efficient and easily derived.

  14. Topological Structure of Manipulators Used in Amusement Parks

    Directory of Open Access Journals (Sweden)

    Liviu Marian Ungureanu

    2014-06-01

    Full Text Available This paper focuses on the mobility analysis of spatial and planar manipulators used in amusement parks. In this paper is presented a topological structure analysis for many types of serial and parallel manipulators, referring to the calculation of mobility (degree of freedom of these types of complex mechanisms. It is used a new formula to calculate the mobility according to the number of drivelines, which are considered having identical operations.

  15. Scientific Freedom and Human Rights

    Science.gov (United States)

    Munoz, Elisa

    2000-03-01

    As part of her ongoing work monitoring issues at the intersection of science and human rights, Ms. Munoz has highlighted violations of academic freedom in Serbia and Iran, the denial of visas and travel licenses to U.S. and Cuban scientists, interference with scientific freedom in Brazil, Mexico, Russia, and the Ukraine, the use of organs from executed prisoners in China, legislation jeopardizing women's health in Iran, and the closure of centers for the treatment of torture survivors in Turkey. Such violations contravene international human rights principles listed in the Universal Declaration of Human Rights and other international human rights covenants. Ms. Munoz will describe current violations of scientific freedom and the relevant international principles on which these freedoms rest.

  16. Freedom: A Promise of Possibility.

    Science.gov (United States)

    Bunkers, Sandra Schmidt

    2015-10-01

    The idea of freedom as a promise of possibility is explored in this column. The core concepts from a research study on considering tomorrow (Bunkers, 1998) coupled with humanbecoming community change processes (Parse, 2003) are used to illuminate this notion. The importance of intentionality in human freedom is discussed from both a human science and a natural science perspective. © The Author(s) 2015.

  17. Scale-up for model verification; design, modeling and control of an elastic parallel kinematic 6-DOFs manipulator

    NARCIS (Netherlands)

    Huijts, Martijn; Brouwer, Dannis Michel; van Dijk, Johannes

    2009-01-01

    Manipulators with guidance constructions based on elastic mechanisms are of interest for the increasing number of precision vacuum applications. Previously, the design of an elastic MEMS-based 6-DOFs manipulator was presented. Characterization in six degrees of freedom (DOFs) of a manipulator the

  18. In Situ Atomic-Scale Observation of Electrochemical Delithiation Induced Structure Evolution of LiCoO2Cathode in a Working All-Solid-State Battery.

    Science.gov (United States)

    Gong, Yue; Zhang, Jienan; Jiang, Liwei; Shi, Jin-An; Zhang, Qinghua; Yang, Zhenzhong; Zou, Dongli; Wang, Jiangyong; Yu, Xiqian; Xiao, Ruijuan; Hu, Yong-Sheng; Gu, Lin; Li, Hong; Chen, Liquan

    2017-03-29

    We report a method for in situ atomic-scale observation of electrochemical delithiation in a working all-solid-state battery using a state-of-the-art chip based in situ transmission electron microscopy (TEM) holder and focused ion beam milling to prepare an all-solid-state lithium-ion battery sample. A battery consisting of LiCoO 2 cathode, LLZO solid state electrolyte and gold anode was constructed, delithiated and observed in an aberration corrected scanning transmission electron microscope at atomic scale. We found that the pristine single crystal LiCoO 2 became nanosized polycrystal connected by coherent twin boundaries and antiphase domain boundaries after high voltage delithiation. This is different from liquid electrolyte batteries, where a series of phase transitions take place at LiCoO 2 cathode during delithiation. Both grain boundaries become more energy favorable along with extraction of lithium ions through theoretical calculation. We also proposed a lithium migration pathway before and after polycrystallization. This new methodology could stimulate atomic scale in situ scanning/TEM studies of battery materials and provide important mechanistic insight for designing better all-solid-state battery.

  19. Academic Freedom and the Diminished Subject

    Science.gov (United States)

    Hayes, Dennis

    2009-01-01

    Discussions about freedom of speech and academic freedom today are about the limits to those freedoms. However, these discussions take place mostly in the higher education trade press and do not receive any serious attention from academics and educationalists. In this paper several key arguments for limiting academic freedom are identified,…

  20. Kant, Freedom as Independence, and Democracy

    DEFF Research Database (Denmark)

    Rostbøll, Christian F.

    2016-01-01

    democracy. This freedom argument goes beyond freedom as moral autonomy and a libertarian idea of freedom as non-interference to a notion of freedom as a form of standing constituted by the public legal order. The trouble with other attempts to connect freedom and democracy is that they have operated......, but they have largely ignored its potential contribution to discussions of democracy. However, Kant’s approach to political philosophy can supply unique insights to the latter. His notion that freedom and the public legal order are co-constitutive can be developed into a freedom argument for constitutional...

  1. [On freedom of scientific research].

    Science.gov (United States)

    Folkers, G

    2013-07-01

    Debates about science and, more specifically, about scientific research quickly bring up the question about its freedom. Science is readily blamed for technological disasters or criticized for nursing fantasies of omnipotence and commercial gain. This prompts the call for a restriction of its freedom. At the same time, society's demands on science are enormous, to the effect that science and technology have acquired the status of a deus-ex-machina: they are expected to furnish short-term, affordable, and convenient solutions to a wide range of problems, including issues of health, transportation, food and, more generally, a comfortable life. What kind of freedom is required to meet these expectations? Who is in a position to grant it? What does freedom for science mean and how is it linked to responsibility? The paper examines the current situation of freedom in scientific research and of its restrictions, many of which are mentally or economically conditioned. It calls for the involvement of an informed, self-confident bourgeoisie in research decisions and for the educational measures this necessitates. Finally, it demands a greater appreciation of education (rather than training) as the basis of social trust, and the recognition of continuous education as a productive investment of time and a crucial element in the employment of social goods.

  2. Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2014-08-01

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

  3. Phonon interference control of atomic-scale metamirrors, meta-absorbers, and heat transfer through crystal interfaces

    Science.gov (United States)

    Kosevich, Yu. A.; Potyomina, L. G.; Darinskii, A. N.; Strelnikov, I. A.

    2018-03-01

    The paper theoretically studies the possibility of using the effects of phonon interference between paths through different interatomic bonds for the control of phonon heat transfer through internal crystal interfaces and for the design of phonon metamirrors and meta-absorbers. These metamirrors and meta-absorbers are considered to be defect nanolayers of atomic-scale thicknesses embedded in a crystal. Several analytically solvable three-dimensional lattice-dynamics models of the phonon metamirrors and meta-absorbers at the internal crystal planes are described. It is shown that due to destructive interference in the two or more phonon paths, the internal crystal planes, fully or partially filled with weakly bound or heavy-isotope defect atoms, can completely reflect or completely absorb phonons at the transmission antiresonances, whose wavelengths are larger than the effective thickness of the metamirror or meta-absorber. Due to cooperative superradiant effect, the spectral widths of the two-path interference antiresonances for the plane waves are given by the square of partial filling fraction in the defect crystal plane. Our analysis reveals that the presence of two or more phonon paths plays the dominant role in the emergence of the transmission antiresonances in phonon scattering at the defect crystal planes and in reduction of the thermal interface conductance in comparison with the Fano-resonance concept. We study analytically phonon transmission through internal crystal plane in a model cubic lattice of Si-like atoms, partially filled with Ge-like defect atoms. Such a plane can serve as interference phonon metamirror with the transmission antiresonances in the vicinities of eigenmode frequencies of Ge-like defect atoms in the terahertz frequency range. We predict the extraordinary phonon transmission induced by the two-path constructive interference of the lattice waves in resonance with the vibrations of rare host atoms, periodically distributed in the

  4. Space Station Freedom cupola definition

    Science.gov (United States)

    Weaver, Laurie A.; Lauger, John

    1989-01-01

    Following the realization that adequate Space Station Freedom viewing could not be achieved without breaking the plane of the modules, a conceptual design phase for the development of a cupola progressed from the idea of a small, bubble-type canopy to a much larger, two crewmember cupola. The evolving cupola conceptual designs were each evaluated against the requirements for providing a large field-of-view, a complete proximity control workstation with flexible and relocatable restraints, and sufficient volume for two, 95th percentile crewmembers to operate while still maintaining reasonable weight and size restrictions. As the SS Freedom program Preliminary Design Review draws closer, the cupola development phase shifts toward evaluation of viewing and operational capability. The appropriate balance of viewing, structures and operations must be achieved before the program can place confidence in a cupola design providing SS Freedom with a direct viewing workstation capable of supporting the great variety of tasks projected for the life of the station.

  5. Synthesis of a spatial 3-RPS parallel manipulator based on physical ...

    Indian Academy of Sciences (India)

    IEEE International Conference on Robotics and Automation 1: 345–350. Lee K, Shah D K 1988 Dynamic analysis of a three degrees of freedom in-parallel actuated manipulator. IEEE Tran. Rob. Autom. 4: 361–367. Rao N M, Rao K M 2006 Multi-position dimensional synthesis of a spatial 3-RPS parallel manipulator.

  6. Forward Kinematic Analysis of Tip-Tilt-Piston Parallel Manipulator using Secant-Bootstrap Method

    NARCIS (Netherlands)

    Majidian, A.; Amani, A.; Golipour, M.; Amraei, A.

    2014-01-01

    This paper, deals with application of the Secant-Bootstrap Method (SBM) to solve the Closed-form forward kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators. The manipulator has higher resolution and precision than the existing

  7. Design and modeling of a six DOF's MEMS-based precision manipulators

    NARCIS (Netherlands)

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

    2010-01-01

    In this paper a design is presented for a precision MEMS-based six degrees-of-freedom (DOFs) manipulator. The purpose of the manipulator is to position a small sample (10 μm × 20 μm × 0.2 μm) in a transmission electron microscope. A parallel kinematic mechanism with slanted leaf-springs is used to

  8. New threats to academic freedom.

    Science.gov (United States)

    Minerva, Francesca

    2014-05-01

    Using a specific case as an example, the article argues that the Internet allows dissemination of academic ideas to the general public in ways that can sometimes pose a threat to academic freedom. Since academic freedom is a fundamental element of academia and since it benefits society at large, it is important to safeguard it. Among measures that can be taken in order to achieve this goal, the publication of anonymous research seems to be a good option. © 2013 John Wiley & Sons Ltd.

  9. Educational Vouchers: Freedom to Choose?

    OpenAIRE

    Reel, Jordan; Block, Walter E.

    2013-01-01

    Milton Friedman is famous for his book title: “Free to Choose.” He also favors educational vouchers, which denies the freedom to choose to people who do not wish to subsidize the education of other people’s children. Thus, he is guilty of a logical contradiction. Why is it important to assess whether Friedman’s views on educational vouchers are logically consistent with his widespread reputation as an advocate of free enterprise, and, thus, freedom to chose? It is important to assess all figu...

  10. Implementation of vision based 2-DOF underwater Manipulator

    Directory of Open Access Journals (Sweden)

    Geng Jinpeng

    2015-01-01

    Full Text Available Manipulator is of vital importance to the remotely operated vehicle (ROV, especially when it works in the nuclear reactor pool. Two degrees of freedom (2-DOF underwater manipulator is designed to the ROV, which is composed of control cabinet, buoyancy module, propellers, depth gauge, sonar, a monocular camera and other attitude sensors. The manipulator can be used to salvage small parts like bolts and nuts to accelerate the progress of the overhaul. It can move in the vertical direction alone through the control of the second joint, and can grab object using its unique designed gripper. A monocular vision based localization algorithm is applied to help the manipulator work independently and intelligently. Eventually, field experiment is conducted in the swimming pool to verify the effectiveness of the manipulator and the monocular vision based algorithm.

  11. Renormalization group and asymptotic freedom

    International Nuclear Information System (INIS)

    Morris, J.R.

    1978-01-01

    Several field theoretic models are presented which allow exact expressions of the renormalization constants and renormalized coupling constants. These models are analyzed as to their content of asymptotic free field behavior through the use of the Callan-Symanzik renormalization group equation. It is found that none of these models possesses asymptotic freedom in four dimensions

  12. On Procedural Freedom of Choice

    NARCIS (Netherlands)

    Arlegi, R.; Dimitrov, D.A.

    2004-01-01

    Numerous works in the last decade have analyzed the question of how to compare opportunity sets as a way to measure and evaluate individual freedom of choice.This paper defends that, in many contexts, external procedural aspects that are associated to an opportunity set should be taken into account

  13. Academic Freedom: A Lawyer's Perspective

    Science.gov (United States)

    Davies, Mark

    2015-01-01

    Academic freedom is central to ideas of higher education, yet in the United Kingdom it is facing challenges from changing managerial approaches within some universities and changing governmental expectations. Universities are increasingly expected to focus upon knowledge which can be shown to have value and to exploit the results of academic…

  14. No School like Freedom School

    Science.gov (United States)

    Williamson, Lisa Ann

    2013-01-01

    "You are the hope of the future." That's the message Marian Wright Edelman, executive director of the Children's Defense Fund (CDF), gave more than 1,500 excited college students and recent graduates as they began a week-long training for the CDF's Freedom Schools. She was preparing them for a daunting task--that of transforming the…

  15. The Specific Value of Freedom

    NARCIS (Netherlands)

    van Hees, Martin

    2010-01-01

    Freedom is among the most important values in political life, yet there has always been a great deal of disagreement about what this value demands from us. Libertarians argue that it requires that we protect each person's right to own and exchange private property. Liberals argue that it requires

  16. Tenure, Academic Freedom, and Governance.

    Science.gov (United States)

    Perley, James E.

    1995-01-01

    Tenure itself is not the central issue in the debate over faculty tenure; honest faculty evaluation, adequate faculty development, and termination when appropriate are the real issues as are fears that abandonment of the tenure principle would amount to abandonment of the principles of academic freedom and shared governance. (MSE)

  17. A spatial mechanism for pilot laser alignment with four independently controlled degrees of freedom

    NARCIS (Netherlands)

    Kreutz, Ernst-Wolfgang; Meijer, J.; Quenzer, A.; Schuöcker, Dieter

    1987-01-01

    Alignment mechanism for optical components, such as mirrors for manipulating laser beams, frequently require four degrees of freedom: two translations and two rotations, i.e. a four axis system. When the adjustment of one axis influences the others, as often will be the case, alignment procedures

  18. Kinematic Analysis Of Tricept Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Mir Amin Hosseini

    2012-01-01

    Full Text Available Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of freedom, therefore leads to dimensional in-homogeneous Jacobian matrices. Thus, we divide some entries of the Jacobian by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. Moreover, its workspace is parameterized using some design parameters. Then, using GA method, the workspace is optimized subjects to some geometric constraints. Finally, dexterity of the design is evaluated. Keywords- Kinematic, Workspace, Singularity, TriceptABSTRAK - Manipulator selari terdiri daripada platform tetap dan bergerak yang bersambung antara satu sama lain dengan beberapa pautan bergerak. Manipulator selari mempunyai beberapa kebaikan tertentu dibandingkan dengan yang bersamaan dengannya. Walaupun ia mempunyai ruang kerja yang sempit, hubungan kinematik kompleks dan titik tunggal tinggi dalam linkungan ruang kerjanya. Dalam kajian ini, kinematik ke hadapan manipulator selari Tricept diselesaikan secara analisa dan pengoptimuman ruang kerja dijalankan. Manipulator selari ini mempunyai darjah kebebasan yang kompleks, yang menyebabkan ia mendorong kepada kehomogenan dimensi matriks Jacobian. Catatan Jacobian dibahagikan kepada unit panjang, dimana ia menghasilkan Jacobian baru yang homogen dimensinya. Tambahan, ruang kerjanya diparameterkan dengan menggunakan beberapa parameter reka bentuk. Kemudian, dengan kaedah GA, ruang kerja mengoptimakan subjek kepada beberapa kekangan geometrik. Akhirnya, kecakatan reka bentuk dinilaikan

  19. Comparison of Three Interactive Techniques for Collaborative Manipulation of Objects in Virtual Reality

    OpenAIRE

    Aguerreche, Laurent; Duval, Thierry; Lécuyer, Anatole

    2010-01-01

    International audience; This paper compares three interactive techniques for two-user collaborative manipulation in virtual environments. The first technique averages positions and orientations provided by users (Mean technique). The second technique (DOF separation) splits degrees of freedom of the manipulated object among users. The third technique is a tangible device grasped simultaneously by the two users.We have conducted an experiment where participants were asked to manipulate and ass...

  20. Tetragonal fcc-Fe induced by κ -carbide precipitates: Atomic scale insights from correlative electron microscopy, atom probe tomography, and density functional theory

    Science.gov (United States)

    Liebscher, Christian H.; Yao, Mengji; Dey, Poulumi; Lipińska-Chwalek, Marta; Berkels, Benjamin; Gault, Baptiste; Hickel, Tilmann; Herbig, Michael; Mayer, Joachim; Neugebauer, Jörg; Raabe, Dierk; Dehm, Gerhard; Scheu, Christina

    2018-02-01

    Correlative scanning transmission electron microscopy, atom probe tomography, and density functional theory calculations resolve the correlation between elastic strain fields and local impurity concentrations on the atomic scale. The correlative approach is applied to coherent interfaces in a κ -carbide strengthened low-density steel and establishes a tetragonal distortion of fcc-Fe. An interfacial roughness of ˜1 nm and a localized carbon concentration gradient extending over ˜2 -3 nm is revealed, which originates from the mechano-chemical coupling between local strain and composition.

  1. [The interactive effect of initial position and threat to freedom on psychological reactance].

    Science.gov (United States)

    Imajo, S

    1996-02-01

    An experiment was conducted to examine which was crucial for the reactance effect on attitude change: discrepancy, initial position or prerequisite conditions for reactance arousal. Initial receiver attitudes were one of the five levels: moderate or extreme agreement (the least discrepancy), slight agreement, neutral, slight disagreement, and moderate or extreme disagreement (the most discrepancy), and threat to attitudinal freedom was manipulated. Prerequisite conditions for reactance arousal were also measured. Threat manipulation significantly reduced opinion change only among receivers at neutral or moderate/extreme disagreement position. In addition, examination of prerequisites showed that compliance in high threat condition was significantly less for receivers who had been uncertain about their own initial position and had perceived the issue important (freedom-of-choice group) and those who had perceived the attacked position as both possible and important (freedom-of-position group). Theoretical and practical significance of prerequisites for reactance arousal is discussed.

  2. 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

  3. Compliant Aerial Manipulators

    DEFF Research Database (Denmark)

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

    2016-01-01

    This letter focuses on the problem of handling impacts by means of an aerial manipulator and proposes a solution that combines the control of the aerial manipulator's end-effector position with an innovative design approach of aerial manipulation systems, consisting of both active and passive...... 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...

  4. Old Dilemmas Renewed: Fear of Freedom vs. Freedom from Fear

    Directory of Open Access Journals (Sweden)

    Aleksandra Gruszczyk

    2016-07-01

    Full Text Available Contemporary societies are currently subjected to very rapid and radical social changes and, as a consequence, struggle with their outcomes. The results range from the unforeseen repercussions of globally shifting political powers, through rising nationalisms, to prolonged economic, environmental, political and humanitarian crises. Critical analysis of the theories focused on the phenomena of authoritarianism, escapism, political myth, and conformity allows for outlining a comprehensive picture of the universally recognized opposition between freedom and security. From the distinction between the positive and negative freedom to the ambiguity surrounding the concept of “freedom from fear”, the fundamental dilemma is viewed from a historical perspective and illustrated with modern examples, emphasizing its current validity, insightfulness and potential in analyzing contemporary global problems. This approach allows for in-depth analyses of diversified social and political issues, such as the North African-European refugee crisis, rising nationalisms in the Western world, or a marked shift in political and social perspectives worldwide, from modern escapism to the birth of new myths of state.

  5. 76 FR 3815 - Religious Freedom Day, 2011

    Science.gov (United States)

    2011-01-20

    ... weighty task of ensuring freedom of religious expression and practice, we have remained a Nation in which... Part V The President Proclamation 8623--Religious Freedom Day, 2011 Proclamation 8624--Martin... President [[Page 3817

  6. 78 FR 68325 - World Freedom Day, 2013

    Science.gov (United States)

    2013-11-14

    ... Freedom Day, we remember that for all the raw power of authoritarian regimes, it is ultimately citizens... continues to march with those who are reaching for freedom around the world. Today, let us remember that our...

  7. 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)

  8. 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

  9. Step-by-step rotation of a molecule-gear mounted on an atomic-scale axis.

    Science.gov (United States)

    Manzano, C; Soe, W-H; Wong, H S; Ample, F; Gourdon, A; Chandrasekhar, N; Joachim, C

    2009-07-01

    Gears are microfabricated down to diameters of a few micrometres. Natural macromolecular motors, of tens of nanometres in diameter, also show gear effects. At a smaller scale, the random rotation of a single-molecule rotor encaged in a molecular stator has been observed, demonstrating that a single molecule can be rotated with the tip of a scanning tunnelling microscope (STM). A self-assembled rack-and-pinion molecular machine where the STM tip apex is the rotation axis of the pinion was also tested. Here, we present the mechanics of an intentionally constructed molecule-gear on a Au(111) surface, mounting and centring one hexa-t-butyl-pyrimidopentaphenylbenzene molecule on one atom axis. The combination of molecular design, molecular manipulation and surface atomic structure selection leads to the construction of a fundamental component of a planar single-molecule mechanical machine. The rotation of our molecule-gear is step-by-step and totally under control, demonstrating nine stable stations in both directions.

  10. Atomic-scale finishing of carbon face of single crystal SiC by combination of thermal oxidation pretreatment and slurry polishing

    Science.gov (United States)

    Deng, Hui; Liu, Nian; Endo, Katsuyoshi; Yamamura, Kazuya

    2018-03-01

    Single-crystal silicon carbide (4H-SiC) has a range of useful physical, mechanical and electronic properties that make it a promising material for fabrication of next-generation semiconductor devices. In this work, we report a hybrid polishing process combining thermal oxidation pretreatment and soft abrasive polishing to realize the damage-free and atomic-scale smooth finishing of the carbon face of 4H-SiC. By thermal oxidation pretreatment, the hardness of the carbon face has been reduced from 4.6 GPa to 1.7 GPa, which enables highly efficient polishing using CeO2 slurry. For conventional CeO2 slurry polishing without pretreatment, scratches still existed after a long polishing duration for 16 h. The probable scratch removal mechanism in CeO2 slurry polishing has been proposed based on surface morphology changes during polishing. Whereas a scratch-free surface with well-ordered SiC atomic steps was obtained within a short polishing duration of only 3 h when polishing was conducted on a thermally oxidized surface. Our results demonstrate that hybrid polishing combining surface pretreatment and soft abrasive polishing is a promising approach to realize the damage-free and atomic-scale smooth finishing of the carbon face of 4H-SiC.

