WorldWideScience

Sample records for gross object manipulation

  1. Opposable spines facilitate fine and gross object manipulation in fire ants

    Science.gov (United States)

    Cassill, Deby; Greco, Anthony; Silwal, Rajesh; Wang, Xuefeng

    2007-04-01

    Ants inhabit diverse terrestrial biomes from the Sahara Desert to the Arctic tundra. One factor contributing to the ants’ successful colonization of diverse geographical regions is their ability to manipulate objects when excavating nests, capturing, transporting and rendering prey or grooming, feeding and transporting helpless brood. This paper is the first to report the form and function of opposable spines on the foretarsi of queens and workers used during fine motor and gross motor object manipulation in the fire ant, Solenopsis invicta. In conjunction with their mandibles, queens and workers used their foretarsi to grasp and rotate eggs, push or pull thread-like objects out of their way or push excavated soil pellets behind them for disposal by other workers. Opposable spines were found on the foretarsi of workers from seven of eight other ant species suggesting that they might be a common feature in the Formicidae.

  2. Direct manipulation of virtual objects

    Science.gov (United States)

    Nguyen, Long K.

    Interacting with a Virtual Environment (VE) generally requires the user to correctly perceive the relative position and orientation of virtual objects. For applications requiring interaction in personal space, the user may also need to accurately judge the position of the virtual object relative to that of a real object, for example, a virtual button and the user's real hand. This is difficult since VEs generally only provide a subset of the cues experienced in the real world. Complicating matters further, VEs presented by currently available visual displays may be inaccurate or distorted due to technological limitations. Fundamental physiological and psychological aspects of vision as they pertain to the task of object manipulation were thoroughly reviewed. Other sensory modalities -- proprioception, haptics, and audition -- and their cross-interactions with each other and with vision are briefly discussed. Visual display technologies, the primary component of any VE, were canvassed and compared. Current applications and research were gathered and categorized by different VE types and object interaction techniques. While object interaction research abounds in the literature, pockets of research gaps remain. Direct, dexterous, manual interaction with virtual objects in Mixed Reality (MR), where the real, seen hand accurately and effectively interacts with virtual objects, has not yet been fully quantified. An experimental test bed was designed to provide the highest accuracy attainable for salient visual cues in personal space. Optical alignment and user calibration were carefully performed. The test bed accommodated the full continuum of VE types and sensory modalities for comprehensive comparison studies. Experimental designs included two sets, each measuring depth perception and object interaction. The first set addressed the extreme end points of the Reality-Virtuality (R-V) continuum -- Immersive Virtual Environment (IVE) and Reality Environment (RE). This

  3. Object manipulation facilitates kind-based object individuation of shape-similar objects

    DEFF Research Database (Denmark)

    Kingo, Osman Skjold; Krøjgaard, Peter

    2011-01-01

    Five experiments investigated the importance of shape and object manipulation when 12-month-olds were given the task of individuating objects representing exemplars of kinds in an event-mapping design. In Experiments 1 and 2, results of the study from Xu, Carey, and Quint (2004, Experiment 4) were......, Experiment 4 revealed that allowing infants to manipulate objects shortly before the individuation task enabled them to individuate shape-similar objects from different categories. In Experiment 5, allowing object manipulation did not induce infants to individuate natural-looking objects from the same...... category. These findings suggest that object manipulation facilitates kind-based individuation of shape-similar objects by 12-month-olds. Keywords: Object individuation; Object shape; Object manipulation; Kind representations; Infancy...

  4. Input relegation control for gross motion of a kinematically redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1992-10-01

    This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the joint velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested which according to the model, decouples the Cartesian space DOF and the redundant DOF.

  5. Manipulable objects facilitate cross-modal integration in peripersonal space.

    Directory of Open Access Journals (Sweden)

    Michiel van Elk

    Full Text Available Previous studies have shown that tool use often modifies one's peripersonal space--i.e. the space directly surrounding our body. Given our profound experience with manipulable objects (e.g. a toothbrush, a comb or a teapot in the present study we hypothesized that the observation of pictures representing manipulable objects would result in a remapping of peripersonal space as well. Subjects were required to report the location of vibrotactile stimuli delivered to the right hand, while ignoring visual distractors superimposed on pictures representing everyday objects. Pictures could represent objects that were of high manipulability (e.g. a cell phone, medium manipulability (e.g. a soap dispenser and low manipulability (e.g. a computer screen. In the first experiment, when subjects attended to the action associated with the objects, a strong cross-modal congruency effect (CCE was observed for pictures representing medium and high manipulability objects, reflected in faster reaction times if the vibrotactile stimulus and the visual distractor were in the same location, whereas no CCE was observed for low manipulability objects. This finding was replicated in a second experiment in which subjects attended to the visual properties of the objects. These findings suggest that the observation of manipulable objects facilitates cross-modal integration in peripersonal space.

  6. Semi-Autonomous Manipulation of Natural Objects

    Science.gov (United States)

    2012-11-01

    of available action by right- clicking on each facet. Bottom right: A live 3D display. The sequence shown in Figure 9 is composed of one pulling...Also, this is an expensive hardware. It is not well protected against scratches and damage from bumping into rough objects such as bricks , rocks, and

  7. The left fusiform gyrus hosts trisensory representations of manipulable objects

    DEFF Research Database (Denmark)

    Kassuba, Tanja; Klinge, Corinna; Hölig, Cordula

    2011-01-01

    During object manipulation the brain integrates the visual, auditory, and haptic experience of an object into a unified percept. Previous brain imaging studies have implicated for instance the dorsal part of the lateral occipital complex in visuo-tactile and the posterior superior temporal sulcus....... In the first experiment, we identified brain regions which were consistently activated by unimodal visual, auditory, and haptic processing of manipulable objects relative to non-object control stimuli presented in the same modality. In the second experiment, we assessed regional brain activations when...... was also consistently activated during multisensory matching of object-related information across all three senses. Taken together, our results suggest that this region is central to the recognition of manipulable objects. A putative role of this FG region is to unify object-specific information provided...

  8. Object impedance control for cooperative manipulation - Theory and experimental results

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    Schneider, Stanley A.; Cannon, Robert H., Jr.

    1992-01-01

    This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

  9. Repeated training with augmentative vibrotactile feedback increases object manipulation performance.

    Directory of Open Access Journals (Sweden)

    Cara E Stepp

    Full Text Available Most users of prosthetic hands must rely on visual feedback alone, which requires visual attention and cognitive resources. Providing haptic feedback of variables relevant to manipulation, such as contact force, may thus improve the usability of prosthetic hands for tasks of daily living. Vibrotactile stimulation was explored as a feedback modality in ten unimpaired participants across eight sessions in a two-week period. Participants used their right index finger to perform a virtual object manipulation task with both visual and augmentative vibrotactile feedback related to force. Through repeated training, participants were able to learn to use the vibrotactile feedback to significantly improve object manipulation. Removal of vibrotactile feedback in session 8 significantly reduced task performance. These results suggest that vibrotactile feedback paired with training may enhance the manipulation ability of prosthetic hand users without the need for more invasive strategies.

  10. Performance-Based Animation Using Constraints for Virtual Object Manipulation.

    Science.gov (United States)

    Hwang, Jaepyung; Kim, Kwanguk; Suh, Il Hong; Kwon, Taesoo

    2017-01-01

    Optical motion-capture systems can be used to animate characters in real time based on human demonstrations. However, most approaches do not consider the detailed finger movements necessary for object manipulation. The proposed online motion-capture framework encourages natural motions by automatically guiding the avatar's motion toward the desired behavior based on a set of captured reference motions for the same behavior. The proposed motion controller imitates the user's finger and body gestures to enable performance-based animation of human avatars that can manipulate virtual objects in real time.

  11. System for manipulating and optically targeting micro objects

    DEFF Research Database (Denmark)

    2013-01-01

    The present invention relates to a system 100 for independently holding and manipulating one or more microscopic objects 158 and for targeting at least a part of the one or more microscopic objects within a trapping volume 102 with electromagnetic radiation 138. The system comprises trapping means...... for holding and manipulating the one or more microscopic objects and electromagnetic radiation targeting means (116). The light means comprising a light source and a spatial light modulator which serve to modify the light from the light source so as to enable specific illumination of at least a part...... of the one or more microscopic objects. The trapping means and the electromagnetic radiation targeting means (116) are enabled to function independently of each other, so that the trapped objects may be moved around without taking being dependent on which parts are being targeted and vice versa....

  12. Phylogenetic Approach to Object Manipulation in Human and Ape Infants.

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    Vauclair, Jacques

    1984-01-01

    Parker and Gibson's developmental model of evolution of language and intelligence in early hominids is described and discussed; data from a comparative study of object manipulation in two apes and a human infant are reported; and, human ontogenic developmental retardation in locomotion is discussed in terms of its implications for the differential…

  13. Semantic 3D object maps for everyday robot manipulation

    CERN Document Server

    Rusu, Radu Bogdan

    2013-01-01

    The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks.   The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see http://poi...

  14. Holographic acoustic elements for manipulation of levitated objects

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    Marzo, Asier; Seah, Sue Ann; Drinkwater, Bruce W.; Sahoo, Deepak Ranjan; Long, Benjamin; Subramanian, Sriram

    2015-10-01

    Sound can levitate objects of different sizes and materials through air, water and tissue. This allows us to manipulate cells, liquids, compounds or living things without touching or contaminating them. However, acoustic levitation has required the targets to be enclosed with acoustic elements or had limited manoeuvrability. Here we optimize the phases used to drive an ultrasonic phased array and show that acoustic levitation can be employed to translate, rotate and manipulate particles using even a single-sided emitter. Furthermore, we introduce the holographic acoustic elements framework that permits the rapid generation of traps and provides a bridge between optical and acoustical trapping. Acoustic structures shaped as tweezers, twisters or bottles emerge as the optimum mechanisms for tractor beams or containerless transportation. Single-beam levitation could manipulate particles inside our body for applications in targeted drug delivery or acoustically controlled micro-machines that do not interfere with magnetic resonance imaging.

  15. Recent Data Sets on Object Manipulation: A Survey.

    Science.gov (United States)

    Huang, Yongqiang; Bianchi, Matteo; Liarokapis, Minas; Sun, Yu

    2016-12-01

    Data sets is crucial not only for model learning and evaluation but also to advance knowledge on human behavior, thus fostering mutual inspiration between neuroscience and robotics. However, choosing the right data set to use or creating a new data set is not an easy task, because of the variety of data that can be found in the related literature. The first step to tackle this issue is to collect and organize those that are available. In this work, we take a significant step forward by reviewing data sets that were published in the past 10 years and that are directly related to object manipulation and grasping. We report on modalities, activities, and annotations for each individual data set and we discuss our view on its use for object manipulation. We also compare the data sets and summarize them. Finally, we conclude the survey by providing suggestions and discussing the best practices for the creation of new data sets.

  16. Conversation and Object Manipulation Influence Children's Learning in a Museum.

    Science.gov (United States)

    Jant, Erin A; Haden, Catherine A; Uttal, David H; Babcock, Elizabeth

    2014-01-01

    The effects of parent-child conversation and object manipulation on children's learning, transfer of knowledge, and memory were examined in two museum exhibits and conversations recorded at home. Seventy-eight children (Mage  = 4.9) and their parents were randomly assigned to receive conversation cards featuring elaborative questions about exhibit objects, the physical objects themselves, both, or neither, before their exhibit visits. Dyads who received the cards engaged in more elaborative talk and joint nonverbal activities with objects in the first exhibit than those who did not. Dyads who received objects engaged in the most parent-child joint talk. Results also illustrate transfer of information across exhibits and from museum to home. Implications for understanding mechanisms of informal learning and transfer are discussed.

  17. Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

    Directory of Open Access Journals (Sweden)

    Juan Manuel Ibarra-Zannatha

    2007-01-01

    Full Text Available The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

  18. A Patient with Difficulty of Object Recognition: Semantic Amnesia for Manipulable Objects

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    A. Yamadori

    1992-01-01

    Full Text Available We studied a patient who had recognition difficulty for manipulable objects. MRI showed a lesion in the left occipito-parietotemporal area. Differential diagnosis of agnosia, aphasia and apraxia is discussed. We believe this “object meaning amnesia” constitutes a distinct subtype of semantic amnesia.

  19. Adaptation of lift forces in object manipulation through action observation.

    Science.gov (United States)

    Reichelt, Andreas F; Ash, Alyssa M; Baugh, Lee A; Johansson, Roland S; Flanagan, J Randall

    2013-07-01

    The ability to predict accurately the weights of objects is essential for skilled and dexterous manipulation. A potentially important source of information about object weight is through the observation of other people lifting objects. Here, we tested the hypothesis that when watching an actor lift an object, people naturally learn the object's weight and use this information to scale forces when they subsequently lift the object themselves. Participants repeatedly lifted an object in turn with an actor. Object weight unpredictably changed between 2 and 7 N every 5th to 9th of the actor's lifts, and the weight lifted by the participant always matched that previously lifted by the actor. Even though the participants were uninformed about the structure of the experiment, they appropriately adapted their lifting force in the first trial after a weight change. Thus, participants updated their internal representation about the object's weight, for use in action, when watching a single lift performed by the actor. This ability presumably involves the comparison of predicted and actual sensory information related to actor's actions, a comparison process that is also fundamental in action.

  20. Vision, touch and object manipulation in Senegal parrots Poicephalus senegalus.

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    Demery, Zoe P; Chappell, Jackie; Martin, Graham R

    2011-12-22

    Parrots are exceptional among birds for their high levels of exploratory behaviour and manipulatory abilities. It has been argued that foraging method is the prime determinant of a bird's visual field configuration. However, here we argue that the topography of visual fields in parrots is related to their playful dexterity, unique anatomy and particularly the tactile information that is gained through their bill tip organ during object manipulation. We measured the visual fields of Senegal parrots Poicephalus senegalus using the ophthalmoscopic reflex technique and also report some preliminary observations on the bill tip organ in this species. We found that the visual fields of Senegal parrots are unlike those described hitherto in any other bird species, with both a relatively broad frontal binocular field and a near comprehensive field of view around the head. The behavioural implications are discussed and we consider how extractive foraging and object exploration, mediated in part by tactile cues from the bill, has led to the absence of visual coverage of the region below the bill in favour of more comprehensive visual coverage above the head.

  1. OOM - OBJECT ORIENTATION MANIPULATOR, VERSION 6.1

    Science.gov (United States)

    Goza, S. P.

    1994-01-01

    The Object Orientation Manipulator (OOM) is an application program for creating, rendering, and recording three-dimensional computer-generated still and animated images. This is done using geometrically defined 3D models, cameras, and light sources, referred to collectively as animation elements. OOM does not provide the tools necessary to construct 3D models; instead, it imports binary format model files generated by the Solid Surface Modeler (SSM). Model files stored in other formats must be converted to the SSM binary format before they can be used in OOM. SSM is available as MSC-21914 or as part of the SSM/OOM bundle, COS-10047. Among OOM's features are collision detection (with visual and audio feedback), the capability to define and manipulate hierarchical relationships between animation elements, stereographic display, and ray-traced rendering. OOM uses Euler angle transformations for calculating the results of translation and rotation operations. OOM provides an interactive environment for the manipulation and animation of models, cameras, and light sources. Models are the basic entity upon which OOM operates and are therefore considered the primary animation elements. Cameras and light sources are considered secondary animation elements. A camera, in OOM, is simply a location within the three-space environment from which the contents of the environment are observed. OOM supports the creation and full animation of cameras. Light sources can be defined, positioned and linked to models, but they cannot be animated independently. OOM can simultaneously accommodate as many animation elements as the host computer's memory permits. Once the required animation elements are present, the user may position them, orient them, and define any initial relationships between them. Once the initial relationships are defined, the user can display individual still views for rendering and output, or define motion for the animation elements by using the Interp Animation Editor

  2. Simple Ontology of Manipulation Actions based on Hand-Object Relations

    DEFF Research Database (Denmark)

    Wörgötter, Florentin; Aksoy, E. E.; Krüger, Norbert

    2013-01-01

    and time. For this we use as temporal anchor points those moments where two objects (or hand and object) touch or un-touch each other during a manipulation. We show that by this one can define a relatively small tree-like manipulation ontology. We find less than 30 fundamental manipulations. The temporal...

  3. Robust Control of Collaborative Manipulators - Flexible Object System

    Directory of Open Access Journals (Sweden)

    Balasubramanian Esakki

    2013-05-01

    stability analysis is performed for both subsystems. Focusing on two three‐link manipulators holding a flexible beam, simulations are performed and simulation results demonstrate the versatility of the proposed robust composite control scheme.

  4. Repetition Blindness Reveals Differences between the Representations of Manipulable and Nonmanipulable Objects

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    Harris, Irina M.; Murray, Alexandra M.; Hayward, William G.; O'Callaghan, Claire; Andrews, Sally

    2012-01-01

    We used repetition blindness to investigate the nature of the representations underlying identification of manipulable objects. Observers named objects presented in rapid serial visual presentation streams containing either manipulable or nonmanipulable objects. In half the streams, 1 object was repeated. Overall accuracy was lower when streams…

  5. Human hand descriptions and gesture recognition for object manipulation.

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    Cobos, Salvador; Ferre, Manuel; Sánchez-Urán, M Ángel; Ortego, Javier; Aracil, Rafael

    2010-06-01

    This work focuses on obtaining realistic human hand models that are suitable for manipulation tasks. A 24 degrees of freedom (DoF) kinematic model of the human hand is defined. The model reasonably satisfies realism requirements in simulation and movement. To achieve realism, intra- and inter-finger constraints are obtained. The design of the hand model with 24 DoF is based upon a morphological, physiological and anatomical study of the human hand. The model is used to develop a gesture recognition procedure that uses principal components analysis (PCA) and discriminant functions. Two simplified hand descriptions (nine and six DoF) have been developed in accordance with the constraints obtained previously. The accuracy of the simplified models is almost 5% for the nine DoF hand description and 10% for the six DoF hand description. Finally, some criteria are defined by which to select the hand description best suited to the features of the manipulation task.

  6. New graphene technologies of manipulation with molecular objects

    Science.gov (United States)

    Glukhova, O. E.; Savost'yanov, G. V.; Slepchenkov, M. M.; Shunaev, V. V.

    2016-06-01

    A new technique of manipulating with fullerene C60 over graphene on a SiO2 substrate is proposed. To stop the chaotic motion of molecules and limit its range, it is suggested to use a corrugated substrate. The study has shown that, at the corrugation wavelength of 3.4 nm and depth of 1.6 nm, the fullerene motion becomes directed with a deviation within 0.5 nm. The fullerene motion becomes even more definite, with a deviation from a straight line within tenths of an angstrom by the action of an external electric field, which allows one to manipulate the motion along the bottom of a groove. The method proposed can serve as a basis for the controlled assembly of molecules to supermolecular structures of given configurations, which can be applied in bio- and nanoelectronics.

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

    Directory of Open Access Journals (Sweden)

    Chisato Yamamoto

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

  8. Components of Action Representations Evoked when Identifying Manipulable Objects

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    Daniel N Bub

    2015-02-01

    Full Text Available We examined the influence of holding planned hand actions in working memory on the time taken to visually identify objects with handles. Features of the hand actions and position of the object's handle were congruent or incongruent on two dimensions: alignment (left vs. right and orientation (horizontal vs. vertical. When an object was depicted in an upright view, subjects were slower to name it when its handle was congruent with the planned hand actions on one dimension but incongruent on the other, relative to when the object handle and actions were congruent on both or neither dimension. This pattern is consistent with many other experiments demonstrating that a cost occurs when there is partial feature overlap between a planned action and a perceived target. An opposite pattern of results was obtained when the depicted object appeared in a 90-degree rotated view (e.g., a beer mug on its side, suggesting that the functional goal associated with the object (e.g., drinking from an upright beer mug was taken into account during object perception and that this knowledge superseded the influence of the action afforded by the depicted view of the object. These results have implications for the relationship between object perception and action representations, and for the mechanisms that support the identification of rotated objects.

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

    Science.gov (United States)

    Hayashi, Misato

    2015-11-19

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

  10. Grasping and manipulation of deformable objects based on internal force requirements

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    Sohil Garg

    2008-11-01

    Full Text Available In this paper an analysis of grasping and manipulation of deformable objects by a three finger robot hand has been carried out. It is proved that the required fingertip grasping forces and velocities vary with change in object size due to deformation. The variation of the internal force with the change in fingertip and object contact angle has been investigated in detail. From the results it is concluded that it is very difficult to manipulate an object if the finger contact angle is not between 30 o and 70 o, as the internal forces or velocities become very large outside this range. Hence even if the object is inside the work volume of the three fingers it would still not be possible to manipulate it. A simple control model is proposed which can control the grasping and manipulation of a deformable object. Experimental results are also presented to prove the proposed method.

  11. Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

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    Huangsheng Xie

    2014-01-01

    Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

  12. The development of object function and manipulation knowledge: evidence from a semantic priming study

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    Cynthia Collette

    2016-08-01

    Full Text Available Object semantics include object function and manipulation knowledge. Function knowledge refers to the goal attainable by using an object (e.g. the function of a key is to open or close a door while manipulation knowledge refers to gestures one has to execute to use an object appropriately (e.g. a key is held between the thumb and the index, inserted into the door lock and then turned.To date, several studies have assessed function and manipulation knowledge in brain lesion patients as well as in healthy adult populations. In patients with left brain damage, a double dissociation between these two types of knowledge has been reported; on the other hand, behavioral studies in healthy adults show that function knowledge is processed faster than manipulation knowledge. Empirical evidence has shown that object interaction in children differs from that in adults, suggesting that the access to function and manipulation knowledge in children might also differ.To investigate the development of object function and manipulation knowledge, 51 typically developing 8-9-10 year-old children and 17 healthy young adults were tested on a naming task associated with a semantic priming paradigm (190-ms SOA; prime duration: 90 ms in which a series of line drawings of manipulable objects were used. Target objects could be preceded by three priming contexts: related (e.g. knife-scissors for function; key-screwdriver for manipulation, unrelated but visually similar (e.g. glasses-scissors; baseball bat-screwdriver, and purely unrelated (e.g. die-scissors; tissue-screwdriver.Results showed a different developmental pattern of function and manipulation priming effects. Function priming effects were not present in children and emerged only in adults, with faster naming responses for targets preceded by objects sharing the same function. In contrast, manipulation priming effects were already present in 8-year-olds with faster naming responses for targets preceded by objects

  13. NITROGEN DEPOSITION AND ORGANIC MATTER MANIPULATIONS AFFECT GROSS AND NET NITROGEN TRANSFORMATIONS IN TWO TEMPERATE FORESTS SOILS

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    Soil nitrogen transformations are intricately linked to carbon transformations. We utilized two existing organic matter manipulation sites in western Oregon, USA and Hungary to investigate these linkages. Our questions were: 1) Does the quantity and quality of organic matter af...

  14. Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse

    DEFF Research Database (Denmark)

    Wu, Haiyan; Andersen, Thomas Timm; Andersen, Nils Axel

    2016-01-01

    Automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed for slaughterhouse. In this work, a pick and place task which ...

  15. Augmented Reality vs Virtual Reality for 3D Object Manipulation.

    Science.gov (United States)

    Krichenbauer, Max; Yamamoto, Goshiro; Taketomi, Takafumi; Sandor, Christian; Kato, Hirokazu

    2017-01-25

    Virtual Reality (VR) Head-Mounted Displays (HMDs) are on the verge of becoming commodity hardware available to the average user and feasible to use as a tool for 3D work. Some HMDs include front-facing cameras, enabling Augmented Reality (AR) functionality. Apart from avoiding collisions with the environment, interaction with virtual objects may also be affected by seeing the real environment. However, whether these effects are positive or negative has not yet been studied extensively. For most tasks it is unknown whether AR has any advantage over VR. In this work we present the results of a user study in which we compared user performance measured in task completion time on a 9 degrees of freedom object selection and transformation task performed either in AR or VR, both with a 3D input device and a mouse. Our results show faster task completion time in AR over VR. When using a 3D input device, a purely VR environment increased task completion time by 22.5% on average compared to AR (p < 0:024). Surprisingly, a similar effect occurred when using a mouse: users were about 17.3% slower in VR than in AR (p < 0:04). Mouse and 3D input device produced similar task completion times in each condition (AR or VR) respectively. We further found no differences in reported comfort.