  11. Imaging atomic-scale effects of high-energy ion irradiation on superconductivity and vortex pinning in Fe(Se,Te).

    Science.gov (United States)

    Massee, Freek; Sprau, Peter Oliver; Wang, Yong-Lei; Davis, J C Séamus; Ghigo, Gianluca; Gu, Genda D; Kwok, Wai-Kwong

    2015-05-01

    Maximizing the sustainable supercurrent density, J C, is crucial to high-current applications of superconductivity. To achieve this, preventing dissipative motion of quantized vortices is key. Irradiation of superconductors with high-energy heavy ions can be used to create nanoscale defects that act as deep pinning potentials for vortices. This approach holds unique promise for high-current applications of iron-based superconductors because J C amplification persists to much higher radiation doses than in cuprate superconductors without significantly altering the superconducting critical temperature. However, for these compounds, virtually nothing is known about the atomic-scale interplay of the crystal damage from the high-energy ions, the superconducting order parameter, and the vortex pinning processes. We visualize the atomic-scale effects of irradiating FeSe x Te1-x with 249-MeV Au ions and find two distinct effects: compact nanometer-sized regions of crystal disruption or "columnar defects," plus a higher density of single atomic site "point" defects probably from secondary scattering. We directly show that the superconducting order is virtually annihilated within the former and suppressed by the latter. Simultaneous atomically resolved images of the columnar crystal defects, the superconductivity, and the vortex configurations then reveal how a mixed pinning landscape is created, with the strongest vortex pinning occurring at metallic core columnar defects and secondary pinning at clusters of point-like defects, followed by collective pinning at higher fields.

  12. Economic Freedom and Entrepreneurial Activity

    DEFF Research Database (Denmark)

    Bjørnskov, Christian; Foss, Nicolai Juul

    by differences in economic policy and institutional design. Specifically, we use the measures of economic freedom to ask which elements of economic policy making and the institutional framework that are responsible for the supply of entrepreneurship (our data on entrepreneurship are derived from the Global......While much attention has been devoted to analyzing how the institutional framework and entrepreneurship impact growth, how economic policy and institutional design affect entrepreneurship appears to be much less analyzed. We try to explain cross-country differences in the level of entrepreneurship...... Entrepreneurship Monitor). The combination of these two datasets is unique in the literature. We find that the size of government is negatively correlated with entrepreneurial activity but that sound money is positively correlated with entrepreneurial activity. Other measures of economic freedom...

  13. Freedom, License and A.S. Neill.

    Science.gov (United States)

    Barrett, Richard

    1981-01-01

    Attempts to unravel some of the confusion which has arisen over theoretical and actual freedom at A.S. Neill's alternative school in England, Summerhill. An overview of the topic of freedom is offered, based on contrasting theories of freedom in "On Being Free," by Firthjof Bergmann (University of Notre Dame Press, 1977). (DB)

  14. Development as Freedom - And As What Else?

    NARCIS (Netherlands)

    D.R. Gasper (Des); I.P. van Staveren (Irene)

    2003-01-01

    markdownabstractAbstract To what extent can Amartya Sen’s ideas on freedom, especially his conceptualization of development as freedom, enrich feminist economics? Sen’s notion of freedom (as the capability to achieve valued ends) has many attractions and provides important opportunities to

  15. Development as Freedom. And as What Else?

    NARCIS (Netherlands)

    Gasper, D.; Staveren, I.P. van

    2006-01-01

    To what extent can Amartya Sen’s ideas on freedom, especially his conceptualization of development as freedom, enrich feminist economics? Sen’s notion of freedom (as the capability to achieve valued ends) has many attractions and provides important opportunities to analyze gender inequalities. At

  16. Development as Freedom : And as What Else?

    NARCIS (Netherlands)

    Staveren, I.P. van; Gasper, D.

    2007-01-01

    To what extent can Amartya Sen’s ideas on freedom, especially his conceptualization of development as freedom, enrich feminist economics? Sen’s notion of freedom (as the capability to achieve valued ends) has many attractions and provides important opportunities to analyze gender inequalities. At

  17. Individual Freedom and Institutional Frameworks in Development

    Science.gov (United States)

    Allen, Nicholas

    2012-01-01

    In this article I explore Amartya Sen's contention that individual freedom represents both the objective of development and the means through which development is to take place. Examining the conceptualisation of freedom central to Sen's capability approach, I distinguish between two notions of freedom, autonomy and agency, where the former…

  18. Development as Freedom. And as What Else?

    NARCIS (Netherlands)

    Gasper, D.; Staveren, I.P. van

    2005-01-01

    To what extent can Amartya Sen’s ideas on freedom, especially his conceptualization of development as freedom, enrich feminist economics? Sen’s notion of freedom (as the capability to achieve valued ends) has many attractions and provides important opportunities to analyze gender inequalities. At

  19. 3 CFR - Freedom of Information Act

    Science.gov (United States)

    2010-01-01

    ... 3 The President 1 2010-01-01 2010-01-01 false Freedom of Information Act Presidential Documents Other Presidential Documents Memorandum of January 21, 2009 Freedom of Information Act Memorandum for... disinfectants.” In our democracy, the Freedom of Information Act (FOIA), which encourages accountability through...

  20. 77 FR 7243 - Proposed Information Collection (Operation Enduring Freedom/Operation Iraqi Freedom Veterans...

    Science.gov (United States)

    2012-02-10

    ... AFFAIRS Proposed Information Collection (Operation Enduring Freedom/ Operation Iraqi Freedom Veterans... ``OMB Control No. 2900-0728.'' SUPPLEMENTARY INFORMATION: Title: Operation Enduring Freedom/Operation Iraqi Freedom Veterans Health Needs Assessment, VA Form 10-21091. OMB Control Number: 2900-0728. Type of...

  1. Revisiting Mathematics Manipulative Materials

    Science.gov (United States)

    Swan, Paul; Marshall, Linda

    2010-01-01

    It is over 12 years since "APMC" published Bob Perry and Peter Howard's research on the use of mathematics manipulative materials in primary mathematics classrooms. Since then the availability of virtual manipulatives and associated access to computers and interactive whiteboards have caused educators to rethink the use of mathematics…

  2. Mascot servo-manipulator

    CERN Multimedia

    1972-01-01

    The Mascot servo-manipulator on its test rails. In the foreground is the slave unit, which, in normal use, operates in the "hot" area with television observation. In the background the operator is manipulating arms which the slave arms follow, and which also convey back to him the "feel" of what is being handled.

  3. 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.)

  4. 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)

  5. 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

  6. Modeling and Analysis of a 2-DOF Spherical Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Xuechao Duan

    2016-09-01

    Full Text Available The kinematics of a two rotational degrees-of-freedom (DOF spherical parallel manipulator (SPM is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and angular acceleration between the actuators and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established by using the virtual work principle and the first-order influence coefficient matrix of the manipulator. Eventually, a typical motion plan and simulations are carried out, and the actuating torque needed for these motions are worked out by employing the derived inverse dynamic equations. In addition, an analysis of the mechanical characteristics of the parallel manipulator is made. This study lays a solid base for the control of the 2-DOF SPM, and also provides the possibility of using this kind of spherical manipulator as a 2-DOF orientation, angular velocity, or even torque sensor.

  7. Inverse Kinematics Solution and Verification of 4-DOF Hydraulic Manipulator

    Science.gov (United States)

    Chao, Zhiqiang; Wang, Fei; Zhang, Chuanqing; Li, Huaying

    2017-10-01

    Aimed at four degree of freedom (DOF) hydraulic manipulator, an inverse kinematics solution is proposed from Cartesian space to drive space based on geometrical method. To the structural and diver characteristics of the manipulator, a forward kinematics is conducted by using D-H method. The position and orientation of manipulator’s end-effector can be obtained under the kinematics constraint. By analyzing the structure, the solution of inverse kinematics of manipulator can be obtained, and the conversion between drive space and joint space can be got through the sport’s mechanism kinematics. In order to meet the need of motion planning and control of the manipulator, the inverse kinematics and conversion are validated based on simulation.

  8. Modeling and Analysis of a 2-DOF Spherical Parallel Manipulator.

    Science.gov (United States)

    Duan, Xuechao; Yang, Yongzhi; Cheng, Bi

    2016-09-13

    The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and angular acceleration between the actuators and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established by using the virtual work principle and the first-order influence coefficient matrix of the manipulator. Eventually, a typical motion plan and simulations are carried out, and the actuating torque needed for these motions are worked out by employing the derived inverse dynamic equations. In addition, an analysis of the mechanical characteristics of the parallel manipulator is made. This study lays a solid base for the control of the 2-DOF SPM, and also provides the possibility of using this kind of spherical manipulator as a 2-DOF orientation, angular velocity, or even torque sensor.

  9. 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.

  10. 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)

  11. Machiavelli: Ambition, Freedom and Justice

    Directory of Open Access Journals (Sweden)

    Alicia Villar Ezcurra

    2014-11-01

    Full Text Available This article tackles the anthropological conception of Machiavelli, mainly taken from the Discourses on the First Decade of Titus Livius in which stands out the identity of human passions and the importance of its understanding to reach political knowledge. Machiavelli considers that the human being is malleable in such a way that a passion can be fought and compensated by another one. From this perspective, is analysed the role of ambition and freedom both as a source of confrontation and degeneration and as an incentive to achieve the most important goals.

  12. 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

  13. 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)

  14. Detection of atomic scale changes in the free volume void size of three-dimensional colorectal cancer cell culture using positron annihilation lifetime spectroscopy.

    Science.gov (United States)

    Axpe, Eneko; Lopez-Euba, Tamara; Castellanos-Rubio, Ainara; Merida, David; Garcia, Jose Angel; Plaza-Izurieta, Leticia; Fernandez-Jimenez, Nora; Plazaola, Fernando; Bilbao, Jose Ramon

    2014-01-01

    Positron annihilation lifetime spectroscopy (PALS) provides a direct measurement of the free volume void sizes in polymers and biological systems. This free volume is critical in explaining and understanding physical and mechanical properties of polymers. Moreover, PALS has been recently proposed as a potential tool in detecting cancer at early stages, probing the differences in the subnanometer scale free volume voids between cancerous/healthy skin samples of the same patient. Despite several investigations on free volume in complex cancerous tissues, no positron annihilation studies of living cancer cell cultures have been reported. We demonstrate that PALS can be applied to the study in human living 3D cell cultures. The technique is also capable to detect atomic scale changes in the size of the free volume voids due to the biological responses to TGF-β. PALS may be developed to characterize the effect of different culture conditions in the free volume voids of cells grown in vitro.

  15. Detection of Atomic Scale Changes in the Free Volume Void Size of Three-Dimensional Colorectal Cancer Cell Culture Using Positron Annihilation Lifetime Spectroscopy

    Science.gov (United States)

    Castellanos-Rubio, Ainara; Merida, David; Garcia, Jose Angel; Plaza-Izurieta, Leticia; Fernandez-Jimenez, Nora; Plazaola, Fernando; Bilbao, Jose Ramon

    2014-01-01

    Positron annihilation lifetime spectroscopy (PALS) provides a direct measurement of the free volume void sizes in polymers and biological systems. This free volume is critical in explaining and understanding physical and mechanical properties of polymers. Moreover, PALS has been recently proposed as a potential tool in detecting cancer at early stages, probing the differences in the subnanometer scale free volume voids between cancerous/healthy skin samples of the same patient. Despite several investigations on free volume in complex cancerous tissues, no positron annihilation studies of living cancer cell cultures have been reported. We demonstrate that PALS can be applied to the study in human living 3D cell cultures. The technique is also capable to detect atomic scale changes in the size of the free volume voids due to the biological responses to TGF-β. PALS may be developed to characterize the effect of different culture conditions in the free volume voids of cells grown in vitro. PMID:24392097

  16. A New Cryogenic Sample Manipulator For SRC's Scienta 2002 System

    International Nuclear Information System (INIS)

    Gundelach, Chad T.; Fisher, Mike V.; Hoechst, Hartmut

    2004-01-01

    We discuss the first bench tests of a sample manipulator which was recently designed at SRC for the Scienta 2002 User system. The manipulator concept utilizes the 10 deg. angular window of the Scienta in the horizontal plane (angle dispersion) by rotating the sample normal around the vertical axis while angular scans along the vertical axis (energy dispersion) are continuous within ±30 deg. relative to the electron lens by rotating the sample around the horizontal axis. With this concept it is possible to precisely map the entire two-dimensional k-space of a crystal by means of stitching together 10 deg. wide stripes centered +15 deg. to -50 deg. relative to the sample normal. Three degrees of translational freedom allow positioning the sample surface at the focal point of the analyzer. Two degrees of rotational freedom are available at this position for manipulating the sample. Samples are mounted to a standard holder and transferred to the manipulator via a load-lock system attached to a prep chamber. The manipulator is configured with a cryogenic cold head, an electrical heater, and a temperature sensor permitting continuous closed-loop operation for 20-380 K

  17. Robots for manipulation in a micro-gravity environment

    Science.gov (United States)

    Quinn, R. D.; Lawrence, C.

    1988-01-01

    This paper is concerned with the development of control strategies and mechanisms for robots operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. Approaches discussed for controlling the robot base reactions/motions include strategies making use of manipulators with redundant degrees of freedon, actuators at the robot base, and a redundant (balancing) arm. Two degree-of-freedom, traction-drive joints are discussed as well as the conceptual design for a traction-driven manipulator.

  18. Visual control of a robot manipulator using neural networks

    International Nuclear Information System (INIS)

    Kurazume, Ryo; Sekiguchi, Minoru; Nagata, Shigemi

    1994-01-01

    This paper describes a vision-motor fusion system using neural networks, consisting of multiple vision sensors and a manipulator, for grasping an object placed in a desired position and attitude in a three-dimensional workspace. The system does not need complicated vision sensor calibration and calculation of a transformation matrix, and can thus be easily constructed for grasping tasks. An experimental system with two TV cameras and a manipulator with six degrees of freedom grasped a connector suspended in a three-dimensional workspace with high accuracy. (author)

  19. Freedom: Toward an Integration of the Counseling Profession

    Science.gov (United States)

    Hanna, Fred J.

    2011-01-01

    Freedom is presented as an overarching paradigm that may align and bring together the counseling profession's diverse counseling theories and open a doorway to a new generation of counseling techniques. Freedom is defined and discussed in terms of its 4 modalities: freedom from, freedom to, freedom with, and freedom for. The long-standing problem…

  20. Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

    Energy Technology Data Exchange (ETDEWEB)

    Qu, Haibo; Guo, Sheng [Beijing Jiaotong University, Beijing (China)

    2017-04-15

    In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.

  1. Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

    International Nuclear Information System (INIS)

    Qu, Haibo; Guo, Sheng

    2017-01-01

    In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations

  2. The evolution of teleoperated manipulators at ORNL

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-12-31

    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.

  3. 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.

  4. Manipulation of choice behavior

    OpenAIRE

    Manzini, Paola; Mariotti, Marco; Tyson, Christopher J.

    2011-01-01

    We introduce and study the problem of manipulation of choice behavior. In a class of two-stage models of decision making, with the agent's choices determined by three "psychological variables," we imagine that a subset of these variables can be selected by a "manipulator." To what extent does this confer control of the agent's behavior? Within the specified framework, which overlaps with two existing models of choice under cognitive constraints, we provide a complete answer to this question.

  5. Self-repairing control for damaged robotic manipulators

    International Nuclear Information System (INIS)

    Eisler, G.R.; Robinett, R.D.; Dohrmann, C.R.; Driessen, B.J.

    1997-03-01

    Algorithms have been developed allowing operation of robotic systems under damaged conditions. Specific areas addressed were optimal sensor location, adaptive nonlinear control, fault-tolerant robot design, and dynamic path-planning. A seven-degree-of-freedom, hydraulic manipulator, with fault-tolerant joint design was also constructed and tested. This report completes this project which was funded under the Laboratory Directed Research and Development program

  6. BBG 2009 Freedom of Information Act Repot

    Data.gov (United States)

    Broadcasting Board of Governors — The Broadcasting Board of Governors' annual Freedom of Information Act (FOIA) report includes detailed statistics on the number and disposition of FOIA requests,...

  7. BBG 2008 Freedom of Information Act Report

    Data.gov (United States)

    Broadcasting Board of Governors — The Broadcasting Board of Governors' annual Freedom of Information Act (FOIA) report includes detailed statistics on the number and disposition of FOIA requests,...

  8. A Legitimate Freedom Approach to Sustainability

    DEFF Research Database (Denmark)

    Crabtree, Andrew

    2012-01-01

    an integrate sustainability into the Human Development Index would thus give the wrong policy message. Drawing on the works of Amartya Sen and Thomas Scanlon, this article argues that sustainable development can be seen as a process of increasing legitimate freedoms, the freedoms that others cannot reasonably...... reject. Thus, Sen's vision of development as freedom is amended to suggest limits to freedoms. Forms of development which are not sustainable can be reasonably rejected due, at least, to the harm and blighting entailed. Based on this, it is argued that at country level of comparison the Human Development...

  9. Six degree of freedom sensor

    Science.gov (United States)

    Vann, C.S.

    1999-03-16

    This small, non-contact optical sensor increases the capability and flexibility of computer controlled machines by detecting its relative position to a workpiece in all six degrees of freedom (DOF). At a fraction of the cost, it is over 200 times faster and up to 25 times more accurate than competing 3-DOF sensors. Applications range from flexible manufacturing to a 6-DOF mouse for computers. Until now, highly agile and accurate machines have been limited by their inability to adjust to changes in their tasks. By enabling them to sense all six degrees of position, these machines can now adapt to new and complicated tasks without human intervention or delay--simplifying production, reducing costs, and enhancing the value and capability of flexible manufacturing. 3 figs.

  10. Architectural freedom and industrialised architecture

    DEFF Research Database (Denmark)

    Vestergaard, Inge

    2012-01-01

    Architectural freedom and industrialized architecture. Inge Vestergaard, Associate Professor, Cand. Arch. Aarhus School of Architecture, Denmark Noerreport 20, 8000 Aarhus C Telephone +45 89 36 0000 E-mai l inge.vestergaard@aarch.dk Based on the repetitive architecture from the "building boom" 1960...... customization, telling exactly the revitalized storey about the change to a contemporary sustainable and better performed expression in direct relation to the given context. Through the last couple of years we have in Denmark been focusing a more sustainable and low energy building technique, which also include...... to the building physic problems a new industrialized period has started based on light weight elements basically made of wooden structures, faced with different suitable materials meant for individual expression for the specific housing area. It is the purpose of this article to widen up the different design...

  11. Educational Vouchers: Freedom to Choose?

    Directory of Open Access Journals (Sweden)

    Jordan Reel

    2013-12-01

    Full Text Available Milton Friedman is famous for his book title: “Free to Choose.” He also favors educational vouchers, which denies the freedom to choose to people who do not wish to subsidize the education of other people’s children. Thus, he is guilty of a logical contradiction. Why is it important to assess whether Friedman’s views on educational vouchers are logically consistent with his widespread reputation as an advocate of free enterprise, and, thus, freedom to chose? It is important to assess all figures in political economy, and indeed all of scholarship, for logical consistency. It is particularly important to do so in the present case, given the prestige in certain quarters accorded to this Nobel prize-winning economist. We argue in this paper that Friedman’s reputation for logical consistency, and adherence to the philosophy of laissez faire capitalism, are both overblown. Our solution to this challenge is to completely privatize education. Friedman does not advocate that vouchers be utilized for food, clothing or shelter; we see no relevant difference in the case of education. What is the justification of the undertaken topic? This topic is important because education of the next generation is crucial for the upkeep and improvement of society. What is the aim of the present study? It is to demonstrate that the solution offered by M. Friedman and R. Friedman (1990 is highly problematic. What is the methodology used in the study? We quote from this author, and criticize his analysis. What are our main results and conclusions/recommendations? We conclude that the last best hope for the educational industry is laissez faire capitalism, not the mixed economy recommended by Friedman.

  12. 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)

  13. Manipulator gaiter system

    International Nuclear Information System (INIS)

    Cole, G.V.

    1991-01-01

    A manipulator is described which comprises a throughtube and a slave arm which is provided with a retainer ring to retain a gaiter enclosing the slave arm while the manipulator is installed in a through-wall liner in a wall of a hot cell. The manipulator also incorporates a cam and spring-loaded pin arranged to push the toggle of the gaiter ring into its expanded position, clamped to the liner. The cam is operated by bending the slave arm relative to the throughtube. Since the gaiter is fitted over the slave arm before installation of the slave arm in the liner, the gaiter is less likely to be damaged or to be knocked out of the liner during installation. (author)

  14. 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.

  15. ELECTRONIC MASTER SLAVE MANIPULATOR

    Science.gov (United States)

    Goertz, R.C.; Thompson, Wm.M.; Olsen, R.A.

    1958-08-01

    A remote control manipulator is described in which the master and slave arms are electrically connected to produce the desired motions. A response signal is provided in the master unit in order that the operator may sense a feel of the object and may not thereby exert such pressures that would ordinarily damage delicate objects. This apparatus will permit the manipulation of objects at a great distance, that may be viewed over a closed TV circuit, thereby permitting a remote operator to carry out operations in an extremely dangerous area with complete safety.

  16. Freedom of Speech and Philosophy of Education

    Science.gov (United States)

    Harris, Roy

    2009-01-01

    Why is freedom of speech so seldom raised as an issue in philosophy of education? In assessing this question, it is important to distinguish (i) between a freedom and its exercise, and (ii) between different philosophies of education. Western philosophies of education may be broadly divided into classes derived from theories of knowledge first…

  17. Academic Freedom in Europe: Reviewing UNESCO's "Recommendation"

    Science.gov (United States)

    Karran, Terence

    2009-01-01

    This paper examines the compliance of universities in the European Union with the UNESCO Recommendation concerning the Status of Higher-Education Teaching Personnel, which deals primarily with protection for academic freedom. The paper briefly surveys the European genesis of the modern research university and academic freedom, before evaluating…

  18. Northrop Frye on Academic Freedom: A Critique.

    Science.gov (United States)

    Woodhouse, Howard

    1992-01-01

    Argues that Frye's concept of academic freedom is based on an espistemological dualism that separates knowledge from experience. This distinction severely limits his account of academic freedom by excluding fundamental aspects of knowledge (experience, value judgments, teacher-student dialogue, rational argument, interdisciplinary inquiry,…

  19. Freedom of Conscience and Catholic Schools

    Science.gov (United States)

    Donlevy, J. K.; Gereluk, D.; Patterson, P.; Brandon, J.

    2014-01-01

    This paper's purpose is to extensively review the historical understanding of conscience and the current juridical interpretation of freedom of conscience under section 2(a) of the Canadian Charter of Rights and Freedoms (1982). It then briefly notes that given the challenge faced by Ontario's Catholic schools in providing for inclusionary…

  20. Reading Educational Philosophies in "Freedom Writers"

    Science.gov (United States)

    Choi, Jung-Ah

    2009-01-01

    The 2007 film "Freedom Writers" portrays the real-life experiences of Erin Gruwell, a teacher at an inner-city high school in Long Beach, California. This article discusses the educational theories underpinning Gruwell's pedagogical practice, as seen in "Freedom Writers", and identifies four themes--rewriting curriculum,…

  1. EU economic freedoms and social dumping

    NARCIS (Netherlands)

    Cremers, J.; Bernaciak, M.

    2015-01-01

    In the book, Market Expansion and Social Dumping in Europe, edited by Magdalena Bernaciak and published by Routledge, Jan Cremers (AIAS) contributes with a chapter called ‘EU economic freedoms and social dumping’. He demonstrates how the emphasis on the primacy of economic freedoms has negatively

  2. Negative freedom and the liberal paradoxes

    NARCIS (Netherlands)

    van Hees, M.V.B.P.M

    In their game-theoretic formulations, the liberal paradoxes of Amartya Sm and Alan Gibbard show a tension between freedom on the one hand, and Pareto optimality and stability on the other. This article examines what happens to the liberal paradoxes if a negative conception of freedom is used. Given

  3. Freedom, Indeterminism and Imagination | Pitman | South African ...

    African Journals Online (AJOL)

    A suspicion about libertarian free will is that freedom is undermined, rather than supported, by the positing of indeterminism within processes of volition. In response, this paper presents a way in which moments of indeterminism can enhance freedom, by showing how such moments can genuinely belong to the agent.

  4. Academic Freedom: A Global Comparative Approach

    Science.gov (United States)

    Marginson, Simon

    2014-01-01

    Academic freedom is best understood not as an abstract universal principle or an ideal state of being but as concrete university practices nested in specific relational environments. As such, practices of academic freedom vary across the world, according to variations in political cultures, educational cultures and state-university relations. The…

  5. Exemplary Teachers: Teaching for Intellectual Freedom

    Science.gov (United States)

    Collinson, Vivienne

    2012-01-01

    Intellectual freedom has long been a desirable ideal and a foundational value for supporting democratic governance. Since 1948, it has been a universal human right. Given the unique nature of education in democratic societies, schools serve as a crucible for helping children understand and practise the rudiments of intellectual freedom. Drawing on…

  6. Escape from Freedom: Towards the Political Realm

    Science.gov (United States)

    Dillon, Katrina

    2014-01-01

    In this paper, the author contends that the ability to create a political realm is dependent upon one's state of freedom. She questions what it means to be free and whether assumptions of the definitions of this concept are always good or beneficial. After discussing some of the known theories about freedom, she states that schools are some…

  7. Adorno on Kant, Freedom and Determinism

    NARCIS (Netherlands)

    Jutten, Timo

    2012-01-01

    In this paper I argue that Adorno's metacritique of freedom in Negative Dialectics and related texts remains fruitful today. I begin with some background on Adorno's conception of metacritique and on Kant's conception of freedom, as I understand it. Next, I discuss Adorno's analysis of the

  8. Intellectual Freedom and Censorship in the Library

    Science.gov (United States)

    Cooper, Jessica L.

    2010-01-01

    The article gives a brief description of intellectual freedom and censorship in order to set a foundation for looking into the library community's role in advocating for intellectual freedom and combating censorship. Focus is given to the unique challenges of school libraries in fulfilling the larger library community's expectations in these two…

  9. 75 FR 3843 - Religious Freedom Day, 2010

    Science.gov (United States)

    2010-01-22

    ... toil, it was the genius of America's forefathers to protect our freedom of religion, including the... Statute was more than a law. It was a statement of principle, declaring freedom of religion as the natural..., stating, ``Congress shall make no law respecting an establishment of religion, or prohibiting the free...

  10. An unresolved problem : freedom across lifetimes

    NARCIS (Netherlands)

    Schmidt, Andreas T

    Freedom is one of the central values in political and moral philosophy. A number of theorists hold that freedom (or, relatedly, opportunity) should either be the only or at least one of the central distribuenda in our theories of distributive justice. Moreover, many follow Mill and hold that a

  11. Evolution of the Space Station Robotic Manipulator

    Science.gov (United States)

    Razvi, Shakeel; Burns, Susan H.

    2007-01-01

    The Space Station Remote Manipulator System (SSRMS), Canadarm2, was launched in 2001 and deployed on the International Space Station (ISS). The Canadarm2 has been instrumental in ISS assembly and maintenance. Canadarm2 shares its heritage with the Space Shuttle Arm (Canadarm). This article explores the evolution from the Shuttle Canadarm to the Space Station Canadarm2 design, which incorporates a 7 degree of freedom design, larger joints, and changeable operating base. This article also addresses phased design, redundancy, life and maintainability requirements. The design of Canadarm2 meets unique ISS requirements, including expanded handling capability and the ability to be maintained on orbit. The size of ISS necessitated a mobile manipulator, resulting in the unique capability of Canadarm2 to relocate by performing a walk off to base points located along the Station, and interchanging the tip and base of the manipulator. This provides the manipulator with reach and access to a large part of the Station, enabling on-orbit assembly of the Station and providing support to Extra-Vehicular Activity (EVA). Canadarm2 is evolving based on on-orbit operational experience and new functionality requirements. SSRMS functionality is being developed in phases to support evolving ISS assembly and operation as modules are added and the Station becomes more complex. Changes to sustaining software, hardware architecture, and operations have significantly enhanced SSRMS capability to support ISS mission requirements. As a result of operational experience, SSRMS changes have been implemented for Degraded Joint Operations, Force Moment Sensor Thermal Protection, Enabling Ground Controlled Operations, and Software Commutation. Planned Canadarm2 design modifications include: Force Moment Accommodation, Smart Safing, Separate Safing, and Hot Backup. In summary, Canadarm2 continues to evolve in support of new ISS requirements and improved operations. It is a tribute to the design that

  12. Sociological Discourse(s) on Freedom

    DEFF Research Database (Denmark)

    Bertilsson, Margareta

    The concept of freedom is often thought of as antithetical to sociology. The discipline is more prone to detect and unveil forms of unfreedom, as Zygmunt Bauman (1988) has pointed out. The question remains if any academic discipline, however, including sociology can do away with the concept...... of freedom al together! In matters of science, the problem of determinism vs. chance and spontaneity is essential. Hence, freedom, in one sense or the other, is necessarily at bottom also of sociological discourse. This text is an attempt to map the predominant forms of freedom found in sociological...... discourses. While starting out with the classic liberal concept informing theories of modernity followed by the various critiques directed against liberalism, not the least the most recently occurring (Lyotard, Agamben), the aim here is to spot possible trajectories in our comprehension of freedom, also...

  13. Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

    Science.gov (United States)

    Dorsey, John T.; Doggett, William R.; Komendera, Erik E.

    2015-01-01

    The robotic architecture of State-of-the-Art (SOA) space manipulators, represented by the Shuttle Remote Manipulator System (SRMS), inherently limits their capabilities to extend reach, reduce mass, apply force and package efficiently. TALISMAN uses a new and innovative robotic architecture that incorporates a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening to achieve revolutionary performance. A TALISMAN with performance similar to the SRMS has 1/10th of its mass and packages in 1/7th of its volume. The TALISMAN architecture allows its reach to be scaled over a large range; from 10 to over 300 meters. In addition, the dexterity (number of degrees-of-freedom) can be easily adjusted without significantly impacting manipulator mass because the joints are very lightweight.

  14. 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.

  15. 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

  16. 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.

  17. Atomic scale structure of the 5-fold surface of an AlPdMn quasicrystal: A quantitative X-Ray photoelectron diffraction analysis

    Energy Technology Data Exchange (ETDEWEB)

    Zheng, Jin-Cheng; Huan, C.H.A.; Wee, A.T.S.; Van Hove, M.A.; Fadley, C.S.; Shi, F.J.; Rotenberg, E.; Barman, S.R.; Paggel, J.J.; Horn, K.; Ebert, Ph.; Urban, K.

    2004-02-11

    The atomic scale structure of the 5-fold symmetric surface of an AlPdMn quasicrystal is investigated quantitatively by comparing x-ray photoelectron diffraction (XPD) simulations to experiment. The observed 5-fold symmetry of the diffraction patterns indicates that the surface is quasicrystalline with no hint of a reconstruction from the bulk structure. In analyzing the experimental data, many possible bulk terminations have been tested. Those few that fit best to the data have in common that they contain an Al-rich surface layer followed by a dense mixed Al/Pd/Mn layer. These best terminations, while not identical to each other, are suggested to form terraces coexisting on a real surface. Structural relaxations of the quasicrystal surface are also analyzed: mixing several best-fit terminations gives average best-fit interlayer spacing changes of Dd12 = -0.057 Angstrom, Dd24 = +0.159 Angstrom. These results are in good agreement with a prior structure determination by LEED on a sample that was prepared in a different manner.

  18. Atomic scale modelling of nanosize Ni sub 3 Al cluster beam deposition on Al, Ni and Ni sub 3 Al (1 1 1) surfaces

    CERN Document Server

    Kharlamov, V S; Hou, M

    2002-01-01

    The slowing down of Ni sub 3 Al clusters on a Al, Ni and Ni sub 3 Al (1 1 1) surfaces is studied by atomic scale modelling. The semi-grand canonical metropolis Monte Carlo is used for the preparation of isolated clusters at thermodynamic equilibrium. The cluster deposition on the surface is studied in detail by classical Molecular Dynamics simulations that include a model to account for electron-phonon coupling. Long- and short-range orders in the cluster are evaluated as functions of temperature in an impact energy range between 0 and 1.5 eV/atom. The interaction between the Ni sub 3 Al cluster and an Al surface is characterised low short range (chemical) disorder. No sizeable epitaxy is found, subsequent to the impact. In contrast, in the case of Ni and Ni sub 3 Al substrates, which are harder materials than aluminium, the chemical disorder is higher and epitaxial accommodation is possible. With these substrates, chemical disorder in the cluster is an increasing function of the impact energy, as well as of ...

  19. A comprehensive picture in the view of atomic scale on piezoelectricity of ZnO tunnel junctions: The first principles simulation

    Directory of Open Access Journals (Sweden)

    Genghong Zhang

    2016-06-01

    Full Text Available Piezoelectricity is closely related with the performance and application of piezoelectric devices. It is a crucial issue to understand its detailed fundamental for designing functional devices with more peculiar performances. Basing on the first principles simulations, the ZnO piezoelectric tunnel junction is taken as an example to systematically investigate its piezoelectricity (including the piezopotential energy, piezoelectric field, piezoelectric polarization and piezocharge and explore their correlation. The comprehensive picture of the piezoelectricity in the ZnO tunnel junction is revealed at atomic scale and it is verified to be the intrinsic characteristic of ZnO barrier, independent of its terminated surface but dependent on its c axis orientation and the applied strain. In the case of the ZnO c axis pointing from right to left, an in-plane compressive strain will induce piezocharges (and a piezopotential energy drop with positive and negative signs (negative and positive signs emerging respectively at the left and right terminated surfaces of the ZnO barrier. Meanwhile a piezoelectric polarization (and a piezoelectric field pointing from right to left (from left to right are also induced throughout the ZnO barrier. All these piezoelectric physical quantities would reverse when the applied strain switches from compressive to tensile. This study provides an atomic level insight into the fundamental behavior of the piezoelectricity of the piezoelectric tunnel junction and should have very useful information for future designs of piezoelectric devices.

  20. 3D Atomic-Scale Insights into Anisotropic Core-Shell-Structured InGaAs Nanowires Grown by Metal-Organic Chemical Vapor Deposition.

    Science.gov (United States)

    Qu, Jiangtao; Du, Sichao; Burgess, Tim; Wang, Changhong; Cui, Xiangyuan; Gao, Qiang; Wang, Weichao; Tan, Hark Hoe; Liu, Hui; Jagadish, Chennupati; Zhang, Yingjie; Chen, Hansheng; Khan, Mansoor; Ringer, Simon; Zheng, Rongkun

    2017-08-01

    III-V ternary InGaAs nanowires have great potential for electronic and optoelectronic device applications; however, the 3D structure and chemistry at the atomic-scale inside the nanowires remain unclear, which hinders tailoring the nanowires for specific applications. Here, atom probe tomography is used in conjunction with a first-principles simulation to investigate the 3D structure and chemistry of InGaAs nanowires, and reveals i) the nanowires form a spontaneous core-shell structure with a Ga-enriched core and an In-enriched shell, due to different growth mechanisms in the axial and lateral directions; ii) the shape of the core evolves from hexagon into Reuleaux triangle and grows larger, which results from In outward and Ga inward interdiffusion occurring at the core-shell interface; and iii) the irregular hexagonal shell manifests an anisotropic growth rate on {112}A and {112}B facets. Accordingly, a model in terms of the core-shell shape and chemistry evolution is proposed, which provides fresh insights into the growth of these nanowires. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  1. Atomic-scale measurement of structure and chemistry of a single-unit-cell layer of LaAlO3 embedded in SrTiO3.

    Science.gov (United States)

    Jia, Chun-Lin; Barthel, Juri; Gunkel, Felix; Dittmann, Regina; Hoffmann-Eifert, Susanne; Houben, Lothar; Lentzen, Markus; Thust, Andreas

    2013-04-01

    A single layer of LaAlO3 with a nominal thickness of one unit cell, which is sandwiched between a SrTiO3 substrate and a SrTiO3 capping layer, is quantitatively investigated by high-resolution transmission electron microscopy. By the use of an aberration-corrected electron microscope and by employing sophisticated numerical image simulation procedures, significant progress is made in two aspects. First, the structural as well as the chemical features of the interface are determined simultaneously on an atomic scale from the same specimen area. Second, the evaluation of the structural and chemical data is carried out in a fully quantitative way on the basis of the absolute image contrast, which has not been achieved so far in materials science investigations using high-resolution electron microscopy. Considering the strong influence of even subtle structural details on the electronic properties of interfaces in oxide materials, a fully quantitative interface analysis, which makes positional data available with picometer precision together with the related chemical information, can contribute to a better understanding of the functionality of such interfaces.

  2. A comprehensive picture in the view of atomic scale on piezoelectricity of ZnO tunnel junctions: The first principles simulation

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Genghong; Zhu, Jia; Jiang, Gelei; Sheng, Qiang; Zheng, Yue, E-mail: zhengy35@mail.sysu.edu.cn [State Key Laboratory of Optoelectronic Materials and Technologies, School of Physics and Engineering, Sun Yat-sen University, Guangzhou 510275 (China); Micro& Nano Physics and Mechanics Research Laboratory, School of Physics and Engineering, Sun Yat-sen University, Guangzhou 510275 (China); Chen, Weijin [State Key Laboratory of Optoelectronic Materials and Technologies, School of Physics and Engineering, Sun Yat-sen University, Guangzhou 510275 (China); Micro& Nano Physics and Mechanics Research Laboratory, School of Physics and Engineering, Sun Yat-sen University, Guangzhou 510275 (China); Sino-French Institute of Nuclear Engineering and Technology, Sun Yat-Sen University, Zhuhai 519082 (China); Wang, Biao, E-mail: wangbiao@mail.sysu.edu.cn [State Key Laboratory of Optoelectronic Materials and Technologies, School of Physics and Engineering, Sun Yat-sen University, Guangzhou 510275 (China); Sino-French Institute of Nuclear Engineering and Technology, Sun Yat-Sen University, Zhuhai 519082 (China)

    2016-06-15

    Piezoelectricity is closely related with the performance and application of piezoelectric devices. It is a crucial issue to understand its detailed fundamental for designing functional devices with more peculiar performances. Basing on the first principles simulations, the ZnO piezoelectric tunnel junction is taken as an example to systematically investigate its piezoelectricity (including the piezopotential energy, piezoelectric field, piezoelectric polarization and piezocharge) and explore their correlation. The comprehensive picture of the piezoelectricity in the ZnO tunnel junction is revealed at atomic scale and it is verified to be the intrinsic characteristic of ZnO barrier, independent of its terminated surface but dependent on its c axis orientation and the applied strain. In the case of the ZnO c axis pointing from right to left, an in-plane compressive strain will induce piezocharges (and a piezopotential energy drop) with positive and negative signs (negative and positive signs) emerging respectively at the left and right terminated surfaces of the ZnO barrier. Meanwhile a piezoelectric polarization (and a piezoelectric field) pointing from right to left (from left to right) are also induced throughout the ZnO barrier. All these piezoelectric physical quantities would reverse when the applied strain switches from compressive to tensile. This study provides an atomic level insight into the fundamental behavior of the piezoelectricity of the piezoelectric tunnel junction and should have very useful information for future designs of piezoelectric devices.

  3. Point defects and irradiation in oxides: simulations at the atomic scale; Defauts ponctuels et irradiation dans les oxydes: simulation a l'echelle atomique

    Energy Technology Data Exchange (ETDEWEB)

    Crocombette, J.P

    2005-12-15

    The studies done by Jean-Paul Crocombette between 1996 and 2005 in the Service de Recherches de Metallurgie Physique of the Direction de l'Energie Nucleaire in Saclay are presented in this Habilitation thesis. These works were part of the material science researches on the ageing, especially under irradiation, of oxides of interest for the nuclear industry. In this context simulation studies at the atomic scale were performed on two elementary components of ageing under irradiation : point defects and displacement cascades ; using two complementary simulation techniques : ab initio electronic structure calculations and empirical potential molecular dynamics. The first part deals with point defects : self defects (vacancies or interstitials) or hetero-atomic dopants. One first recalls the energetics of such defects in oxides, the specific features of defects calculations and the expected accuracy of these calculations. Then one presents the results obtained on uranium dioxide, oxygen in silver and amorphous silica. The second part tackles the modelling of disintegration recoil nuclei in various?displacement cascades created by crystalline matrices for actinide waste disposal. Cascade calculations give access to the amorphization mechanisms under irradiation of these materials. One thus predicts that the amorphization in zircon takes place directly in the tracks whereas in lanthanum zirconate, the amorphization proceeds through the accumulation of point defects. Finally the prospects of these studies are discussed. (author)

  4. QCM and AFM Study of atomic scale polishing and roughening of surfaces exposed to nanoparticle suspensions of diamond, Al2O3 and SiO2.

    Science.gov (United States)

    Krim, Jacqueline; Acharya, Biplav; Chestnut, Melanie; Marek, Antonin; Shendarova, Olga; Smirnov, Alex

    The addition of nanoparticles to conventional automotive lubricants is known in many cases to result in increased energy efficiency, but the atomic scale mechanisms leading to the increased efficiency are yet to be established. To explore this issue, we studied surface uptake and nanotribological properties of nanoparticle suspensions of diamond, Al2O3 and SiO2 dispersed in water and/or oil (PAO6) in real time by means of an in situ Quartz Crystal Microbalance (QCM) technique, with a focus on the impact of the suspension on the surface roughness and texture of the QCM electrode and how the results compared to macroscopic reductions in friction and increased energy efficiency for the same materials' combinations. The frequency and dissipative properties (mechanical resistance) of QCM's with both gold and nickel surface electrodes were first studied for immersed samples upon addition of the nanoparticles. Nanodiamonds resulted in an increased mechanical resistance while the addition of Al2O3 and SiO2 nanoparticles resulted in a decreased resistance, indicating a reduced resistance of the fluid to the motion of the QCM. Atomic Force Microscope (AFM) measurements were then performed on the QCM electrodes after exposure to the suspensions, to explore potential polishing and/or roughening effects. The results are closely linked to the macroscopic friction and wear attributes. Work supported by NSF.

  5. Space Station Freedom - What if...?

    Science.gov (United States)

    Grey, Jerry

    1992-10-01

    The use of novel structural designs and the Energia launch system of the Commonwealth of Independent States for the Space Station Freedom (SSF) program is evaluated by means of a concept analysis. The analysis assumes that: (1) Energia is used for all cargo and logistics resupply missions; (2) the shuttles are launched from the U.S.; and (3) an eight-person assured crew return vehicle is available. This launch/supply scenario reduces the deployment risk from 30 launches to a total of only eight launches reducing the cost by about 15 billion U.S. dollars. The scenario also significantly increases the expected habitable and storage volumes and decreases the deployment time by three years over previous scenarios. The specific payloads are given for Energia launches emphasizing a proposed design for the common module cluster that incorporates direct structural attachment to the truss at midspan. The design is shown to facilitate the accommodation of additional service hangars and to provide a more efficient program for spacecraft habitable space.

  6. Functional Freedom: A Psychological Model of Freedom in Decision-Making.

    Science.gov (United States)

    Lau, Stephan; Hiemisch, Anette

    2017-07-05

    The freedom of a decision is not yet sufficiently described as a psychological variable. We present a model of functional decision freedom that aims to fill that role. The model conceptualizes functional freedom as a capacity of people that varies depending on certain conditions of a decision episode. It denotes an inner capability to consciously shape complex decisions according to one's own values and needs. Functional freedom depends on three compensatory dimensions: it is greatest when the decision-maker is highly rational, when the structure of the decision is highly underdetermined, and when the decision process is strongly based on conscious thought and reflection. We outline possible research questions, argue for psychological benefits of functional decision freedom, and explicate the model's implications on current knowledge and research. In conclusion, we show that functional freedom is a scientific variable, permitting an additional psychological foothold in research on freedom, and that is compatible with a deterministic worldview.

  7. Analysis of a closed-kinematic chain robot manipulator

    Science.gov (United States)

    Nguyen, Charles C.; Pooran, Farhad J.

    1988-01-01

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

  8. 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

  9. 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.

  10. 6 DOF Force and Torque Sensor for Micro-manipulation Applications

    NARCIS (Netherlands)

    Estevez, P.; Bank, J.; Porta, M.; Wei, J.; Sarro, P.M.; Tichem, M.; Staufer, U.

    2011-01-01

    This paper presents the design, fabrication and characterization of a piezoresistive 6 Degrees of Freedom (DOF) force and torque sensor to be used in micro-manipulation. The mechanical structure of the device consists of 7 suspended beams and a calibration structure, which can be replaced by

  11. Design and control of a parallel kinematic 6-DOFs precision manipulator

    NARCIS (Netherlands)

    Huijts, M.B.P.; Brouwer, Dannis Michel; van Dijk, Johannes

    2009-01-01

    A scaled-up version of a MEMS based six degrees-of-freedom precision manipulator has been designed and built. A model necessary for control purposes was validated with experiments. These experiments show a great resemblance between model and mechanism. A closed loop control system with feedforward

  12. Design and Fabrication of a Planar Three-DOFs MEMS-Based Manipulator

    NARCIS (Netherlands)

    de Jong, B.R.; Brouwer, Dannis Michel; de Boer, Meint J.; Jansen, Henricus V.; Soemers, Herman; Krijnen, Gijsbertus J.M.

    2010-01-01

    This paper presents the design, modeling, and fabrication of a planar three-degrees-of-freedom parallel kinematic manipulator, fabricated with a simple two-mask process in conventional highly doped single-crystalline silicon (SCS) wafers (100). The manipulator’s purpose is to provide accurate and

  13. Nano-Workbench : A Combined Hollow AFM Cantilever and Robotic Manipulator

    NARCIS (Netherlands)

    Pérez Garza, H.; Ghatkesar, M.K.; Basak, S.; Löthman, P.; Staufer, U.

    2015-01-01

    To manipulate liquid matter at the nanometer scale, we have developed a robotic assembly equipped with a hollow atomic force microscope (AFM) cantilever that can handle femtolitre volumes of liquid. The assembly consists of four independent robots, each sugar cube sized with four degrees of freedom.

  14. Design and modeling of a precision 6 DOF MEMS-based parallel kinematic TEM sample manipulator

    NARCIS (Netherlands)

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

    2006-01-01

    A design for a 6 Degree-of-freedom precision MEMS-based manipulator for a TEM will is presented. The elastic mechanism is designed and modeled with the specific design considerations regarding kinematic constraint design and elastic energy storage. The typical relatively large deformations of

  15. 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.

  16. Microradiographic microsphere manipulator

    Science.gov (United States)

    Singleton, R.M.

    A method and apparatus is disclosed 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 relative to and parallel to the other to roll the microspheres through any desired angle to allow different views of the microspheres.