  16. Comparison of Planar Parallel Manipulator Architectures based on a Multi-objective Design Optimization Approach

    CERN Document Server

    Chablat, Damien; Ur-Rehman, Raza; Wenger, Philippe

    2010-01-01

    This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular workspace size, i.e., the objective functions. The optimization problem is subject to constraints on the manipulator dexterity and stiffness. For a given external wrench, the displacements of the moving platform have to be smaller than given values throughout the obtained maximum regular dexterous workspace. The contributions of the paper are highlighted with the study of 3-RPR, 3-RPR and 3-RPR planar parallel manipulator architectures, which are compared by means of their Pareto frontiers obtained with a genetic algorithm.

  17. A Roadmap Towards Intelligent and Autonomous Object Manipulation for assembly Tasks

    DEFF Research Database (Denmark)

    Polydoros, Athanasios; Nalpantidis, Lazaros; Krüger, Volker

    Despite the large scientific interest on robot learning for object picking tasks, the research on object placing is too limited. Commonly, placing is simplistically considered as a trivial task, but real life manipulation problems indicate the exact opposite. A placing task can have different...

  18. When action turns into words. Activation of motor-based knowledge during categorization of manipulable objects

    DEFF Research Database (Denmark)

    Gerlach, Christian; Law, Ian; Paulson, Olaf B

    2002-01-01

    for the processing of man-made objects per se, but rather for the processing of manipulable objects in general, whether natural or man-made. These findings both support psycholinguistic theories suggesting that certain lexical categories may evolve from, and the act of categorization rely upon, motor-based knowledge...

  19. Playing on the Typewriter, Typing on the Piano: Manipulation Knowledge of Objects

    Science.gov (United States)

    Myung, Jong-yoon; Blumstein, Sheila E.; Sedivy, Julie C.

    2006-01-01

    Two experiments investigated sensory/motor-based functional knowledge of man-made objects: manipulation features associated with the actual usage of objects. In Experiment 1, a series of prime-target pairs was presented auditorily, and participants were asked to make a lexical decision on the target word. Participants made a significantly faster…

  20. Object manipulation and motion perception: Evidence of an influence of action planning on visual processing

    NARCIS (Netherlands)

    Lindemann, O.; Bekkering, H.

    2009-01-01

    In 3 experiments, the authors investigated the bidirectional coupling of perception and action in the context of object manipulations and motion perception. Participants prepared to grasp an X-shaped object along one of its 2 diagonals and to rotate it in a clockwise or a counterclockwise direction.

  1. An Adaptable Robot Vision System Performing Manipulation Actions With Flexible Objects

    DEFF Research Database (Denmark)

    Bodenhagen, Leon; Fugl, Andreas R.; Jordt, Andreas

    2014-01-01

    This paper describes an adaptable system which is able to perform manipulation operations (such as Peg-in-Hole or Laying-Down actions) with flexible objects. As such objects easily change their shape significantly during the execution of an action, traditional strategies, e. g., for solve path-pl...

  2. Cooperative Control Based on Absolute Positional Information of Grasped Object in Multiple Mobile Manipulators

    Science.gov (United States)

    Sugawara, Toshiharu; Murakami, Toshiyuki

    This paper describes a control strategy to realize grasping and cooperative motion in multiple mobile manipulators. In the general approach, the stable grasping motion is well realized, but the emergent motion such as the obstacle avoidance motion and the collision avoidance motion among the robots are not taken into account in the cooperative motion of multiple mobile manipulators. In the practical application, however, the above issue is important to realize an adaptive and sophisticated motion. The proposed approach introduces the null space motion based on the grasping matrix and the absolute position of target object in the grasping motion of the manipulator. In this case, each motion of mobile manipulator is given independently of the grasping and the cooperative motion, and the emergent motion is determined arbitrary. This is one of the remarkable features of the proposed strategy. Several numerical and experimental results show the validity of the proposed approach.

  3. Extracting Objects for Aerial Manipulation on UAVs Using Low Cost Stereo Sensors.

    Science.gov (United States)

    Ramon Soria, Pablo; Bevec, Robert; Arrue, Begoña C; Ude, Aleš; Ollero, Aníbal

    2016-05-14

    Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the range of possible applications. This applies to rotary wing UAVs in particular, where their capability of hovering enables a suitable position for in-flight manipulation. Their manipulation skills must be suitable for primarily natural, partially known environments, where UAVs mostly operate. We have developed an on-board object extraction method that calculates information necessary for autonomous grasping of objects, without the need to provide the model of the object's shape. A local map of the work-zone is generated using depth information, where object candidates are extracted by detecting areas different to our floor model. Their image projections are then evaluated using support vector machine (SVM) classification to recognize specific objects or reject bad candidates. Our method builds a sparse cloud representation of each object and calculates the object's centroid and the dominant axis. This information is then passed to a grasping module. Our method works under the assumption that objects are static and not clustered, have visual features and the floor shape of the work-zone area is known. We used low cost cameras for creating depth information that cause noisy point clouds, but our method has proved robust enough to process this data and return accurate results.

  4. 77 FR 48198 - Culturally Significant Objects Imported for Exhibition Determinations: “Faking It: Manipulated...

    Science.gov (United States)

    2012-08-13

    ... Culturally Significant Objects Imported for Exhibition Determinations: ``Faking It: Manipulated Photography... Photography Before Photoshop,'' imported from abroad for temporary exhibition within the United States, are of... of Art, New York, New York, from on or about October 11, 2012, until on or about January 27,...

  5. Relationship between Manual Preferences for Object Manipulation and Pointing Gestures in Infants and Toddlers

    Science.gov (United States)

    Vauclair, Jacques; Imbault, Juliette

    2009-01-01

    The aim of this study was to measure the pattern of hand preferences for pointing gestures as a function of object-manipulation handedness in 123 infants and toddlers (10-40 months). The results showed that not only right-handers but also left-handers and ambidextrous participants tended to use their right hand for pointing. There was a…

  6. Extracting Objects for Aerial Manipulation on UAVs Using Low Cost Stereo Sensors

    Directory of Open Access Journals (Sweden)

    Pablo Ramon Soria

    2016-05-01

    Full Text Available Giving unmanned aerial vehicles (UAVs the possibility to manipulate objects vastly extends the range of possible applications. This applies to rotary wing UAVs in particular, where their capability of hovering enables a suitable position for in-flight manipulation. Their manipulation skills must be suitable for primarily natural, partially known environments, where UAVs mostly operate. We have developed an on-board object extraction method that calculates information necessary for autonomous grasping of objects, without the need to provide the model of the object’s shape. A local map of the work-zone is generated using depth information, where object candidates are extracted by detecting areas different to our floor model. Their image projections are then evaluated using support vector machine (SVM classification to recognize specific objects or reject bad candidates. Our method builds a sparse cloud representation of each object and calculates the object’s centroid and the dominant axis. This information is then passed to a grasping module. Our method works under the assumption that objects are static and not clustered, have visual features and the floor shape of the work-zone area is known. We used low cost cameras for creating depth information that cause noisy point clouds, but our method has proved robust enough to process this data and return accurate results.

  7. Extracting Objects for Aerial Manipulation on UAVs Using Low Cost Stereo Sensors

    Science.gov (United States)

    Ramon Soria, Pablo; Bevec, Robert; Arrue, Begoña C.; Ude, Aleš; Ollero, Aníbal

    2016-01-01

    Giving unmanned aerial vehicles (UAVs) the possibility to manipulate objects vastly extends the range of possible applications. This applies to rotary wing UAVs in particular, where their capability of hovering enables a suitable position for in-flight manipulation. Their manipulation skills must be suitable for primarily natural, partially known environments, where UAVs mostly operate. We have developed an on-board object extraction method that calculates information necessary for autonomous grasping of objects, without the need to provide the model of the object’s shape. A local map of the work-zone is generated using depth information, where object candidates are extracted by detecting areas different to our floor model. Their image projections are then evaluated using support vector machine (SVM) classification to recognize specific objects or reject bad candidates. Our method builds a sparse cloud representation of each object and calculates the object’s centroid and the dominant axis. This information is then passed to a grasping module. Our method works under the assumption that objects are static and not clustered, have visual features and the floor shape of the work-zone area is known. We used low cost cameras for creating depth information that cause noisy point clouds, but our method has proved robust enough to process this data and return accurate results. PMID:27187413

  8. Finding the Correspondence of Audio-Visual Events by Object Manipulation

    Science.gov (United States)

    Nishibori, Kento; Takeuchi, Yoshinori; Matsumoto, Tetsuya; Kudo, Hiroaki; Ohnishi, Noboru

    A human being understands the objects in the environment by integrating information obtained by the senses of sight, hearing and touch. In this integration, active manipulation of objects plays an important role. We propose a method for finding the correspondence of audio-visual events by manipulating an object. The method uses the general grouping rules in Gestalt psychology, i.e. “simultaneity” and “similarity” among motion command, sound onsets and motion of the object in images. In experiments, we used a microphone, a camera, and a robot which has a hand manipulator. The robot grasps an object like a bell and shakes it or grasps an object like a stick and beat a drum in a periodic, or non-periodic motion. Then the object emits periodical/non-periodical events. To create more realistic scenario, we put other event source (a metronome) in the environment. As a result, we had a success rate of 73.8 percent in finding the correspondence between audio-visual events (afferent signal) which are relating to robot motion (efferent signal).

  9. Too much anticipation? Large anticipatory adjustments of grasping movements to minimal object manipulations.

    Science.gov (United States)

    Herbort, Oliver

    2015-08-01

    When humans grasp objects, the grasps foreshadow the intended object manipulation. It has been suggested that grasps are selected that lead to medial arm postures, which facilitate movement speed and precision, during critical phases of the object manipulation. In Experiment 1, it has been tested whether grasp selections lead to medial postures during rotations of a dial. Participants twisted their arms considerably before grasping the dial, even when the upcoming dial rotation was minimal (5°). Participants neither assumed a medial posture at any point during a short rotation, nor did they assume any of the postures involved in short rotations in the opposite direction. Thus, grasp selections did not necessarily lead to specific postures at any point of the object manipulation. Experiment 2 examined the effect of various grasps on the speed of dial rotations. A medial initial grasp resulted in the fastest dial rotations for most rotation angles. Spontaneously selected grasps were more excursed than necessary to maximize dial rotation speed. This apparent overshot might be explained by participants' sensitive to the variability of their grasps and is in line with the assumption that grasps facilitate control over the grasped object.

  10. A Roadmap Towards Intelligent and Autonomous Object Manipulation for assembly Tasks

    DEFF Research Database (Denmark)

    Polydoros, Athanasios; Nalpantidis, Lazaros; Krüger, Volker

    Despite the large scientific interest on robot learning for object picking tasks, the research on object placing is too limited. Commonly, placing is simplistically considered as a trivial task, but real life manipulation problems indicate the exact opposite. A placing task can have different...... levels of complexity, ranging from the simplest tabletop placing of an object, to more complex cases such as loading a dishwasher and assembling industrial parts. In this paper we argue that assembly can and needs to be seen as a complex placing task. Thus, the need for systems with advanced placing...

  11. Sex Differences in Object Manipulation in Wild Immature Chimpanzees (Pan troglodytes schweinfurthii and Bonobos (Pan paniscus: Preparation for Tool Use?

    Directory of Open Access Journals (Sweden)

    Kathelijne Koops

    Full Text Available Sex differences in immatures predict behavioural differences in adulthood in many mammal species. Because most studies have focused on sex differences in social interactions, little is known about possible sex differences in 'preparation' for adult life with regards to tool use skills. We investigated sex and age differences in object manipulation in immature apes. Chimpanzees use a variety of tools across numerous contexts, whereas bonobos use few tools and none in foraging. In both species, a female bias in adult tool use has been reported. We studied object manipulation in immature chimpanzees at Kalinzu (Uganda and bonobos at Wamba (Democratic Republic of Congo. We tested predictions of the 'preparation for tool use' hypothesis. We confirmed that chimpanzees showed higher rates and more diverse types of object manipulation than bonobos. Against expectation, male chimpanzees showed higher object manipulation rates than females, whereas in bonobos no sex difference was found. However, object manipulation by male chimpanzees was play-dominated, whereas manipulation types of female chimpanzees were more diverse (e.g., bite, break, carry. Manipulation by young immatures of both species was similarly dominated by play, but only in chimpanzees did it become more diverse with age. Moreover, in chimpanzees, object types became more tool-like (i.e., sticks with age, further suggesting preparation for tool use in adulthood. The male bias in object manipulation in immature chimpanzees, along with the late onset of tool-like object manipulation, indicates that not all (early object manipulation (i.e., object play in immatures prepares for subsistence tool use. Instead, given the similarity with gender differences in human children, object play may also function in motor skill practice for male-specific behaviours (e.g., dominance displays. In conclusion, even though immature behaviours almost certainly reflect preparation for adult roles, more detailed

  12. Manipulation after object rotation reveals independent sensorimotor memory representations of digit positions and forces.

    Science.gov (United States)

    Zhang, Wei; Gordon, Andrew M; Fu, Qiushi; Santello, Marco

    2010-06-01

    Planning of object manipulations is dependent on the ability to generate, store, and retrieve sensorimotor memories of previous actions associated with grasped objects. However, the sensorimotor memory representations linking object properties to the planning of grasp are not well understood. Here we use an object rotation task to gain insight into the mechanisms underlying the nature of these sensorimotor memories. We asked subjects to grasp a grip device with an asymmetrical center of mass (CM) anywhere on its vertical surfaces and lift it while minimizing object roll. After subjects learned to minimize object roll by generating a compensatory moment, they were asked to rotate the object 180 degrees about a vertical axis and lift it again. The rotation resulted in changing the direction of external moment opposite to that experienced during the prerotation block. Anticipatory grasp control was quantified by measuring the compensatory moment generated at object lift onset by thumb and index finger forces through their respective application points. On the first postrotation trial, subjects failed to generate a compensatory moment to counter the external moment caused by the new CM location, thus resulting in a large object roll. Nevertheless, after several object rotations subjects reduced object roll on the initial postrotation trials by anticipating the new CM location through the modulation of digit placement but not tangential forces. The differential improvement in modulating these two variables supports the notion of independent memory representations of kinematics and kinetics and is discussed in relation to neural mechanisms underlying visuomotor transformations.

  13. Dropwise condensation on a hydrophobic probe-tip for manipulating micro-objects

    Science.gov (United States)

    Fan, Zenghua; Wang, Lefeng; Rong, Weibin; Sun, Lining

    2015-02-01

    A capillary-gripping method that enables micro-objects to be picked up flexibly and reliably is described. By controlling the dropwise condensation on a probe tip, the volume of the water droplet on the hydrophobic tip surface can be dynamically varied, which helps to establish appropriate capillary lifting forces during micromanipulation tasks. Droplet formation and the capillary lifting forces generated during the manipulation process were experimentally characterized. Micromanipulation experiments using a customized motion platform equipped with viewing microscopes were conducted to verify the performance potential of this method. A 100% success rate in 200 trials was achieved in picking up and manipulating polystyrene microspheres with radii of 20-50 μm.

  14. Automated Manipulation of Micro-Nano Objects with SPM by Using L₁ Adaptive Controller

    Directory of Open Access Journals (Sweden)

    Qinmin Yang

    2012-12-01

    Full Text Available In this paper, a novel control methodology for automatically manipulating micro/nano particles by using a Scanning Probe Microscope (SPM is presented. First\tof all, a mathematical model of micro/nanomanipulation, including the interactive forces and dynamics between the tip, particle and substrate along with the roughness effect of the substrate, is described. Then, the L₁ adaptive control design for the manipulation system of micro/nano objects is presented, which consists of a state predictor with fast adaptation, a piece‐wise continuous adaptive law and a low‐pass filtered control design. This control framework can handle nonlinear uncertainties and ensures uniformly bounded tracking performance. The tracking performance bound can be systematically improved by reducing the step size of integration. Rigorous mathematical proof is provided. Simulation results demonstrate the effectiveness of the presented L₁ adaptive control law on the micro/nanomanipulation model.

  15. Perceiving Object Shape from Specular Highlight Deformation, Boundary Contour Deformation, and Active Haptic Manipulation.

    Directory of Open Access Journals (Sweden)

    J Farley Norman

    Full Text Available It is well known that motion facilitates the visual perception of solid object shape, particularly when surface texture or other identifiable features (e.g., corners are present. Conventional models of structure-from-motion require the presence of texture or identifiable object features in order to recover 3-D structure. Is the facilitation in 3-D shape perception similar in magnitude when surface texture is absent? On any given trial in the current experiments, participants were presented with a single randomly-selected solid object (bell pepper or randomly-shaped "glaven" for 12 seconds and were required to indicate which of 12 (for bell peppers or 8 (for glavens simultaneously visible objects possessed the same shape. The initial single object's shape was defined either by boundary contours alone (i.e., presented as a silhouette, specular highlights alone, specular highlights combined with boundary contours, or texture. In addition, there was a haptic condition: in this condition, the participants haptically explored with both hands (but could not see the initial single object for 12 seconds; they then performed the same shape-matching task used in the visual conditions. For both the visual and haptic conditions, motion (rotation in depth or active object manipulation was present in half of the trials and was not present for the remaining trials. The effect of motion was quantitatively similar for all of the visual and haptic conditions-e.g., the participants' performance in Experiment 1 was 93.5 percent higher in the motion or active haptic manipulation conditions (when compared to the static conditions. The current results demonstrate that deforming specular highlights or boundary contours facilitate 3-D shape perception as much as the motion of objects that possess texture. The current results also indicate that the improvement with motion that occurs for haptics is similar in magnitude to that which occurs for vision.

  16. Effects of visual cues of object density on perception and anticipatory control of dexterous manipulation.

    Directory of Open Access Journals (Sweden)

    Céline Crajé

    Full Text Available Anticipatory force planning during grasping is based on visual cues about the object's physical properties and sensorimotor memories of previous actions with grasped objects. Vision can be used to estimate object mass based on the object size to identify and recall sensorimotor memories of previously manipulated objects. It is not known whether subjects can use density cues to identify the object's center of mass (CM and create compensatory moments in an anticipatory fashion during initial object lifts to prevent tilt. We asked subjects (n = 8 to estimate CM location of visually symmetric objects of uniform densities (plastic or brass, symmetric CM and non-uniform densities (mixture of plastic and brass, asymmetric CM. We then asked whether subjects can use density cues to scale fingertip forces when lifting the visually symmetric objects of uniform and non-uniform densities. Subjects were able to accurately estimate an object's center of mass based on visual density cues. When the mass distribution was uniform, subjects could scale their fingertip forces in an anticipatory fashion based on the estimation. However, despite their ability to explicitly estimate CM location when object density was non-uniform, subjects were unable to scale their fingertip forces to create a compensatory moment and prevent tilt on initial lifts. Hefting object parts in the hand before the experiment did not affect this ability. This suggests a dichotomy between the ability to accurately identify the object's CM location for objects with non-uniform density cues and the ability to utilize this information to correctly scale their fingertip forces. These results are discussed in the context of possible neural mechanisms underlying sensorimotor integration linking visual cues and anticipatory control of grasping.

  17. Effects of visual cues of object density on perception and anticipatory control of dexterous manipulation.

    Science.gov (United States)

    Crajé, Céline; Santello, Marco; Gordon, Andrew M

    2013-01-01

    Anticipatory force planning during grasping is based on visual cues about the object's physical properties and sensorimotor memories of previous actions with grasped objects. Vision can be used to estimate object mass based on the object size to identify and recall sensorimotor memories of previously manipulated objects. It is not known whether subjects can use density cues to identify the object's center of mass (CM) and create compensatory moments in an anticipatory fashion during initial object lifts to prevent tilt. We asked subjects (n = 8) to estimate CM location of visually symmetric objects of uniform densities (plastic or brass, symmetric CM) and non-uniform densities (mixture of plastic and brass, asymmetric CM). We then asked whether subjects can use density cues to scale fingertip forces when lifting the visually symmetric objects of uniform and non-uniform densities. Subjects were able to accurately estimate an object's center of mass based on visual density cues. When the mass distribution was uniform, subjects could scale their fingertip forces in an anticipatory fashion based on the estimation. However, despite their ability to explicitly estimate CM location when object density was non-uniform, subjects were unable to scale their fingertip forces to create a compensatory moment and prevent tilt on initial lifts. Hefting object parts in the hand before the experiment did not affect this ability. This suggests a dichotomy between the ability to accurately identify the object's CM location for objects with non-uniform density cues and the ability to utilize this information to correctly scale their fingertip forces. These results are discussed in the context of possible neural mechanisms underlying sensorimotor integration linking visual cues and anticipatory control of grasping.

  18. Perceiving Object Shape from Specular Highlight Deformation, Boundary Contour Deformation, and Active Haptic Manipulation

    Science.gov (United States)

    Cheeseman, Jacob R.; Thomason, Kelsey E.; Ronning, Cecilia; Behari, Kriti; Kleinman, Kayla; Calloway, Autum B.; Lamirande, Davora

    2016-01-01

    It is well known that motion facilitates the visual perception of solid object shape, particularly when surface texture or other identifiable features (e.g., corners) are present. Conventional models of structure-from-motion require the presence of texture or identifiable object features in order to recover 3-D structure. Is the facilitation in 3-D shape perception similar in magnitude when surface texture is absent? On any given trial in the current experiments, participants were presented with a single randomly-selected solid object (bell pepper or randomly-shaped “glaven”) for 12 seconds and were required to indicate which of 12 (for bell peppers) or 8 (for glavens) simultaneously visible objects possessed the same shape. The initial single object’s shape was defined either by boundary contours alone (i.e., presented as a silhouette), specular highlights alone, specular highlights combined with boundary contours, or texture. In addition, there was a haptic condition: in this condition, the participants haptically explored with both hands (but could not see) the initial single object for 12 seconds; they then performed the same shape-matching task used in the visual conditions. For both the visual and haptic conditions, motion (rotation in depth or active object manipulation) was present in half of the trials and was not present for the remaining trials. The effect of motion was quantitatively similar for all of the visual and haptic conditions–e.g., the participants’ performance in Experiment 1 was 93.5 percent higher in the motion or active haptic manipulation conditions (when compared to the static conditions). The current results demonstrate that deforming specular highlights or boundary contours facilitate 3-D shape perception as much as the motion of objects that possess texture. The current results also indicate that the improvement with motion that occurs for haptics is similar in magnitude to that which occurs for vision. PMID:26863531

  19. Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

    Science.gov (United States)

    Zarafshan, P.; Moosavian, S. Ali A.

    2013-10-01

    Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors

  20. Spatiotemporal dynamics of bimanual integration in human somatosensory cortex and their relevance to bimanual object manipulation.