  17. MANIPULATOR FOR SLAVE ROBOT

    Science.gov (United States)

    Goertz, R.C.; Grimson, J.H.; Kohut, F.A.

    1961-04-01

    A remote-control manipulator comprising two stationary master units, two slave units on a movable vehicle, and electrical connections between the master and slave units is reported. The slave units are side by side with a minimum over-all width, which is made feasible by an arrangement of transducers producing most movements of each slave unit to one side of the support of said slave unit.

  18. Manipulator type book

    International Nuclear Information System (INIS)

    Koehler, G.W.

    1981-01-01

    Manipulators and similar equipment operated by personnel constitute one of the two major branches of handling technology besides program controlled units (industrial robots and feeding machines). Despite the widespread use of remote handling equipment in nuclear engineering, its growing importance and increasing application also in other areas, a comprehensive treatment of the field has so far been missing. This gap is now filled with the manipulator type book. The bulk of the volume is reserved to remote handling equipment for nuclear purposes available in the international market. However, the survey would be incomplete, also for potential interactions, without manipulators now used also for purposes other than nuclear technology, and without a reference to experimental units and developments which may be assumed to reach practical application one day. This book has been written to help all those who are involved in remote handling technology in one way or the other - plant designers, public authorities and users of such equipment. The text is printed both in German and English for the benefit of foreign readers. A standardized language is proposed to improve communication. (orig./HP) [de

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

    Directory of Open Access Journals (Sweden)

    Jarmo Nurmi

    2017-05-01

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

  20. Dynamic Analysis of Tele-manipulator

    International Nuclear Information System (INIS)

    Kang, Min Sig; Lee, Seung Hyun; Kim, Doo Ho; Choi, Sun Il

    2008-03-01

    The manipulator can move linearly along X and Y-axes and has 6-degree rotational freedom. All deriving electric motors are mounted on the base platform to reduce inertia of links and tendons are used to transmit torque from the motors to the corresponding joints. In this report, a dynamic analysis of the manipulator has been carried out. Based on the dimensions of the designed links and allowable maximum rotational constraints on all joints, the maximum torque has been analyzed and working volume has been derived graphically through a numerical analysis. The Danavit-Hartenverg coordinate has been used through out this report. An inverse kinematic model which includes 3-linear and 3-rotational motions of the end effector and its numerical simulation program have been developed. The simulation results showed its validity and usefulness. The program are written in Symbolic Math provided by MatLab. A dynamic model which consists of rigid link dynamic models , driving motors and tendons which are used to tranmit the torques between motors and the corresponding joints. A simulation model written in Simmechanics has been derived and its validity and its usefulness were verified along with some simulation results

  1. Dynamic Analysis of Tele-manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Kang, Min Sig; Lee, Seung Hyun; Kim, Doo Ho; Choi, Sun Il [Kyungwon Univ., Sungnam (Korea, Republic of)

    2008-03-15

    The manipulator can move linearly along X and Y-axes and has 6-degree rotational freedom. All deriving electric motors are mounted on the base platform to reduce inertia of links and tendons are used to transmit torque from the motors to the corresponding joints. In this report, a dynamic analysis of the manipulator has been carried out. Based on the dimensions of the designed links and allowable maximum rotational constraints on all joints, the maximum torque has been analyzed and working volume has been derived graphically through a numerical analysis. The Danavit-Hartenverg coordinate has been used through out this report. An inverse kinematic model which includes 3-linear and 3-rotational motions of the end effector and its numerical simulation program have been developed. The simulation results showed its validity and usefulness. The program are written in Symbolic Math provided by MatLab. A dynamic model which consists of rigid link dynamic models , driving motors and tendons which are used to tranmit the torques between motors and the corresponding joints. A simulation model written in Simmechanics has been derived and its validity and its usefulness were verified along with some simulation results.

  2. Chemical inhomogeneity in InxGa1-xN and ZnO. A HRTEM study on atomic scale clustering

    International Nuclear Information System (INIS)

    Bartel, T.P.

    2008-01-01

    Nanostructuration as well as the nucleation and growth of nanoparticles pervades the development of modern materials and devices. Quantitative high resolution transmission electron microscopy (HRTEM) is currently being developed for a structural and chemical analysis at an atomic scale. It is used in this thesis to study the chemical inhomogeneity and clustering in In x Ga 1-x N, InN and ZnO. A methodology for reliable quantitative HRTEM is rst de ned: it necessitates a damage free sample, the avoidance of electron beam damage and the control of microscope instabilities. With these conditions satis ed, the reliability of quantitative HRTEM is demonstrated by an accurate measurement of lattice relaxation in a thin TEM sample. Clustering in an alloy can then be distinguished from a random distribution of atoms. In In x Ga 1-x N for instance, clustering is detected for concentrations x>0.1. The sensitivity is insufficient to determine whether clustering is present for lower concentrations. HRTEM allows to identify the amplitude and the spatial distribution of the decomposition which is attributed to a spinodal decomposition. In InN, nanometer scale metallic indium inclusions are detected. With decreasing size of the metallic clusters, the photoluminescence of the sample shifts towards the infrared. This indicates that the inclusions may be responsible for the infrared activity of InN. Finally, ZnO grown homoepitaxially on zinc-face and oxygen-face substrates is studied. The O-face epilayer is strained whereas the Zn-face epilayer is almost strain free and has a higher crystalline quality. Quantitative analysis of exit wave phases is in good agreement with simulations, but the signal to noise ratio needs to be improved for the detection of single point defects. (orig.)

  3. Chemical inhomogeneity in In{sub x}Ga{sub 1-x}N and ZnO. A HRTEM study on atomic scale clustering

    Energy Technology Data Exchange (ETDEWEB)

    Bartel, T.P.

    2008-10-08

    Nanostructuration as well as the nucleation and growth of nanoparticles pervades the development of modern materials and devices. Quantitative high resolution transmission electron microscopy (HRTEM) is currently being developed for a structural and chemical analysis at an atomic scale. It is used in this thesis to study the chemical inhomogeneity and clustering in In{sub x}Ga{sub 1-x}N, InN and ZnO. A methodology for reliable quantitative HRTEM is rst de ned: it necessitates a damage free sample, the avoidance of electron beam damage and the control of microscope instabilities. With these conditions satis ed, the reliability of quantitative HRTEM is demonstrated by an accurate measurement of lattice relaxation in a thin TEM sample. Clustering in an alloy can then be distinguished from a random distribution of atoms. In In{sub x}Ga{sub 1-x}N for instance, clustering is detected for concentrations x>0.1. The sensitivity is insufficient to determine whether clustering is present for lower concentrations. HRTEM allows to identify the amplitude and the spatial distribution of the decomposition which is attributed to a spinodal decomposition. In InN, nanometer scale metallic indium inclusions are detected. With decreasing size of the metallic clusters, the photoluminescence of the sample shifts towards the infrared. This indicates that the inclusions may be responsible for the infrared activity of InN. Finally, ZnO grown homoepitaxially on zinc-face and oxygen-face substrates is studied. The O-face epilayer is strained whereas the Zn-face epilayer is almost strain free and has a higher crystalline quality. Quantitative analysis of exit wave phases is in good agreement with simulations, but the signal to noise ratio needs to be improved for the detection of single point defects. (orig.)

  4. Concept development of a tendon arm manipulator and anthropomorphic robotic hand

    Science.gov (United States)

    Tolman, C. T.

    1987-01-01

    AMETEK/ORED inhouse research and development efforts leading toward a next-generation robotic manipulator arm and end-effector technology is summarized. Manipulator arm development has been directed toward a multiple-degree-of-freedom, flexible, tendon-driven concept referred to here as a Tendon Arm Manipulator (TAM). End-effector development has been directed toward a three-fingered, dextrous, tendon-driven, anthropomorphic configuration which is referred to as an Anthropomorphic Robotic Hand (ARH). Key technology issues are identified for both concepts.

  5. The manipulator to extract foreign objects from the hot chamber of the mine

    Science.gov (United States)

    Iureva, R. A.; Maltseva, N. K.; Tulkova, Irina

    2018-03-01

    The manipulator to extract foreign objects from the hot chamber of the mine, is developed for the retrieval of foreign objects (including nuclear fuel elements), located in the deep and shallow canisters and boxes of "hot" nuclear safety box camera. The manipulator is a special articulated arm (manipulator’s actuating unit) with two degrees of freedom in the angular coordinate system, electric actuator, gravity balancer to the arm with exchangeable working body. The manipulator is outfitted with three radiation-resistant cameras with built-in illuminators. The article discusses the selection and the justification of the reference system and details of the kinematic scheme.

  6. Analysis and Synthesis of Global Nonlinear H∞ Controller for Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Carlos Alberto Chavez Guzmán

    2015-01-01

    Full Text Available The H∞ regulation problem for robot manipulators using gravitational force compensation or precompensation has been solved locally while global asymptotical stability (or global stability has been demonstrated using other methodologies. A solution to the global nonlinear H∞ regulation problem for l-degrees-of-freedom (l-DOF robot manipulators, affected by external disturbances, is presented. We showed that the Hamilton-Jacobi-Isaacs (HJI inequality, inherited in the solution of the H∞ control problem, is satisfied by defining a strict Lyapunov function. The performance issues of the nonlinear H∞ regulator are illustrated in experimental and simulation studies made for a 3-DOF rigid links robot manipulator.

  7. Freedom of the Press – two concepts

    Directory of Open Access Journals (Sweden)

    Markus Meckl

    2015-03-01

    Full Text Available In 1644 the debate for freedom of expression started in modern times thanks to John Milton’s Areopagitica, where he still argued about God in order to justify his quest for freedom. With the enlightenment God lost his unifying role for society and could no longer serve as justification. Two arguments were brought then forward to justify freedom of the press: One by the continental movement of the enlightenment; the other from within the movement of utilitarianism, and most influentially by John Stuart Mill. Both underlined the importance of truth; however, they differed in their understanding on what truth was good for. This difference in their arguments had a lasting impact on the debate on the limits of freedom of the press.

  8. Academic Freedom and Society: Some Critical Questions

    Directory of Open Access Journals (Sweden)

    Lara Choksey

    2017-10-01

    Full Text Available A review of a recent one-day conference, Academic Freedom and Society, held on June 2 2017 at the University of Warwick, which sought to pose questions about ideals and practices of academic freedom, historically and in the current moment, across disciplinary and national borders. Speakers discussed the university and human rights practices, Islamophobia and teaching law, ‘Decolonise the University’, links between funding and research, digital piracy, new sites of knowledge commons, and university managerialism, and the challenges and possibilities these topics pose to the practice of academic freedom. Has the university ever been autonomous from state interests, and what modes of freedom are currently available to academics – already unevenly contingent on social and national identifications – in practice?

  9. Freedom of Information Act (FOIA) Plan

    Data.gov (United States)

    Office of Personnel Management — Executive Order (E.O.) 13,392 mandates that each federal agency shall have a Freedom of Information Act (FOIA) working plan with established goals and time frames to...

  10. Freedom of Information Act (FOIA) Tracking System

    Data.gov (United States)

    Office of Personnel Management — Tracking system which allows for the input of the Freedom of Information Act (FOIA) request date, compiles the due date, information pertaining to the request, name...

  11. Christianity and the Discovery of Religious Freedom

    Directory of Open Access Journals (Sweden)

    Hartmut Leppin

    2014-01-01

    Full Text Available With its broad spectrum of cults and coexisting religions Graeco-Roman antiquity seems, at first glance, to be the embodiment of religious freedom. Yet, a closer analysis shows that a concept of tolerance or the idea of religious freedom did not exist. Political institutions could easily suppress religious practices that were regarded as offensive. Fighting against the oppression of Christians appears to have increased under the influence of oecumenical paganism during the reign of the Severans. In this time, the Christian thinker Tertullian discovered and articulated the concept of religious freedom. However, he did not do so emphatically and the concept was not very successful in antiquity. With the Christianization of the Roman Empire it disappeared soon, although its rediscovery in later epochs contributed heavily to the formation of the European norm of religious freedom.

  12. Automatic Guidance for Remote Manipulator

    Science.gov (United States)

    Johnston, A. R.

    1986-01-01

    Position sensor and mirror guides manipulator toward object. Grasping becomes automatic when sensor begins to receive signal from reflector on object to be manipulated. Light-emitting diodes on manipulator produce light signals for reflector, which is composite of plane and corner reflectors. Proposed scheme especially useful when manipulator arm tends to flex or when object is moving. Sensor and microprocessor designed to compensate for manipulatorarm oscillation.

  13. A balanced view of development as freedom

    OpenAIRE

    Tungodden, Bertil

    2001-01-01

    Amartya Sen, in his most recent book Development as Freedom, argues that expansion of human freedom should both be viewed as the primary end and the principle means of development. This paper provides an overview and a critical scrutiny of the Senian perspective from the point of view of an economist. First, I discuss to what extent Sen's normative theory of development justifies a particular focus on inequality and poverty. Second, I look at Sen's perspective on democratic reasoning as the c...

  14. The fragility of freedom of speech.

    Science.gov (United States)

    Shackel, Nicholas

    2013-05-01

    Freedom of speech is a fundamental liberty that imposes a stringent duty of tolerance. Tolerance is limited by direct incitements to violence. False notions and bad laws on speech have obscured our view of this freedom. Hence, perhaps, the self-righteous intolerance, incitements and threats in response to Giubilini and Minerva. Those who disagree have the right to argue back but their attempts to shut us up are morally wrong.

  15. 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.…

  16. Towards atomically precise manipulation of 2D nanostructures in the electron microscope

    Science.gov (United States)

    Susi, Toma; Kepaptsoglou, Demie; Lin, Yung-Chang; Ramasse, Quentin M.; Meyer, Jannik C.; Suenaga, Kazu; Kotakoski, Jani

    2017-12-01

    Despite decades of research, the ultimate goal of nanotechnology—top-down manipulation of individual atoms—has been directly achieved with only one technique: scanning probe microscopy. In this review, we demonstrate that scanning transmission electron microscopy (STEM) is emerging as an alternative method for the direct assembly of nanostructures, with possible applications in plasmonics, quantum technologies, and materials science. Atomically precise manipulation with STEM relies on recent advances in instrumentation that have enabled non-destructive atomic-resolution imaging at lower electron energies. While momentum transfer from highly energetic electrons often leads to atom ejection, interesting dynamics can be induced when the transferable kinetic energies are comparable to bond strengths in the material. Operating in this regime, very recent experiments have revealed the potential for single-atom manipulation using the Ångström-sized electron beam. To truly enable control, however, it is vital to understand the relevant atomic-scale phenomena through accurate dynamical simulations. Although excellent agreement between experiment and theory for the specific case of atomic displacements from graphene has been recently achieved using density functional theory molecular dynamics, in many other cases quantitative accuracy remains a challenge. We provide a comprehensive reanalysis of available experimental data on beam-driven dynamics in light of the state-of-the-art in simulations, and identify important targets for improvement. Overall, the modern electron microscope has great potential to become an atom-scale fabrication platform, especially for covalently bonded 2D nanostructures. We review the developments that have made this possible, argue that graphene is an ideal starting material, and assess the main challenges moving forward.

  17. Custom electronic subsystems for the Laboratory Telerobotic Manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Glassell, R.L.; Butler, P.L.; Rowe, J.C. (Oak Ridge National Lab., TN (USA)); Zimmermann, S.D. (TeleRobotics International, Inc., Knoxville, TN (USA))

    1990-01-01

    The National Aeronautics and Space Administration (NASA) Space Station Program presents new opportunities for the application of telerobotic and robotic systems. The Laboratory Telerobotic Manipulator (LTM) is a highly advanced 7 degrees-of-freedom (DOF) telerobotic/robotic manipulator. It was developed and built for the Automation Technology Branch at NASA's Langley Research Center (LaRC) for work in research and to demonstrate ground-based telerobotic manipulator system hardware and software systems for future NASA applications in the hazardous environment of space. The LTM manipulator uses an embedded wiring design with all electronics, motor power, and control and communication cables passing through the pitch-yaw differential joints. This design requires the number of cables passing through the pitch/yaw joint to be kept to a minimum. To eliminate the cables needed to carry each pitch-yaw joint's sensor data to the VME control computers, a custom-embedded electronics package for each manipulator joint was developed. The electronics package collects and sends the joint's sensor data to the VME control computers over a fiber optic cable. The electronics package consist of five individual subsystems: the VME Link Processor, the Joint Processor and the Joint Processor power supply in the joint module, the fiber optics communications system, and the electronics and motor power cabling. 3 refs., 3 figs.

  18. Master/slave manipulators

    International Nuclear Information System (INIS)

    Luxmoore, R.J.

    1987-01-01

    For detecting a fault in a flexible gaiter enclosing the slave arm of a master/slave manipulator used in the nuclear industry, valve means comprising oppositely acting non-return valves are arranged in the wall of the gaiter. On extension and retraction of the slave arm the valves operate to equalise pressure differences at opposite sides of the gaiter. Failure of the valves to function during extension and retraction of the slave arm can indicate a fault, such as a tear, in the gaiter. (author)

  19. 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.

  20. Manipulating structured light

    CSIR Research Space (South Africa)

    Dudley, Angela

    2016-07-01

    Full Text Available stream_source_info Dudley_2016a.pdf.txt stream_content_type text/plain stream_size 4579 Content-Encoding UTF-8 stream_name Dudley_2016a.pdf.txt Content-Type text/plain; charset=UTF-8 10/10/2016 1 Manipulating Structured... The City College of New York, New York, USA 5 July 2016 We are tied together by Structured Light Classical Quantum Resonators TweezingFibres Structured Light 10/10/2016 2 Bright Dark Reference beam Hologram Object Light reflected from object Conventional...

  1. An analysis of interpersonal manipulation.

    Science.gov (United States)

    Kligman, M; Culver, C M

    1992-04-01

    The term 'manipulation' is frequently employed but rarely discussed or defined in psychiatric circles. This paper reviews previous conceptual analyses of the term by philosophers and psychiatrists, and examines its use in ordinary discourse. A series of characteristics which comprise the conceptual core of the term when it is unambiguously applied in interpersonal settings are proposed. Manipulation is contrasted with other behavior control methods such as rational persuasion and coercion, with emphasis on the role played by deception and the communicative context in which the manipulative transaction occurs. It is argued that manipulative behavior is fundamentally intentional, and the usefulness of the concept of 'unconscious manipulation' is questioned. Though the proposal that Manipulative Personality Disorder be formally recognized as a new diagnostic category is rejected, it is urged that the concept of manipulation receive wider attention and discussion within the mental health community.

  2. Artistic Research on Freedom in Space and Science

    Science.gov (United States)

    Foing, Bernard H.; Schelfhout, Ronald; Gelfand, Dmitry; Van der Heide, Edwin; Preusterink, Jolanda; Domnitch, Evelina

    which light manipulating machines continuously alter the projected image. Development: In order to delve deeper into the subject of freedom in space and science this setup can serve as a vantage point. And it can offer an interactive environment to explore notions of freedom in space and science. The addition of a specific environment around and above the installation, referring to the fabric of space would highly increase the impact it has on an audience. You would then be able to immerse yourself in the world of this settlement, somewhere in outer space. Sound, light and projection screens will orbit the table changing the projections even more. Triggering the imagination with every movement. Results: Freedome has been exhibited at TecArt in Rotterdam, at ILEWG/Artscience day and the Lunar conference at ESTEC in February 2014. The images underneath (courtesy J. Preusterink BH Foing) depict the installation in some ways it can be experienced http://www.youtube.com/watch?v=Qn8DHARrlU (images: Jolanda Preusterink and Bernard Foing, from ILEWG/ESTEC/ArtScience-The Hague workshop Space Science in the Arts) Authors: Ronald Schelfhout, Bernard Foing, Evelina Domnitch, Dmitry Gelfand, Edwin van der Heide, Jolanda Preusterink

  3. 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.

  4. Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance

    Directory of Open Access Journals (Sweden)

    Qiang Zhang

    2016-03-01

    Full Text Available In the free-floating mode, there is intense dynamic coupling existing between the space manipulator and the base, and the base attitude may change while performing a motion with its manipulator. Therefore, it is necessary to reduce the interference that resulted from the manipulator movement. For planning trajectories of the space manipulator with 7 degrees of freedom (7-DOF, simulated annealing particle swarm optimization (SAPSO algorithm is presented in the paper. Firstly, kinematics equations are setup. Secondly, the joint functions are parameterized by sinusoidal functions, and the objective function is defined according to the motion constraints of manipulator and accuracy requirements of the base attitude. Finally, SAPSO algorithm is used to search the optimal trajectory. The simulation results verify the proposed method.

  5. A novel ultra-high vacuum manipulator with six degrees of freedom

    International Nuclear Information System (INIS)

    Auciello, O.; Lulich, C.; Alonso, E.V.; Baragiola, R.A.

    1977-01-01

    An ultra-high vacuum goniometer of novel design for use in experiments with ion beams is described. The goniometer uses a wire system to transmit movements, is bakeable to 200 0 C and is reproducible in its angular positions to within 1.3 X 10 -4 rad (0.008 0 ). It allows a sample to be rotated around two axes over 360 0 , around a third over 180 0 , and to be translated along three perpendicular axes. (Auth.)

  6. Robotic Arm Manipulation Laboratory With a Six Degree of Freedom JACO Arm

    Science.gov (United States)

    2015-12-01

    have limitless rotation. Each joint has an “actuator that integrates DC brushless motors , a harmonic drive, slip rings, a microcontroller, and...with large motor modules while joints 4 to 6 are driven with small motor modules. An individual motor drive is mapped to each finger of the end

  7. Atomic scale studies of La/Sr ordering in La2-2xSr1+2xMn2O7 single crystals

    KAUST Repository

    Roldan, Manuel

    2016-12-21

    Many fascinating properties of materials depend strongly on the local chemical environment. This is the case for many complex oxides, such as materials with colossal magnetoresistance, where small variations of composition at the atomic scale can affect drastically the macroscopic properties. The main objective of the present work is to analyze the local chemical composition with atomic resolution and to find out if any underlying chemical order is in any way connected to the magnetic properties of double perovskite La2-2xSr1+2xMn2O7 (LSMO) manganite oxides. For these compounds, charge and orbital ordering are observed for some doping values near x = 0.50 [1, 2]. For this purpose, we have use aberration corrected scanning transmission electron microscopy (STEM) combined with electron energy-loss spectroscopy (EELS) measurements and also theoretical simulations. We have compared different compositions within three distinct magnetic regions of the phase diagram: a ferromagnetic metallic sample with x=0.36, an insulating, antiferromagnetic (AF) x=0.56 and an additional AF x=0.50 sample which also exhibits charge ordering. High angle annular dark-field (HAADF) images, also known as Z-contrast, confirm that our single crystals exhibit high crystal quality. No secondary phases or defects are observed. Figure 1 displays an atomic resolution image obtained with the c-axis perpendicular to the electron beam of a x=0.50 sample. The perovskite (P)-like planes and the rock salt (R)-like planes are clearly observed, highlighted in green and red, respectively, on the image. The P-like planes exhibit a slightly high contrast, suggesting a possible La enrichment. EELS atomic resolution maps (inset) support a high degree of La segregation on those planes, while R-like planes are Sr rich. However, due to dechanneling of the beam, detailed image simulations are essential to accurately quantify the local chemical composition in an atomic column-by-atomic column fashion. For all our

  8. Atomic-scale microstructures, Raman spectra and dielectric properties of cubic pyrochlore-typed Bi1.5MgNb1.5O7 dielectric ceramics

    KAUST Repository

    Li, Yangyang

    2014-07-01

    Single-phase cubic pyrochlore-typed Bi1.5MgNb 1.5O7 (BMN) dielectric ceramics were synthesized at temperatures of 1050-1200 °C by solid-state reaction method. Their atomic-scale microstructures and dielectric properties were investigated. X-ray diffraction patterns revealed that the BMN ceramics had an average cubic pyrochlore structure, whereas the Raman spectra indicated that they had an essentially cubic symmetry with small local deviations at the A and O\\' sites of the cubic pyrochlore structure. This was confirmed by selected electron area diffraction (SAED) patterns, where the reflections of {442} (not allowed in the cubic pyrochlore with Fd3̄m symmetry) were clearly observed. SEM and TEM images revealed that the average grain size was increased with the sintering temperature, and an un-homogeneous grain growth was observed at high temperatures. HRTEM images and SAED patterns revealed the single-crystalline nature of the BMN ceramic grains. Energy dispersive spectroscopy (EDS) elemental mapping studies indicated that the compositional distributions of Bi, Mg, Nb and O elements in the ceramic grains were homogenous, and no elemental precipitation was observed at the grain boundary. Quantitative EDS data on ceramic grains revealed the expected cationic stoichiometry based on the initial composition of Bi1.5MgNb1.5O7. Dielectric constants of all the BMN samples exhibited almost frequency independent characteristic in the frequency range of 102-106 Hz, and the highest value was 195 for the BMN ceramics sintered at sintered at 1150 °C with the highest bulk density. The dielectric losses were stable and less than 0.002 in the frequency range of 102-105 Hz. The high dielectric constants of the present BMN samples can be ascribed to the local atomic deviations at the A and O\\' sites from the ideal atomic positions of the pyrochlore structure, which affect the different polarization mechanisms in the BMN ceramics, and which in turn enhance the dielectric

  9. Academic freedom: why do we need a Magna Charta?

    OpenAIRE

    Karran, Terence

    2009-01-01

    Contents: THE HISTORICAL ROOTS OF ACADEMIC FREEDOM VON HUMBOLDT: The modern research university THE NEED FOR A WORKING DEFINITION OF ACADEMIC FREEDOM THE NEED FOR ADEQUATE PROTECTION OF ACADEMIC FREEDOM ACADEMIC FREEDOM IS IMPORTANT: to staff, students, universities and the world at large.

  10. 34 CFR 5.32 - Freedom of information officer.

    Science.gov (United States)

    2010-07-01

    ... 34 Education 1 2010-07-01 2010-07-01 false Freedom of information officer. 5.32 Section 5.32... PURSUANT TO PUB. L. 90-23 (Eff. until 7-14-10) Freedom of Information Officer § 5.32 Freedom of information officer. The Freedom of Information Officer shall be responsible for determining whether records of the...

  11. The Effects of Social Ideology on Academic Freedom.

    Science.gov (United States)

    Ayers, Brian S.

    This paper discusses the effects of social ideology on academic freedom, beginning with the role of academic freedom, on teaching and research, as well as the professional responsibilities that go along with this freedom. The paper goes on to examine the conflicts faced by academic institutions in balancing academic freedom with the influence of…

  12. Dislocations and elementary processes of plasticity in FCC metals: atomic scale simulations; Dislocations et processus elementaires de la plasticite dans les metaux CFC: apports des simulations a l'echelle atomique

    Energy Technology Data Exchange (ETDEWEB)

    Rodney, D

    2000-07-01

    We present atomic-scale simulations of two elementary processes of FCC crystal plasticity. The first study consists in the simulation by molecular dynamics, in a nickel crystal, of the interactions between an edge dislocation and glissile interstitial loops of the type that form under irradiation in displacement cascades. The simulations show various atomic-scale interaction processes leading to the absorption and drag of the loops by the dislocation. These reactions certainly contribute to the formation of the 'clear bands' observed in deformed irradiated materials. The simulations also allow to study quantitatively the role of the glissile loops in irradiation hardening. In particular, dislocation unpinning stresses for certain pinning mechanisms are evaluated from the simulations. The second study consists first in the generalization in three dimensions of the quasi-continuum method (QCM), a multi-scale simulation method which couples atomistic techniques and the finite element method. In the QCM, regions close to dislocation cores are simulated at the atomic-scale while the rest of the crystal is simulated with a lower resolution by means of a discretization of the displacement fields using the finite element method. The QCM is then tested on the simulation of the formation and breaking of dislocation junctions in an aluminum crystal. Comparison of the simulations with an elastic model of dislocation junctions shows that the structure and strength of the junctions are dominated by elastic line tension effects, as is assumed in classical theories. (author)

  13. Religious Freedom in the World: A Global Comparative Survey Sponsored by Freedom House.

    Science.gov (United States)

    American Educator, 2001

    2001-01-01

    Summarizes findings from a report on religious freedom around the world created by a multidisciplinary, multi-religious group of international scholars, explaining that this basic human right is under assault in many areas. Presents descriptions of religious freedom in Russia, India, North Korea, and Sudan. A chart describes and rates religious…

  14. Freedom from religion: strengthening the human right to freedom of religion and belief by securing freedom from religion

    OpenAIRE

    McAdam, Marika

    2017-01-01

    Freedom of religion and belief is one of the strongest rights contained in the International Covenant on Civil and Political Rights (ICCPR), but simultaneously one of the most elusive. Article 18 of the ICCPR protects “theistic, non-theistic and atheistic beliefs, as well as the right not to profess any religion or belief.” And yet jurisprudence is yet to fully explore the capacity of this right to stand up to the challenge of meaningfully protecting freedom of religion and belief across the ...

  15. 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

  16. 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.

  17. Adaptive control of a Stewart platform-based manipulator

    Science.gov (United States)

    Nguyen, Charles C.; Antrazi, Sami S.; Zhou, Zhen-Lei; Campbell, Charles E., Jr.

    1993-01-01

    A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

  18. 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.

  19. Posture control with a neural network of a diagnostic robot manipulator; Neural network ni yoru haikan shindan robot manipulator no shisei seigyo

    Energy Technology Data Exchange (ETDEWEB)

    Abe, Y. [Shinryo Corp., Tokyo (Japan); Hara, F.; Hosokai, H.; Kojima, T. [Science University of Tokyo, Tokyo (Japan)

    1997-09-25

    A robot manipulator has been investigated, by which non-destructive diagnostic tests of a pipe-line can be automatically conducted. This robot manipulator has five degrees of freedom, and can set up an ultrasonic probe for diagnosis attached at the surface of pipe at various angles and with various forces. The manipulator is controlled through the feedback of variation of reflected ultrasonic wave with the contact force of probe. Using a neural network, the manipulator can smoothly shift its posture in the optimum sensing state from the initial posture. For the measuring experiment using a pipe, the posture control and the force control were evaluated. The posture control error was around 0.4 degree. The target allowable error 0.5 degree was achieved. For the force control, it was demonstrated that the follow-up property of contact force to the target value can be enhanced by increasing the intermediate posture number. 3 refs., 13 figs.

  20. Freedom of Expression, Deliberation, Autonomy, and Respect

    DEFF Research Database (Denmark)

    Rostbøll, Christian Fogh

    The strongest versions of the democracy argument for freedom of expression rely on the deliberative conception of democracy. Deliberative democracy entails both an ideal of political autonomy and of autonomous preference formation. This paper elaborates the deliberative democracy argument...... for freedom of expression in terms of its relationship to different dimensions of autonomy. In response to the objection that Enlightenment theories pose a threat to cultures that reject autonomy, it is argued that autonomy-based democracy is not only compatible with but necessary for respect for cultural...... is good for oneself and what is equally good for all. While freedom of expression is indispensable for deliberation and autonomy, this does not mean that citizens have no obligations with regard to how they speak to each other. The moral insights that deliberation delivers depends on that the participants...

  1. Nursing diagnoses in women deprived of freedom

    Directory of Open Access Journals (Sweden)

    Izabelle de Freitas Ferreira

    2016-05-01

    Full Text Available Objective: to analyze the nursing diagnoses profile of women deprived of freedom, using the International Classification for Nursing® Practice version 1.0. Methods: a descriptive study, conducted with 186 women deprived of freedom. Nursing Diagnoses were extrapolated based on the clinical data of the participants, collected through a structured form and clinical reasoning. Results: there were 44 nursing diagnostic statements, among the most common, there were: infection risk (70.9%; fluid intake, decreased (61.2%; Sleep, impaired (60.7%; tobacco abuse, started (51.6%; health seeking behavior, committed (50.0%. Conclusion: the diagnoses are related to factors that compromise the biopsychosocial health. The nurse, health staff member in the prison setting, must recognize and assess the individual and collective needs of women deprived of freedom. The inference of nursing diagnoses, based on clinical reasoning, contributes to a humanized, empathic and special care.

  2. 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.

  3. 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.

  4. 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

  5. Manipulation et information fictionnelle

    OpenAIRE

    Dufiet, Jean-Paul

    2012-01-01

    Le 13 décembre 2006, la Radio Télévision Belge Francophone (RTBF) annonçait, dans un vrai journal télévisé spécial, la fausse nouvelle que la Flandre venait de déclarer son indépendance. Par l’analyse des caractéristiques du journal télévisé, l’auteur décrypte le rapport entre mise en scène linguistique et sémiotique d’une part, et manipulation médiatique d’autre part. On December 13, 2006, Radio Télévision Belge Francophone (RTBF) interrupted its regular programming with a special bulleti...

  6. Imaging and manipulation of a polar molecule on Ag(111)

    DEFF Research Database (Denmark)

    Lin, R.; Braun, K.F.; Tang, H.

    2001-01-01

    A scanning tunneling microscope (STM) was applied to image and laterally manipulate isolated phosphangulene molecules on Ag(111) at 6 K. Atomic-resolution images clearly revealed three characteristic types of appearances (three-lobed, fish and bump shape) for the adsorbed molecules, which could...... correspond to three distinct binding configurations. From a detailed analysis of the relative distance between neighboring three-lobed molecules we determine the adsorption site. Applying the lateral manipulation technique ws demonstrate that the molecule can be pulled, slid or pushed by the tip...... on the surface. Accompanying with the reposition, molecular rotation and/or changing of binding configurations can also be induced. It is found that the dipole moment of the molecule has minor effects on its lateral movement. The results demonstrate that due to many degrees of freedom for large molecules...

  7. Coherent manipulation of Andreev states in superconducting atomic contacts

    Science.gov (United States)

    Janvier, C.; Tosi, L.; Bretheau, L.; Girit, Ç. Ö.; Stern, M.; Bertet, P.; Joyez, P.; Vion, D.; Esteve, D.; Goffman, M. F.; Pothier, H.; Urbina, C.

    2015-09-01

    Coherent control of quantum states has been demonstrated in a variety of superconducting devices. In all of these devices, the variables that are manipulated are collective electromagnetic degrees of freedom: charge, superconducting phase, or flux. Here we demonstrate the coherent manipulation of a quantum system based on Andreev bound states, which are microscopic quasi-particle states inherent to superconducting weak links. Using a circuit quantum electrodynamics setup, we performed single-shot readout of this Andreev qubit. We determined its excited-state lifetime and coherence time to be in the microsecond range. Quantum jumps and parity switchings were observed in continuous measurements. In addition to having possible quantum information applications, such Andreev qubits are a test-bed for the physics of single elementary excitations in superconductors.

  8. Imaging and manipulation of a polar molecule oil Ag(111)

    DEFF Research Database (Denmark)

    Lin, Rong; Braun, K.F.; Tang, H.

    2001-01-01

    A scanning tunneling microscope (STM) was applied to image and laterally manipulate isolated phosphangulene molecules on Ag(111) at 6 K. Atomic-resolution images clearly revealed three characteristic types of appearances (three-lobed, fish and bump shape) for the adsorbed molecules, which could...... correspond to three distinct binding configurations. From a detailed analysis of the relative distance between neighboring three-lobed molecules we determine the adsorption site. Applying the lateral manipulation technique ws demonstrate that the molecule can be pulled, slid or pushed by the tip...... on the surface. Accompanying with the reposition, molecular rotation and/or changing of binding configurations can also be induced. It is found that the dipole moment of the molecule has minor effects on its lateral movement. The results demonstrate that due to many degrees of freedom for large molecules...

  9. Decentralized Neural Backstepping Control Applied to a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Ramon Garcia-Hernandez

    2013-01-01

    Full Text Available This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF robot manipulator. A high order neural network (HONN is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF. The weights for each neural network are adapted online by an extended Kalman filter training algorithm. The motion for each joint is controlled independently using only local angular position and velocity measurements. The stability analysis for the closed-loop system via the Lyapunov approach is included. Finally, the real-time results show the feasibility of the proposed control scheme using a robot manipulator.

  10. Dynamic model of a 3-DOF redundantly actuated parallel manipulator

    Directory of Open Access Journals (Sweden)

    Tiemin Li

    2016-09-01

    Full Text Available We investigate the dynamic mode of a 3-degree of freedom (DOF redundantly actuated parallel manipulator by taking the flexible deformation of the limbs into account. The dynamic model is derived using Newton–Euler formulation. Since the number of equations derived from the force and moment equilibrium of the parallel manipulator components is less than the number of unknown variables, the flexible deformation of the limbs is treated as an inequality constraint to find the solution of the dynamic model. The errors of moving platform caused by the flexible deformation of limbs are discussed, and a control strategy is given. To validate the model, the dynamic model is integrated with the control system and compared with the traditional method to minimize the normal driving forces.

  11. Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Zhiyong Yang

    2008-03-01

    Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.

  12. Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Zhiyong Yang

    2008-11-01

    Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.

  13. Design and construction of the Aerobot Robotic Manipulator (ARM)

    Science.gov (United States)

    Cochran, William L.

    1993-12-01

    This thesis designed, constructed, and tested a robotic arm for the Aerobot (Aerial Robot). The main purpose of the ARM is to enable the Aerobot to retrieve objects during an annual robotics competition. Design of the ARM involved synthesizing the characteristics of simplicity, weight, strength, and size. The result was a three-degree-of-freedom manipulator that uses electric motors, cable linkages, and telescoping tubes to access a work space below the Aerobot. Forward and inverse kinematics were investigated to enable automation of the ARM. Data was collected from infrared sensors to validate the model. Manipulation of the ARM is presently under open loop control (joy stick) which demonstrates the use of tele-robotics and its capabilities.

  14. Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure.

    Science.gov (United States)

    Mu, Zonggao; Han, Liang; Xu, Wenfu; Li, Bing; Liang, Bin

    2016-01-01

    A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it to lose one degree of freedom (DOF), hence reducing its movement ability. In this paper, the key problems related to the fault-tolerant including kinematics, workspace, and trajectory planning of a non-redundant space manipulator under single joint failure are handled. First, the analytical inverse kinematics equations are derived for the 5-DOF manipulator formed by locking the failure joint of the original 6-DOF manipulator. Then, the reachable end-effector pose (position and orientation) is determined. Further, we define the missions can be completed by the 5-DOF manipulator. According to the constraints of the on-orbital mission, we determine the grasp envelope required for the end-effector. Combining the manipulability of the manipulator and the performance of its end-effector, a fault tolerance parameter is defined and a planning method is proposed to generate the reasonable trajectory, based on which the 5-DOF manipulator can complete the desired tasks. Finally, typical cases are simulated and the simulation results verify the proposed method.

  15. No freedom of action without emotional energy

    DEFF Research Database (Denmark)

    Poder, Poul

    . The paper further develops such a social and relational approach by arguing that freedom is also based on emotional energy and not merely on priveleges and power (cf. Bauman). Agency cannot be taken for granted as a generic feature of humans beings (cf. Layder, Bauman, Campbell) founded in consciousnes...... and intentionality (Fuchs). In a differential and generative sense freedom/agency is based on emotional energy. For example, to act personally, cooperately with others or on behalf on institutions individuals need feeling self-confidence, trust or loyalty (Barbalet). Such emotions are resources inmplicated...

  16. No freedom of action without emotional energy

    DEFF Research Database (Denmark)

    Poder, Poul

    and intentionality (Fuchs). In a differential and generative sense freedom/agency is based on emotional energy. For example, to act personally, cooperately with others or on behalf on institutions individuals need feeling self-confidence, trust or loyalty (Barbalet). Such emotions are resources inmplicated....... The paper further develops such a social and relational approach by arguing that freedom is also based on emotional energy and not merely on priveleges and power (cf. Bauman). Agency cannot be taken for granted as a generic feature of humans beings (cf. Layder, Bauman, Campbell) founded in consciousnes...

  17. Progress as Compositional Lock-Freedom

    DEFF Research Database (Denmark)

    Carbone, Marco; Dardha, Ornela; Montesi, Fabrizio

    2014-01-01

    such definition to capture a more intuitive notion of context adequacy for checking progress. Interestingly, our new catalysers lead to a novel characterisation of progress in terms of the standard notion of lock-freedom. Guided by this discovery, we also develop a conservative extension of catalysers that does...... not depend on types, generalising the notion of progress to untyped session-based processes. We combine our results with existing techniques for lock-freedom, obtaining a new methodology for proving progress. Our methodology captures new processes wrt previous progress analysis based on session types....

  18. Einstein equations and Fermion degrees of freedom

    International Nuclear Information System (INIS)

    Luetz, E.F.; Vasconcellos, C.A.Z.

    2001-01-01

    When Dirac derived the special relativistic quantum equation which brings his name, it became evident that the spin is a consequence of the space-time geometry. However, taking gravity into account (as for, instance, in the study of neutron stars), most authors do not take into account the relation between hyperbolic geometry and spin and derive an Einstein equation which implicitly takes into account only boson degrees of freedom. In this work we introduce a consistent quantum general relativistic formalism which allows us to study the effects of the existence of fermion degrees of freedom. (author)

  19. Evaluation of head-collision safety of a 7-DOF manipulator according to posture variation

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Ki Hong, E-mail: rome582@khu.ac.kr; Park, In Jun, E-mail: demianjun@gmail.com; Choi, Jin-Hwan, E-mail: jhchoi@khu.ac.kr; Rhim, Sungsoo, E-mail: ssrhim@khu.ac.kr [Kyung Hee University, Department of Mechanical Engineering (Korea, Republic of)

    2016-05-15

    As the need for the improvement of the productivity in the manufacturing process grows, industrial robots are brought out of the safety fences and used in the direct collaborative operation with human workers. Consequently, the intended and/or unintended contact between the human and the robot in the collaborative operation is no longer an extraordinary event and is a mundane possibility. The level of the risk of the collision depends on various quantities associated with the collision, for example, inertia, velocity, stiffness, and so on. MSI (manipulator safety index) which is based on HIC (head injury criteria) conventionally used in the automotive industry is one of the practically available measures to estimate the risk of the collision between the human and the manipulator. In this paper MSI is applied to evaluate the collision safety of a 7-DOF articulated human-arm-like manipulator. The risk of the collision could be reduced by choosing different postures without deviating from the given end-effector trajectory using the redundant degree of freedom in the 7-DOF manipulator. The paper shows how the redundant degree of the freedom is utilized to design safer trajectories and/or safer manipulator configurations among many available. A parametric analysis and simulation results for a given trajectory illustrate the usefulness of the concept of the trajectory design for alleviating the risk of the manipulator operation in the human–robot coexisting workspace.

  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. 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...

  2. The Congress for Cultural Freedom seen from the dynamics of the Cold War

    Directory of Open Access Journals (Sweden)

    Francisco Javier Ruiz Durán

    2014-01-01

    Full Text Available The aim of this paper is to show how, at the height of the Cold War, the British intelligence services responded to the new spy system created by the Comintern developing a secret campaign of political and cultural propaganda, under the cover of prestigious foundations to channel intellectuals in defense of a liberal democracy. This spy system expected to carry out propaganda secret operations and manipulate the intellectuals from almost the very beginning of the Soviet Revolution. The keystone to win the battle of consciences was the Congress for Cultural Freedom and its editorials, magazines, exhibitions, scholarships, concerts, congresses and conferences. Finally, it will be noted how the Congress for Cultural Freedom implemented the political conception of "non-communist left" to sustain the social democracy in the Western bloc.

  3. The Chains Around Academic Freedom in Teaching-Learning.

    Science.gov (United States)

    Condon, Barbara Backer

    2017-04-01

    Freedom as a concept has been much debated. Is freedom an innate part of being, or does freedom even truly exists? These are questions that have gleaned countless hours of discourse over the years. Two components of freedom that can influence nurse higher education are freedom of speech, in the form of media, and academic freedom. The author of this column first introduces three views of freedom to demonstrate the differences surrounding it. A discussion of the media's use or misuse of freedom of speech and its influence on nursing education is then presented, followed by an examination of current threats to academic freedom in today's institutes of higher learning and specifically in the nursing education arena. The author concludes with suggestions on being a nurse educator through living as a humanbecoming professional while navigating issues surrounding nursing education.

  4. Design and Analysis of a Spatial 3-DOF Parallel Manipulator with 2T1R-Type

    Directory of Open Access Journals (Sweden)

    Yanbin Zhang

    2013-05-01

    Full Text Available Abstract A novel asymmetrical spatial parallel manipulator with three degrees of freedom is proposed. The moving platform of the manipulator has two-translational and one-rotational (2T1R DOFs with respect to the fixed base. Two other manipulators with platforms with high rotational ability are obtained by making simple changes to the original manipulator's architecture. The platform of the new mechanisms can rotate 360 degrees around their axis. The motion output characteristics and the mobility of the manipulator are analyzed based on the screw theory. Solutions for position and pose, velocity, acceleration are derived. The Jacobian matrix, mapping the input velocity vector space into the output velocity vector space, is an identical matrix, so the parallel mechanism is free-singularity and fully-isotropic. Therefore, these manipulators perform very well with regard to motion and force transmission and have potential applications in the field of industrial robots and medical devices.

  5. 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

  6. Advantage of redundancy in the controllability of remote handling manipulator

    International Nuclear Information System (INIS)

    Muhammad, Ali; Mattila, Jouni; Vilenius, Matti; Siuko, Mikko; Semeraro, Luigi

    2011-01-01

    To carry out a variety of remote handling operations inside the ITER divertor a Water Hydraulic MANipulator (WHMAN) and its control system have been designed and developed at Tampere University of Technology. The manipulator is installed on top of Cassette Multifunctional Mover (CMM) to assist during the cassette removal and installation operations. While CMM is designed to carry heavy components such as cassettes through the service ducts relying on positioning accuracy and repeatability, WHMAN is designed to execute a mix of remote handling operations using position trajectories and master-slave telemanipulation. WHMAN is composed of eight joints: six rotational and two translational. Since a manipulator requires only six joints to acquire the desired position and orientation in operational-space, the two additional joints of WHMAN provide the redundant degrees of mobility. This paper presents how this redundancy of WHMAN can be an advantage to optimize the execution of remote handling tasks. The paper also discusses an effective way to practically exploit the redundancy. The results show that the additional degrees of freedom can be utilized to improve the dynamic behavior of the manipulator.

  7. Milton's "Areopagitica" Freedom of Speech on Campus

    Science.gov (United States)

    Sullivan, Daniel F.