    Science.gov (United States)

    Jung, Patrick; Klein, Johannes C; Wibral, Michael; Hoechstetter, Karsten; Bliem, Barbara; Lu, Ming-Kuei; Wahl, Mathias; Ziemann, Ulf

    2012-04-18

    Little is known about the spatiotemporal dynamics of cortical responses that integrate slightly asynchronous somatosensory inputs from both hands. This study aimed to clarify the timing and magnitude of interhemispheric interactions during early integration of bimanual somatosensory information in different somatosensory regions and their relevance for bimanual object manipulation and exploration. Using multi-fiber probabilistic diffusion tractography and MEG source analysis of conditioning-test (C-T) median nerve somatosensory evoked fields in healthy human subjects, we sought to extract measures of structural and effective callosal connectivity between different somatosensory cortical regions and correlated them with bimanual tactile task performance. Neuromagnetic responses were found in major somatosensory regions, i.e., primary somatosensory cortex SI, secondary somatosensory cortex SII, posterior parietal cortex, and premotor cortex. Contralateral to the test stimulus, SII activity was maximally suppressed by 51% at C-T intervals of 40 and 60 ms. This interhemispheric inhibition of the contralateral SII source activity correlated directly and topographically specifically with the fractional anisotropy of callosal fibers interconnecting SII. Thus, the putative pathway that mediated inhibitory interhemispheric interactions in SII was a transcallosal route from ipsilateral to contralateral SII. Moreover, interhemispheric inhibition of SII source activity correlated directly with bimanual tactile task performance. These findings were exclusive to SII. Our data suggest that early interhemispheric somatosensory integration primarily occurs in SII, is mediated by callosal fibers that interconnect homologous SII areas, and has behavioral importance for bimanual object manipulation and exploration.

  1. Influence of Active Manipulation of an Object on Visual Motion Perception

    Directory of Open Access Journals (Sweden)

    Kazumichi Matsumiya

    2011-10-01

    Full Text Available When we manipulate an object by hand, the movements of the object are produced with the visual and haptic movements of our hands. Studies of multimodal perception show the interaction between touch and vision in visual motion perception(1,2. The influence of touch on visual motion perception is shown by the fact that adaptation to tactile motion across the observer's hand induces a visual motion aftereffect, which is a visual illusion in which exposure to a moving visual pattern makes a subsequently viewed stationary visual pattern appear to move in the opposite direction(2. This visuo-tactile interaction plays an important role in skillful manipulation(3. However, it is not clear how haptic information influences visual motion perception. We measured the strength of a visual motion aftereffect after visuo-haptic adaptation to a windmill rotated by observers. We found that the visual motion aftereffect was enhanced when observers actively rotated the windmill. The motion aftereffect was not enhanced when the observer's hand was passively moved. Our results suggest the presence of a visual motion system that is linked to the intended haptic movements.

  2. Dusty: an assistive mobile manipulator that retrieves dropped objects for people with motor impairments.

    Science.gov (United States)

    King, Chih-Hung; Chen, Tiffany L; Fan, Zhengqin; Glass, Jonathan D; Kemp, Charles C

    2012-03-01

    People with physical disabilities have ranked object retrieval as a high-priority task for assistive robots. We have developed Dusty, a teleoperated mobile manipulator that fetches objects from the floor and delivers them to users at a comfortable height. In this paper, we first demonstrate the robot's high success rate (98.4%) when autonomously grasping 25 objects considered being important by people with amyotrophic lateral sclerosis (ALS). We tested the robot with each object in five different configurations on five types of flooring. We then present the results of an experiment in which 20 people with ALS operated Dusty. Participants teleoperated Dusty to move around an obstacle, pick up an object and deliver the object to themselves. They successfully completed this task in 59 out of 60 trials (3 trials each) with a mean completion time of 61.4 SD = 20.5 seconds), and reported high overall satisfaction using Dusty (7-point Likert scale; 6.8 SD = 0.6). Participants rated Dusty to be significantly easier to use than their own hands, asking family members, and using mechanical reachers (p < 0.03, paired t-tests). Fourteen of the 20 participants reported that they would prefer using Dusty over their current methods. [Box: see text].

  3. Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation.

    Science.gov (United States)

    Farshchiansadegh, Ali; Melendez-Calderon, Alejandro; Ranganathan, Rajiv; Murphey, Todd D; Mussa-Ivaldi, Ferdinando A

    2016-04-01

    The laws of physics establish the energetic efficiency of our movements. In some cases, like locomotion, the mechanics of the body dominate in determining the energetically optimal course of action. In other tasks, such as manipulation, energetic costs depend critically upon the variable properties of objects in the environment. Can the brain identify and follow energy-optimal motions when these motions require moving along unfamiliar trajectories? What feedback information is required for such optimal behavior to occur? To answer these questions, we asked participants to move their dominant hand between different positions while holding a virtual mechanical system with complex dynamics (a planar double pendulum). In this task, trajectories of minimum kinetic energy were along curvilinear paths. Our findings demonstrate that participants were capable of finding the energy-optimal paths, but only when provided with veridical visual and haptic information pertaining to the object, lacking which the trajectories were executed along rectilinear paths.

  4. Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation.

    Directory of Open Access Journals (Sweden)

    Ali Farshchiansadegh

    2016-04-01

    Full Text Available The laws of physics establish the energetic efficiency of our movements. In some cases, like locomotion, the mechanics of the body dominate in determining the energetically optimal course of action. In other tasks, such as manipulation, energetic costs depend critically upon the variable properties of objects in the environment. Can the brain identify and follow energy-optimal motions when these motions require moving along unfamiliar trajectories? What feedback information is required for such optimal behavior to occur? To answer these questions, we asked participants to move their dominant hand between different positions while holding a virtual mechanical system with complex dynamics (a planar double pendulum. In this task, trajectories of minimum kinetic energy were along curvilinear paths. Our findings demonstrate that participants were capable of finding the energy-optimal paths, but only when provided with veridical visual and haptic information pertaining to the object, lacking which the trajectories were executed along rectilinear paths.

  5. Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation

    Science.gov (United States)

    Farshchiansadegh, Ali; Melendez-Calderon, Alejandro; Ranganathan, Rajiv; Murphey, Todd D.; Mussa-Ivaldi, Ferdinando A.

    2016-01-01

    The laws of physics establish the energetic efficiency of our movements. In some cases, like locomotion, the mechanics of the body dominate in determining the energetically optimal course of action. In other tasks, such as manipulation, energetic costs depend critically upon the variable properties of objects in the environment. Can the brain identify and follow energy-optimal motions when these motions require moving along unfamiliar trajectories? What feedback information is required for such optimal behavior to occur? To answer these questions, we asked participants to move their dominant hand between different positions while holding a virtual mechanical system with complex dynamics (a planar double pendulum). In this task, trajectories of minimum kinetic energy were along curvilinear paths. Our findings demonstrate that participants were capable of finding the energy-optimal paths, but only when provided with veridical visual and haptic information pertaining to the object, lacking which the trajectories were executed along rectilinear paths. PMID:27035587

  6. Towards a Stable Robotic Object Manipulation Through 2D-3D Features Tracking

    Directory of Open Access Journals (Sweden)

    Sorin M. Grigorescu

    2013-04-01

    Full Text Available In this paper, a new object tracking system is proposed to improve the object manipulation capabilities of service robots. The goal is to continuously track the state of the visualized environment in order to send visual information in real time to the path planning and decision modules of the robot; that is, to adapt the movement of the robotic system according to the state variations appearing in the imaged scene. The tracking approach is based on a probabilistic collaborative tracking framework developed around a 2D patch‐based tracking system and a 2D‐3D point features tracker. The real‐time visual information is composed of RGB‐D data streams acquired from state‐of‐the‐art structured light sensors. For performance evaluation, the accuracy of the developed tracker is compared to a traditional marker‐based tracking system which delivers 3D information with respect to the position of the marker.

  7. A multiaxis device for in-focus manipulation of objects under a dissecting microscope.

    Science.gov (United States)

    Gras, Heribert

    2014-10-01

    An inexpensive specimen holder for objects under a dissecting microscope is described which allows arbitrary orientation and rotation of the object within the visual field and focal plane of the microscope. Based on a spherical cap upon a magnet, this apparatus is easy to construct and permits single-handed manipulation of the specimen from some distance. Precise positioning is demonstrated for halteres of Drosophila under up to 120× magnification. Because of the restricted field of view and depth of focus of a dissecting microscope, it is often difficult to position tiny objects under study in varying orientation, especially if the specimen must simultaneously be dissected with forceps, microscissors or needles. The problem is solved most conveniently with a specimen holder based on a spherical cap which is held by a strong magnet on a steel ring. The specimen tilts vertically in any direction by up to 70° and-even in oblique orientation-rotates through 360° around the sphere's centre in the focal plane. By help of an interleaved plastic foil in a ring carrier, these movements can be controlled unimanually from outside the visual field. © 2014 The Authors Journal of Microscopy © 2014 Royal Microscopical Society.

  8. Rotation Matrix to Operate a Robot Manipulator for 2D Analog Tracking Objects Using Electrooculography

    Directory of Open Access Journals (Sweden)

    Muhammad Ilhamdi Rusydi

    2014-07-01

    Full Text Available Performing some special tasks using electrooculography (EOG in daily activities is being developed in various areas. In this paper, simple rotation matrixes were introduced to help the operator move a 2-DoF planar robot manipulator. The EOG sensor, NF 5201, has two output channels (Ch1 and Ch2, as well as one ground channel and one reference channel. The robot movement was the indicator that this system could follow gaze motion based on EOG. Operators gazed into five training target points each in the horizontal and vertical line as the preliminary experiments, which were based on directions, distances and the areas of gaze motions. This was done to get the relationships between EOG and gaze motion distance for four directions, which were up, down, right and left. The maximum angle for the horizontal was 46°, while it was 38° for the vertical. Rotation matrixes for the horizontal and vertical signals were combined, so as to diagonally track objects. To verify, the errors between actual and desired target positions were calculated using the Euclidian distance. This test section had 20 random target points. The result indicated that this system could track an object with average angle errors of 3.31° in the x-axis and 3.58° in the y-axis.

  9. Inertial parameter identification using contact force information for an unknown object captured by a space manipulator

    Science.gov (United States)

    Chu, Zhongyi; Ma, Ye; Hou, Yueyang; Wang, Fengwen

    2017-02-01

    This paper presents a novel identification method for the intact inertial parameters of an unknown object in space captured by a manipulator in a space robotic system. With strong dynamic and kinematic coupling existing in the robotic system, the inertial parameter identification of the unknown object is essential for the ideal control strategy based on changes in the attitude and trajectory of the space robot via capturing operations. Conventional studies merely refer to the principle and theory of identification, and an error analysis process of identification is deficient for a practical scenario. To solve this issue, an analysis of the effect of errors on identification is illustrated first, and the accumulation of measurement or estimation errors causing poor identification precision is demonstrated. Meanwhile, a modified identification equation incorporating the contact force, as well as the force/torque of the end-effector, is proposed to weaken the accumulation of errors and improve the identification accuracy. Furthermore, considering a severe disturbance condition caused by various measured noises, the hybrid immune algorithm, Recursive Least Squares and Affine Projection Sign Algorithm (RLS-APSA), is employed to decode the modified identification equation to ensure a stable identification property. Finally, to verify the validity of the proposed identification method, the co-simulation of ADAMS-MATLAB is implemented by multi-degree of freedom models of a space robotic system, and the numerical results show a precise and stable identification performance, which is able to guarantee the execution of aerospace operations and prevent failed control strategies.

  10. Optimal target grasping of a flexible space manipulator for a class of objectives

    Science.gov (United States)

    Toglia, Chiara; Sabatini, Marco; Gasbarri, Paolo; Palmerini, Giovanni B.

    2011-04-01

    Space graspers are complex systems, composed by robotic arms placed on an orbiting platform. In order to fulfil the manoeuvres' requirements, it is necessary to properly model all the forces acting on the space robot. A fully nonlinear model is used to describe the dynamics, based on a multibody approach. The model includes the orbital motion, the gravity gradient, the aerodynamic effects, as well as the flexibility of the links. The present paper aims to design, thanks to nonlinear optimization algorithms, a class of manoeuvres that, given the same target to be grasped, are characterized by different mission objectives. The grasping mission can be performed with the objective to minimize the power consumption. Collision avoidance constraints can be also added when the target is equipped with solar panels or other appendices. In some cases, large elastic displacements should be expected, possibly leading to an inaccurate positioning of the end-effector. Therefore, different design strategies can require that the manoeuvre is accomplished with minimum vibrations' amplitude at the end-effector. Performance of the different strategies is analyzed in terms of control effort, trajectory errors, and flexible response of the manipulator.

  11. Habit Reversal Versus Object Manipulation Training for Treating Nail Biting: A Randomized Controlled Clinical Trial

    Directory of Open Access Journals (Sweden)

    Amir Bazrafshan

    2013-06-01

    Full Text Available Objective:This is a parallel, three group, randomized, controlled clinical trial, with outcomes evaluated up to three months after randomization for children and adolescents with chronic nail biting. The current study investigates the efficacy of habit reversal training (HRT and compares its effect with object manipulation training (OMT considering the limitations of the current literature .Method:Ninety one children and adolescents with nail biting were randomly allocated to one of the three groups. The three groups were HRT (n=30, OMT (n=30, and wait-list or control group (n=31. The mean length of nail was considered as the main outcome .Results:The mean length of the nails after one month in HRT and OMT groups increased compared to the waiting list group (P<0.001, P<0.001, respectively. In long term, both OMT and HRT increased the mean length of nails (P<0.01, but HRT was more effective than OMT (P<0.021. The parent-reported frequency of nail biting did show similar results as to the mean length of nails assessment in long term. The number of children who completely stopped nail biting in HRT and OMT groups during three months was 8 and 7, respectively. This number was zero during one month for the wait-list group .Conclusion:This trial showed that HRT is more effective than wait-list and OMT in increasing the mean length of nails of children and adolescents in long terms.

  12. Long-Latency Feedback Coordinates Upper-Limb and Hand Muscles during Object Manipulation Tasks.

    Science.gov (United States)

    Crevecoeur, Frédéric; Thonnard, Jean-Louis; Lefèvre, Philippe; Scott, Stephen H

    2016-01-01

    Suppose that someone bumps into your arm at a party while you are holding a glass of wine. Motion of the disturbed arm will engage rapid and goal-directed feedback responses in the upper-limb. Although such responses can rapidly counter the perturbation, it is also clearly desirable not to destabilize your grasp and/or spill the wine. Here we investigated how healthy humans maintain a stable grasp following perturbations by using a paradigm that requires spatial tuning of the motor response dependent on the location of a virtual target. Our results highlight a synchronized expression of target-directed feedback in shoulder and hand muscles occurring at ∼60 ms. Considering that conduction delays are longer for the more distal hand muscles, these results suggest that target-directed responses in hand muscles were initiated before those for the shoulder muscles. These results show that long-latency feedback can coordinate upper limb and hand muscles during object manipulation tasks.

  13. Long-Latency Feedback Coordinates Upper-Limb and Hand Muscles during Object Manipulation Tasks123

    Science.gov (United States)

    Thonnard, Jean-Louis; Scott, Stephen H.

    2016-01-01

    Suppose that someone bumps into your arm at a party while you are holding a glass of wine. Motion of the disturbed arm will engage rapid and goal-directed feedback responses in the upper-limb. Although such responses can rapidly counter the perturbation, it is also clearly desirable not to destabilize your grasp and/or spill the wine. Here we investigated how healthy humans maintain a stable grasp following perturbations by using a paradigm that requires spatial tuning of the motor response dependent on the location of a virtual target. Our results highlight a synchronized expression of target-directed feedback in shoulder and hand muscles occurring at ∼60 ms. Considering that conduction delays are longer for the more distal hand muscles, these results suggest that target-directed responses in hand muscles were initiated before those for the shoulder muscles. These results show that long-latency feedback can coordinate upper limb and hand muscles during object manipulation tasks. PMID:27022624

  14. Hi-Speed Tactile Sensing for Array-type Tactile Sensor and Object Manipulation based on Tactile Information

    Science.gov (United States)

    Fukui, Wataru; Kobayashi, Futoshi; Kojima, Fumio; Nakamoto, Hiroyuki; Maeda, Tadashi; Imamura, Nobuaki; Shirasawa, Hidenori

    Recently, a robotic hand with tactile sensors is developed all over the world. We also have developed a universal robot hand with tactile sensors and other sensors. Tactile sensors are very important for manipulating objects dexterously. However, array-type tactile sensor has many I/O, thus require much processing time. In this paper, we propose a hi-speed tactile sensing based on the genetic algorithm in order to measure the tactile information rapidly. The validity of the proposed method shows through some experiments. Moreover, a multi-object manipulation according to the tactile information is proposed.

  15. Single and multi–objective optimization of path placement for redundant robotic manipulators

    Directory of Open Access Journals (Sweden)

    J.A. Pamanes–García

    2008-07-01

    Full Text Available General formulations are presented in this paper to determine the best position and orientation of a desired path to be followed by a redundant manipulator. Two classes of problem are considered. In the first, a single manipulator's index of kinematic performance associated to one path point must be improved as much as possible. In the second case distinct indices of kinematic performance, corresponding to different points of the path, are to be optimized. Constraints are taken into account in order to guarantee the accessibility to the whole de sired task. Several case studies are presented to illustrate the effectiveness of the method for planar and spatial manipulators.

  16. Relation between hand function and gross motor function in full term infants aged 4 to 8 months

    Science.gov (United States)

    Nogueira, Solange F.; Figueiredo, Elyonara M.; Gonçalves, Rejane V.; Mancini, Marisa C.

    2015-01-01

    Background: In children, reaching emerges around four months of age, which is followed by rapid changes in hand function and concomitant changes in gross motor function, including the acquisition of independent sitting. Although there is a close functional relationship between these domains, to date they have been investigated separately. Objective: To investigate the longitudinal profile of changes and the relationship between the development of hand function (i.e. reaching for and manipulating an object) and gross motor function in 13 normally developing children born at term who were evaluated every 15 days from 4 to 8 months of age. Method: The number of reaches and the period (i.e. time) of manipulation to an object were extracted from video synchronized with the Qualisys(r) movement analysis system. Gross motor function was measured using the Alberta Infant Motor Scale. ANOVA for repeated measures was used to test the effect of age on the number of reaches, the time of manipulation and gross motor function. Hierarchical regression models were used to test the associations of reaching and manipulation with gross motor function. Results: Results revealed a significant increase in the number of reaches (p<0.001), the time of manipulation (p<0.001) and gross motor function (p<0.001) over time, as well as associations between reaching and gross motor function (R2=0.84; p<0.001) and manipulation and gross motor function (R2=0.13; p=0.02) from 4 to 6 months of age. Associations from 6 to 8 months of age were not significant. Conclusion: The relationship between hand function and gross motor function was not constant, and the age span from 4 to 6 months was a critical period of interdependency of hand function and gross motor function development. PMID:25714437

  17. A new technique for dynamic load distribution when two manipulators mutually lift a rigid object. Part 1, The proposed technique

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1994-04-01

    A general framework for solving the dynamic load distribution when two manipulators hold a rigid object is proposed. The underspecified problem of solving for the contact forces and torques based on the object`s equations of motion is transformed into a well specified problem. This is accomplished by augmenting the object`s equations of motion with additional equations which relate a new vector variable quantifying the internal contact force and torque degrees of freedom (DOF) as a linear function of the contact forces and torques. The resulting augmented system yields a well specified solution for the contact forces and torques in which they are separated into their motion inducing and internal components. A particular solution is suggested which enables the designer to conveniently specify what portion of the payload`s mass each manipulator is to bear. It is also shown that the results of the previous work are just a special case of the general load distribution framework described here.

  18. Maintaining rotational equilibrium during object manipulation: linear behavior of a highly non-linear system

    Science.gov (United States)

    Gao, Fan; Latash, Mark L.

    2010-01-01

    We address issues of simultaneous control of the grasping force and the total moment of forces applied to a handheld object during its manipulation. Six young healthy male subjects grasped an instrumented handle and performed its cyclic motion in the vertical direction. The handle allowed for setting different clockwise (negative) or counterclockwise torques. Three movement frequencies: 1, 1.5 and 2 Hz, and five different torques: −1/3, −1/6, 0, 1/6 and 1/3 Nm, were used. The rotational equilibrium was maintained by two means: (1) Concerted changes of the moments produced by the normal and tangential forces, specifically anti-phase changes of the moments during the tasks with zero external torque and in-phase changes during the non-zero-torque tasks, and (2) Redistribution of the normal forces among individual fingers such that the agonist fingers—the fingers that resist external torque—increased the force in phase with the acceleration, while the forces of the antagonist fingers—those that assist the external torque—especially, the fingers with the large moment arms, the index and little fingers, stayed unchanged. The observed effects agree with the principle of superposition—according to which some complex actions, for example, prehension, can be decomposed into elemental actions controlled independently—and the mechanical advantage hypothesis according to which in moment production the fingers are activated in proportion to their moment arms with respect to the axis of rotation. We would like to emphasize the linearity of the observed relations, which was not prescribed by the task mechanics and seems to be produced by specific neural control mechanisms. PMID:16328302

  19. Method and system for manipulating a digital representation of a three-dimensional object

    DEFF Research Database (Denmark)

    2010-01-01

    A method of manipulating a three-dimensional virtual building block model by means of two-dimensional cursor movements, the virtual building block model including a plurality of virtual building blocks each including a number of connection elements for connecting the virtual building block...

  20. Towards a tangible web: using physical objects to access and manipulate the Internet of Things

    CSIR Research Space (South Africa)

    Smith, Andrew C

    2013-09-01

    Full Text Available . This additional step has resulted in the phenomenon commonly referred to as the Internet of Things (IoT). In order to realise the full potential of the IoT, individuals need a mechanism to access and manipulate it. A potential mechanism for achieving...

  1. Method and system for manipulating a digital representation of a three-dimensional object

    DEFF Research Database (Denmark)

    2010-01-01

    A method of manipulating a three-dimensional virtual building block model by means of two-dimensional cursor movements, the virtual building block model including a plurality of virtual building blocks each including a number of connection elements for connecting the virtual building block with a...

  2. Effects of carpal tunnel syndrome on adaptation of multi-digit forces to object weight for whole-hand manipulation.

    Directory of Open Access Journals (Sweden)

    Wei Zhang

    Full Text Available The delicate tuning of digit forces to object properties can be disrupted by a number of neurological and musculoskeletal diseases. One such condition is Carpal Tunnel Syndrome (CTS, a compression neuropathy of the median nerve that causes sensory and motor deficits in a subset of digits in the hand. Whereas the effects of CTS on median nerve physiology are well understood, the extent to which it affects whole-hand manipulation remains to be addressed. CTS affects only the lateral three and a half digits, which raises the question of how the central nervous system integrates sensory feedback from affected and unaffected digits to plan and execute whole-hand object manipulation. We addressed this question by asking CTS patients and healthy controls to grasp, lift, and hold a grip device (445, 545, or 745 g for several consecutive trials. We found that CTS patients were able to successfully adapt grip force to object weight. However, multi-digit force coordination in patients was characterized by lower discrimination of force modulation to lighter object weights, higher across-trial digit force variability, the consistent use of excessively large digit forces across consecutive trials, and a lower ability to minimize net moments on the object. Importantly, the mechanical requirement of attaining equilibrium of forces and torques caused CTS patients to exert excessive forces at both CTS-affected digits and digits with intact sensorimotor capabilities. These findings suggest that CTS-induced deficits in tactile sensitivity interfere with the formation of accurate sensorimotor memories of previous manipulations. Consequently, CTS patients use compensatory strategies to maximize grasp stability at the expense of exerting consistently larger multi-digit forces than controls. These behavioral deficits might be particularly detrimental for tasks that require fine regulation of fingertip forces for manipulating light or fragile objects.