    2006-01-01

    The author discusses the content in John Milton's "Areopagitica: A Speech for the Liberty of Unlicensed Printing to the Parliament of England" (1985) and provides parallelism to censorship practiced in higher education. Originally published in 1644, "Areopagitica" makes a powerful--and precocious--argument for freedom of speech…

  8. The Liberal Struggle for Press Freedom

    DEFF Research Database (Denmark)

    Mogensen, Kirsten

    In this paper, the public debate following the religion-motivated assassination of Dutch filmmaker Theo van Gogh in November 2004 is examined. The paper aims at describing religious as well as secular positions in the Danish debate about freedom of speech and press in relation to religious issues...

  9. Superstrings with tensor degrees of freedom

    Energy Technology Data Exchange (ETDEWEB)

    Amorim, R. (Inst. de Fisica, Univ. Federal do Rio de Janeiro, Rio de Janeiro, RJ (Brazil)); Barcelos-Neto, J. (Inst. de Fisica, Univ. Federal do Rio de Janeiro, Rio de Janeiro, RJ (Brazil))

    1994-10-01

    We add antisymmetric tensor degrees of freedom to the usual superstring coordinates. We show that super and kappa symmetries are only achieved for the spacetime dimension D = 4. We also address problems related to the quantization of the model and discuss the influences of this extended spacetime in the usual quantum field theory. (orig.)

  10. Freedom of Expression in Elementary School.

    Science.gov (United States)

    Zirkel, Perry A.

    2003-01-01

    Uses question and answer format to discuss scope of elementary students' First Amendment freedom of expression rights. For example, does the First Amendment prevent the disciplining of a sixth grader for writing a sexually inappropriate remark in another student's notebook? Answer: No. (Contains 13 references.) (PKP)

  11. Happiness and economic freedom: Are they related?

    Directory of Open Access Journals (Sweden)

    Yilmaz Ilkay

    2016-01-01

    Full Text Available In this article we investigate the linkage between economic freedom and happiness (subjective well-being. We attempt to understand which economic institutions (rule of law, limited government, regulatory efficiency, open markets have influence on subjective well-being. For this purpose we use a panel dataset and analyze the effect of economic freedom on subjective well-being while using various control variables such as government expenditures as percentage of GDP, human development, social support, freedom of choice and generosity. Our pooled FGLS estimations indicate that all pillars of economic freedom have a strong influence on the average subjective well-being in society. Three of these pillars, namely rule of law, regulatory efficiency and open markets, positively affect subjective well-being. To our surprise we have found a negative relationship between limited government and subjective wellbeing. This might be due to the situation that reducing the size of government possibly leads to lower government expenditures and higher unemployment, which in turn results in lower subjective well-being.

  12. 77 FR 68043 - World Freedom Day, 2012

    Science.gov (United States)

    2012-11-15

    ... destiny is what human beings make of it, they courageously realized the change they sought. Today, we... to express themselves, live their faith, assemble without fear, and choose their leaders freely and... possible. And together, let us keep the light of freedom burning bright for all who live in the shadow of...

  13. Multiple degree of freedom optical pattern recognition

    Science.gov (United States)

    Casasent, D.

    1987-01-01

    Three general optical approaches to multiple degree of freedom object pattern recognition (where no stable object rest position exists) are advanced. These techniques include: feature extraction, correlation, and artificial intelligence. The details of the various processors are advanced together with initial results.

  14. Learners' right to freedom of written expression

    African Journals Online (AJOL)

    Erna Kinsey

    Learners' right to freedom of written expression. W.J. van Vollenhoven. Department of Education Management and Policy Studies, University of Pretoria, Pretoria, 0002 South Africa wvvollen@postino.up.ac.za. Charles I. Glenn. Training and Policy Studies of the University Professors' Program, University of Boston. Although ...

  15. Quark degrees of freedom in nuclei

    International Nuclear Information System (INIS)

    Lovas, I.

    1986-03-01

    Experimental facts which can not be interpreted in terms of nucleonic degrees of freedom are reviewed. Attempts to explain these observations by the help of the notions of quark physics are indicated. Some predicted exotic states are enumerated. The most promising models of the nucleon-nucleon interactions in terms of quarks are briefly discussed. (author)

  16. Freedom and security: a sometimes delicate balance

    CERN Document Server

    2015-01-01

    Like any academic institution, CERN celebrates freedom: freedom of expression, freedom of thought and freedom of movement. Occasionally, however, circumstances beyond our control oblige us to impose certain restrictions.   Friday, 26 June was just such an occasion. On that day, terrorists chose to commit unfathomable atrocities in France, near Lyon, as well as in Kuwait and Tunisia. The brutality exhibited in all three attacks is beyond comprehension, and I am sure that we all feel for the victims and all those touched by these hideous acts. At times such as this, and on the basis of information that I receive from external agencies, it is my responsibility as Director-General to decide whether measures are needed at CERN, and to apply them at an appropriate level if I deem it necessary. On Friday, based on the information I had at my disposal, I decided that the situation merited extra vigilance at the entrances to CERN for the sake of ensuring the safety and security of everyone on site. I...

  17. The Freedoms and Capabilities of Farm Animals

    DEFF Research Database (Denmark)

    Cabaret, Jacques; Chylinski, Caroline; Vaarst, Mette

    2014-01-01

    Organic farming promotes animal husbandry practices that consider the welfare of the animals on the farm. The concept of animal welfare and the standards that should encompass this concept have in many cases been largely generalised in practice, which leaves relevant aspects of animal freedom...

  18. EU Economic Freedoms and Social Dumping

    NARCIS (Netherlands)

    Cremers, Jan; Bernaciak, Magdalena

    2015-01-01

    In the book, 'Market Expansion and Social Dumping in Europe', edited by Magdalena Bernaciak and published by Routledge, Jan Cremers (AIAS and Tilburg University) contributes with a chapter called ‘EU economic freedoms and social dumping’. He demonstrates how the emphasis on the primacy of economic

  19. Censorship and Intellectual Freedom in the Schools.

    Science.gov (United States)

    Boardman, Edna; And Others

    1993-01-01

    Includes seven articles that discuss censorship and intellectual freedom in junior and senior high schools. Highlights include access to appropriate information; library material selection; dealing with complaints; a list of potentially controversial titles and topics; a history of book burning; the censorship of fiction; weeding versus…

  20. The Liberal Struggle for Press Freedom

    DEFF Research Database (Denmark)

    Mogensen, Kirsten

    In this paper, the public debate following the re-ligion-motivated assassination of Dutch filmmaker Theo van Gogh in November 2004 is examined. The paper aims at describ-ing religious as well as secular positions in the Danish debate about freedom of speech and press in relation to religious issu...

  1. Academic Freedom: Problems in Conceptualization and Research

    Science.gov (United States)

    Abdel Latif, Muhammad M. M.

    2014-01-01

    Academic freedom is of central importance to higher education and it affects all aspects of work at universities. It symbolizes academics' acceptance of the need for openness and flexibility (Balyer, 2011) and it protects the conditions leading to the creation of good teaching and learning, sound research, and scholarship (Atkinson, 2004).…

  2. Freedom of Information, Records Management and Good ...

    African Journals Online (AJOL)

    Governments around the world are often praised for good or rebuked for bad governance. This paper argues that good governance is predicated on the adoption of functional records management and the enactment of Freedom of Information (FOI) legislation by governments. Records that are accumulated and used by ...

  3. Histories and Freedom of the Present

    DEFF Research Database (Denmark)

    Vucina, Naja; Drejer, Claus Munch; Triantafillou, Peter

    2011-01-01

    This paper compares the ways in which Michel Foucault and Quentin Skinner’s historical analyses seek to unsettle the limits on present forms of freedom. We do so by comparing their ways of analyzing discourse, rationality and agency. The two authors differ significantly in the ways they deal...

  4. Hannah Arendt and the "Freedom" to Think

    Science.gov (United States)

    Morgan, Marie

    2016-01-01

    Dissatisfied with the Western tradition of political philosophy, Arendt maintained a tension between the political, which she associates primarily with the freedom to act, and the philosophical, which she associates principally with the activity of thinking, throughout her works. Whilst Arendt's work is underpinned by a focus on political action,…

  5. Ridge regression and its degrees of freedom

    NARCIS (Netherlands)

    Dijkstra, Theo K.

    2014-01-01

    For ridge regression the degrees of freedom are commonly calculated by the trace of the matrix that transforms the vector of observations on the dependent variable into the ridge regression estimate of its expected value. For a fixed ridge parameter this is unobjectionable. When the ridge parameter

  6. Artistic Freedom: An Art World Paradox.

    Science.gov (United States)

    Lankford, E. Louis

    1990-01-01

    Analyzes two recent controversies about censorship of arts: Robert Mapplethorpe's photographs and U.S. congressional limits on funding for National Endowment for the Arts. Maintains artistic freedom can be encouraged if all segments of society learn about arts. Recommends that aesthetic education deal with these controversial issues, the social…

  7. Education for sustainability through academic freedom | Ekwueme ...

    African Journals Online (AJOL)

    Past researches are of the opinion that education for sustainable development and academic freedom could assist in solving these ethical menaces. Education for sustainable development allows every human being to acquire knowledge, skills, attitudes and values necessary to shape a sustainable future to make ...

  8. Caricature freedom of expression in France

    Directory of Open Access Journals (Sweden)

    Renán Vega Cantor

    2016-04-01

    Full Text Available In this article we will present a sample of the way in France, the acclaimed birthplace and home of freedom of expression, censored, persecuted, and even imprisons those who dare to criticize the Israel lobby or their positions are not in tune with the thought “warm” right, the academic and cultural world

  9. Dual Feynman rules - topological asymptotic freedom

    International Nuclear Information System (INIS)

    Chew, G.F.; Levinson, M.; California Univ., Berkeley

    1983-01-01

    Feynman-graph rules are formulated for the strong - interaction components of the topological expansion - defined as those graphs all of whose vertices are zero - entropy connected parts. These rules imply a ''topological asymptotic freedom'' and admit a corresponding perturbative evaluation where the zeroth order exhibits topological supersymmetry. (orig.)

  10. FREEDOM OF EXPRESSION IN ETHIOPIA: THE ...

    African Journals Online (AJOL)

    eliasn

    reasonably be read into these clauses in light of the experience of other jurisdictions and the Ethiopian reality. However, limiting only, speech that could cause ethnic and religious violence does not seem to be reasonable. After all, there are other possible effects of speech that would justify limiting freedom of expression ...

  11. religious freedom in South African constitutional jurisprudence

    African Journals Online (AJOL)

    Irma Kroeze

    does not combine easily, and if we ignore the effect of language on understanding we will no ... the ways in which the South African Constitutional Court has dealt with the question of religious freedom as an .... recognises both the dependence of politics on social and economic conditions and the dependence of these ...

  12. Detailed solution to a complex kinematics chain manipulator

    Energy Technology Data Exchange (ETDEWEB)

    March-Leuba, S; Jansen, J F; Kress, R L; Babcock, S M

    1992-01-01

    This paper presents a relatively simple method based on planar geometry to analyze the inverse kinematics for closed kinematics chain (CKC) mechanisms. Although the general problem and method of approach are well defined, the study of the inverse kinematics of a closed-chain mechanism is a very complicated one. The current methodology allows closed-form solutions to be found, if a solution exists, for the displacements and velocities of all manipulator joints. Critical design parameters can be identified and optimized by using symbolic models. This paper will focus on planar closed-chain structures extended with a rotational base. However, with open and CKC mechanisms combined in different planes, the extension to the case is straightforward. Further, real-time algorithms are developed that can be handled by existing microprocessor technology. To clarify the methodology, the Soldier Robot Interface Project (SRIP) manipulator is analyzed, and a graphic simulation is presented as a verification of the results. This manipulator has 17 links, 24 one-degree-of-freedom (DOF) joints, and 7 CKC loops working in a plane and a rotational base, which determine its 3 DOFs. The SRIP manipulator allows a decoupled linear motion along the vertical or horizontal directions using only one of its linear actuators. The symbolic solution for the inverse kinematics allows optimization to be performed to further decouple the Cartesian motions by changing link lengths of the manipulator. The conclusion achieved by the optimization is that only two link lengths need to be changed to tune the manipulator for a perfect decoupling at each area of the workspace.

  13. Detailed solution to a complex kinematics chain manipulator

    International Nuclear Information System (INIS)

    March-Leuba, S.; Jansen, J.F.; Kress, R.L.; Babcock, S.M.

    1992-01-01

    This paper presents a relatively simple method based on planar geometry to analyze the inverse kinematics for closed kinematics chain (CKC) mechanisms. Although the general problem and method of approach are well defined, the study of the inverse kinematics of a closed-chain mechanism is a very complicated one. The current methodology allows closed-form solutions to be found, if a solution exists, for the displacements and velocities of all manipulator joints. Critical design parameters can be identified and optimized by using symbolic models. This paper will focus on planar closed-chain structures extended with a rotational base. However, with open and CKC mechanisms combined in different planes, the extension to the case is straightforward. Further, real-time algorithms are developed that can be handled by existing microprocessor technology. To clarify the methodology, the Soldier Robot Interface Project (SRIP) manipulator is analyzed, and a graphic simulation is presented as a verification of the results. This manipulator has 17 links, 24 one-degree-of-freedom (DOF) joints, and 7 CKC loops working in a plane and a rotational base, which determine its 3 DOFs. The SRIP manipulator allows a decoupled linear motion along the vertical or horizontal directions using only one of its linear actuators. The symbolic solution for the inverse kinematics allows optimization to be performed to further decouple the Cartesian motions by changing link lengths of the manipulator. The conclusion achieved by the optimization is that only two link lengths need to be changed to tune the manipulator for a perfect decoupling at each area of the workspace

  14. Smart Hand For Manipulators

    Science.gov (United States)

    Fiorini, Paolo

    1987-10-01

    Sensor based, computer controlled end effectors for mechanical arms are receiving more and more attention in the robotics industry, because commonly available grippers are only adequate for simple pick and place tasks. This paper describes the current status of the research at JPL on a smart hand for a Puma 560 robot arm. The hand is a self contained, autonomous system, capable of executing high level commands from a supervisory computer. The mechanism consists of parallel fingers, powered by a DC motor, and controlled by a microprocessor embedded in the hand housing. Special sensors are integrated in the hand for measuring the grasp force of the fingers, and for measuring forces and torques applied between the arm and the surrounding environment. Fingers can be exercised under position, velocity and force control modes. The single-chip microcomputer in the hand executes the tasks of communication, data acquisition and sensor based motor control, with a sample cycle of 2 ms and a transmission rate of 9600 baud. The smart hand described in this paper represents a new development in the area of end effector design because of its multi-functionality and autonomy. It will also be a versatile test bed for experimenting with advanced control schemes for dexterous manipulation.

  15. 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.)

  16. Image Manipulation: Then and Now.

    Science.gov (United States)

    Sutton, Ronald E.

    The images of photography have been manipulated almost from the moment of their discovery. The blending together in the studio and darkroom of images not found in actual scenes from life has been a regular feature of modern photography in both art and advertising. Techniques of photograph manipulation include retouching; blocking out figures or…

  17. Religious Freedoms In Republic Of Macedonia

    Directory of Open Access Journals (Sweden)

    Metaj-Stojanova Albana

    2015-12-01

    Full Text Available With the independence of Republic of Macedonia and the adoption of the Constitution of Macedonia, the country went through a substantial socio-political transition. The concept of human rights and freedoms, such as religious freedoms in the Macedonian Constitution is based on liberal democratic values. The Macedonian Constitution connects the fundamental human rights and freedoms with the concept of the individual and citizen, but also with the collective rights of ethnic minorities, respecting the international standards and responsibilities taken under numerous international human rights conventions and treaties, of which the country is a party. Republic of Macedonia has ratified all the so called “core human right treaties” and now the real challenge lies in the implementation of the international standards. Some of these international conventions and treaties of the United Nations and of the Council of Europe are inherited by succession from the former Yugoslavian federation. Religious freedoms are guaranteed by the Universal Declaration of human rights (1948, the International Covenant on Civil and Political Rights (1966, the European Convention on Human Rights (1953, the Declaration on the Elimination of All Forms of Intolerance and of Discrimination Based on Religion or Belief (1981 (all documents ratified by the Republic of Macedonia. According to the Constitution of the Republic of Macedonia “The freedom of religious confession is guaranteed. The right to express one's faith freely and publicly, individually or with others, is guaranteed„. After the conflict of 2001 the Ohrid Framework Agreement secured group rights for ethnicities that are not in majority in the Republic of Macedonia. The present Law on the legal status of the church, religious communities and religious groups of 2007, repealed the Law on religion and religious groups of 1997.

  18. Negative freedom and death in the United States.

    Science.gov (United States)

    Ackerson, Leland K; Subramanian, S V

    2010-11-01

    Personal freedoms have been characterized as "positive" (freedom to pursue opportunities) and "negative" (freedom from external constraints on decision making). An ecological analysis of US data revealed a strong positive association (r = 0.41; P = .003) between state-level negative personal freedom (defined in terms of regulation of personal behavior) and state-level age-adjusted rates of unintentional injury. A conceptual emphasis on positive freedom construed as freedom to pursue a life without risk of unintentional injury could help motivate a conversation to improve public health.

  19. Advanced teleoperators. [remote manipulation system

    Science.gov (United States)

    Bejczy, A. K.

    1979-01-01

    Advanced teleoperators are discussed, with emphasis on the remote manipulation system designed to perform such actions as grasping, orienting, moving, placing, and inserting objects. Geometrical performance dimensions are considered, indicating that a manipulator is limited to three-orders-of-magnitude ratio of workspace extension to positioning accuracy. The control system is examined, showing that a manipulative task requires coordination of several joints, with the relationship between the task definers and the joint variables given by complex trigonometrical transformations. Control modes developed in the last 30 years are noted, including program controlled industrial 'robots' which can endlessly repeat a fixed sequence of motions without operator intervention, and the sensor-referenced/computer-controlled mode manipulators. Advanced proximity sensor systems are taken into account, with emphasis on the applications of the force-torque and slip models. The proximity sensor system for the shuttle-size manipulator is described.

  20. Machine takeover the growing threat to human freedom in a computer-controlled society

    CERN Document Server

    George, Frank Honywill

    1977-01-01

    Machine Takeover: The Growing Threat to Human Freedom in a Computer-Controlled Society discusses the implications of technological advancement. The title identifies the changes in society that no one is aware of, along with what this changes entails. The text first covers the information science, particularly the aspect of an automated system for information processing. Next, the selection deals with social implications of information science, such as information pollution. The text also tackles the concerns in the utilization of technology in order to manipulate the lives of people without th

  1. Ethical and Legal Reflections on Freedom of Procreation Against Human Dignity

    Directory of Open Access Journals (Sweden)

    Maria Rosineide da Silva Costa

    2016-12-01

    Full Text Available The present work analyzes the problematic of the human embryo as a subject of rights and endowed with dignity in the face of the freedom of assisted procreation. There are many questions that surround the challenges arising from the new rights in the area of biotechnology and the ethical and moral debates that involve the manipulation of embryos in these technologies regarding the respect for the dignity of these beings. The dignity of the human person is  value of great magnitude, which should serve as an axiological mainstay in progress that involves the human being and humanity as a whole.

  2. Development of a new 3-DOF parallel manipulator for minimally invasive surgery.

    Science.gov (United States)

    Khalifa, Alaa; Fanni, Mohamed; Mohamed, Abdelfatah M; Miyashita, Tomoyuki

    2018-03-26

    This article proposes a novel dexterous endoscopic parallel manipulator for minimally invasive surgery. The proposed manipulator has 3 degrees of freedom (3-DOF), which consist of two rotational DOFs and one translational DOF (2R1T DOFs). The manipulator consists of 3 limbs exhibiting identical kinematic structure. Each limb contains an active prismatic joint followed by 2 consecutive passive universal joints. The proposed manipulator has a unique arrangement of its joints' axes. This unique arrangement permits large bending angles, ±90° in any direction, and a workspace almost free from interior singularities. These advantages allow the proposed manipulator to outperforms existing surgical manipulators. However, this unique arrangement makes the analysis of the robot extremely difficult. Therefore, a geometrical/analytical approach is used to facilitate its singularity analysis. Construction of the virtual prototype is accomplished using ADAMS software to validate the proposed manipulator and its bending capability. A closed-form solution for inverse kinematics is obtained analytically. Also, the forward kinematics solution is obtained numerically. Moreover, evaluation of the workspace is achieved using motion/force transmissibility indices. A practical experiment has been performed using a scaling technique and PID controller. The experimental results show the feasibility of the teleoperated surgical system using the proposed parallel manipulator as the slave. Copyright © 2018 John Wiley & Sons, Ltd.

  3. Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

    Science.gov (United States)

    Hennessey, Michael P.; Huang, Paul C.; Bunnell, Charles T.

    1989-01-01

    An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

  4. Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

    International Nuclear Information System (INIS)

    Nieminen, Peetu; Esque, Salvador; Muhammad, Ali; Mattila, Jouni; Vaeyrynen, Jukka; Siuko, Mikko; Vilenius, Matti

    2009-01-01

    Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.

  5. 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.

  6. Religious freedom and political correctness in United Europe.

    Directory of Open Access Journals (Sweden)

    Ks. Artur Aleksiejuk

    2014-11-01

    Full Text Available We live in times that are particularly sensitive to issues such as freedom and are differentiated by strong aspirations for personal and societal freedom. One speaks of political-societal freedom, freedom of religion, artistic freedom and freedom to choose one’s own lifestyle. It would be possible to make a long list of the various kinds or manifestations of freedom, which modern individuals indentify in their lives. My essay considers the ways the law functions in regards to religious freedom in the context of the currently prevailing and implemented political visions in United Europe. Strictly speaking, this paper concerns the definition of place, which was assigned for religious convictions of citizens of the European Union and their role in shaping their personal and societal lives.

  7. Spiritual Politics, Political Religion, and Religious Freedom in Burma

    DEFF Research Database (Denmark)

    Gravers, Mikael

    2013-01-01

    A state of the art artcle on academic work on religion, politics, and religious freedom in Burma......A state of the art artcle on academic work on religion, politics, and religious freedom in Burma...

  8. The History of Human Freedom and Dignity in Western Civilization

    DEFF Research Database (Denmark)

    Jacobsen, Anders-Christian

    2016-01-01

    Kort introduktion til et europæisk forskningsprojekt "The History of Human Freedom and Dignity in Western Civilisation'......Kort introduktion til et europæisk forskningsprojekt "The History of Human Freedom and Dignity in Western Civilisation'...