  3. Effects of carpal tunnel syndrome on adaptation of multi-digit forces to object weight for whole-hand manipulation.

    Science.gov (United States)

    Zhang, Wei; Johnston, Jamie A; Ross, Mark A; Smith, Anthony A; Coakley, Brandon J; Gleason, Elizabeth A; Dueck, Amylou C; Santello, Marco

    2011-01-01

    The delicate tuning of digit forces to object properties can be disrupted by a number of neurological and musculoskeletal diseases. One such condition is Carpal Tunnel Syndrome (CTS), a compression neuropathy of the median nerve that causes sensory and motor deficits in a subset of digits in the hand. Whereas the effects of CTS on median nerve physiology are well understood, the extent to which it affects whole-hand manipulation remains to be addressed. CTS affects only the lateral three and a half digits, which raises the question of how the central nervous system integrates sensory feedback from affected and unaffected digits to plan and execute whole-hand object manipulation. We addressed this question by asking CTS patients and healthy controls to grasp, lift, and hold a grip device (445, 545, or 745 g) for several consecutive trials. We found that CTS patients were able to successfully adapt grip force to object weight. However, multi-digit force coordination in patients was characterized by lower discrimination of force modulation to lighter object weights, higher across-trial digit force variability, the consistent use of excessively large digit forces across consecutive trials, and a lower ability to minimize net moments on the object. Importantly, the mechanical requirement of attaining equilibrium of forces and torques caused CTS patients to exert excessive forces at both CTS-affected digits and digits with intact sensorimotor capabilities. These findings suggest that CTS-induced deficits in tactile sensitivity interfere with the formation of accurate sensorimotor memories of previous manipulations. Consequently, CTS patients use compensatory strategies to maximize grasp stability at the expense of exerting consistently larger multi-digit forces than controls. These behavioral deficits might be particularly detrimental for tasks that require fine regulation of fingertip forces for manipulating light or fragile objects.

  4. A fast 3-D object recognition algorithm for the vision system of a special-purpose dexterous manipulator

    Science.gov (United States)

    Hung, Stephen H. Y.

    1989-01-01

    A fast 3-D object recognition algorithm that can be used as a quick-look subsystem to the vision system for the Special-Purpose Dexterous Manipulator (SPDM) is described. Global features that can be easily computed from range data are used to characterize the images of a viewer-centered model of an object. This algorithm will speed up the processing by eliminating the low level processing whenever possible. It may identify the object, reject a set of bad data in the early stage, or create a better environment for a more powerful algorithm to carry the work further.

  5. Learning Is Better with the Hands Free: The Role of Posture in the Memory of Manipulable Objects.

    Directory of Open Access Journals (Sweden)

    Léo Dutriaux

    Full Text Available Grounded cognition proposes that memory shares processing resources with sensorimotor systems. The aim of the present study was to show that motor simulation participates in the conceptual representation of manipulable objects in long-term memory. In two experiments, lists of manipulable and nonmanipulable objects were presented. Participants were instructed to memorize the items while adopting different postures. In the control condition, they had to keep their hands at rest in front of them. In the interference condition, participants had to keep their hands crossed behind their back to make their hands less free for action. After each list, participants had to perform first a distractive task, and then an oral free recall. The results showed that the interfering posture produced a specific decrease in the recall of manipulable objects, but not of nonmanipulable ones. This decrease was similar when the items were presented as pictures (Experiment 1 or as words (Experiment 2, thus excluding a purely visual effect. These results provide strong evidence that the motor simulation plays a role in the memory trace of the object.

  6. Learning Is Better with the Hands Free: The Role of Posture in the Memory of Manipulable Objects

    Science.gov (United States)

    Dutriaux, Léo; Gyselinck, Valérie

    2016-01-01

    Grounded cognition proposes that memory shares processing resources with sensorimotor systems. The aim of the present study was to show that motor simulation participates in the conceptual representation of manipulable objects in long-term memory. In two experiments, lists of manipulable and nonmanipulable objects were presented. Participants were instructed to memorize the items while adopting different postures. In the control condition, they had to keep their hands at rest in front of them. In the interference condition, participants had to keep their hands crossed behind their back to make their hands less free for action. After each list, participants had to perform first a distractive task, and then an oral free recall. The results showed that the interfering posture produced a specific decrease in the recall of manipulable objects, but not of nonmanipulable ones. This decrease was similar when the items were presented as pictures (Experiment 1) or as words (Experiment 2), thus excluding a purely visual effect. These results provide strong evidence that the motor simulation plays a role in the memory trace of the object. PMID:27414407

  7. Using visual cues of contact to improve interactive manipulation of virtual objects in industrial assembly/maintenance simulations.

    Science.gov (United States)

    Sreng, Jean; Lécuyer, Anatole; Mégard, Christine; Andriot, Claude

    2006-01-01

    This paper describes a set of visual cues of contact designed to improve the interactive manipulation of virtual objects in industrial assembly/maintenance simulations. These visual cues display information of proximity, contact and effort between virtual objects when the user manipulates a part inside a digital mock-up. The set of visual cues encloses the apparition of glyphs (arrow, disk, or sphere) when the manipulated object is close or in contact with another part of the virtual environment. Light sources can also be added at the level of contact points. A filtering technique is proposed to decrease the number of glyphs displayed at the same time. Various effects--such as change in color, change in size, and deformation of shape- can be applied to the glyphs as a function of proximity with other objects or amplitude of the contact forces. A preliminary evaluation was conducted to gather the subjective preference of a group of participants during the simulation of an automotive assembly operation. The collected questionnaires showed that participants globally appreciated our visual cues of contact. The changes in color appeared to be preferred concerning the display of distances and proximity information. Size changes and deformation effects appeared to be preferred in terms of perception of contact forces between the parts. Last, light sources were selected to focus the attention of the user on the contact areas.

  8. 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.

  9. Deep Multimodal Embedding: Manipulating Novel Objects with Point-clouds, Language and Trajectories

    Science.gov (United States)

    2015-09-25

    semantically meaningful embedding spaces from different modalities. Recalling our earlier example where one incorrect trajectory for manipulating a door knob...data and time to load into GPU memory was not included in this measurement. We note that the only part of our algorithm’s runtime which scales up with...International Society for Music Information Retrieval (ISMIR), pages 349–354, 2012. [15] M. Muja and D. G. Lowe. Scalable nearest neighbor algo- rithms for high

  10. Integrated view and path planning for a fully autonomous mobile-manipulator system for 3D object modeling

    OpenAIRE

    Torabi, Liila

    2011-01-01

    We have designed and implemented a fully autonomous system for building a 3D model of an object in situ. Our system assumes no knowledge of object other than that it is within a bounding box whose location and size are known a priori, and furthermore, the environment is unknown. The system consists of a mobile manipulator, a powerbot mobile base with a six degrees of freedom (DOF) powercube arm mounted on it. The arm and the powerbot are equipped with line-scan range sensors, which provide ra...

  11. Location and acquisition of objects in unpredictable locations. [a teleoperator system with a computer for manipulator control

    Science.gov (United States)

    Sword, A. J.; Park, W. T.

    1975-01-01

    A teleoperator system with a computer for manipulator control to combine the capabilities of both man and computer to accomplish a task is described. This system allows objects in unpredictable locations to be successfully located and acquired. By using a method of characterizing the work-space together with man's ability to plan a strategy and coarsely locate an object, the computer is provided with enough information to complete the tedious part of the task. In addition, the use of voice control is shown to be a useful component of the man/machine interface.

  12. The relationship between Gross Primary Productivity and Sun-Induced Fluorescence in a nutrient manipulated Mediterranean grassland is controlled primarily by canopy structure

    Science.gov (United States)

    Migliavacca, Mirco

    2017-04-01

    Recent studies have shown how human induced N/P imbalances affect essential ecosystem processes, and might be particularly important in water-limited ecosystems. Hyperspectral information can be used to directly infer nutrient-induces variation in structural and functional changes of vegetation under different nutrient availability. Among those, sun-induced fluorescence in the far-red region provides a new non-invasive measurement approach that has the potential to quantify dynamic changes in light-use efficiency and photosynthetic carbon dioxide uptake (Gross Primary Production, GPP). However, the mechanistic link between GPP and sun-induced fluorescence under different environmental conditions is not completely understood. In this contribution we investigated the structural and functional factors controlling the emission of SIF at 760 nm in a Mediterranean grassland with different levels of nutrient availability (Nitrogen (N), Phosphorous (P), and Nitrogen and Phosphorous (NP)). We showed how nutrient-induced changes in canopy structure (i.e. changes in plant forms abundance that influence leaf inclination distribution function, LIDF) and functional traits (e.g. nitrogen content per dry mass of leaves, N%, Chlorophyll ab concentration - Cab, and maximum carboxylation capacity, Vcmax) affected the observed relationship between SIF and GPP. Simultaneous measurements of canopy scale GPP and SIF were conducted with transparent transient-state canopy chambers and narrow-band spectrometers, respectively. To disentangle the main drivers of the GPP-SIF relationship we performed a factorial modeling exercise with the Soil-Canopy Observation of Photosynthesis and Energy (SCOPE) model. We conclude that the addition of nutrients imposed a change in the abundance of different plant forms and biochemistry of the canopy. This lead to changes in canopy structure (leaf area index, leaf inclinaton distribution function LIDF parameters) and functional traits (N%, P%, Cab and Vcmax

  13. Experiments in cooperative-arm object manipulation with a two-armed free-flying robot. Ph.D. Thesis

    Science.gov (United States)

    Koningstein, Ross

    1990-01-01

    Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

  14. The role of observers' gaze behaviour when watching object manipulation tasks: predicting and evaluating the consequences of action.

    Science.gov (United States)

    Flanagan, J Randall; Rotman, Gerben; Reichelt, Andreas F; Johansson, Roland S

    2013-10-19

    When watching an actor manipulate objects, observers, like the actor, naturally direct their gaze to each object as the hand approaches and typically maintain gaze on the object until the hand departs. Here, we probed the function of observers' eye movements, focusing on two possibilities: (i) that observers' gaze behaviour arises from processes involved in the prediction of the target object of the actor's reaching movement and (ii) that this gaze behaviour supports the evaluation of mechanical events that arise from interactions between the actor's hand and objects. Observers watched an actor reach for and lift one of two presented objects. The observers' task was either to predict the target object or judge its weight. Proactive gaze behaviour, similar to that seen in self-guided action-observation, was seen in the weight judgement task, which requires evaluating mechanical events associated with lifting, but not in the target prediction task. We submit that an important function of gaze behaviour in self-guided action observation is the evaluation of mechanical events associated with interactions between the hand and object. By comparing predicted and actual mechanical events, observers, like actors, can gain knowledge about the world, including information about objects they may subsequently act upon.

  15. Computer-Aided Definition, Manipulation and Depiction of Objects Composed of Spheres.

    Science.gov (United States)

    Knowlton, Kenneth

    1982-01-01

    Provides insight into technique for developing 3-dimensional computer graphics for use in artistic expression, design of functional objects, and the development of frame-by-frame computer animated films. Objects defined by intersecting spheres, hardware, software, examples, and illustrations are included. Twenty-four references are cited. (EJS)

  16. Virtual Exertions: a user interface combining visual information, kinesthetics and biofeedback for virtual object manipulation.

    Science.gov (United States)

    Ponto, Kevin; Kimmel, Ryan; Kohlmann, Joe; Bartholomew, Aaron; Radwin, Robert G

    2012-01-01

    Virtual Reality environments have the ability to present users with rich visual representations of simulated environments. However, means to interact with these types of illusions are generally unnatural in the sense that they do not match the methods humans use to grasp and move objects in the physical world. We demonstrate a system that enables users to interact with virtual objects with natural body movements by combining visual information, kinesthetics and biofeedback from electromyograms (EMG). Our method allows virtual objects to be grasped, moved and dropped through muscle exertion classification based on physical world masses. We show that users can consistently reproduce these calibrated exertions, allowing them to interface with objects in a novel way.

  17. Manipulación de embriones humanos: algunas objeciones Human embryos’ manipulations: some objections

    Directory of Open Access Journals (Sweden)

    Carlos Alberto Gómez Fajardo

    2008-01-01

    Full Text Available

    En este ensayo se entiende la ética como un saber práctico orientado hacia la “eupraxis”, el buen obrar. El acto médico prudente es respetuoso con la vida humana en condiciones de fragilidad. No todo lo que técnicamente se “puede” hacer, en realidad se “debe” hacer. La vida de los embriones humanos merece respeto pues son miembros de esta especie. En las aplicaciones de las tecnologías de manipulación embrionaria se causa de modo deliberado la muerte de aquellos, acción que es racionalmente inaceptable a la luz de la ética; por lo tanto, se debe ejercer objeción de conciencia ante tales actuaciones de la tecnociencia contemporánea.

    Ethics is a practical knowledge, oriented to “eupraxis”, the good action. Prudential medical actions must behave respectfully toward human life in conditions of fragility. Not all things and actions that are technically possible are correct in terms of morality. Human embryos are members of our species; in the process of applying embryo manipulation techniques many of them are deliberately conducted to death. Such actions are rationally objectionable on an anthropological basis.

  18. Relative effectiveness of physical and virtual manipulatives for conceptual change in science: how falling objects fall

    NARCIS (Netherlands)

    Lazonder, Adrianus W.; Ehrenhard, S.

    2014-01-01

    This study offers new insights into the ongoing debate about whether physical and virtual materials are equally effective in inquiry-based science instruction. Physical materials were predicted to have a surplus value when haptic feedback helps discern object characteristics or when the perceived

  19. LiNbO3: A photovoltaic substrate for massive parallel manipulation and patterning of nano-objects

    Science.gov (United States)

    Carrascosa, M.; García-Cabañes, A.; Jubera, M.; Ramiro, J. B.; Agulló-López, F.

    2015-12-01

    The application of evanescent photovoltaic (PV) fields, generated by visible illumination of Fe:LiNbO3 substrates, for parallel massive trapping and manipulation of micro- and nano-objects is critically reviewed. The technique has been often referred to as photovoltaic or photorefractive tweezers. The main advantage of the new method is that the involved electrophoretic and/or dielectrophoretic forces do not require any electrodes and large scale manipulation of nano-objects can be easily achieved using the patterning capabilities of light. The paper describes the experimental techniques for particle trapping and the main reported experimental results obtained with a variety of micro- and nano-particles (dielectric and conductive) and different illumination configurations (single beam, holographic geometry, and spatial light modulator projection). The report also pays attention to the physical basis of the method, namely, the coupling of the evanescent photorefractive fields to the dielectric response of the nano-particles. The role of a number of physical parameters such as the contrast and spatial periodicities of the illumination pattern or the particle deposition method is discussed. Moreover, the main properties of the obtained particle patterns in relation to potential applications are summarized, and first demonstrations reviewed. Finally, the PV method is discussed in comparison to other patterning strategies, such as those based on the pyroelectric response and the electric fields associated to domain poling of ferroelectric materials.

  20. LiNbO{sub 3}: A photovoltaic substrate for massive parallel manipulation and patterning of nano-objects

    Energy Technology Data Exchange (ETDEWEB)

    Carrascosa, M.; García-Cabañes, A.; Jubera, M. [Dept. Física de Materiales, Universidad Autónoma de Madrid, Madrid 28049 (Spain); Ramiro, J. B. [Dept. Mecánica de Fluidos y Propulsión Aeroespacial, Universidad Politécnica de Madrid, Madrid 28040 (Spain); Agulló-López, F. [Centro de Microanálisis de Materiales (CMAM), Universidad Autónoma de Madrid, Madrid 28049 (Spain)

    2015-12-15

    The application of evanescent photovoltaic (PV) fields, generated by visible illumination of Fe:LiNbO{sub 3} substrates, for parallel massive trapping and manipulation of micro- and nano-objects is critically reviewed. The technique has been often referred to as photovoltaic or photorefractive tweezers. The main advantage of the new method is that the involved electrophoretic and/or dielectrophoretic forces do not require any electrodes and large scale manipulation of nano-objects can be easily achieved using the patterning capabilities of light. The paper describes the experimental techniques for particle trapping and the main reported experimental results obtained with a variety of micro- and nano-particles (dielectric and conductive) and different illumination configurations (single beam, holographic geometry, and spatial light modulator projection). The report also pays attention to the physical basis of the method, namely, the coupling of the evanescent photorefractive fields to the dielectric response of the nano-particles. The role of a number of physical parameters such as the contrast and spatial periodicities of the illumination pattern or the particle deposition method is discussed. Moreover, the main properties of the obtained particle patterns in relation to potential applications are summarized, and first demonstrations reviewed. Finally, the PV method is discussed in comparison to other patterning strategies, such as those based on the pyroelectric response and the electric fields associated to domain poling of ferroelectric materials.

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

    Directory of Open Access Journals (Sweden)

    Wataru Fukui

    2011-01-01

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

  2. The End-state Comfort Effect in 3- to 8-year-old Children in two Object Manipulation Tasks

    Directory of Open Access Journals (Sweden)

    Birgit eKnudsen

    2012-10-01

    Full Text Available The aim of the study was to compare 3- to 8-year-old children’s propensity to anticipate a comfortable hand posture at the end of a grasping movement (end-state comfort effect between two different object manipulation tasks, the bar-transport task and the overturned-glass task. In the bar-transport task, participants were asked to insert a vertically positioned bar into a small opening of a box. In the overturned-glass task, participants were asked to put an overturned glass right-side-up on a coaster. Half of the participants experienced action effects (lights as a consequence of their movements (AE groups, while the other half of the participants did not (No-AE groups. While there was no difference between the AE and No-AE groups, end-state comfort performance differed across age as well as between tasks. Results revealed a significant increase in end-state comfort performance in the bar-transport task from 13% in the 3-year-olds to 94% in the 8-year-olds. Interestingly, the number of children grasping the bar according to end-state comfort doubled from 3 to 4 years and from 4 to 5 years of age. In the overturned-glass task an increase in end-state comfort performance from already 63% in the 3-year-olds to 100% in the 8-year-olds was significant as well. When comparing end-state comfort performance across tasks, results showed that 3- and 4-year-old children were better at manipulating the glass as compared to manipulating the bar, most probably, because children are more familiar with manipulating glasses. Together, these results suggest that preschool years are an important period for the development of motor planning in which the familiarity with the object involved in the task plays a significant role in children’s ability to plan their movements according to end-state comfort.

  3. Gross motor control

    Science.gov (United States)

    Gross motor control is the ability to make large, general movements (such as waving an arm or lifting a leg). ... Gross motor control is a milestone in the development of an infant. Infants develop gross motor control before they develop ...

  4. A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

    Directory of Open Access Journals (Sweden)

    Hongzhe Jin

    2017-01-01

    Full Text Available This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.

  5. NM Gross Receipts Baseline

    Data.gov (United States)

    Earth Data Analysis Center, University of New Mexico — This layer represents boundaries for New Mexico's gross receipts tax districts as identified on the "Gross Receipts Tax Rate Schedule" published by the Taxation and...

  6. Gross National Happiness

    DEFF Research Database (Denmark)

    Giri, Krishna Prasad; Kjær-Rasmussen, Lone Krogh

    This paper investigates practices related to the ideology of infusing Gross National Happiness (GNH) into school curriculum, the effectiveness of the meditation and mind training and the implication of GNH for school environment. It also explores how GNH ambience has been managed and practiced...... of Gross National Happiness and Educating for Gross National happiness....

  7. A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1997-04-20

    The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.

  8. Perceptual decisions regarding object manipulation are selectively impaired in apraxia or when tDCS is applied over the left IPL.

    Science.gov (United States)

    Evans, Carys; Edwards, Martin G; Taylor, Lawrence J; Ietswaart, Magdalena

    2016-06-01

    This study evaluated whether apraxia can be understood as due to impaired motor representations or motor imagery necessary for appropriate object-use, imitation, and pantomime. The causal role of the left inferior parietal lobe (IPL), which is heavily implicated in apraxia, is also evaluated. These processes are appraised in light of the proposed ventro-dorsal sub-stream of the classic two visual pathway model, where perceptual information from the ventral stream and the dorsal action stream are integrated and essential for object manipulation. Using a task assessing object-use perception, stroke patients with apraxia demonstrated a selective deficit during perceptual decisions reliant on the integration of visible and known object properties to select the appropriate grasp for object-use. This deficit increased with apraxia severity. A dissociation was evident in these patients showing intact non-motoric perceptual decisions regarding the functional semantic relationship between two objects in the absence of the actor (e.g. how a hammer hits a nail). Converging evidence was found using a modified version of the same task in a neuromodulation study that directly targeted the left IPL in healthy participants using transcranial direct current stimulation (tDCS). Application of inhibitory stimulation over the left IPL reduced performance during perceptual decisions regarding object manipulation whilst performance was unaffected during functional semantic decisions. Excitatory stimulation of the left IPL did not affect performance in either task. Combined, these results suggest that the left inferior parietal lobe is critical for motor imagery, and that apraxia may be caused by an inability to use internal motor representations of object manipulation. These results are discussed in terms of motoric and non-motoric perceptual processes and the proposal of an additional ventro-dorsal sub-stream within the dorsal and ventral visual pathways model. Copyright © 2016

  9. A new technique for dynamic load distribution when two manipulators mutually lift a rigid object. Part 2, Derivation of entire system model and control architecture

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1994-04-01

    A rigid body model for the entire system which accounts for the load distribution scheme proposed in Part 1 as well as for the dynamics of the manipulators and the kinematic constraints is derived in the joint space. A technique is presented for expressing the object dynamics in terms of the joint variables of both manipulators which leads to a positive definite and symmetric inertia matrix. The model is then transformed to obtain reduced order equations of motion and a separate set of equations which govern the behavior of the internal contact forces. The control architecture is applied to the model which results in the explicit decoupling of the position and internal contact force-controlled degrees of freedom (DOF).

  10. Loovkirjutamist õpetab Philip Gross

    Index Scriptorium Estoniae

    2011-01-01

    T.S. Elioti luulepreemia laureaat Philip Gross on Tallinna Ülikooli talvekooli rahvusvahelise kursuse "Poetry: A Conversation between Words and Silence" läbiviija. Oma seminarides keskendub ta lisaks loovkirjutamisele ka loova lugemise vajadusele

  11. Gross Sales Tax Collections

    Data.gov (United States)

    City of Jackson, Mississippi — This data is captured directly from the MS Department of Revenue and specific to the City of Jackson. It is compiled from Gross Sales Tax reported by taxpayers each...

  12. Selective use of visual information signaling objects' center of mass for anticipatory control of manipulative fingertip forces.

    Science.gov (United States)

    Salimi, Iran; Frazier, Wendy; Reilmann, Ralf; Gordon, Andrew M

    2003-05-01

    The present study examines whether visual information indicating the center of mass (CM) of an object can be used for the appropriate scaling of fingertip forces at each digit during precision grip. In separate experiments subjects lifted an object with various types of visual cues concerning the CM location several times and then rotated and lifted it again to determine whether the visual cues signaling the new location of the CM could be used to appropriately scale the fingertip forces. Specifically, subjects had either no visual cues, visual instructional cues (i.e., an indicator) or visual geometric cues where the longer axis of the object indicated the CM. When no visual cues were provided, subjects were unable to appropriately scale the load forces at each digit following rotation despite their knowledge of the new weight distribution. When visual cues regarding the CM location were provided, the nature of the visual cues determined their effectiveness in retrieval of internal representations underlying the anticipatory scaling of fingertip forces. Specifically, when subjects were provided with visual instructional information, they were unable to appropriately scale the forces. More appropriate scaling of the load forces occurred when the visual cues were ecologically meaningful, i.e., when the shape of the object indicated the CM location. We suggest that visual instructional cues do not have access to the implicit processes underlying dynamic force control, whereas visual geometric cues can be used for the retrieval of the internal representation related to CM for appropriate partitioning of the forces in each digit.

  13. Effects of Carpal Tunnel Syndrome on adaptation of multi-digit forces to object mass distribution for whole-hand manipulation

    Directory of Open Access Journals (Sweden)

    Zhang Wei

    2012-11-01

    Full Text Available Abstract Background Carpal tunnel syndrome (CTS is a compression neuropathy of the median nerve that results in sensorimotor deficits in the hand. Until recently, the effects of CTS on hand function have been studied using mostly two-digit grip tasks. The purpose of this study was to investigate the coordination of multi-digit forces as a function of object center of mass (CM during whole-hand grasping. Methods Fourteen CTS patients and age- and gender-matched controls were instructed to grasp, lift, hold, and release a grip device with five digits for seven consecutive lifts while maintaining its vertical orientation. The object CM was changed by adding a mass at different locations at the base of the object. We measured forces and torques exerted by each digit and object kinematics and analyzed modulation of these variables to object CM at object lift onset and during object hold. Our task requires a modulation of digit forces at and after object lift onset to generate a compensatory moment to counteract the external moment caused by the added mass and to minimize object tilt. Results We found that CTS patients learned to generate a compensatory moment and minimized object roll to the same extent as controls. However, controls fully exploited the available degrees of freedom (DoF in coordinating their multi-digit forces to generate a compensatory moment, i.e., digit normal forces, tangential forces, and the net center of pressure on the finger side of the device at object lift onset and during object hold. In contrast, patients modulated only one of these DoFs (the net center of pressure to object CM by modulating individual normal forces at object lift onset. During object hold, however, CTS patients were able to modulate digit tangential force distribution to object CM. Conclusions Our findings suggest that, although CTS did not affect patients’ ability to perform our manipulation task, it interfered with the modulation of specific grasp

  14. Progress in nonprehensile manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Mason, M.T.

    1999-11-01

    This paper reviews my recent research in robotic manipulation and speculates on potentially fruitful directions for future work. My recent work is focused on nonprehensile manipulation: manipulating objects without grasping them. In particular, the paper surveys work on a single joint robot that orients parts on a conveyor belt; a robot that uses dynamics to snatch, roll, or throw objects; hitting things to position them; manipulating things whose shapes are not completely known; and integration of manipulation with locomotion. In the future, a broad view of robotics will allow us to focus on fundamental principles and at the same time address a variety of new applications.

  15. Python object-oriented framework for consuming, manipulating and releasing non-event data for the CMS alignment and calibration.

    CERN Document Server

    Dawes, Joshua Heneage

    2017-01-01

    The Alignment, Calibrations and Databases group at the CMS Experiment delivers Alignment and Calibration Conditions Data to a large set of workflows which process recorded event data and produce simulated events. The current infrastructure for releasing and consuming Conditions Data was designed in the two years of the first LHC long shutdown to respond to use cases from the preceding data-taking period. During the second run of the LHC, new use cases were defined.For the consumption of Conditions Metadata, no common interface existed for the detector experts to use in Python-based custom scripts, resulting in many different querying and transaction management patterns. A new metadata consumption framework has been built to address such use cases a simple object-oriented tool that detector experts can use to read and write Conditions Metadata when using Oracle and SQLite databases, that provides a homogeneous method of querying across all services.The tool provides mechanisms for segmenting large sets of c...

  16. When left is not right: handedness effects on learning object-manipulation words using pictures with left- or right-handed first-person perspectives.

    Science.gov (United States)

    de Nooijer, Jacqueline A; van Gog, Tamara; Paas, Fred; Zwaan, Rolf A

    2013-12-01

    According to the body-specificity hypothesis, hearing action words creates body-specific mental simulations of the actions. Handedness should, therefore, affect mental simulations. Given that pictures of actions also evoke mental simulations and often accompany words to be learned, would pictures that mismatch the mental simulation of words negatively affect learning? We investigated effects of pictures with a left-handed, right-handed, or bimanual perspective on left- and right-handers' learning of object-manipulation words in an artificial language. Right-handers recalled fewer definitions of words learned with a corresponding left-handed-perspective picture than with a right-handed-perspective picture. For left-handers, there was no effect of perspective. These findings suggest that mismatches between pictures and mental simulations evoked by hearing action words can negatively affect right-handers' learning. Left-handers, who encounter the right-handed perspective frequently, could presumably overcome the lack of motor experience with visual experience and, therefore, not be influenced by picture perspective.

  17. Giant optical manipulation.

    Science.gov (United States)

    Shvedov, Vladlen G; Rode, Andrei V; Izdebskaya, Yana V; Desyatnikov, Anton S; Krolikowski, Wieslaw; Kivshar, Yuri S

    2010-09-10

    We demonstrate a new principle of optical trapping and manipulation increasing more than 1000 times the manipulation distance by harnessing strong thermal forces while suppressing their stochastic nature with optical vortex beams. Our approach expands optical manipulation of particles into a gas media and provides a full control over trapped particles, including the optical transport and pinpoint positioning of ∼100  μm objects over a meter-scale distance with ±10  μm accuracy.

  18. Gross decontamination experiment report

    Energy Technology Data Exchange (ETDEWEB)

    Mason, R.; Kinney, K.; Dettorre, J.; Gilbert, V.

    1983-07-01

    A Gross Decontamination Experiment was conducted on various levels and surfaces of the TMI - Unit 2 reactor building in March 1982. The polar crane, D-rings, missile shields, refueling canals, refueling bridges, equipment, and elevations 305' and 347'-6'' were flushed with low pressure water. Additionally, floor surfaces on elevation 305' and floor surfaces and major pieces of equipment on elevation 347'-6'' were sprayed with high pressure water. Selective surfaces were decontaminated with a mechanical scrubber and chemicals. Strippable coating was tested and evaluated on equipment and floor surfaces. The effectiveness, efficiency, and safety of several decontamination techniques were established for the large, complex decontamination effort. Various decontamination equipment was evaluated and its effectiveness was documented. Decontamination training and procedures were documented and evaluated, as were the support system and organization for the experiment.

  19. A review of a method for dynamic load distribution, dynamic modeling, and explicit internal force control when two serial link manipulators mutually lift and transport a rigid body object

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1997-09-01

    The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.

  20. Cell manipulation in microfluidics.

    Science.gov (United States)

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

    2013-06-01

    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.

  1. Gross job flows and firms

    OpenAIRE

    Scott Schuh; Robert K. Triest

    1999-01-01

    This paper extends the work of Dunne, Roberts, and Samuelson [3] and Davis, Haltiwanger, and Schuh [2] on gross job flows among manufacturing plants. Gross job creation, destruction, and reallocation have been shown to be important in understanding the birth, growth, and death of plants, and the relation of plant life cycles to the business cycle. However, little is known about job flows between firms or how job flows among plants occur within firms (corporate restructuring). We use informati...

  2. Relationship Between Gross Motor Function and Daily Functional Skill in Children With Cerebral Palsy

    OpenAIRE

    Kwon, Tae Gun; Yi, Sook-Hee; Kim, Tae Won; Chang, Hyun Jung; Kwon, Jeong-Yi

    2013-01-01

    Objective To investigate the relationship between gross motor function and daily functional skill in children with cerebral palsy (CP) and to explore how this relationship is moderated by the Gross Motor Function Classification System, Bimanual Fine Motor Function (BFMF), neuromotor types, and limb distribution of CP. Methods A cross-sectional survey of 112 children with CP (range, 4 years to 7 years and 7 months) was performed. Gross motor function was assessed with the Gross Motor Function ...

  3. On a question of Gross

    Science.gov (United States)

    Banerjee, Abhijit

    2007-03-01

    Using the notion of weighted sharing of sets we prove two uniqueness theorems which improve the results proved by Fang and Qiu [H. Qiu, M. Fang, A unicity theorem for meromorphic functions, Bull. Malaysian Math. Sci. Soc. 25 (2002) 31-38], Lahiri and Banerjee [I. Lahiri, A. Banerjee, Uniqueness of meromorphic functions with deficient poles, Kyungpook Math. J. 44 (2004) 575-584] and Yi and Lin [H.X. Yi, W.C. Lin, Uniqueness theorems concerning a question of Gross, Proc. Japan Acad. Ser. A 80 (2004) 136-140] and thus provide an answer to the question of Gross [F. Gross, Factorization of meromorphic functions and some open problems, in: Proc. Conf. Univ. Kentucky, Lexington, KY, 1976, in: Lecture Notes in Math., vol. 599, Springer, Berlin, 1977, pp. 51-69], under a weaker hypothesis.

  4. 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.

  5. HYBRID POSITION/FORCE MANIPULATION OF MULTIFINGERED HAND

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    Manipulation of an object interacting with the environment is investigated.Two concepts, position manipulation and force manipulation, and their corresponding schemes are presented, respectively.Then they are combined to develop the hybrid position/force manipulation of a multifingered hand to manipulate an object constrained in the environment.Experiments are performed to demonstrate the practicality and effectiveness of the proposed approach.

  6. NM Gross Receipts July - December 2012

    Data.gov (United States)

    Earth Data Analysis Center, University of New Mexico — This layer represents boundaries for New Mexico's gross receipts tax districts as identified on the "Gross Receipts Tax Rate Schedule" published by the Taxation and...

  7. NM Gross Receipts January - June 2014

    Data.gov (United States)

    Earth Data Analysis Center, University of New Mexico — This layer represents boundaries for New Mexico's gross receipts tax districts as identified on the "Gross Receipts Tax Rate Schedule" published by the Taxation and...

  8. NM Gross Receipts January - June 2012

    Data.gov (United States)

    Earth Data Analysis Center, University of New Mexico — This layer represents boundaries for New Mexico's gross receipts tax districts as identified on the "Gross Receipts Tax Rate Schedule" published by the Taxation and...

  9. NM Gross Receipts January - June 2013

    Data.gov (United States)

    Earth Data Analysis Center, University of New Mexico — This layer represents boundaries for New Mexico's gross receipts tax districts as identified on the "Gross Receipts Tax Rate Schedule" published by the Taxation and...

  10. NM Gross Receipts January - June 2011

    Data.gov (United States)

    Earth Data Analysis Center, University of New Mexico — This layer represents boundaries for New Mexico's gross receipts tax districts as identified on the "Gross Receipts Tax Rate Schedule" published by the Taxation and...

  11. NM Gross Receipts July - December 2013

    Data.gov (United States)

    Earth Data Analysis Center, University of New Mexico — This layer represents boundaries for New Mexico's gross receipts tax districts as identified on the "Gross Receipts Tax Rate Schedule" published by the Taxation and...

  12. Gross anatomy of network security

    Science.gov (United States)

    Siu, Thomas J.

    2002-01-01

    Information security involves many branches of effort, including information assurance, host level security, physical security, and network security. Computer network security methods and implementations are given a top-down description to permit a medically focused audience to anchor this information to their daily practice. The depth of detail of network functionality and security measures, like that of the study of human anatomy, can be highly involved. Presented at the level of major gross anatomical systems, this paper will focus on network backbone implementation and perimeter defenses, then diagnostic tools, and finally the user practices (the human element). Physical security measures, though significant, have been defined as beyond the scope of this presentation.

  13. Assessment of Preschoolers' Gross Motor Proficiency: Revisiting Bruininks-Oseretsky Test of Motor Proficiency

    Science.gov (United States)

    Lam, Hazel Mei Yung

    2011-01-01

    Literature reveals that there are very few validated motor proficiency tests for young children. According to Gallahue and Ozmun, the Bruininks-Oseretsky Test of Motor Proficiency is a valid test. However, manipulative skills, which are classified as gross motor skills by most motor development specialists, are only tested in the Upper Limb…

  14. Gross Pollutant Traps: Wet Load Assessment at Sungai Kerayong, Malaysia

    Science.gov (United States)

    Mohd Shah, M. R.; Zahari, N. M.; Said, N. F. Md; Sidek, L. M.; Basri, H.; Noor, M. S. F. Md; Husni, M. M. Mohammad; Jajarmizadeh, Milad; Roseli, ZA; Mohd. Dom, N.

    2016-03-01

    The purpose of this project is to carry out assessment on the effectiveness and performance of Gross Pollutant Traps (GPTs) stormwater quality control in the urban areas. The study aims to provide a management and planning tool for effective management of the gross pollutants in the urban areas specifically in River of Life (ROL) project. ROL project is a Malaysian Government initiative under the Economic Transformation Program. One of the program in the greater Klang Valley is to transform Klang River into a vibrant and livable waterfront by the year 2020. The main river in ROL catchment is Sungai Klang (upper catchment), with main tributaries Sungai Gombak, Sungai Batu, Sungai Jinjang, Sungai Keroh, Sungai Bunus, Sungai Ampang and Sungai Kerayong. This paper objective is to study the gross pollutant wet load at Sungai Kerayong 1 and Sungai Kerayong 2 which is located at the downstream location of the ROL project. The result shows that Sungai Kerayong 2 produced higher gross pollutant wet load (8025.33 kg/ha/yr) than Sungai Kerayong 1 (4695.12 kg/ha/yr). This could be due to high contributions amounts of gross pollutant traps from residential area, the degree of develop area, and also the location of the river itself related to climate and rainfall.

  15. A survey of gross alpha and gross beta activity in soil samples in Kinta District, Perak, Malaysia.

    Science.gov (United States)

    Lee, Siak Kuan; Wagiran, Husin; Ramli, Ahmad Termizi

    2014-12-01

    The objective of this study was to determine the gross alpha and gross beta activity concentrations from the different soil types found in the Kinta District, Perak, Malaysia. A total of 128 soil samples were collected and their dose rates were measured 1 m above the ground. Gross alpha and gross beta activity measurements were carried out using gas flow proportional counter, Tennelec Series 5 LB5500 Automatic Low Background Counting System. The alpha activity concentration ranged from 15 to 9634 Bq kg(-1) with a mean value of 1558±121 Bq kg(-1). The beta activity concentration ranged from 142 to 6173 Bq kg(-1) with a mean value of 1112±32 Bq kg(-1). High alpha and beta activity concentrations are from the same soil type. The results of the analysis show a strong correlation between the gross alpha activity concentration and dose rate (R = 0.92). The data obtained can be used as a database for each soil type.

  16. Gross Motor Profile and Its Association with Socialization Skills in Children with Autism Spectrum Disorders.

    Science.gov (United States)

    Pusponegoro, Hardiono D; Efar, Pustika; Soedjatmiko; Soebadi, Amanda; Firmansyah, Agus; Chen, Hui-Ju; Hung, Kun-Long

    2016-12-01

    While social impairment is considered to be the core deficit in children with autism spectrum disorder (ASD), a large proportion of these children have poor gross motor ability, and gross motor deficits may influence socialization skills in children with ASD. The objectives of this study were to compare gross motor skills in children with ASD to typically developing children, to describe gross motor problems in children with ASD, and to investigate associations between gross motor and socialization skills in children with ASD. This was a cross-sectional study including 40 ASD children aged from 18 months to 6 years and 40 age-matched typically developing controls. Gross motor and socialization skills were scored using the Vineland Adaptive Behavior Scales, 2(nd) edition (Vineland-II). Below average gross motor function was found in eight of 40 (20%) ASD children. The mean gross motor v-scale score in the ASD group was 15.1 [standard deviation (SD) 3.12], significantly lower than in the control group [18.7, SD 2.09, p = 0.0001; 95% confidence intervals (CI) from -4.725 to -2.525]. The differences were most prominent in ball throwing and catching, using stairs, jumping, and bicycling. The ASD children with gross motor impairments had a mean socialization domain score of 66.6 (SD 6.50) compared to 85.7 (SD 10.90) in those without gross motor impairments (p = 0.0001, 95% CI from -25.327 to -12.736). Children with ASD had lower gross motor skills compared to typically developing children. Gross motor impairments were found in 20% of the ASD children, and these children also had lower socialization skills than those without gross motor impairments. Copyright © 2016. Published by Elsevier B.V.

  17. Cholinergic Manipulations Bidirectionally Regulate Object Memory Destabilization

    Science.gov (United States)

    Stiver, Mikaela L.; Jacklin, Derek L.; Mitchnick, Krista A.; Vicic, Nevena; Carlin, Justine; O'Hara, Matthew; Winters, Boyer D.

    2015-01-01

    Consolidated memories can become destabilized and open to modification upon retrieval. Destabilization is most reliably prompted when novel information is present during memory reactivation. We hypothesized that the neurotransmitter acetylcholine (ACh) plays an important role in novelty-induced memory destabilization because of its established…

  18. Evaluation of gross radioactivity in foodstuffs

    Energy Technology Data Exchange (ETDEWEB)

    Zorer, Oezlem Selcuk; Oeter, Cigdem [Yuzuncu Yil Univ., Van (Turkey). Dept. of Chemistry

    2015-05-15

    The paper presents the results of radiological investigations of food products sampled in the summer and fall of 2011 and 2012 in different parts of Van, Turkey. Gross radioactivity measurements in food products were evaluated. Food items were divided into eight groups: (1) water, (2) fish, (3) cheese products, (4) fruits, (5) vegetables, (6) herbs, (7) walnut and (8) rock salt. The levels of the gross alpha and gross beta radioactivity in all food samples varied widely ranging from 0.070 to 10.885 Bq/g and from 0.132 to 48.285 Bq/g on dry mass basis, respectively. In one sample, gross alpha and gross beta activity concentrations were found to be relatively high according to the other samples and in all samples, the gross alpha radioactivity was measured lower than the gross beta radioactivity. The gross α and gross β activities were measured by using α/β counter of the multi-detector low background system (PIC MPC-9604).

  19. The main objective of this paper is to determine the effect of Foreign Direct Investment on the hospitality sector in the Colombian economic growth. This is estimated using a method that uses the Gross Domestic Product –GDP- per capita and its disaggreg Impacto de la inversión extranjera directa en el sector hotelero colombiano

    Directory of Open Access Journals (Sweden)

    Susana Uribe Montoya

    2013-05-01

    Full Text Available The main objective of this paper is to determine the effect of Foreign Direct Investment on the hospitality sector in the Colombian economic growth. This is estimated using a method that uses the Gross Domestic Product –GDP- per capita and its disaggregated data according to the different economic sectors, providing an ex post assessment of the contribution of tourism on GDP growth. The results show that Colombia has competitive levels in tourism contribution to GDP, although its level is low compared to countries where the sector is the most active player in their economies.El objetivo de este estudio es determinar el efecto de la Inversión Extranjera Directa en el sector hotelero en el crecimiento económico colombiano. Para ello, se estima utilizando un método que utiliza el crecimiento del Producto Interno Bruto –PIB- real per cápita y se desagrega según los diferentes sectores económicos, lo cual brinda una estimación ex post de la contribución del turismo sobre el crecimiento del PIB.  Los resultados muestran que Colombia presenta niveles competitivos de contribución del sector turismo al PIB, aunque su nivel sea bajo con respecto a países cuyo sector es el más activo y protagonista en sus economías

  20. 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.

  1. 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.

  2. Measures of Gross National Happiness

    Directory of Open Access Journals (Sweden)

    Ruut Veenhoven

    2010-02-01

    Full Text Available Happiness is rising on the political agenda and this calls for measures of how well nations perform in creating great happiness for a great number, analogous to measures of success in creating wealth, such as GDP. Happiness is defined as subjective enjoyment of one’s life as-a-whole and this can be measured using self-reports. Question on happiness are currently used in large scale surveys of the general population in nations. As a result we have now comparable data on happiness in 144 contemporary nations and time-series of 25 years and longer on 11 developed nations. These data can be aggregated in different ways: If the aim is simply greater happiness for a greater number of citizens, Average happiness (AH is an appropriate measure. If the focus is on enduring happiness, it is better to combine average happiness with longevity in an index of Happy Life Years (HLY. If the aim is to reduce disparity among citizens a relevant indicator is the Inequality of Happiness (IH in the nations as measured with the standard deviation. Average and dispersion can also be combined in an index of Inequality-Adjusted Happiness (IAH. Comparison across nations shows sizable differences on all these measures of gross national happiness and these differences correspond with societal characteristics that can be influenced by policy makers, such as freedom and justice. Comparison over time shows major improvement during the last decade.

  3. The Mechanics of Gross Moist Stability

    Directory of Open Access Journals (Sweden)

    Zeljka Fuchs

    2009-08-01

    Full Text Available The gross moist stability relates the net lateral outflow of moist entropy or moist static energy from an atmospheric convective region to some measure of the strength of the convection in that region. If the gross moist stability can be predicted as a function of the local environmental conditions, then it becomes the key element in understanding how convection is controlled by the large-scale flow. This paper provides a guide to the various ways in which the gross moist stability is defined and the subtleties of its calculation from observations and models. Various theories for the determination of the gross moist stability are presented and its roles in current conceptual models for the tropical atmospheric circulation are analyzed. The possible effect of negative gross moist stability on the development and dynamics of tropical disturbances is currently of great interest.

  4. Target Object Tracking and Grasping of Wheeled Mobile Robot Equipped with the Manipulator%配置机械手的轮式移动机器人目标物体跟踪与抓取

    Institute of Scientific and Technical Information of China (English)

    张和平; 段锁林; 姜小娟

    2011-01-01

    For the problem of target object recognition, tracking and grabbing of wheeled mobile robot e-quipped with the manipulator, this paper adopted a object recognition and robot localization method , also used a wheeled mobile robot visual servo tracking control method based on fuzzy control. For the process of robot target tracking and grabbing, which is influenced by environmental change, the image processing method of HIS color model and the threshold-based segmentation are used so that the robot can rapidly recognize the target color object. According to the robot target positioning method based on the PTZ camera's angle information and fuzzy control theory, a fuzzy controller is designed to output the appropriate line speed and angle velocity, and realize the robot tracking target. At the same time the robot moves closely to the target object and grabs it. Simulation and real-time experimental results show that the designed system has a good ability to recognize, track and grab the target object accurately.%针对配置机械手的室内轮式移动机器人目标物体识别、跟踪和抓取问题,采用一种目标物体识别和机器人定位的方法,利用一种基于模糊控制的轮式移动机器人视觉伺服跟踪控制的方法.针对机器人目标识别跟踪及抓取过程中受环境条件变化的影响,采用HSI颜色模型和基于阈值的区域分割的图像处理方法可以完成目标颜色物体的快速准确识别.基于云台摄像机角度信息的机器人小车目标定位方法和模糊控制理论,设计了模糊跟踪控制器,使机器人输出合适的线速度和角速度,能够实现机器人目标跟踪,使移动机器人趋近目标物体位置,并完成机械手目标物体抓取任务.仿真和实时实验结果表明:所设计的系统具有良好的目标物体识别、跟踪和准确抓取目标的能力.

  5. Longitudinal Association Between Gross Motor Capacity and Neuromusculoskeletal Function in Children and Youth With Cerebral Palsy

    NARCIS (Netherlands)

    Vos, Rimke C.; Becher, Jules G.; Voorman, Jeanine M.; Gorter, Jan Willem; van Eck, Mirjam; van Meeteren, Jetty; Smits, Dirk Wouter; Twisk, Jos W.; Dallmeijer, Annet J.

    2016-01-01

    Objective: To examine associations over longitudinal measurements between neuromusculoskeletal function and gross motor capacity in children and youth with cerebral palsy (CP). Design: A prospective cohort study. Setting: Rehabilitation departments of university medical centers and rehabilitations c

  6. Longitudinal Association Between Gross Motor Capacity and Neuromusculoskeletal Function in Children and Youth With Cerebral Palsy

    NARCIS (Netherlands)

    Vos, Rimke C.; Becher, Jules G.; Voorman, Jeanine M.; Gorter, Jan Willem; van Eck, Mirjam; van Meeteren, Jetty; Smits, Dirk Wouter; Twisk, Jos W.; Dallmeijer, Annet J.; van Schie, P. E M; Schuengel, C.; Ketelaar, M.; Lindeman, E.; Jongmans, M.; Roebroeck, M. E.; Tan, S. S.; Wiegerink, D. J H G; Reinders-Messelink, H. A.; Verheijden, J.

    2016-01-01

    Objective To examine associations over longitudinal measurements between neuromusculoskeletal function and gross motor capacity in children and youth with cerebral palsy (CP). Design A prospective cohort study. Setting Rehabilitation departments of university medical centers and rehabilitations cent

  7. Longitudinal Association Between Gross Motor Capacity and Neuromusculoskeletal Function in Children and Youth With Cerebral Palsy

    NARCIS (Netherlands)

    Vos, Rimke C.; Becher, Jules G.; Voorman, Jeanine M.; Gorter, Jan Willem; van Eck, Mirjam; van Meeteren, Jetty; Smits, Dirk Wouter; Twisk, Jos W.; Dallmeijer, Annet J.