  9. Algorithm for Solution of Direct Kinematic Problem of Multi-sectional Manipulator with Parallel Structure

    Directory of Open Access Journals (Sweden)

    A. L. Lapikov

    2014-01-01

    Full Text Available The article is aimed at creating techniques to study multi-sectional manipulators with parallel structure. To solve this task the analysis in the field concerned was carried out to reveal both advantages and drawbacks of such executive mechanisms and main problems to be encountered in the course of research. The work shows that it is inefficient to create complete mathematical models of multisectional manipulators, which in the context of solving a direct kinematic problem are to derive a functional dependence of location and orientation of the end effector on all the generalized coordinates of the mechanism. The structure of multisectional manipulators was considered, where the sections are platform manipulators of parallel kinematics with six degrees of freedom. The paper offers an algorithm to define location and orientation of the end effector of the manipulator by means of iterative solution of analytical equation of the moving platform plane for each section. The equation for the unknown plane is derived using three points, which are attachment points of the moving platform joints. To define the values of joint coordinates a system of nine non-linear equations is completed. It is necessary to mention that for completion of the equation system are used the equations with the same type of non-linearity. The physical sense of all nine equations of the system is Euclidean distance between the points of the manipulator. The result of algorithm execution is a matrix of homogenous transformation for each section. The correlations describing transformations between adjoining sections of the manipulator are given. An example of the mechanism consisting of three sections is examined. The comparison of theoretical calculations with results obtained on a 3D-prototype is made. The next step of the work is to conduct research activities both in the field of dynamics of platform parallel kinematics manipulators with six degrees of freedom and in the

  10. Freedom of Expression, Deliberation, Autonomy and Respect

    DEFF Research Database (Denmark)

    Rostbøll, Christian F.

    2011-01-01

    This paper elaborates on the deliberative democracy argument for freedom of expression in terms of its relationship to different dimensions of autonomy. It engages the objection that Enlightenment theories pose a threat to cultures that reject autonomy and argues that autonomy-based democracy...... is not only compatible with but necessary for respect for cultural diversity. On the basis of an intersubjective epistemology, it argues that people cannot know how to live on mutually respectful terms without engaging in public deliberation and develop some degree of personal autonomy. While freedom...... of expression is indispensable for deliberation and autonomy, this does not mean that people have no obligations regarding how they speak to each other. The moral insights provided by deliberation depend on the participants in the process treating one another with respect. The argument is related to the Danish...

  11. Trans fat bans and human freedom.

    Science.gov (United States)

    Resnik, David

    2010-03-01

    A growing body of evidence has linked consumption of trans fatty acids to cardiovascular disease. To promote public health, numerous state and local governments in the United States have banned the use of artificial trans fats in restaurant foods, and additional bans may follow. Although these policies may have a positive impact on human health, they open the door to excessive government control over food, which could restrict dietary choices, interfere with cultural, ethnic, and religious traditions, and exacerbate socioeconomic inequalities. These slippery slope concerns cannot be dismissed as far-fetched, because the social and political pressures are place to induce additional food regulations. To protect human freedom and other values, policies that significantly restrict food choices, such as bans on types of food, should be adopted only when they are supported by substantial scientific evidence, and when policies that impose fewer restrictions on freedom, such as educational campaigns and product labeling, are likely to be ineffective.

  12. Nuclear diffuseness as a degree of freedom

    International Nuclear Information System (INIS)

    Myers, W.D.; Swiatecki, W.J.

    1998-01-01

    The response of the nuclear energy to changes in neutron and proton surface diffusenesses is investigated using the Thomas-Fermi model. Algebraic expressions are provided for the energy cost of changing the two diffusenesses away from their equilibrium values. This will make it possible to generalize the macroscopic-microscopic calculations of nuclear masses and deformation energies by the inclusion of the neutron and proton diffusenesses as degrees of freedom (to be varied along with the shape degrees of freedom). One result, which is suggested by the relatively low cost in macroscopic energy of increasing the diffuseness of a heavy nucleus by 10% (about 4 MeV), is that superheavy nuclei near Z=126, N=184 may have a fair chance of becoming stabilized by shell effects. An appendix introduces an improved measure of surface diffuseness, with certain advantages over the conventional Suessmann width b. copyright 1998 The American Physical Society

  13. Nuclear diffuseness as a degree of freedom

    Science.gov (United States)

    Myers, W. D.; ŚwiaŢecki, W. J.

    1998-12-01

    The response of the nuclear energy to changes in neutron and proton surface diffusenesses is investigated using the Thomas-Fermi model. Algebraic expressions are provided for the energy cost of changing the two diffusenesses away from their equilibrium values. This will make it possible to generalize the macroscopic-microscopic calculations of nuclear masses and deformation energies by the inclusion of the neutron and proton diffusenesses as degrees of freedom (to be varied along with the shape degrees of freedom). One result, which is suggested by the relatively low cost in macroscopic energy of increasing the diffuseness of a heavy nucleus by 10% (about 4 MeV), is that superheavy nuclei near Z=126, N=184 may have a fair chance of becoming stabilized by shell effects. An appendix introduces an improved measure of surface diffuseness, with certain advantages over the conventional Süssmann width b.

  14. Educative Non-Privative Measures of Freedom

    Directory of Open Access Journals (Sweden)

    Zau Raul-Teodor

    2017-06-01

    Full Text Available Infractionality or criminality in minor rank, even if it is a component of a general infractional phenomenon, it shows some particularities determined by biological, psychological and social characteristics of minor persons which Romanian legislature had in mind when it had foreseen their criminal liability. For this, The New riminal Code, stipulates some regulations on the educational measures regarding non privacy of freedom - three conditions from the file - Recommandations R nr. 16/1992 of the European Committee. Measures regarding the non privacy of freedom are sanctions applied by the court and the young defendant is still in the society with some obligations on his side or institution which was bound by the court in the name of the law. The issue of this measure is to educate and reeducate the minor person who commited a crime, to ensure a change in his conscience to respect social values.

  15. Trans Fat Bans and Human Freedom

    Science.gov (United States)

    Resnik, David

    2014-01-01

    A growing body of evidence has linked consumption of trans fatty acids to cardiovascular disease. To promote public health, numerous state and local governments in the United States have banned the use of artificial trans fats in restaurant foods, and additional bans may follow. Although these policies may have a positive impact on human health, they open the door to excessive government control over food, which could restrict dietary choices, interfere with cultural, ethnic, and religious traditions, and exacerbate socioeconomic inequalities. These slippery slope concerns cannot be dismissed as far-fetched, because the social and political pressures are place to induce additional food regulations. To protect human freedom and other values, policies that significantly restrict food choices, such as bans on types of food, should be adopted only when they are supported by substantial scientific evidence, and when policies that impose fewer restrictions on freedom, such as educational campaigns and product labeling, are likely to be ineffective. PMID:20229412

  16. Academic freedom, public reactions, and anonymity.

    Science.gov (United States)

    Häyry, Matti

    2014-05-01

    Academic freedom can be defined as immunity against adverse reactions from the general public, designed to keep scholars unintimidated and productive even after they have published controversial ideas. Francesca Minerva claims that this notion of strict instrumental academic freedom is supported by Ronald Dworkin, and that anonymity would effectively defend the sphere of immunity implied by it. Against this, I argue that the idea defended by Minerva finds no support in the work by Dworkin referred to; that anonymity would not in most cases effectively protect the kind of immunity sought after; and that in some cases it would not even be desirable to protect scholars from public reactions to their controversial claims. © 2014 John Wiley & Sons Ltd.

  17. The physical gravitational degrees of freedom

    International Nuclear Information System (INIS)

    Anderson, E; Barbour, J; Foster, B Z; Kelleher, B; Murchadha, N O

    2005-01-01

    When constructing general relativity (GR), Einstein required 4D general covariance. In contrast, we derive GR (in the compact, without boundary case) as a theory of evolving three-dimensional conformal Riemannian geometries obtained by imposing two general principles: (1) time is derived from change; (2) motion and size are relative. We write down an explicit action based on them. We obtain not only GR in the CMC gauge, in its Hamiltonian 3 + 1 reformulation, but also all the equations used in York's conformal technique for solving the initial-value problem. This shows that the independent gravitational degrees of freedom obtained by York do not arise from a gauge fixing but from hitherto unrecognized fundamental symmetry principles. They can therefore be identified as the long-sought Hamiltonian physical gravitational degrees of freedom

  18. PRESS FREEDOM IN SINGAPORE AND MALAYSIA: DEFAMATION

    Directory of Open Access Journals (Sweden)

    Georgia Kate Chapman

    2015-04-01

    Full Text Available This paper focuses on the arguments around restriction on freedom of the press in the Strong States of Singapore and Malaysia. It assesses the presence of constraints on press freedoms in democratic western countries imposed by corporation rather than state and the similar effects that these constraints may have on bias present in publicly accessible news reporting. It argues that independence of the press does not just require protection from legal and executive regulation, but also protection from large media corporations and their political alignments. This report will assess the bias of reporting and news media publication that exists in Malaysia and Singapore due to legislative and regulatory constraints as opposed to bias that exist in the western liberal democratic nations of the United Kingdom (UK and the United States of America (USA due to Media Organisation control.

  19. 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

  20. Task-oriented control of Single-Master Multi-Slave Manipulator System

    International Nuclear Information System (INIS)

    Kosuge, Kazuhiro; Ishikawa, Jun; Furuta, Katsuhisa; Hariki, Kazuo; Sakai, Masaru.

    1994-01-01

    A master-slave manipulator system, in general, consists of a master arm manipulated by a human and a slave arm used for real tasks. Some tasks, such as manipulation of a heavy object, etc., require two or more slave arms operated simultaneously. A Single-Master Multi-Slave Manipulator System consists of a master arm with six degrees of freedom and two or more slave arms, each of which has six or more degrees of freedom. In this system, a master arm controls the task-oriented variables using Virtual Internal Model (VIM) based on the concept of 'Task-Oriented Control'. VIM is a reference model driven by sensory information and used to describe the desired relation between the motion of a master arm and task-oriented variables. The motion of slave arms are controlled based on the task oriented variables generated by VIM and tailors the system to meet specific tasks. A single-master multi-slave manipulator system, having two slave arms, is experimentally developed and illustrates the concept. (author)

  1. Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator

    CSIR Research Space (South Africa)

    Makondo, N

    2012-11-01

    Full Text Available ,? Aerospace and Electronic Systems, IEEE Transactions on , vol.AES-20, no.6, pp.695-706, Nov. 1984, doi: 10.1109/TAES.1984.310452 [16] Singh, G.K.; Claassens, J.; , ?An analytical solution for the inverse kinematics of a redundant 7DoF Manipulator....A.F.; , ?Improvement of Singularity Avoidance for Three Dimensional Planar Manipulators by Increasing their Degrees of Freedom,? Computer, Consumer and Control (IS3C), 2012 International Symposium on , vol., no., pp.568-572, 4-6 June 2012,doi: 10.1109/IS3C.2012...

  2. Accuracy Of Positioning And Orientation Of Effector Of Planar Parallel Manipulator 3RRR

    Directory of Open Access Journals (Sweden)

    Prucnal-Wiesztort Monika

    2015-09-01

    Full Text Available Parallel manipulator belongs to group of mechanisms with closed kinematic chains. This feature involves both advantages and disadvantages. The study examined the issue of accuracy of a planar system with three degrees of freedom, with revolute pairs, showing the effect of errors of the drives settings on effector positioning deviation. Enclosed is a numerical example for which analyzed the deviation in motion manipulator when going through the singular configuration. Based on the analysis was determined the area around the singular positions for which to obtain the orientation of the assumed accuracy is impossible.

  3. Switched adaptive tracking control of robot manipulators with friction and changing loads

    Science.gov (United States)

    Wang, Xia; Zhao, Jun

    2015-04-01

    A switched adaptive controller is designed for robot manipulators with friction and changing loads. The nonlinear friction is depicted by a nonlinear friction model, and a switched nonlinear system is used to model the parameter jump caused by load change. Hyperstability theory is used in the designing procedure, which provides more options for adaptive laws than Lyapunov theory. In the presence of friction and changing loads, asymptotic tracking is achieved under arbitrary switching, which is not able to accomplish by a non-switched adaptive controller. The proposed method is validated by a simulation of a 2 degree of freedom manipulator.

  4. Freedom and Rationality : Rousseau on Citizenship

    OpenAIRE

    Salvat, Christophe

    2008-01-01

    This paper deals with Rousseau's idea of freedom in terms of rationality and deliberation. It gives support to Berlin's interpretation of the general will as a rational and objective will but dismisses the idea that Rousseau's theory necessarily leads to authoritarianism. The general will, publicly expressed by the law, may be defined as the rational and self-regarding will agents would have if put in an independent and objective state, i.e. the state of nature. The general and the particular...

  5. Do Freedom of Information Laws Decrease Corruption?

    OpenAIRE

    Tavares, Samia

    2007-01-01

    International organizations have encouraged countries to adopt Freedom of Information (FOI) laws as a means to increase transparency and thus combat corruption. This article uses the recent introduction of FOI laws in several countries as a natural experiment to determine their effect on corruption perceptions and the quality of governance. Using different corruption perception indices, both at the macro- and micro-level, I find that countries that adopted FOI laws saw an increase in perceive...

  6. The City Between Freedom and Security

    DEFF Research Database (Denmark)

    The publication "The City between Freedom and Security" addresses the contested territory between the state and corporate drive to 'securitise' contemporary urban space – and the principle of the city and its public spaces as fundamental yet fragile sites for enacting open civil society, particip...... such as the UK, USA, Israel, Palestine, and Spain. Contributors include: Stephen Graham, Michael Sorkin, David Harvey, Yuval Yasky, Leopold Lambert, CPNI, Ronald V. Clarke, Jon Coaffee, Oscar Newman, and Giorgio Agamben....

  7. The Freedom SOLO bovine pericardial stentless valve

    Directory of Open Access Journals (Sweden)

    Stanger O

    2014-12-01

    Full Text Available Olaf Stanger, Hendrik Tevaearai, Thierry Carrel Clinic for Cardiovascular Surgery, University Hospital Berne, Switzerland Abstract: The third-generation bovine pericardium Freedom SOLO (FS stentless valve emerged in 2004 as a modified version of the Pericarbon Freedom stentless valve and as a very attractive alternative to stented bioprostheses. The design, choice of tissue, and anticalcification treatment fulfill most, if not all, requirements for an ideal valve substitute. The FS combines the single-suture, subcoronary implantation technique with the latest-generation bovine pericardial tissue and novel anticalcification treatment. The design allows imitation of the native healthy valve through unrestricted adaption to the patient's anatomy, reproducing a normal valve/root complex. However, despite hemodynamic performance superior to stented valves, we are approaching a critical observation period as superior durability, freedom from structural valve deterioration, and nonstructural failure has not been proven as expected. However, optimal performance and freedom from structural valve deterioration depend on correct sizing and perfect symmetric implantation, to ensure low leaflet stress. Any malpositioning can lead to tissue fatigue over time. Furthermore, the potential for better outcomes depends on optimal patient selection and observance of the limitations for the use of stentless valves, particularly for the FS. Clearly, stentless valve implantation techniques are less reproducible and standardized, and require surgeon-dependent experience and skill. Regardless of whether or not stentless valve durability surpasses third-generation stented bioprostheses, they will continue to play a role in the surgical repertoire. This review intends to help practitioners avoid pitfalls, observe limitations, and improve patient selection for optimal long-term outcome with the attractive FS stentless valve. Keywords: aortic valve, bioprosthesis, cardiac

  8. New masculinities and pedagogy of freedom

    Directory of Open Access Journals (Sweden)

    Oriol Rios

    2015-09-01

    Full Text Available Purpose: The research on masculinity in education has mainly been focused on analyze the organization of schools and the attention given to the students. This analysis has confirmed the existence of gender inequalities in schools, within them gender violence. This article will start from this background but has as objective to provide new knowledge about the pedagogy of freedom in the promotion of new alternative masculinities. Design/methodology: From a communicative-oriented qualitative methodology the voices of young boys and adult men that have been involved in educational actions, based on a pedagogy of freedom which have contributed to foster new alternative masculinities, have been collected. Findings: The results explain why the pedagogy of freedom can contribute to foster new alternative masculinities. Special attention is paid in the evolution of oppressed traditional masculinities (OTM to new alternative masculinities (NAM. In this regard, it is highlighted how OTM, that not contributes to gender violence but overcome neither, are walking to become NAM thanks to the organizational approach of the pedagogy of freedom. Practical implications: To provide scientific knowledge which could be used as a basis of the educational practices addressed to prevent gender violence. Social implications: The social impact refers to the effect of scientific knowledge in the educational quality and in the socialization of alternative masculinities which overcome harassment and gender violence. Originality/value: The article provides of new knowledge on the coeducational field which allows overcoming the double standards and the attraction against the violence reproduced in the traditional masculinity models.

  9. Freedom of Information Act-Employee responsibilities

    Science.gov (United States)

    Newman, David J.

    2012-01-01

    The Freedom of Information Act( FOIA), 5 U.S.C. § 552, as amended, generally provides that any person has a right to request access to Federal agency records. The USGS proactively promotes information disclosure as inherent to its mission of providing objective science to inform decisionmakers and the general public. USGS scientists disseminate up-to-date and historical scientific data that are critical to addressing national and global priorities.

  10. John Stuart Mill on Freedom, Education, and Social Reform.

    Science.gov (United States)

    Carbone, Peter F.

    1983-01-01

    Examines the social philosophy of John Stuart Mill, emphasizing his views on freedom, education, and social reform. Considers Mill's individualism and reformism, the conflict between freedom and control that characterizes his work, and the importance of freedom and education. Suggests caution in drawing educational implications from his work. (DAB)

  11. Intellectual Freedom in Academic Libraries: Surveying Deans about Its Significance

    Science.gov (United States)

    Oltmann, Shannon M.

    2017-01-01

    In this study, deans and directors of academic libraries were surveyed about intellectual freedom. The survey found that most respondents said they rarely think about intellectual freedom yet said it was "somewhat" or "very" important in their libraries. Most did not have formal intellectual freedom policies; they often relied…

  12. Re-Framing Student Academic Freedom: A Capability Perspective

    Science.gov (United States)

    Macfarlane, Bruce

    2012-01-01

    The scholarly debate about academic freedom focuses almost exclusively on the rights of academic faculty. Student academic freedom is rarely discussed and is normally confined to debates connected with the politicisation of the curriculum. Concerns about (student) freedom of speech reflect the dominant role of negative rights in the analysis of…

  13. Academic Freedom and the First Amendment: Legal Entanglements.

    Science.gov (United States)

    Campbell, J. Louis III

    1990-01-01

    Examines how closely academic freedom and the First Amendment actually are related. Traces the development of academic freedom as a constitutional right from shortly before World War II to the present. Analyzes influences exerted by intramural speech, institutional or corporate academic freedom, and professional liability. (KEH)

  14. Exploring Notions of Freedom in and through Young Adult Literature

    Science.gov (United States)

    Bean, Thomas W.; Harper, Helen J.

    2006-01-01

    This article offers teachers a critical framework for use and adaptation in organizing class discussions focused on notions of freedom in young adult literature. The authors open by discussing the notion of freedom, including concepts related to negative and positive freedom and to arguments advocating critical discussion of common assumptions…

  15. 30 CFR 252.6 - Freedom of Information Act requirements.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 2 2010-07-01 2010-07-01 false Freedom of Information Act requirements. 252.6... CONTINENTAL SHELF (OCS) OIL AND GAS INFORMATION PROGRAM § 252.6 Freedom of Information Act requirements. (a... to the limitations of the Freedom of Information Act (5 U.S.C. 552), the regulations contained in 43...

  16. 77 FR 56592 - Freedom of Information Act Regulations

    Science.gov (United States)

    2012-09-13

    ... RIN 1093-AA15 Freedom of Information Act Regulations AGENCY: Office of the Secretary, Interior. ACTION... under the Freedom of Information Act (``FOIA''). The revisions clarify and update procedures for... approaches that reduce burdens and maintain flexibility and freedom of choice for the public where these...

  17. Academic Freedom in Athletic Training Education: Food for Thought

    Science.gov (United States)

    Payne, Ellen K.; Berry, David C.; Lowry, John E.

    2012-01-01

    Academic freedom is defined as the "freedom of the individual scholar to pursue truth wherever it leads, without fear of punishment or of termination of employment for having offended some political, methodological, religious, or social orthodoxy." Currently there is paucity of literature addressing the issue of academic freedom specific to…

  18. 77 FR 66539 - Freedom of Information Act Regulations

    Science.gov (United States)

    2012-11-06

    ... CONCILIATION SERVICE 29 CFR Part 1401 RIN 3076-AA06 Freedom of Information Act Regulations AGENCY: Federal... Mediation and Conciliation Service (FMCS) rules relating to the Freedom of Information Act (FOIA). The final... Administrative practice and procedure, Freedom of information. For the reasons stated in the preamble, FMCS...

  19. 28 CFR 802.5 - Freedom of Information Act requests.

    Science.gov (United States)

    2010-07-01

    ... 28 Judicial Administration 2 2010-07-01 2010-07-01 false Freedom of Information Act requests. 802.5 Section 802.5 Judicial Administration COURT SERVICES AND OFFENDER SUPERVISION AGENCY FOR THE DISTRICT OF COLUMBIA DISCLOSURE OF RECORDS Freedom of Information Act § 802.5 Freedom of Information Act...

  20. The True Gravitational Degrees Of Freedom

    International Nuclear Information System (INIS)

    Murchadha, N. o

    2011-01-01

    More than 50 years ago it was realized that General Relativity could be expressed in Hamiltonian form. Unfortunately, just like electromagnetism and Yang-Mills theory, the Einstein equations split into evolution equations and constraints which complicates matters. The 4 constraints are expressions of the gauge freedom of the theory, general covariance. One can cleanly pose initial data for the gravitational field, but this data has to satisfy the constraints. To find the independent degrees of freedom, one needs to factor the initial data by the constraints. There are many ways of doing this. I can do so in such a way as to implement the model suggested by Poincare for a well-posed dynamical system: Pick a configuration space and give the free initial data as a point of the configuration space and a tangent vector at the same point. Now, the evolution equations should give a unique curve in the same configuration space. This gives a natural definition of what I call the true gravitational degrees of freedom. (author)

  1. Freedom and the state: nanny or nightwatchman?

    Science.gov (United States)

    Pettit, P

    2015-08-01

    There are two rival images often offered of the state. In one the state serves like a nanny to provide for the welfare of its members; in the other it requires people to look after themselves, providing only the service of a night-watchman. But this dichotomy, which is routinely invoked in debates about public health and welfare provision in general, is misleading. What the rival images turn on is not competing pictures of how the state should function in people's lives but competing pictures of what it is to guard the freedom of its people. On the neo-liberal theory, which has been dominant over the last century or so, providing for people's freedom means leaving them to their own devices and fortunes. On the neo-republican theory, which answers to a much longer tradition, it means democratically identifying a common set of basic liberties in the exercise of which everyone should be protected by law and, if necessary, resourced. This older way of thinking about freedom has important merits missing in the newer and argues strongly against the nightwatchman state. Copyright © 2015 The Royal Society for Public Health. Published by Elsevier Ltd. All rights reserved.

  2. Now and Then: Combat Casualty Care Policies for Operation Iraqi Freedom and Operation Enduring Freedom Compared With Those of Vietnam

    National Research Council Canada - National Science Library

    Cordts, Paul R; Brosch, Laura A; Holcomb, John B

    2008-01-01

    Between December 2004 and June 2007, 13 key Operation Iraqi Freedom/ Operation Enduring Freedom combat casualty care policies were published to inform medical practice in the combat theater of operations...

  3. 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...... Manipulation (AIMM)....

  4. 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

  5. Manipulating scattering features by metamaterials

    Directory of Open Access Journals (Sweden)

    Lu Cui

    2016-01-01

    Full Text Available We present a review on manipulations of electromagnetic scattering features by using metamaterials or metasurfaces. Several approaches in controlling the scattered fields of objects are presented, including invisibility cloaks and radar illusions based on transformation optics, carpet cloak using gradient metamaterials, dc cloaks, mantle cloaks based on scattering cancellation, “skin” cloaks using phase compensation, scattering controls with coding/programmable metasurfaces, and scattering reductions by multilayered structures. Finally, the future development of metamaterials on scattering manipulation is predicted.