    Objective: To examine associations over longitudinal measurements between neuromusculoskeletal function and gross motor capacity in children and youth with cerebral palsy (CP). Design: A prospective cohort study. Setting: Rehabilitation departments of university medical centers and rehabilitations

  8. Longitudinal Association Between Gross Motor Capacity and Neuromusculoskeletal Function in Children and Youth With Cerebral Palsy

    NARCIS (Netherlands)

    Vos, Rimke C.; Becher, Jules G.; Voorman, Jeanine M.; Gorter, Jan Willem; van Eck, Mirjam; van Meeteren, Jetty; Smits, Dirk Wouter; Twisk, Jos W.; Dallmeijer, Annet J.; van Schie, P. E M; Schuengel, C.; Ketelaar, M.; Lindeman, E.; Jongmans, M.; Roebroeck, M. E.; Tan, S. S.; Wiegerink, D. J H G; Reinders-Messelink, H. A.; Verheijden, J.

    2016-01-01

    Objective To examine associations over longitudinal measurements between neuromusculoskeletal function and gross motor capacity in children and youth with cerebral palsy (CP). Design A prospective cohort study. Setting Rehabilitation departments of university medical centers and rehabilitations

  9. The future of gross anatomy teaching.

    Science.gov (United States)

    Malamed, S; Seiden, D

    1995-01-01

    A survey of U.S. departments of anatomy, physiology, and biochemistry shows that 39% of the respondent anatomy departments reported declines in the numbers of graduate students taking the human gross anatomy course. Similarly, 42% of the departments reported decreases in the numbers of graduate students teaching human gross anatomy. These decreases were greater in anatomy than in physiology and in biochemistry. The percentages of departments reporting increases in students taking or teaching their courses was 6% for human gross anatomy and 0% to 19% for physiology and biochemistry courses. To reverse this trend the establishment of specific programs for the training of gross anatomy teachers is advocated. These new teachers will be available as the need for them is increasingly recognized in the future.

  10. FUZZY ECCENTRICITY AND GROSS ERROR IDENTIFICATION

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    The dominant and recessive effect made by exceptional interferer is analyzed in measurement system based on responsive character, and the gross error model of fuzzy clustering based on fuzzy relation and fuzzy equipollence relation is built. The concept and calculate formula of fuzzy eccentricity are defined to deduce the evaluation rule and function of gross error, on the base of them, a fuzzy clustering method of separating and discriminating the gross error is found. Utilized in the dynamic circular division measurement system, the method can identify and eliminate gross error in measured data, and reduce measured data dispersity. Experimental results indicate that the use of the method and model enables repetitive precision of the system to improve 80% higher than the foregoing system, to reach 3.5 s, and angle measurement error is less than 7 s.

  11. Validating the Rett Syndrome Gross Motor Scale

    DEFF Research Database (Denmark)

    Downs, Jenny; Stahlhut, Michelle; Wong, Kingsley;

    2016-01-01

    Rett syndrome is a pervasive neurodevelopmental disorder associated with a pathogenic mutation on the MECP2 gene. Impaired movement is a fundamental component and the Rett Syndrome Gross Motor Scale was developed to measure gross motor abilities in this population. The current study investigated...... the validity and reliability of the Rett Syndrome Gross Motor Scale. Video data showing gross motor abilities supplemented with parent report data was collected for 255 girls and women registered with the Australian Rett Syndrome Database, and the factor structure and relationships between motor scores, age...... and genotype were investigated. Clinical assessment scores for 38 girls and women with Rett syndrome who attended the Danish Center for Rett Syndrome were used to assess consistency of measurement. Principal components analysis enabled the calculation of three factor scores: Sitting, Standing and Walking...

  12. Design and control considerations for industrial and space manipulators

    Science.gov (United States)

    Whitney, D. E.; Book, W. J.; Lynch, P. M.

    1974-01-01

    This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

  13. Design and control considerations for industrial and space manipulators

    Science.gov (United States)

    Whitney, D. E.; Book, W. J.; Lynch, P. M.

    1974-01-01

    This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

  14. Acute lymphoblastic leukemia presenting with gross hematuria

    OpenAIRE

    Kalbani, Naifain Al; Weitzman, Sheila; Abdelhaleem, Mohamed; Carcao, Manuel; Abla, Oussama

    2007-01-01

    A case of a six-year-old boy presenting with gross hematuria is reported. Investigations revealed the etiology of the hematuria to be thrombocytopenia in the setting of newly diagnosed acute lymphoblastic leukemia. The diagnosis of leukemia was confirmed by bone marrow examination. The patient’s hematuria completely resolved with platelet transfusions. Although thrombocytopenia is a very common presenting feature of acute lymphoblastic leukemia, gross hematuria is exceedingly rare. Thus, thro...

  15. Validating the Rett Syndrome Gross Motor Scale.

    Science.gov (United States)

    Downs, Jenny; Stahlhut, Michelle; Wong, Kingsley; Syhler, Birgit; Bisgaard, Anne-Marie; Jacoby, Peter; Leonard, Helen

    2016-01-01

    Rett syndrome is a pervasive neurodevelopmental disorder associated with a pathogenic mutation on the MECP2 gene. Impaired movement is a fundamental component and the Rett Syndrome Gross Motor Scale was developed to measure gross motor abilities in this population. The current study investigated the validity and reliability of the Rett Syndrome Gross Motor Scale. Video data showing gross motor abilities supplemented with parent report data was collected for 255 girls and women registered with the Australian Rett Syndrome Database, and the factor structure and relationships between motor scores, age and genotype were investigated. Clinical assessment scores for 38 girls and women with Rett syndrome who attended the Danish Center for Rett Syndrome were used to assess consistency of measurement. Principal components analysis enabled the calculation of three factor scores: Sitting, Standing and Walking, and Challenge. Motor scores were poorer with increasing age and those with the p.Arg133Cys, p.Arg294* or p.Arg306Cys mutation achieved higher scores than those with a large deletion. The repeatability of clinical assessment was excellent (intraclass correlation coefficient for total score 0.99, 95% CI 0.93-0.98). The standard error of measurement for the total score was 2 points and we would be 95% confident that a change 4 points in the 45-point scale would be greater than within-subject measurement error. The Rett Syndrome Gross Motor Scale could be an appropriate measure of gross motor skills in clinical practice and clinical trials.

  16. Interpersonal Communicational Manipulations

    Directory of Open Access Journals (Sweden)

    Ştefan VLĂDUŢESCU

    2014-11-01

    Full Text Available Manipulation is a form of persuasive influence. According to the criterion of the influence type, persuasion is interpersonal, group or collectively-social. By derivation and according to the criterion of the target, in our opinion, manipulations may be of three types: interpersonal manipulations (when the target is one individual, group manipulations (when the target is a group and social-collective manipulations (when the target represents a large community. We consider as interpersonal communicational manipulations: foot in the door, door in the face, and law-balling. Classification-JEL: A23

  17. Manipulation or Mobilisation for Neck Pain

    NARCIS (Netherlands)

    A. Gross; J. Miller; J. D'Sylva; S.J. Burnie; C.H. Goldsmith; N. Graham; T. Haines; G. Brønfort; J.L. Hoving

    2010-01-01

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

  18. Concurrent Validity of Preschooler Gross Motor Quality Scale with Test of Gross Motor Development-2

    Science.gov (United States)

    Sun, Shih-Heng; Sun, Hsiao-Ling; Zhu, Yi-Ching; Huang, Li-chi; Hsieh, Yueh-Ling

    2011-01-01

    Preschooler Gross Motor Quality Scale (PGMQ) was recently developed to evaluate motor skill quality of preschoolers. The purpose of this study was to establish the concurrent validity of PGMQ using Test of Gross Motor Development-2 (TGMD-2) as the gold standard. One hundred and thirty five preschool children aged from three to six years were…

  19. Master-Slave Manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Goertz, R.C.

    1949-03-07

    A device for manipulating a pair of tongs behind a shielding barrier has been built and tested. It is called a Master-Slave Manipulator because the slave tongs move in exact correspondence with a master handle. The "slave hands" follow the master hands in complete synchronism. This is the first completely master-slave manipulator known to exist and has proved that this type of manipulation is very successful when the unit is prooperly engineered and built.

  20. BOREAS HYD-8 Gross Precipitation Data

    Science.gov (United States)

    Fernandes, Richard; Hall, Forrest G. (Editor); Knapp, David E. (Editor); Smith, David E. (Technical Monitor)

    2000-01-01

    The Boreal Ecosystem-Atmosphere Study (BOREAS) Hydrology (HYD)-08 team made measurements of surface hydrological processes at the Southern Study Area-Old Black Spruce (SSA-OBS) Tower Flux site to support its research into point hydrological processes and the spatial variation of these processes. Data collected may be useful in characterizing canopy interception, drip, throughfall, moss interception, drainage, evaporation, and capacity during the growing season at daily temporal resolution. This particular data set contains the gross precipitation measurements for July to August 1996. Gross precipitation is the precipitation that falls that is not intercepted by tree canopies. These data are stored in ASCII text files. The HYD-08 gross precipitation data are available from the Earth Observing System Data and Information System (EOSDIS) Oak Ridge National Laboratory (ORNL) Distributed Active Archive Center (DAAC). The data files are available on a CD-ROM (see document number 20010000884).

  1. Use of Saliva for Assessment of Stress and Its Effect on the Immune System Prior to Gross Anatomy Practical Examinations

    Science.gov (United States)

    Lester, S. Reid; Brown, Jason R.; Aycock, Jeffrey E.; Grubbs, S. Lee; Johnson, Roger B.

    2010-01-01

    The objective of this study was to determine the longitudinal effects of a series of stressful gross anatomy tests on the immune system. Thirty-six freshman occupational therapy students completed a written stress evaluation survey, and saliva samples were obtained at baseline and prior to each of three timed-practical gross anatomy tests.…

  2. Use of Saliva for Assessment of Stress and Its Effect on the Immune System Prior to Gross Anatomy Practical Examinations

    Science.gov (United States)

    Lester, S. Reid; Brown, Jason R.; Aycock, Jeffrey E.; Grubbs, S. Lee; Johnson, Roger B.

    2010-01-01

    The objective of this study was to determine the longitudinal effects of a series of stressful gross anatomy tests on the immune system. Thirty-six freshman occupational therapy students completed a written stress evaluation survey, and saliva samples were obtained at baseline and prior to each of three timed-practical gross anatomy tests.…

  3. 7 CFR 1424.7 - Gross payable units.

    Science.gov (United States)

    2010-01-01

    ...) Biodiesel producers will be eligible for payments on gross payable units for all biodiesel production from... rates. Unless otherwise determined by CCC, gross payable units for biodiesel production from eligible... biodiesel production gross payable units. (3) Adding the APP and BPP to determine biodiesel gross...

  4. Multiregional estimation of gross internal migration flows.

    Science.gov (United States)

    Foot, D K; Milne, W J

    1989-01-01

    "A multiregional model of gross internal migration flows is presented in this article. The interdependence of economic factors across all regions is recognized by imposing a non-stochastic adding-up constraint that requires total inmigration to equal total outmigration in each time period. An iterated system estimation technique is used to obtain asymptotically consistent and efficient parameter estimates. The model is estimated for gross migration flows among the Canadian provinces over the period 1962-86 and then is used to examine the likelihood of a wash-out effect in net migration models. The results indicate that previous approaches that use net migration equations may not always be empirically justified."

  5. The Gross conjecture over rational function fields

    Institute of Scientific and Technical Information of China (English)

    OUYANG; Yi

    2005-01-01

    We study the Gross conjecture for the cyclotomic function field extension k(∧f)/k where k = Fq(t) is the rational function field and f is a monic polynomial in Fq[t].We prove the conjecture in the Fermat curve case(i.e., when f = t(t - 1)) by a direct calculation. We also prove the case when f is irreducible, which is analogous to the Weil reciprocity law. In the general case, we manage to show the weak version of the Gross conjecture here.

  6. Currency Manipulation versus Current Account Manipulation

    OpenAIRE

    Junning Cai

    2005-01-01

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

  7. Labor Absorption and Its Impact on Gross Regional Domestic Product

    OpenAIRE

    Made Ika Prastyadewi; Agus Suman; Devanto Shasta Pratomo

    2013-01-01

    The objective of this study is to examine the determinants of labor absorption in the trade, hotel and restaurant sector and its impact on Gross Regional Domestic Product/GRDP at Bali Province. This study is important due to the fact that the GRDP in this sector is the highest compared to other sector but the labor absorption is lower than the agriculture sector. This study used panel data comprising 9 regencies/cities at Bali Province in the period 2003-2009 including fixed effect model and ...

  8. Gross Revenue risk in Swiss dairy farming

    NARCIS (Netherlands)

    Benni, El N.; Finger, R.

    2013-01-01

    This study investigated how agricultural policy reforms, including market liberalization and market deregulation, have influenced gross revenue risk of Swiss dairy producers using farm-level panel data between 1990 and 2009. Based on detrended data, variance decomposition was applied to assess how o

  9. Gross Revenue risk in Swiss dairy farming

    NARCIS (Netherlands)

    Benni, El N.; Finger, R.

    2013-01-01

    This study investigated how agricultural policy reforms, including market liberalization and market deregulation, have influenced gross revenue risk of Swiss dairy producers using farm-level panel data between 1990 and 2009. Based on detrended data, variance decomposition was applied to assess how

  10. A Review of Ultrasonic Nano Manipulation Technology

    Institute of Scientific and Technical Information of China (English)

    Junhui Hu∗

    2016-01-01

    Nano manipulation technology has great potential applications in the assembly, measurement and fabrication of nano materials, actuating and high-sensitivity sensing of biological samples, manufacture of nano sensors, decontamination of air and water, etc. As an actuating technology which is far from being mature, the nano manipulation still faces lots of challenges in the device principles, design, scaling up, sample safety, etc. The ultrasonic nano manipulation, in which nanoscale objects are handled and actuated by controlled ultrasound, is an emerging technology to meet some of challenges in nano manipulations. The author’ s research team and other groups have proposed and realized a series of nano manipulation functions such as trapping, transfer, rotation and concentration since 2012, by controlled ultrasound. Compared with other nano manipulating techniques, the ultrasonic method has the merits such as very low temperature rise at the manipulation area, little selectivity to the material properties of manipulated samples, capability of being implemented on the substrates without MENS or NEMS structure, etc. This paper reviews the progresses in principles, functions, structures and characteristics of the ultrasonic devices for nano manipulations.

  11. Activity level of gross α and gross β in airborne aerosol samples around the Qinshan NPP

    Institute of Scientific and Technical Information of China (English)

    CHEN Bin; YE Jida; CHEN Qianyuan; WU Xiaofei; SONG Weili; WANG Hongfeng

    2007-01-01

    The monitoring results of gross α and gross β activity from 2001 to 2005 for environmental airborne aerosol samples around the Qinshan NPP base are presented in this paper. A total of 170 aerosol samples were collected from monitoring sites of Caichenmen village, Qinlian village, Xiajiawan village and Yangliucun village around the Qinshan NPP base. The measured specific activity of gross α and gross β are in the range of 0.02 ~ 0.38 mBq/m3 and 0.10 ~ 1.81 mBq/m3, respectively, with an average of 0.11 mBq/m3 and 0.45mBq/m3, respectively. They are lower than the average of 0.15 mBq/m3 and 0.52mBq/m3, of reference site at Hangzhou City. It is indicated that the specific activity of gross α and gross β for environmental aerosol samples around the Qinshan NPP base had not been increased in normal operating conditions of the NPP.

  12. Noncommutative complex Grosse-Wulkenhaar model

    CERN Document Server

    Hounkonnou, Mahouton Norbert

    2012-01-01

    This paper stands for an application of the noncommutative (NC) Noether theorem, given in our previous work [AIP Proc 956 (2007) 55-60], for the NC complex Grosse-Wulkenhaar model. It provides with an extension of a recent work [Physics Letters B 653 (2007) 343-345]. The local conservation of energy-momentum tensors (EMTs) is recovered using improvement procedures based on Moyal algebraic techniques. Broken dilatation symmetry is discussed. NC gauge currents are also explicitly computed.

  13. The effect of inertial coupling in the dynamics and control of flexible robotic manipulators

    Science.gov (United States)

    Tesar, Delbert; Curran, Carol Cockrell; Graves, Philip Lee

    1988-01-01

    A general model of the dynamics of flexible robotic manipulators is presented, including the gross motion of the links, the vibrations of the links and joints, and the dynamic coupling between the gross motions and vibrations. The vibrations in the links may be modeled using lumped parameters, truncated modal summation, a component mode synthesis method, or a mixture of these methods. The local link inertia matrix is derived to obtain the coupling terms between the gross motion of the link and the vibrations of the link. Coupling between the motions of the links results from the kinematic model, which utilizes the method of kinematic influence. The model is used to simulate the dynamics of a flexible space-based robotic manipulator which is attached to a spacecraft, and is free to move with respect to the inertial reference frame. This model may be used to study the dynamic response of the manipulator to the motions of its joints, or to externally applied disturbances.

  14. Wave Manipulation by Topology Optimization

    DEFF Research Database (Denmark)

    Andkjær, Jacob Anders

    Sound and light propagate as waves and are scattered, reflected and change direction when encountering other media and obstacles. By optimizing the spatial placement and distribution of the media, which the waves encounter, one can obtain useful and interesting effects. This thesis describes how...... 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...

  15. In praise of manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

    2008-01-01

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

  16. In praise of manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

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

  17. Actuability of Underactuated Manipulators

    Science.gov (United States)

    1994-06-01

    of a manipulator with passive joints in operational space. IEEE Transactions on Robotics and Automation, 9(1), February 1993. [6] !irohiko Arai and...Susumu Tachi Position control of a manipulator with passive joints using dynamic coupling. IEEE Transactions on Robotics and Automation, 7(4), August

  18. Osteopathic Manipulative Treatment

    Science.gov (United States)

    Campbell, Shannon M.; Walkowski, Stevan

    2012-01-01

    Dermatological diseases, such as dysesthesia syndromes, stasis dermatoses, and hyperhidrosis are difficult to treat due to their complex etiologies. Current theories suggest these diseases are caused by physiological imbalances, such as nerve impingement, localized tissue congestion, and impaired autonomic regulation. Osteopathic manipulative therapy targets these physiological dysfunctions and may serve as a beneficial therapeutic option. Osteopathic manipulative therapy techniques include high velocity low amplitude, muscle energy, counterstrain, myofascial release, craniosacral, and lymphatic drainage. An osteopathic manipulative therapy technique is chosen based on its physiological target for a particular disease. Osteopathic manipulative therapy may be useful alone or in combination with standard therapeutic options. However, due to the lack of standardized trials supporting the efficacy of osteopathic manipulative therapy treatment for dermatological disease, randomized, well-controlled studies are necessary to confirm its therapeutic value. PMID:23125887

  19. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

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

  20. A prototype surgical manipulator for robotic intraocular micro surgery.

    Science.gov (United States)

    Mulgaonkar, Amit P; Hubschman, Jean-Pierre; Bourges, Jean-Louis; Jordan, Brett L; Cham, Christopher; Wilson, Jason T; Tsao, Tsu-Chin; Culjat, Martin O

    2009-01-01

    A prototype manipulator system was developed for ophthalmologic microsurgery. The system, consisting of two parallel X-Y stages, can mechanically maintain a fixed-point of rotation at the surface of the eye, potentially reducing trauma during surgical procedures. The initial prototype was designed to function in concert with the da Vinci Surgical System for gross positioning. Robotic tests demonstrated the mechanical fitness of the prototype while an in vitro surgical sclerectomy was performed to demonstrate functionality of the approach.

  1. The Gross Motor Skills of Children with Mild Learning Disabilities

    Science.gov (United States)

    Nonis, Karen P.; Jernice, Tan Sing Yee

    2014-01-01

    Many international studies have examined the gross motor skills of children studying in special schools while local studies of such nature are limited. This study investigated the gross motor skills of children with Mild Learning Disabilities (MLD; n = 14, M age = 8.93 years, SD = 0.33) with the Test of Gross Motor Development-2 (TGMD-2, Ulrich,…

  2. 7 CFR 1410.44 - Average adjusted gross income.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 10 2010-01-01 2010-01-01 false Average adjusted gross income. 1410.44 Section 1410... Average adjusted gross income. (a) Benefits under this part will not be available to persons or legal entities whose average adjusted gross income exceeds $1,000,000 or as further specified in part...

  3. 7 CFR 701.17 - Average adjusted gross income limitation.

    Science.gov (United States)

    2010-01-01

    ... 9003), each applicant must meet the provisions of the Adjusted Gross Income Limitations at 7 CFR part... 7 Agriculture 7 2010-01-01 2010-01-01 false Average adjusted gross income limitation. 701.17... RELATED PROGRAMS PREVIOUSLY ADMINISTERED UNDER THIS PART § 701.17 Average adjusted gross income...

  4. Sound visualization and manipulation

    CERN Document Server

    Kim, Yang-Hann

    2013-01-01

    Unique in addressing two different problems - sound visualization and manipulation - in a unified way Advances in signal processing technology are enabling ever more accurate visualization of existing sound fields and precisely defined sound field production. The idea of explaining both the problem of sound visualization and the problem of the manipulation of sound within one book supports this inter-related area of study.  With rapid development of array technologies, it is possible to do much in terms of visualization and manipulation, among other technologies involved with the spatial dis

  5. Baryons in Massive Gross-Neveu Models

    CERN Document Server

    Thies, M; Thies, Michael; Urlichs, Konrad

    2005-01-01

    Baryons in the large N limit of (1+1)-dimensional Gross-Neveu models with either discrete or continuous chiral symmetry have long been known. We generalize their construction to the case where the symmetry is explicitly broken by a bare mass term in the Lagrangian. In the discrete symmetry case, the exact solution is found for arbitrary bare fermion mass, using the Hartree-Fock approach. In the continuous symmetry case, a derivative expansion allows us to rederive a formerly proposed Skyrme-type model and to compute systematically corrections to the leading order description based on an effective sine-Gordon theory.

  6. Manipulation by physiotherapists.

    Science.gov (United States)

    Cyriax, J

    1970-03-01

    Divergent opinions exist on whether or not physiotherapists should manipulate. The controversy can be simply resolved by pointing out that the past policy of withholding such tuition from physiotherapists has in no way diminished the public demand for manipulation; it has merely forced potential patients to the bonesetter. Even those doctors who resent the idea of physiotherapists manipulating must surely prefer its performance by trained personnel working under doctors' guidance to indiscriminate recourse to all sorts of largely untrained laymen without doctors' prior approval. Come what may, the patients are going to be manipulated; at least let this then be sought from trained physiotherapists who give treatment ethically to patients sent to them by doctors.

  7. Dielectrophoresis for Bioparticle Manipulation

    Directory of Open Access Journals (Sweden)

    Cheng Qian

    2014-10-01

    Full Text Available As an ideal method to manipulate biological particles, the dielectrophoresis (DEP technique has been widely used in clinical diagnosis, disease treatment, drug development, immunoassays, cell sorting, etc. This review summarizes the research in the field of bioparticle manipulation based on DEP techniques. Firstly, the basic principle of DEP and its classical theories are introduced in brief; Secondly, a detailed introduction on the DEP technique used for bioparticle manipulation is presented, in which the applications are classified into five fields: capturing bioparticles to specific regions, focusing bioparticles in the sample, characterizing biomolecular interaction and detecting microorganism, pairing cells for electrofusion and separating different kinds of bioparticles; Thirdly, the effect of DEP on bioparticle viability is analyzed; Finally, the DEP techniques are summarized and future trends in bioparticle manipulation are suggested.

  8. Macroeconomic Models used in the Structural Analysis of the Gross Domestic Product

    Directory of Open Access Journals (Sweden)

    Constantin Anghelache

    2013-07-01

    Full Text Available This paper describes a use case for macro economical models, the objective being the structural analysis of the Gross Domestic Product. The authors offer a snapshot on GDP evolution, the econometric models proposed for analysis are designed with the help of EViews software. Its performances are determined through the optics of the statistical tests.

  9. 基于视觉前馈和视觉反馈的仿人机器人抓取操作%Object Manipulation of a Humanoid Robot Based on Visual Feedforward and Visual Feedback

    Institute of Scientific and Technical Information of China (English)

    贾东永; 黄强; 田野; 张伟民; 高峻峣

    2009-01-01

    针对仿人机器人执行抓取操作,提出了一种联合使用视觉前馈和视觉反馈的控制策略. 在视觉前馈中利用基于表格的逆运动学算法,简化了逆运动学计算,减少了抓取操作时间. 视觉反馈补偿了弱标定并增加了系统的稳定性. 两种控制算法的联合使用简化了仿人机器人的伸手抓取操作. 实验结果验证了该控制策略的可用性.%According to the reach-to-grasp task for a humanoid robot,a method combining visual feedforward and visual feedback is proposed. Reverse kinematics algorithm based on the grid is used in the visual feedforward to facilitate the reach-to-grasp task and reduces the manipulation time. The visual feedback increases the robustness by compensating the weak calibration error. The combination of two control strategies facilitates reach-to-grasp task for a humanoid robot. The robustness of the system is confirmed by experimental results.

  10. Manipulating Strings in Python

    Directory of Open Access Journals (Sweden)

    William J. Turkel

    2012-07-01

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

  11. Clermont Ferrand uterine manipulator.

    Science.gov (United States)

    Nassif, Joseph; Wattiez, Arnaud

    2010-10-01

    Laparoscopy was considered marginal to surgical specialties before 1990. Rare innovations in instruments were done. With the realization of the first laparoscopic hysterectomy, this surgical route gained wide acceptance during the 1990s. Technical advances were made by instrument companies offering a wide variety of instruments to surgeons and by surgeons themselves to cope with problems during laparoscopic procedures. Manipulators are among the first instruments that surgeons suggested to ameliorate laparoscopic performance. Instruments that have multiple functions (i.e., grasping, cutting, coagulating) are more and more appreciated because surgeons can avoid changing instruments during surgery. Manipulators offer multifunctional assistance during gynecologic surgical procedures. They are useful for exposure purposes and also for reproductive surgery (and hysterectomy). This article explains the benefits and help that a manipulator can provide, especially in total laparoscopic hysterectomy. In the latter intervention, the manipulator will help to expose the pelvis by moving the uterus in any direction, to identify structures and find anatomical landmarks such as the vaginal fornices for culdotomy, and to avoid complications by pulling the ureter away from the operative field. Also, it is useful to avoid carbon dioxide leakage at the vaginal opening and to retrieve the surgical specimen. Each step is shown in a photograph with the specific hand movements corresponding to the manipulator's handling. We think that the use of manipulators during laparoscopic surgery is very useful and helps to reduce operative time.

  12. Learning to Manipulate and Categorize in Human and Artificial Agents

    Science.gov (United States)

    Morlino, Giuseppe; Gianelli, Claudia; Borghi, Anna M.; Nolfi, Stefano

    2015-01-01

    This study investigates the acquisition of integrated object manipulation and categorization abilities through a series of experiments in which human adults and artificial agents were asked to learn to manipulate two-dimensional objects that varied in shape, color, weight, and color intensity. The analysis of the obtained results and the…

  13. MODELING AND FORECASTING THE GROSS ENROLLMENT RATIO IN ROMANIAN PRIMARY SCHOOL

    Directory of Open Access Journals (Sweden)

    MARINOIU CRISTIAN

    2014-06-01

    Full Text Available The gross enrollment ratio in primary school is one of the basic indicators used in order to evaluate the proposed objectives of the educational system. Knowing its evolution allows a more rigorous substantiation of the strategies and of the human resources politics not only from the educational field but also from the economic one. In this paper we propose an econometric model in order to describe the gross enrollment ratio in Romanian primary school and we achieve its prediction for the next years, having as a guide the Box-Jenkins’s methodology. The obtained results indicate the continuous decrease of this rate for the next years.

  14. Labor Absorption and Its Impact on Gross Regional Domestic Product

    Directory of Open Access Journals (Sweden)

    Made Ika Prastyadewi

    2013-12-01

    Full Text Available The objective of this study is to examine the determinants of labor absorption in the trade, hotel and restaurant sector and its impact on Gross Regional Domestic Product/GRDP at Bali Province. This study is important due to the fact that the GRDP in this sector is the highest compared to other sector but the labor absorption is lower than the agriculture sector. This study used panel data comprising 9 regencies/cities at Bali Province in the period 2003-2009 including fixed effect model and simultaneous equation model of Two-Stage Least Square. The results showed that GRDP, working age population, and the minimum wage have positive effect on employment, while the educated unemployment has no significant effect on the employment in the trade, hotel and restaurant sector. In addition, increases in employment and workers productivity have positive and significant effects the GRDP in the trade, hotel and restaurant sector at Bali Province.

  15. Gross Motor Function Classification System Expanded & Revised (GMFCS E & R): reliability between therapists and parents in Brazil

    OpenAIRE

    Daniela B. R. Silva; Luzia I. Pfeifer; Carolina A. R. Funayama

    2013-01-01

    BACKGROUND: Several studies have demonstrated the importance of using the Gross Motor Function Classification System (GMFCS) to classify gross motor function in children with cerebral palsy, but the reliability of the expanded and revised version has not been examined in Brazil (GMFCS E & R). OBJECTIVE:: To determine the intra- and inter-rater reliability of the Portuguese-Brazil version of the GMFCS E & R applied by therapists and compare to classification provided by parents of children...

  16. [Gross anatomy dissection and the legal control].

    Science.gov (United States)

    Yamashina, Shohei; Shibata, Yosaburo

    2010-12-01

    In Japan, dissection of human body is generally prohibited by the Penal Code, i.e. the criminal law. However, the Postmortem Examination and Corpse Preservation Act allows for the dissection of the body in very limited situations, that include gross anatomy dissection and pathological and forensic autopsy in medical and dental schools. Growing numbers of co-medical schools have been founded more recently in Japan, and not a small number of co-medical schools try to adopt human body dissection in the course of anatomy education. The present short communication reminds us of the ways of thinking of the Postmortem Examination and Corpse Preservation Act and the Act on Body Donation for Medical and Dental Education in order that anatomy education in medical as well as co-medical schools takes place under the regulation by these two laws.

  17. Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression

    Directory of Open Access Journals (Sweden)

    Junqiang Lou

    2015-01-01

    Full Text Available Trajectory planning is an effective feed-forward control technology for vibration suppression of flexible manipulators. However, the inherent drawback makes this strategy inefficient when dealing with modeling errors and disturbances. An optimal trajectory planning approach is proposed and applied to a flexible piezoelectric manipulator system in this paper, which is a combination of feed-forward trajectory planning method and feedback control of piezoelectric actuators. Specifically, the joint controller is responsible for the trajectory tracking and gross vibration suppression of the link during motion, while the active controller of actuators is expected to deal with the link vibrations after joint motion. In the procedure of trajectory planning, the joint angle of the link is expressed as a quintic polynomial function. And the sum of the link vibration energy is chosen as the objective function. Then, genetic algorithm is used to determine the optimal trajectory. The effectiveness of the proposed method is validated by simulation and experiments. Both the settling time and peak value of the link vibrations along the optimal trajectory reduce significantly, with the active control of the piezoelectric actuators.

  18. 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...

  19. Robust Principal Component Test in Gross Error Detection and Identification

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Principle component analysis (PCA) based chi-square test is more sensitive to subtle gross errors and has greater power to correctly detect gross errors than classical chi-square test. However, classical principal component test (PCT) is non-robust and can be very sensitive to one or more outliers. In this paper, a Huber function liked robust weight factor was added in the collective chi-square test to eliminate the influence of gross errors on the PCT. Meanwhile, robust chi-square test was applied to modified simultaneous estimation of gross error (MSEGE) strategy to detect and identify multiple gross errors. Simulation results show that the proposed robust test can reduce the possibility of type Ⅱ errors effectively. Adding robust chi-square test into MSEGE does not obviously improve the power of multiple gross error identification, the proposed approach considers the influence of outliers on hypothesis statistic test and is more reasonable.

  20. Dynamic nonprehensile manipulation: Controllability, planning, and experiments

    Energy Technology Data Exchange (ETDEWEB)

    Lynch, K.M. [Northwestern Univ., Evanston, IL (United States). Dept. of Mechanical Engineering; Mason, M.T. [Carnegie Mellon Univ., Pittsburgh, PA (United States). Robotics Inst.

    1999-01-01

    The authors are interested in using low-degree-of-freedom robots to perform complex tasks by nonprehensile manipulation (manipulation without a form- or force-closure grasp). By not grasping, the robot can use gravitational, centrifugal, and Coriolis forces as virtual motors to control more degrees of freedom of the part. The part`s extra motion freedoms are exhibited as rolling, slipping, and free flight. This paper describes controllability, motion planning, and implementation of planar dynamic nonprehensile manipulation. The authors show that almost any planar object is controllable by point contact, and the controlling robot requires only two degrees of freedom (a point translating in the plane). They then focus on a one-joint manipulator (with a two-dimensional state space), and show that even this simplest of robots, by using slipping and rolling, can control a planar object to a full-dimensional subset of its six-0dimensional state space. The authors have developed a one-joint robot to perform a variety of dynamic tasks, including snatching an object from a table, rolling an object on the surface of the arm, and throwing and catching. Nonlinear optimization is used to plan robot trajectories that achieve the desired object motion via coupling forces through the nonprehensile contact.

  1. 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.

  2. Effect of temperate climate tree species on gross ammonification, gross nitrification and N2O formation

    Science.gov (United States)

    Brüggemann, N.; Rosenkranz, P.; Papen, H.; Butterbach-Bahl, K.

    2003-04-01

    Microbial nitrogen turnover processes in the soil, like ammonification, nitrification and denitrification, play an important role in the formation of nitrous oxide (N2O): (i) ammonification, because it releases nitrogen from organic material in the form of ammonium (NH4+), which in turn can serve as substrate for nitrification; (ii) nitrification itself (i.e. the turnover of NH4+ to nitrate, NO3-), during which nitric oxide (NO) and N2O can be released as by-products at varying ratios; (iii) denitrification, in which NO3- serves as electron acceptor and is converted to molecular nitrogen (N2) via NO and N2O as intermediates, that can also be partially lost to the atmosphere. Temperate forest soils are a substantial source of atmospheric N2O contributing up to 10% to the total atmospheric N2O budget. However, this figure is afflicted with a huge uncertainty due to a number of factors governing the soil N2O formation, consumption, release and uptake, which are not fully understood at present. To one of these factors belongs the influence of the tree species on nitrogen turnover processes in the soil and the formation of N trace gases related with them. The aim of the present work was to analyse this tree species effect for the temperate climate region. For this purpose the effect of five different temperate tree species, having the same age and growing on the same soil in direct vicinity to each other, on gross ammonification and gross nitrification as well as on N2O formation was investigated. The trees (common beech, Fagus sylvatica; pedunculate oak, Quercus robur; Norway spruce, Picea abies; Japanese larch, Larix leptolepis; mountain pine, Pinus mugo) were part of a species trial in Western Jutland, Denmark, established in 1965 on a former sandy heathland. Samples from the soil under these five tree species were taken in spring and in summer 2002, respectively, differentiating between organic layer and mineral soil. The gross rates of ammonification as well of

  3. 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.

  4. Manipulating Combinatorial Structures.

    Science.gov (United States)

    Labelle, Gilbert

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

  5. 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...

  6. TERATOGENIC EFFECTS OF SILVER NANOPARTICLES: GROSS ANOMALIES

    Directory of Open Access Journals (Sweden)

    Jyoti Prakash

    2015-07-01

    Full Text Available BACK GROUND: Prenatal exposure of AgNPs can induces devastative and detrimental effect in the organogenesis period of the developing embryos and foetuses. Organogenesis period is highly condemnatory and persuadable. Any injury to embryo during this period leads to dysmorphogenesis or even death AIM: The present study means to evaluate the gross anomalies on developing f o etus subsequent to silver nanoparticle ingestion during the gestational period. MATERIAL & METHOD: Random selections of pregnant Swiss albino mice were selected. AgNPs, of 20 - 100 nm size ra nge, were administered to pregnant mice by repeated oral gavages at concentra tions of 0.5, 1, 5, 10, 15 & 20 mg/kg/day during 4 - 17 gestational day. All dams were subjected to exteriorization on GD 18. The fetuses were evaluated for body malformation effects . RESULTS: Repeated oral gavages treatment with AgNPs at a concentration of 0.5mg/kg/day caused resorption (4.61% and intra uterine growth retardation (7.69% with no gross morphology alteration. 1 mg/kg/day caused resorption (9.23% and intra uterine growth retardation (10.76% with a rare case of haemorrhagic conception (1.53%, 5mg/kg/day caused limb malformation (7.01% resorption (17.54% and intra uterine growth retardation (17.54%, closed type Neural tube deformity (5.26%, 10mg/kg/day caused 20 % of limb malformation including Amelia, foot and tail vein hemorrhages and simple tail vein haemorrhage (3.50% each, resorption (22.80%, intra uterine growth retardation (29.82%, 15mg/kg/day caused severe hemorrhage within the entire body (22.80%, lim b anomaly including syndactyly and oligodactyly (8.77%, resorption (42.10%, intra uterine growth retardation (45.61%, 20mg/kg/day caused Omphalocele (3.27%, Bidiscoidal placental anomaly (9.83%, resorption (29.50% and intra uterine growth retardation (62.29%. CONCLUSION: The results show that a repeated oral dose of AgNPs during pregnancy caused fetal body dysmorphogenesis which is dose

  7. EFFECT OF SENSORY INTEGRATION THERAPY ON GROSS MOTOR FUNCTION IN CHILDREN WITH CEREBRAL PALSY

    Directory of Open Access Journals (Sweden)

    A.R. Shamsoddini

    2009-04-01

    Full Text Available ObjectiveThe primary problem in children with cerebral palsy (CP, frequently referred for occupational therapy, is gross motor dysfunction. The current study was designed to investigate the effects of sensory integration therapy (SIT on gross motor skills in CP patients.Materials & MethodsTwenty-four children with diplegic spastic CP were randomly divided into two groups: First group (n=14,6 girls, 8 boys, age range 2 to 6 years, mean age 3.9 years; the second or control group (n=10, 5 girls, 5 boys, age range 2 to 6 years, mean age 3.4 years. SIT training was given to the first group and only the home program was given for the second group. All children were evaluated with gross motor function measurement (GMFM 88 for rolling, sitting, crawling, standing and walking position before and after intervention. Treatment duration for both groups was 1 hour, 5 days per week for a period of 12 weeks.ResultsGross motor function in children of the case group improved significantly better that in the control group, after intervention in sitting (P=0.02, crawling (P=0.001 and standing (P=0.03 positions; however no significant difference was seen in rolling (P=0.65 and walking (P=0.69 ability assessment.ConclusionThis study showed the beneficial effects of the SIT training program for children with CP; the SIT intervention had a significantly positive effect on gross motor function in the children with diplegic spastic CP. Moreover the results of the present study showed that sensory integration and vestibular stimulation were effective in children with cerebral palsy.Keywords:Cerebral palsy, Children, Gross motor, Occupational therapy, Sensory integration

  8. Gross revenue risk in Swiss dairy farming.

    Science.gov (United States)

    El Benni, N; Finger, R

    2013-02-01

    This study investigated how agricultural policy reforms, including market liberalization and market deregulation, have influenced gross revenue risk of Swiss dairy producers using farm-level panel data between 1990 and 2009. Based on detrended data, variance decomposition was applied to assess how output prices and yields contributed to revenue risk over 3 different periods: the whole period (1990-2009), the first decade (1990-1999), and the second decade (1999-2009). In addition, the effect of expected changes in animal-based support for roughage-consuming cattle and price volatility on revenue risk was evaluated using a simulation model. Prices were the main contributor to revenue risk, even if the importance of yield risk increased over time. Swiss dairy producers can profit from natural hedge but market deregulation and market liberalization have reduced the natural hedge at the farm level. An increase in price volatility would substantially increase revenue risk and would, together with the abandonment of direct payments, reduce the comparative advantage of dairy production for risk-averse decision makers. Depending on other available risk management strategies, price risk management instruments might be a valuable solution for Swiss dairy producers in the future.

  9. Advanced real-time manipulation of video streams

    CERN Document Server

    Herling, Jan

    2014-01-01

    Diminished Reality is a new fascinating technology that removes real-world content from live video streams. This sensational live video manipulation actually removes real objects and generates a coherent video stream in real-time. Viewers cannot detect modified content. Existing approaches are restricted to moving objects and static or almost static cameras and do not allow real-time manipulation of video content. Jan Herling presents a new and innovative approach for real-time object removal with arbitrary camera movements.

  10. Design of a Parallel Robotic Manipulator using Evolutionary Computing

    OpenAIRE

    António M. Lopes; Solteiro Pires, E. J.; Manuel R. Barbosa

    2012-01-01

    In this paper the kinematic design of a 6-dof parallel robotic manipulator is analysed. Firstly, the condition number of the inverse kinematic jacobian is considered as the objective function, measuring the manipulator's dexterity and a genetic algorithm is used to solve the optimization problem. In a second approach, a neural network model of the analytical objective function is developed and subsequently used as the objective function in the genetic algorithm optimization search process. It...

  11. Guidelines for Standard Photography in Gross and Clinical Anatomy

    Science.gov (United States)

    Barut, Cagatay; Ertilav, Hakan

    2011-01-01

    Photography has a widespread usage in medicine and anatomy. In this review, authors focused on the usage of photography in gross and clinical anatomy. Photography in gross and clinical anatomy is not only essential for accurate documentation of morphological findings but also important in sharing knowledge and experience. Photographs of cadavers…

  12. 26 CFR 1.61-4 - Gross income of farmers.

    Science.gov (United States)

    2010-04-01

    ... Gross income of farmers. (a) Farmers using the cash method of accounting. A farmer using the cash receipts and disbursements method of accounting shall include in his gross income for the taxable year— (1) The amount of cash and the value of merchandise or other property received during the taxable...

  13. Guidelines for Standard Photography in Gross and Clinical Anatomy

    Science.gov (United States)

    Barut, Cagatay; Ertilav, Hakan

    2011-01-01

    Photography has a widespread usage in medicine and anatomy. In this review, authors focused on the usage of photography in gross and clinical anatomy. Photography in gross and clinical anatomy is not only essential for accurate documentation of morphological findings but also important in sharing knowledge and experience. Photographs of cadavers…

  14. Psychiatric Symptoms in Children with Gross Motor Problems

    Science.gov (United States)

    Emck, Claudia; Bosscher, Ruud J.; van Wieringen, Piet C. W.; Doreleijers, Theo; Beek, Peter J.

    2012-01-01

    Children with psychiatric disorders often demonstrate gross motor problems. This study investigates if the reverse also holds true by assessing psychiatric symptoms present in children with gross motor problems. Emotional, behavioral, and autism spectrum disorders (ASD), as well as psychosocial problems, were assessed in a sample of 40 children…

  15. The Gross Anatomy Course: An Analysis of Its Importance

    Science.gov (United States)

    Bockers, Anja; Jerg-Bretzke, Lucia; Lamp, Christoph; Brinkmann, Anke; Traue, Harald C.; Bockers, Tobias M.

    2010-01-01

    The gross anatomy dissection course is a cost-intensive piece of undergraduate medical education that students and professionals alike describe as very important within the overall medical curriculum. We sought to understand more explicitly students' valuation of gross anatomy as an "important" course and so developed a quantitative…

  16. Flexible robotics applications to multiscale manipulations

    CERN Document Server

    Grossard , Mathieu; Regnier, Stephane

    2013-01-01

    The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a sig

  17. Dynamic Coordination Of A Two-Arm Robotic Manipulator

    Science.gov (United States)

    Lee, Sukhan; Kim, Sungbok

    1994-01-01

    Report presents study of dynamical and kinematical considerations guiding selection of configuration of self-reconfigurable, two-arm robotic manipulator. Two multiple-link arms cooperate in manipulating single object, reconfiguring their mutual, cooperative structure according to changing task requirements.

  18. Manipulation of quantum evolution

    Science.gov (United States)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

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

  19. Genetic manipulation in biotechnology

    Energy Technology Data Exchange (ETDEWEB)

    Sherwood, R.; Atkinson, T.

    1981-04-04

    The role of genetic manipulation in opening up new possibilities in biotechnology is discussed and the basic steps in a recombinant DNA experiment are summarized. Some current and future applications of this technology in the fields of medicine, industry and agriculture are presented, including, conversion of wastes to SCP, chemicals and alcohols, plant improvement and the introduction of nitrogen fixation genes into plants as an alternative to the use of nitrogen fertilizers.

  20. Computer aided manipulator control

    Science.gov (United States)

    Bejczy, A. K.; Zawacki, R. L.

    1980-01-01

    This paper describes the hardware and software system of a dedicated mini- and microcomputer network developed at the JPL teleoperator project to aid the operator in real-time control of remote manipulators. The operator can be in series or in parallel with the control computer during operation. The purpose of the project is to develop, demonstrate and evaluate advanced supervisory control concepts and techniques for space applications. The paper concludes with a brief outline of future development plans and issues.

  1. Endocavity Ultrasound Probe Manipulators.

    Science.gov (United States)

    Stoianovici, Dan; Kim, Chunwoo; Schäfer, Felix; Huang, Chien-Ming; Zuo, Yihe; Petrisor, Doru; Han, Misop

    2013-06-01

    We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure.

  2. Assessment outcomes: computerized instruction in a human gross anatomy course.

    Science.gov (United States)

    Bukowski, Elaine L

    2002-01-01

    New and traditional educational media were used to study alternative methods of instruction in a human gross anatomy course. Three consecutive entry-level physical therapy (PT) classes (55 students total) participated in this study. No other anatomy course was available to these students during this time. During the first year, all entering PT students (n = 18) completed a traditional cadaver anatomy course. This traditional group attended weekly lectures and dissection laboratories for 15 weeks. During the second year, the next entering class of PT students (n = 17) completed a self-study, computerized noncadaver anatomy course. This self-study group attended an introductory session to receive course objectives and instruction in using the computer package chosen for the study. After the introductory session, this group worked independently for the remainder of their 15-week course. During the third year, the entering class of PT students (n = 20) attended weekly lectures and completed a self-study, computerized non-cadaver laboratory course. This lecture and self-study group attended an introductory session to review course objectives and receive instruction in using the computer package. For the remainder of their 15-week course, this group attended a weekly lecture and worked independently on the computer for the laboratory portion of their course. All groups kept time logs, recording class and study time for each day of the course. The time logs were collected on the last day of each course. Each group's performance in anatomy-based system courses was followed through the remainder of the PT curricula, including clinical rotations, and through the completion of the state board licensure examination. Data were analyzed using a multivariate analysis of variance and a Kruskal-Wallis analysis of variance. There was no significant difference in anatomy course class means, class study times, performance throughout the remainder of the PT curricula, and performance

  3. Controlled manipulation of nanoparticles with an atomic force microscope

    Science.gov (United States)

    Junno, T.; Deppert, K.; Montelius, L.; Samuelson, L.

    1995-06-01

    We report on the application of the atomic force microscope (AFM) to manipulate and position nanometer-sized particles with nanometer precision. The technique, which can be regarded as a nanometer-scale analogy to atomic level manipulation with the scanning tunneling microscope, allowed us to form arbitrary nanostructures, under ambient conditions, by controlled manipulation of individual 30 nm GaAs particles. A whole new set of nanodevices can be fabricated particle-by-particle for studies of quantum effects and single electron tunneling. We also demonstrate a method, based on the AFM manipulation, to determine the true lateral dimensions of nano-objects, in spite of the tip-sample convolution.