  6. Freedom of Expression in Distributed Networks

    Directory of Open Access Journals (Sweden)

    Ejvind Hansen

    2012-10-01

    Full Text Available This paper proposes the following question: Is it possible to transfer human rights like the freedom of expression – or at least to preserve the formal protections guarding speech acts from arbitrary suppression – in a post-national setting? The question arises as an urgent matter in the context of our global system of connected markets and distributed telecommunications networks – the Internet – since, as many academics and policy makers have noted, the two tend to undermine nationals boundaries, putting into question the power of individual states to continue function as the traditional legal and identity-generating entities of last resort.   If this analysis is reliable the dialectical union between the autonomous individual citizen and the legally regulated nation state is broken. In this paper I will draw the consequences of that supposed break, exploring the question of the extent to which it makes sense to accord “rights” – freedom of expression – to entities that are not classical autonomous humans, and to confer them by entities that no longer bear the marks of nation-state sovereignty. The question thus is: Is it possible to transfer the normative approach of the classic liberal nation states into a global system?   The paper explores this question through an elaboration of problems for the preservation of the human right to freedom of expression: On the one hand communication on the Internet is regulated by an immense legal body, but on the other hand, the machinery for enforcement controlled by this legal body is dependent on various agencies that don’t necessarily recognize its legitimacy. I will then explore whether a more technologically oriented approach could be a more fruitful approach in defining the actual limitations to freedom of expression in the new global system. My answer is that ultimately the control paradigm fails, because it is too clumsy at incorporating self-correcting measures. Thirdly, I

  7. Electronic Architecture for a Mobile Manipulator

    OpenAIRE

    Oscar Aviles; Mauricio Felipe Mauledoux Monroy; Oscar Rubiano

    2018-01-01

    A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environm...

  8. Studies of x-ray localization and thickness dependence in atomic-scale elemental mapping by STEM energy-dispersive x-ray spectroscopy using single-frame scanning method.

    Science.gov (United States)

    Lu, Ping; Moya, Jaime M; Yuan, Renliang; Zuo, Jian Min

    2018-03-01

    The delocalization of x-ray signals limits the spatial resolution in atomic-scale elemental mapping by scanning transmission electron microscopy (STEM) using energy-dispersive x-ray spectroscopy (EDS). In this study, using a SrTiO 3 [001] single crystal, we show that the x-ray localization to atomic columns is strongly dependent on crystal thickness, and a thin crystal is critical for improving the spatial resolution in atomic-scale EDS mapping. A single-frame scanning technique is used in this study instead of the multiple-frame technique to avoid peak broadening due to tracking error. The strong thickness dependence is realized by measuring the full width at half maxima (FWHM) as well as the peak-to-valley (P/V) ratio of the EDS profiles for Ti K and Sr K + L, obtained at several crystal thicknesses. A FWHM of about 0.16 nm and a P/V ratio of greater than 7.0 are obtained for Ti K for a crystal thickness of less than 20 nm. With increasing crystal thickness, the FWHM and P/V ratio increases and decreases, respectively, indicating the advantage of using a thin crystal for high-resolution EDS mapping. Published by Elsevier B.V.

  9. FRAMEWORKING THE PRESS FREEDOM, AT THE BORDER BETWEEN LEGAL AND SELF-REGULATION

    Directory of Open Access Journals (Sweden)

    Cristina Anca PĂIUȘESCU

    2014-05-01

    Full Text Available Freedom of the press is essential to democracy and to a pluralistic culture. Most journalists are against any form of legal regulation considering the creation of a press law as an interference with freedom of the press, while state authorities considered necessary minimum set of rules to sanction those who exceed the "normality" of free speech. If in the audiovisual field the legislation tends toward European standards, for print media all draft laws proposed so far by different political parties or the government have failed. Representatives of the major newspapers saw each time in these legislative proposals an attempt to "choke" the freedom of the press. In this context, self-regulation is seen as a way in which journalists can establish their own rules in order to protect themselves from the state attempt to regulate this area, a method of protecting against political manipulation and preventing the erosion of public trust, and it is also seen as a method of education within the profession.

  10. Negative Freedom as Politics of Spirit in Hegel

    Directory of Open Access Journals (Sweden)

    Luis Magno Veras Oliveira

    2017-03-01

    Full Text Available This article aims to present negative freedom as a moment of vitality in the formation of absolute freedom, represented by moral conscience, as a necessary process of realization in political representation based on Hegel’s Phenomenology of the Spirit. In the first moment, we will present the understanding of absolute freedom and the unfolding of its concept as universal will. In the second moment, we will discuss the conception of negative freedom as an experience of the French Revolution and its result as terror. The experience of negative freedom is understood as the possible means for the solution of contradiction, destruction, and death. These means originate from the political representation of the French Revolution. The hermeneutics presented leads to the positive exaltation of negative freedom as the way towards a possible solution of the problems inherent to a representation of absolute freedom as rational.

  11. Directed transport in a ratchet with internal and chemical freedoms

    Energy Technology Data Exchange (ETDEWEB)

    Dittrich, T., E-mail: tdittrich@unal.edu.co [Departamento de Fisica, Universidad Nacional de Colombia, Bogota D.C. (Colombia); CeiBA-Complejidad, Bogota D.C. (Colombia); Naranjo, N.A. [Departamento de Fisica, Universidad Nacional de Colombia, Bogota D.C. (Colombia); CeiBA-Complejidad, Bogota D.C. (Colombia)

    2010-10-05

    Graphical abstract: Directed currents in a ratchet including a chemical freedom that provides energy input and an internal freedom modeled as a functional mode of a motor molecule show a direct relation to the structure of the underlying attaractor, limit cycle or chaotic, as reflected in their dependence on the coupling between external and chemical degrees of freedom. - Abstract: We consider mechanisms of directed current in a ratchet model comprising, besides the external freedom where transport occurs, a chemical freedom that replaces the familiar external driving by an autonomous dynamics providing energy input, and an internal freedom representing a functional mode of a motor molecule. The dependence of the current on various parameters is studied in numerical simulations of our model. In particular, we point out the role of the internal freedom as a buffer between energy input and output of mechanical work that allows a temporary storage of injected energy and can contribute to the efficiency of current generation.

  12. Design study of an armor tile handling manipulator for the Fusion Experimental Reactor

    International Nuclear Information System (INIS)

    Shibanuma, K.; Honda, T.; Satoh, K.; Terakado, T.; Kondoh, M.; Sasaki, N.; Munakata, T.; Murakami, S.

    1991-01-01

    A conceptual design of the Fusion Experimental Reactor (FER), which is a D-T burning reactor following on JT-60 in Japan, has been developed by Japan Atomic Energy Research Institute (JAERI). In FER, a rail-mounted vehicle concept is planned to be adopted for in-vessel maintenance, such as maintenance of divertor plates and armor tiles. Advantages of this concept are the high stiffness of the rail as a base structure for maintenance and the high mobility of the vehicle along the rail. Twin armor tile handling manipulators installed on both sides of the vehicle have been designed. The respective manipulators for armor tile handling have 8 degrees of freedom in order to have access to any place of the first wall and to go through the horizontal port by operating manipulator joints. If the two types of manipulators for divertor plates and armor tiles are installed on the vehicle and the divertor handling manipulator carries a case filled with armor tiles, the replacement time of armor tiles will be reduced. In FER, moreover, maintenance of armor tiles, which is a scheduled maintenance, is planned to be carried out by the autonomous control using position sensors etc. In order to accumulate the data base for the development of the autonomous control of the manipulator in armor tile maintenance, the present paper describes basic mechanical characteristics (stress, deflection and natural frequency) of the armor tile handling manipulator calculated by static stress and dynamic eigenvalue analyses. (orig.)

  13. Freedom versus fear: The symbiotic relationship between human security and freedom of thought and conscience

    Directory of Open Access Journals (Sweden)

    Francisco Alfaro–Pareja

    2012-09-01

    Full Text Available This essay is within the Peace, Conflicts and Development Studies field. It is a descriptive and explicative study that intends to show: a the influence of mass media communications in the violation of freedom of thought and of conscience today; b the influence of National Security in the increase of the violence and c the relation between the freedom of thought and of conscience as a Human Right and the Human Security as a new way to protect the individual from challenges that threaten him directly. The main objective is to analyze how this interaction could help to power and to increase both conceptions for human development.

  14. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.; Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States); Basher, A.M.H. [South Carolina State Univ., Orangeburg, SC (United States)

    1996-09-01

    To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (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 hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

  15. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    Kress, R.L.; Jansen, J.F.; Basher, A.M.H.

    1996-09-01

    To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (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 hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

  16. Is freedom rooted in the brain?

    Directory of Open Access Journals (Sweden)

    Jesús Conill Sancho

    2017-08-01

    Full Text Available This article first of all attempts to provide a new concept of human nature, beyond that of traditional metaphysics and the naturalistic interpretation of today’s neurosciences; it thus surpasses the unilateral scientistic appropriation of the concept of human nature and defends a biohermeneutics containing a plurality of standpoints for understanding human reality, as in Habermasian epistemic dualism. It secondly examines whether freedom is rooted in the brain in the sense of «free will» and of «autonomy», taking into account the stance of accredited neurologists and the study of natural dispositions in the Kantian notion of moral autonomy.

  17. Molecular degrees of freedom: resonances and orbiting

    Energy Technology Data Exchange (ETDEWEB)

    Shapira, D.; Erb, K.A.

    1983-01-01

    Studies of orbiting and other gross features of heavy ion induced reactions show that molecular degrees of freedom play a significant role. The formation of a rotating dinuclear molecule appears as a general feature, and the radii derived for these dinuclear systems are larger than the radii of the conventional nucleus-nucleus potential. These large radii for the molecular bonding potential are similar to those derived from systematic studies performed recently on resonances in the /sup 12/C + /sup 12/C + /sup 16/O systems.

  18. Existentialist Freedom, Distorted Normativity, and Emancipation

    Directory of Open Access Journals (Sweden)

    Sorin Baiasu

    2015-09-01

    Full Text Available Usually associated with a view of freedom as absolute, Sartre’s philosophy seems particularly able to account for the indeterminacy that we experience today in most areas of human experience that have a normative dimension. Without denying that this is a plausible reading, it will be argued here that it is nevertheless a problematic interpretation. On this reading, existentialism seems unable to account for the fact that we are powerfully conditioned by a significant number of factors, which limit our freedom and, in certain situations, make emancipation a normative requirement. It is held here that this problem can be addressed and a less problematic interpretation of Sartre can be defended, once we start to acknowledge that in Sartre we have a variety of notions of freedom that can provide a robust account of our freedom, of authentic choice and of responsibility. Habitualmente asociada a una visión de la libertad como un concepto absoluto, la filosofía de Sartre parece especialmente capaz de representar la indeterminación que experimentamos hoy en día en la mayoría de las áreas de la experiencia humana que tienen una dimensión normativa. Sin negar que ésta es una lectura convincente, no obstante, se va a argumentar que es una interpretación problemática. Con esta lectura parece que el existencialismo es incapaz de representar el hecho de que estamos fuertemente condicionados por un número importante de factores que limitan nuestra libertad y, en algunas situaciones, hacen de la emancipación una necesidad normativa. En este artículo se defiende que se puede abordar este problema, y se puede defender una interpretación de Sartre menos problemática, una vez empecemos a reconocer que en Sartre se pueden encontrar una variedad de nociones de libertad que permiten ofrecer una explicación sólida de nuestra libertad, de elección auténtica y de responsabilidad. DOWNLOAD THIS PAPER FROM SSRN: http://ssrn.com/abstract=2622045

  19. 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…

  20. Virtual Manipulatives in the K-12 Classroom.

    Science.gov (United States)

    Moyer, Patricia S.; Bolyard, Johnna J.; Spikell, Mark A.

    Innovations in technology, along with the growing prevalence of the Internet and its increasing availability in classrooms and homes throughout the world, have created a new class of manipulatives, virtual manipulatives. These "virtual manipulatives" offer a new, enhanced approach for teaching and learning mathematics using manipulatives and…

  1. APPRAISAL ANALYSIS IN FREEDOM WRITERS MOVIE

    Directory of Open Access Journals (Sweden)

    Nani Hidayati

    2017-02-01

    Full Text Available This study attempts to find out conveyed messages in the movie from the realization of the appraisal and narrative structure as well as to describe the use of the Appraisal System to express LaGravenese's (a Attitudes, (bEngagement & (c Graduation towards the main characters in Freedom Writers movie screenplay. Using both quantitative and qualitative descriptive approach for discourse appraisal system analysis, the result of this study reveals several messages of tolerance, earning respect and trust, honor diversity, and striving for success and trust from the realization of Appraisal and Narrative Structure either in the dialogues or monologues of Freedom Writers’ characters. The result from the Appraisal Devices realizing (a Attitudes reveals that LaGravenese likes to express characters’ negative emotion explicitly than implicitly. He likes to express characters’ negative capability than other kinds of Judgments. He appreciates the characters using more Negative Value which denotes that in his opinion, they see each other negatively. (bEngagement used in the screenplay describes that he emphasizes more on characters’ denial towards each other’s opinion and existence with the use of more Disclaim Heterogloss in the screenplay. (cGraduation used in the screenplay describes that the use of more Sharpening Focus indicates he emphasizes on characters’ category boundary more than scaling of intensity. Keywords: Appraisal Devices, Attitude, Engagement, and Graduation.

  2. Quark degrees of freedom in nuclear matter

    Science.gov (United States)

    Baldo, Marcello

    2017-06-01

    The microscopic theory of Nuclear Matter has been approached along the years by different many-body methods and different nucleon-nucleon (NN) interactions. The realistic NN interactions can be classified mainly into two categories. One relies on the meson-nucleon coupling scheme, within relativistic or non-relativistic framework. The so-called chiral interactions are based on the assumption that, once the pion exchange contribution has been explicitly isolated, it is possible to expand the NN interaction in a series of point interaction terms which respect the underlying QCD chiral symmetry. In both schemes three-body (TBF) or higher forces can be constructed, which can have different degrees of phenomenological character. The TBF are essential to get the Nuclear Matter saturation point close to the phenomenological one. However the QCD quark degrees of freedom are not explicitly introduced. It will be shown that a realistic NN interaction that is constructed from the quark degrees of freedom can produce the correct saturation point without the need of TBF. The corresponding Equation of State is compatible with all the phenomenological constraints, including the Neutron Star maximum mass limit. Taking this result literally, one can say that quarks have been revealed in Nuclear Matter. Another conclusion is that the effect of TBF is model dependent.

  3. 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.

  4. Development of a Biofeedback Therapeutic Exercise Supporting Manipulator for Lower Limbs

    Science.gov (United States)

    Hashimoto, Yosuke; Hisada, Takashi; Komada, Satoshi; Hirai, Junji

    Although equipments that support physical therapy have been developed, there are few types of equipment to improve quality of physical therapy. This paper proposes a new concept of robotic biofeedback exercise equipment that displays human muscle force during training. The concept tries to have therapeutic value through grasping of condition for trainee during exercise and giving an incentive to perform training. The equipment is not only for convalescent patients but also for athletes and healthy persons with a physical trouble. The manipulator is designed to support lower limb rehabilitation of knee and hip joints in sagittal plane, where a 3-degrees-of-freedom manipulator is adopted in order to realize low height equipment. Since the manipulator has redundant degree of freedom, collision avoidance is performed by a controller based on acceleration control by disturbance observer. Moreover, simultaneous isokinetic movement for knee and hip joints that has an adjustment capability of maximum speed and time constant is realized in order to perform safe training by isokinetic muscular contraction. Desired motion is realized experimentally by the proposed manipulator.

  5. In Situ Transmission Electron Microscopy Characterization and Manipulation of Two-Dimensional Layered Materials beyond Graphene.

    Science.gov (United States)

    Luo, Chen; Wang, Chaolun; Wu, Xing; Zhang, Jian; Chu, Junhao

    2017-09-01

    Two-dimensional (2D) ultra-thin materials beyond graphene with rich physical properties and unique layered structures are promising for applications in electronics, chemistry, energy, and bioscience, etc. The interaction mechanisms among the structures, chemical compositions and physical properties of 2D layered materials are critical for fundamental nanosciences and the practical fabrication of next-generation nanodevices. Transmission electron microscopy (TEM), with its high spatial resolution and versatile external fields, is undoubtedly a powerful tool for the static characterization and dynamic manipulation of nanomaterials and nanodevices at the atomic scale. The rapid development of thin-film and precision microelectromechanical systems (MEMS) techniques allows 2D layered materials and nanodevices to be probed and engineered inside TEM under external stimuli such as thermal, electrical, mechanical, liquid/gas environmental, optical, and magnetic fields at the nanoscale. Such advanced technologies leverage the traditional static TEM characterization into an in situ and interactive manipulation of 2D layered materials without sacrificing the resolution or the high vacuum chamber environment, facilitating exploration of the intrinsic structure-property relationship of 2D layered materials. In this Review, the dynamic properties tailored and observed by the most advanced and unprecedented in situ TEM technology are introduced. The challenges in spatial, time and energy resolution are discussed also. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  6. 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.

  7. Deciphering structures: Solid-state NMR for the observation of glasses at the atomic scale; Lire les structures: La RMN du solide pour observer les verres a l'echelle atomique

    Energy Technology Data Exchange (ETDEWEB)

    Charpentier, T. [Institut rayonnement matiere de Saclay - IRAMIS - Direction des sciences de la matiere, CEA Centre de Saclay, 91191 Gif-sur-Yvette (France)

    2010-07-01

    Recent advances have served to turn solid state NMR (Nuclear Magnetic Resonance) into a, by now, irreplaceable tool for the purposes of materials investigations, especially with regard to glasses. Such amorphous materials, indeed, exhibit no medium- or long-range order, as regards atomic configurations. In the NMR context, since the interactions being probed are local, at the atomic scale, such structural, and chemical disorder results in a broadening of resonances, around an average characteristic frequency. The need to take into account this broadening is a further difficulty, to be taken on board for the purposes of modeling, and interpreting experimental glass spectra. For instance, multidimensional techniques applied to nuclei such as O{sup 17} yields a multiplicity of information about the structure of oxide glasses. Because of the importance of the relationships found, in glasses, between physicochemical properties and local structure, NMR is a science that has yet to show its full potential. (A.C.)

  8. Economic Freedom and Economic Growth in South Africa

    Directory of Open Access Journals (Sweden)

    Clive E. Coetzee

    2017-06-01

    Full Text Available The economic growth and economic freedom nexus is studied in this article and applied to South Africa in an empirical study. Economic freedom is founded on the free or private market economy, based on competition, where voluntary exchange occurs and a legislative framework ensures the safety of market agents and private property. As part of the literature study, the Index of Economic Freedom, the Economic Freedom of the World Index and the Freedom in the World Index were studied and applied to South Africa. An empirical analysis was conducted, cross-correlation functions were estimated, and Granger causality functions, regression analysis and finally a vector auto-regression model (VAR were constructed and estimated. The research findings from South Africa support the literature, suggesting that there are indeed some indications that greater levels of economic freedom support higher rates of economic growth in a country.

  9. Redundant manipulators for momentum compensation in a micro-gravity environment

    Science.gov (United States)

    Quinn, R. D.; Chen, J. L.; Lawrence, C.

    1988-01-01

    This paper is concerned with the implementation and assessment of joint motion management strategies for kinematically redundant robotic manipulators operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. The redundant degrees of freedom of the manipulator permit the inverse kinematic problem to be solved simultaneously with the minimization of a cost function. The cost function in this case is the weighted sum of the squares of the base forces and moments and is minimized over discrete time segments. The Generalized Inverse Method and Rayleigh Ritz technique are used to solve the combined optimization/inverse kinematics problem. Numerical examples include various robotic configurations and degrees of manipulator redundancy.

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

    Science.gov (United States)

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

    2013-09-01

    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.

  11. 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)

  12. Improved dynamic equations for the generally configured Stewart platform manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Pedrammehr, Siamak; Mahboubkhah, Mehran [University of Tabriz, Tabriz (Iran, Islamic Republic of); Khani, Navid [University of Tehran, Tehran (Iran, Islamic Republic of)

    2012-03-15

    In this paper, a Newton-Euler approach is utilized to generate the improved dynamic equations of the generally configured Stewart platform. Using the kinematic model of the universal joint, the rotational degree of freedom of the pods around the axial direction is taken into account in the formulation. The justifiable direction of the reaction moment on each pod is specified and considered in deriving the dynamic equations. Considering the theorem of parallel axes, the inertia tensors for different elements of the manipulator are obtained in this study. From a theoretical point, the improved formulation is more accurate in comparison with previous ones, and the necessity of the improvement is clear evident from significant differences in the simulation results for the improved model and the model without improvement. In addition to more feasibility of the structure and higher accuracy, the model is highly compatible with computer arithmetic and suitable for online applications for loop control problems in hardware.

  13. Accurate positioning of long, flexible ARM's (Articulated Robotic Manipulator)

    Science.gov (United States)

    Malachowski, Michael J.

    1988-01-01

    An articulated robotic manipulator (ARM) system is being designed for space applications. Work being done on a concept utilizing an infinitely stiff laser beam for position reference is summarized. The laser beam is projected along the segments of the ARM, and the position is sensed by the beam rider modules (BRM) mounted on the distal ends of the segments. The BRM concept is the heart of the system. It utilizes a combination of lateral displacements and rotational and distance measurement sensors. These determine the relative position of the two ends of the segments with respect to each other in six degrees of freedom. The BRM measurement devices contain microprocessor controlled data acquisition and active positioning components. An indirect adaptive controller is used to accurately control the position of the ARM.

  14. Improved dynamic equations for the generally configured Stewart platform manipulator

    International Nuclear Information System (INIS)

    Pedrammehr, Siamak; Mahboubkhah, Mehran; Khani, Navid

    2012-01-01

    In this paper, a Newton-Euler approach is utilized to generate the improved dynamic equations of the generally configured Stewart platform. Using the kinematic model of the universal joint, the rotational degree of freedom of the pods around the axial direction is taken into account in the formulation. The justifiable direction of the reaction moment on each pod is specified and considered in deriving the dynamic equations. Considering the theorem of parallel axes, the inertia tensors for different elements of the manipulator are obtained in this study. From a theoretical point, the improved formulation is more accurate in comparison with previous ones, and the necessity of the improvement is clear evident from significant differences in the simulation results for the improved model and the model without improvement. In addition to more feasibility of the structure and higher accuracy, the model is highly compatible with computer arithmetic and suitable for online applications for loop control problems in hardware

  15. 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...

  16. 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.)

  17. 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…

  18. 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...

  19. Teaching Integration Applications Using Manipulatives

    Science.gov (United States)

    Bhatia, Kavita; Premadasa, Kirthi; Martin, Paul

    2014-01-01

    Calculus students' difficulties in understanding integration have been extensively studied. Research shows that the difficulty lies with students understanding of the definition of the definite integral as a limit of a Riemann sum and with the idea of accumulation inherent in integration. We have created a set of manipulatives and activities…

  20. 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.