  4. Cuspidal and Noncuspidal Robot Manipulators

    CERN Document Server

    Wenger, Philippe

    2010-01-01

    This article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the regions of feasible paths in the workspace are defined. Then, several sufficient geometric conditions for a manipulator to be noncuspidal are enumerated and a general necessary and sufficient condition for a manipulator to be cuspidal is provided. An explicit DH-parameter-based condition for an orthogonal manipulator to be cuspidal is derived. The full classification of 3R orthogonal manipulators is provided and all types of cuspidal and noncuspidal orthogonal manipulators are enumerated. Finally, some facts about cuspidal and noncuspidal 6R manipulators are reported.

  5. A History of Manipulative Therapy

    OpenAIRE

    Pettman, Erland

    2007-01-01

    Manipulative therapy has known a parallel development throughout many parts of the world. The earliest historical reference to the practice of manipulative therapy in Europe dates back to 400 BCE. Over the centuries, manipulative interventions have fallen in and out of favor with the medical profession. Manipulative therapy also was initially the mainstay of the two leading alternative health care systems, osteopathy and chiropractic, both founded in the latter part of the 19th century in res...

  6. Object and Objective Lost?

    DEFF Research Database (Denmark)

    Lopdrup-Hjorth, Thomas

    2015-01-01

    This paper explores the erosion and problematization of ‘the organization’ as a demarcated entity. Utilizing Foucault's reflections on ‘state-phobia’ as a source of inspiration, I show how an organization-phobia has gained a hold within Organization Theory (OT). By attending to the history...... of this organization-phobia, the paper argues that OT has become increasingly incapable of speaking about its core object. I show how organizations went from being conceptualized as entities of major importance to becoming theoretically deconstructed and associated with all kinds of ills. Through this history......, organizations as distinct entities have been rendered so problematic that they have gradually come to be removed from the center of OT. The costs of this have been rather significant. Besides undermining the grounds that gave OT intellectual credibility and legitimacy to begin with, the organization-phobia...

  7. Estimating the gross moist stability in shallow and deep convection

    Science.gov (United States)

    Chen, C. A.; Jong, B. T.; Chou, C.

    2015-12-01

    Gross moist stability has been used to study the link between tropical deep convection and large scale circulation in a moist static energy (MSE) budget. Here we aim to calculate the gross moist stability from more realistic profiles of vertical velocity and extend it beyond deep convection, adding shallow convection. Based on a principal component analysis, we were able to decompose the vertical velocity into two leading modes, which are dominated by deep and shallow convection, respectively. According to the deep and shallow modes, we calculate the gross moist stability for these two modes and discuss the roles of deep and shallow convection in the MSE budget. The gross moist stability of deep convection tends to be positive in the tropics, while that of shallow convection is negative over most areas of the tropics. This implies that deep convection exports MSE to stabilize the atmosphere and shallow convection imports MSE to enhance deep convection and destabilize the atmosphere. Based on the spatial distribution, moisture tends to reduce the gross moist stability of deep convection, while dry static energy has little impact. Deeper deep convection tends to have greater gross moist stability. For shallow convection, on the other hand, the gross moist stability is affected not only by low-level moisture but also mid-level moisture. Both moister low-level and drier mid-level moisture reduce the gross moist stability of shallow convection. Greater low-level dry static energy, which is associated with warmer sea surface temperature, also tends to reduce gross moist stability.

  8. Peer-Assisted Learning in a Gross Anatomy Dissection Course.

    Science.gov (United States)

    Han, Eui-Ryoung; Chung, Eun-Kyung; Nam, Kwang-Il

    2015-01-01

    Peer-assisted learning encourages students to participate more actively in the dissection process and promotes thoughtful dissection. We implemented peer-assisted dissection in 2012 and compared its effects on students' self-assessments of learning and their academic achievement with those of faculty-led dissection. All subjects performed dissections after a lecture about upper-limb gross anatomy. Experimental group (n = 134) dissected a cadaver while guided by peer tutors who had prepared for the dissection in advance, and control group (n = 71) dissected a cadaver after the introduction by a faculty via prosection. Self-assessment scores regarding the learning objectives related to upper limbs were significantly higher in experimental group than in control group. Additionally, experimental group received significantly higher academic scores than did control group. The students in peer-assisted learning perceived themselves as having a better understanding of course content and achieved better academic results compared with those who participated in faculty-led dissection. Peer-assisted dissection contributed to self-perception and to the ability to retain and explain anatomical knowledge.

  9. 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.

  10. Linear- rubbing Manipulation

    Institute of Scientific and Technical Information of China (English)

    SHEN Guo-quan; XIAO Yuan-chun

    2003-01-01

    @@ Linear-rubbing is a characteristic technique in the academic school of internal exercise massage in Shanghai. It was known as "flat pushing method" in the past times. The academic school of internal exercise Tuina finds, in the clinical practice of flat pushing, that if the internal exercise accumuhtes in the palm and one-way movement is replaced by two-way movement, the kinetic energy may be transformed into heat energy, bringing about a new unique manipulating technique, which is rather different from the usual flat pushing no longer and now called linear-rubbing therapy.

  11. 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.

  12. The representation of manipulable solid objects in a relational database

    Science.gov (United States)

    Bahler, D.

    1984-01-01

    This project is concerned with the interface between database management and solid geometric modeling. The desirability of integrating computer-aided design, manufacture, testing, and management into a coherent system is by now well recognized. One proposed configuration for such a system uses a relational database management system as the central focus; the various other functions are linked through their use of a common data repesentation in the data manager, rather than communicating pairwise to integrate a geometric modeling capability with a generic relational data managemet system in such a way that well-formed questions can be posed and answered about the performance of the system as a whole. One necessary feature of any such system is simplification for purposes of anaysis; this and system performance considerations meant that a paramount goal therefore was that of unity and simplicity of the data structures used.

  13. How the Integration of Pathology in the Gross Anatomy Laboratory Affects Medical Students.

    Science.gov (United States)

    Rae, Guenevere; Cork, John R; Karpinski, Aryn C; McGoey, Robin; Swartz, William

    2017-01-01

    The main objective of this project was to integrate pathologists into the gross anatomy laboratory setting to increase the exposure that early medical students receive to pathologists as clinicians. Pathologists visited the gross anatomy laboratory 3 times throughout the 15-week course to assist medical students in determining the cause of death of the cadaver being dissected. This intervention was implemented with 1st-semester medical students for 2 consecutive years (a total of 100 dissection teams consisting of 4 students in each team). A quantitative content analysis was performed on the students' end of the course assignments to determine whether the students learned a greater percentage of pathologic information by having interactions with pathologists in the gross lab and to identify trends in the way medical students diagnosed their "first patient" (i.e., the cadaver). The students who had interactions with pathologists in the laboratory had significantly more pathology in their narrative than the students who did not receive pathologist interaction. They were also more likely to conclude that the cadaver they dissected actually died from a cause other than the one listed on the death certificate (18.3%; n = 15) compared to the students who had no pathologist interaction (1.8%; n = 2). A postintervention survey indicated that 65% of students felt that interaction with pathologists helped them understand the clinical application of gross anatomy, more than 40% become more interested in pathology, and 74% would have liked to have had more pathologist interaction. This intervention demonstrated a way to increase pathologist interaction within the undergraduate medical curriculum and enhance the educational environment of the gross anatomy laboratory.

  14. Sectoral contributions to Nigerian gross domestic product using a ...

    African Journals Online (AJOL)

    Global Journal of Pure and Applied Sciences ... This study analyzed sectoral contributions to Gross Domestic Product by Agriculture, Industry and services ... KEYWORDS: Granger causality, Unit root, VAR model and sectoral contribution ...

  15. Association of therapeutic occasion, gross motor function grading and developmental level with gross motor functional recovery in children with cerebral palsy

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    BACKGROUND: The abnormal posture and motor pattern have not stabilized in children with cerebral palsy at early period, thus timely treatment can establish normal postural reflex and motor pattern, and prevent complications of muscle contracture, ankylosis, skeletal deformity, etc. The clinical factors affecting the rehabilitative efficacy of gross motor function in children with cerebral palsy should be observed.OBJECTIVE: To observe the effects of therapeutic occasion, grading of gross motor function and developmental level on the rehabilitative efficacy in children with cerebral palsy.DESIGN: A case-controlled analysis.SETTING: Qilu Children's Hospital of Shandong University.PARTICIPANTS: Totally 138 children with cerebral palsy, who were hospitalized for 12 months in the Rehabilitation Center of Qilu Children's Hospital, Shandong University, were selected from April 2004 to September 2006, and all the children were diagnosed to be accorded with the standard set by the national seminar on cerebral palsy in 2004. There were 97 males and 41 females, including 55 cases of 0 - 2 years old,47 cases of 2 - 4 years and 36 cases of 4 - 6 years. Informed contents were obtained from relatives of all the children.METHODS: ① Comprehensive rehabilitation treatment: Vojta method was to induce the children to turn over the body and crawl by stimulating reflective turn over and crawling on belly. Bobath method including trainings of head control, turning over body, keeping sitting position, keeping balance, crawling, keeping standing position, and walking, etc.; The children were massaged by using the maneuvers of push, press, rub,pull, wave, etc. according to the sites and types of palsy. Acupuncture was performed mainly at bilateral motor areas, the needle was retained for 1 hour per time, 6 days continuously every week, and followed by a 1-day interval. ② Prognosis assessment: The gross motor functional grading of the children with cerebral palsy at admission was

  16. Premedical anatomy experience and student performance in medical gross anatomy.

    Science.gov (United States)

    Kondrashov, Peter; McDaniel, Dalton J; Jordan, Rebecca M

    2017-04-01

    Gross anatomy is considered one of the most important basic science courses in medical education, yet few medical schools require its completion prior to matriculation. The effect of taking anatomy courses before entering medical school on performance in medical gross anatomy has been previously studied with inconsistent results. The effect of premedical anatomy coursework on performance in medical gross anatomy, overall medical school grade point average (GPA), and Comprehensive Osteopathic Medical Licensing Examination Level 1 (COMLEX 1) score was evaluated in 456 first-year osteopathic medical students along with a survey on its perceived benefits on success in medical gross anatomy course. No significant differences were found in gross anatomy grade, GPA, or COMLEX 1 score between students with premedical anatomy coursework and those without. However, significant differences and higher scores were observed in students who had taken three or more undergraduate anatomy courses including at least one with cadaveric laboratory. There was significantly lower perceived benefit for academic success in the medical gross anatomy course (P<.001) from those students who had taken premedical anatomy courses (5.9 of 10) compared with those who had not (8.2 of 10). Results suggest that requiring any anatomy course as a prerequisite for medical school would not have significant effect on student performance in the medical gross anatomy course. However, requiring more specific anatomy coursework including taking three or more undergraduate anatomy courses, one with cadaveric laboratory component, may result in higher medical gross anatomy grades, medical school GPA, and COMLEX 1 scores. Clin. Anat. 30:303-311, 2017. © 2017 Wiley Periodicals, Inc.

  17. Gross Motor Profile and Its Association with Socialization Skills in Children with Autism Spectrum Disorders

    Directory of Open Access Journals (Sweden)

    Hardiono D. Pusponegoro

    2016-12-01

    Conclusion: Children with ASD had lower gross motor skills compared to typically developing children. Gross motor impairments were found in 20% of the ASD children, and these children also had lower socialization skills than those without gross motor impairments.

  18. 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.

  19. Kinematics at the Main Mechanism of a Railbound Forging Manipulator

    Directory of Open Access Journals (Sweden)

    Florian Ion Tiberiu Petrescu

    2015-09-01

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

  20. Improved gross efficiency during long duration submaximal cycling following a short-term high carbohydrate diet.

    Science.gov (United States)

    Cole, M; Coleman, D; Hopker, J; Wiles, J

    2014-03-01

    To assess the effect of dietary manipulation on gross efficiency (GE), 15 trained male cyclists completed 3×2 h tests at submaximal exercise intensity (60% Maximal Minute Power). Using a randomized, crossover design participants consumed an isoenergetic diet (~4 000 kcal.day-1) in the 3 days preceding each test, that was either high in carbohydrate (HighCHO, [70% of the total energy derived from carbohydrate, 20% fat, 10% protein]), low in carbohydrate (LowCHO, [70% fat, 20% carbohydrate, 10% protein]) or contained a moderate amount of carbohydrate (ModCHO, [45% carbohydrate, 45% fat, 10% protein]). GE along with blood lactate and glucose were assessed every 30 min, and heart rate was measured at 5 s intervals throughout. Mean GE was significantly greater following the HighCHO than the ModCHO diet (HighCHO=20.4%±0.1%, ModCHO=19.6±0.2%; PDiet had no effect on blood glucose or lactate (P>0.05). This study suggests that before the measurement of gross efficiency, participants' diet should be controlled and monitored to ensure the validity of the results obtained.

  1. Gross motor skill performance in a sample of overweight and non-overweight preschool children.

    Science.gov (United States)

    Morano, Milena; Colella, Dario; Caroli, Margherita

    2011-10-01

    The aim of the study was to examine the gross motor skill performance of overweight and non-overweight preschool children from South of Italy, and to investigate possible differences by gender. Participants were 38 boys and 42 girls (4.5 ± 0.5 yr) categorized as overweight (n = 38) and non-overweight (n = 42), according to the IOTF body mass index (BMI) cut-off points. The Test of Gross Motor Development was used to assess seven locomotor skills (run, gallop, hop, leap, horizontal jump, skip and slide) and five object-control skills (two-hand strike, stationary bounce, catch, kick and overhand throw). The raw, standard and percentile scores and the Gross Motor Development Quotient (GMDQ) were calculated for each participant. ANOVA 2 (gender) x 2 (group) was conducted on the subtest standard scores and the GMDQ. No differences in performance were found between boys and girls on the subscale standard scores and the GMDQ. Significant main effects (p overweight children reporting lower movement competence than their counterparts. Pearson's correlations revealed relationships (p Overweight participants showed poorer performance on locomotor and object-control tasks than their non-overweight peers. Interventions to promote physical activity in overweight children should be directed towards achieving a healthy weight and motor skill improvement.

  2. Health and Gross National Happiness: review of current status in Bhutan

    Directory of Open Access Journals (Sweden)

    Torres CE

    2011-08-01

    Full Text Available Tashi Tobgay1, Ugen Dophu1, Cristina E Torres2, Kesara Na-Bangchang31Department of Public Health, Ministry of Health, Kawajangsa, Bhutan; 2Forum for Ethical Review Committees in Asian and Western Pacific Region, Clinical Coordination and Training Center, 3Thailand Center of Excellence on Drug Discovery and Development (TCEDDD, Thammasat University, Rangsit Campus, ThailandAbstract: Worldwide, contemporary measures of the success of health development programs have been mostly in terms of the reduction of mortality and morbidity as well as increasing longevity. While these goals have yielded much-needed health improvements, the subjective outcomes of these improvements, as experienced by individuals and the communities, have not been considered. Bhutan, under the overarching policy of Gross National Happiness, has provided due consideration to these subjective indicators. Here, we report on the current status of health and happiness in Bhutan as revealed by conventional objective indicators and subjective Gross National Happiness indicators. The current literature on health in Bhutan in relation to the Gross National Happiness Survey conducted by the Centre of Bhutan Studies has been reviewed. Bhutan has made great strides within a short period of modernization, as shown by both objective and subjective indicators. Tremendous challenges lie ahead to achieve the ultimate goal of health and happiness, and how Bhutan articulates its path to modernization may be a lesson for the rest of the world.Keywords: Bhutan, happiness, health, indicators

  3. Manipulation with molecules

    Directory of Open Access Journals (Sweden)

    M.D Barnes

    2002-09-01

    For many years now, researchers in materials and photonics have been keenly interested in the design and fabrication of structures that confine and manipulate electromagnetic fields on length scales comparable to optical wavelengths. The ultimate goal is an all-optical information processing and computation platform using photons in ways analogous to electrons in silicon devices on similar length scales. Specific focus areas such as wafer-scale integration, parallel processing, and frequency management (e.g. add-drop filters, on micron or sub-micron length scales are active areas of photonics research. While a great deal of progress has been made in the burgeoning field of microphotonics, we are still a long way off from realizing important goals such as the optical transistor and all-optical integrated circuits1.

  4. 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.

  5. How to manipulate polls

    Directory of Open Access Journals (Sweden)

    Balăşescu. M.

    2011-01-01

    Full Text Available Every time you open a newspaper, listen to the radio, watch TV or browse the Internet, you will see some numbers and stats. All these numbers come from different sources like a national statistics office, an organization or an individual that has conducted research. These numbers can give a brief overview of the world surrounding us and are often used by people or organizations to strengthen their message. The way experts collect all the raw data to come up with all these clear-cut numbers is an important part of the process. In this respect, an experiment has been designed to see how a person can manipulate a poll to obtain the desired numbers and a lot of ways have been found.

  6. Comparison of gross anatomy test scores using traditional specimens vs. QuickTime Virtual Reality animated specimens

    Science.gov (United States)

    Maza, Paul Sadiri

    In recent years, technological advances such as computers have been employed in teaching gross anatomy at all levels of education, even in professional schools such as medical and veterinary medical colleges. Benefits of computer based instructional tools for gross anatomy include the convenience of not having to physically view or dissect a cadaver. Anatomy educators debate over the advantages versus the disadvantages of computer based resources for gross anatomy instruction. Many studies, case reports, and editorials argue for the increased use of computer based anatomy educational tools, while others discuss the necessity of dissection for various reasons important in learning anatomy, such as a three-dimensional physical view of the specimen, physical handling of tissues, interactions with fellow students during dissection, and differences between specific specimens. While many articles deal with gross anatomy education using computers, there seems to be a lack of studies investigating the use of computer based resources as an assessment tool for gross anatomy, specifically using the Apple application QuickTime Virtual Reality (QTVR). This study investigated the use of QTVR movie modules to assess if using computer based QTVR movie module assessments were equal in quality to actual physical specimen examinations. A gross anatomy course in the College of Veterinary Medicine at Cornell University was used as a source of anatomy students and gross anatomy examinations. Two groups were compared, one group taking gross anatomy examinations in a traditional manner, by viewing actual physical specimens and answering questions based on those specimens. The other group took the same examinations using the same specimens, but the specimens were viewed as simulated three-dimensional objects in a QTVR movie module. Sample group means for the assessments were compared. A survey was also administered asking students' perceptions of quality and user-friendliness of the QTVR

  7. Effects of age and timing of augmented feedback on learning muscle relaxation while performing a gross motor task

    NARCIS (Netherlands)

    van Dijk, H; Hermens, Hermanus J.

    Objective: To examine the combined effect of age and timing of augmented feedback on learning muscle relaxation. Performing a gross motor task, subjects had to lower their trapezius muscle activity using the electromyographic signal as visual myofeedback. Design: Healthy subjects (16 young adults:

  8. A thermal displacement sensor in MEMS [Towards accurate small-scale manipulation

    NARCIS (Netherlands)

    Krijnen, Bram; Hogervorst, Richard; Dijkstra, Jan Willem; Engelen, Johan; Woldering, Léon; Brouwer, Dannis; Abelmann, Leon; Soemers, Herman

    2011-01-01

    Accurate manipulation of small objects is becoming more and more important. Besides accurate manipulation, the demand for small manipulators is also increasing. Some examples are high-density data storage, (digital) light processing, accelerometers, rate sensors, and the use of cantilevers in atomic

  9. The manipulation of online newspapers

    OpenAIRE

    CONSTANTIN SCHIFIRNEŢ

    2008-01-01

    The paper studies the manipulation on comments from generalist online newspapers. It is analysed the contexts of interactivity between online media and public. The forums media are an alternative to tendencies of manipulation exerted by media. At the same time, some comments create an image or argument that favours their particular interests. The tactics of commentators may include the use of logical fallacies and propaganda techniques.They promote a manipulation of opinions, atitudes and be...

  10. Inverse Dynamics of Flexible Manipulators

    OpenAIRE

    Moberg, Stig; Hanssen, Sven

    2010-01-01

    High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limited due to the model simplifications, since a real manipulator has a distributed flexibility inall directi...

  11. Manipulation hardware for microgravity research

    Energy Technology Data Exchange (ETDEWEB)

    Herndon, J.N.; Glassell, R.L.; Butler, P.L.; Williams, D.M. (Oak Ridge National Lab., TN (USA)); Rohn, D.A. (National Aeronautics and Space Administration, Cleveland, OH (USA). Lewis Research Center); Miller, J.H. (Sverdrup Technology, Inc., Brook Park, OH (USA))

    1990-01-01

    The establishment of permanent low earth orbit occupation on the Space Station Freedom will present new opportunities for the introduction of productive flexible automation systems into the microgravity environment of space. The need for robust and reliable robotic systems to support experimental activities normally intended by astronauts will assume great importance. Many experimental modules on the space station are expected to require robotic systems for ongoing experimental operations. When implementing these systems, care must be taken not to introduce deleterious effects on the experiments or on the space station itself. It is important to minimize the acceleration effects on the experimental items being handled while also minimizing manipulator base reaction effects on adjacent experiments and on the space station structure. NASA Lewis Research Center has been performing research on these manipulator applications, focusing on improving the basic manipulator hardware, as well as developing improved manipulator control algorithms. By utilizing the modular manipulator concepts developed during the Laboratory Telerobotic Manipulator program, Oak Ridge National Laboratory has developed an experimental testbed system called the Microgravity Manipulator, incorporating two pitch-yaw modular positioners to provide a 4 dof experimental manipulator arm. A key feature in the design for microgravity manipulation research was the use of traction drives for torque transmission in the modular pitch-yaw differentials.

  12. Non-manipulation quantitative designs.

    Science.gov (United States)

    Rumrill, Phillip D

    2004-01-01

    The article describes non-manipulation quantitative designs of two types, correlational and causal comparative studies. Both of these designs are characterized by the absence of random assignment of research participants to conditions or groups and non-manipulation of the independent variable. Without random selection or manipulation of the independent variable, no attempt is made to draw causal inferences regarding relationships between independent and dependent variables. Nonetheless, non-manipulation studies play an important role in rehabilitation research, as described in this article. Examples from the contemporary rehabilitation literature are included. Copyright 2004 IOS Press

  13. Automatic camera tracking for remote manipulators

    Energy Technology Data Exchange (ETDEWEB)

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

    1984-04-01

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

  14. 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.

  15. Advanced Bimanual Manipulation Results from the DEXMART Project

    CERN Document Server

    2012-01-01

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

  16. Manipulating and Visualizing Proteins

    Energy Technology Data Exchange (ETDEWEB)

    Simon, Horst D.

    2003-12-05

    ProteinShop Gives Researchers a Hands-On Tool for Manipulating, Visualizing Protein Structures. The Human Genome Project and other biological research efforts are creating an avalanche of new data about the chemical makeup and genetic codes of living organisms. But in order to make sense of this raw data, researchers need software tools which let them explore and model data in a more intuitive fashion. With this in mind, researchers at Lawrence Berkeley National Laboratory and the University of California, Davis, have developed ProteinShop, a visualization and modeling program which allows researchers to manipulate protein structures with pinpoint control, guided in large part by their own biological and experimental instincts. Biologists have spent the last half century trying to unravel the ''protein folding problem,'' which refers to the way chains of amino acids physically fold themselves into three-dimensional proteins. This final shape, which resembles a crumpled ribbon or piece of origami, is what determines how the protein functions and translates genetic information. Understanding and modeling this geometrically complex formation is no easy matter. ProteinShop takes a given sequence of amino acids and uses visualization guides to help generate predictions about the secondary structures, identifying alpha helices and flat beta strands, and the coil regions that bind them. Once secondary structures are in place, researchers can twist and turn these pre-configurations until they come up with a number of possible tertiary structure conformations. In turn, these are fed into a computationally intensive optimization procedure that tries to find the final, three-dimensional protein structure. Most importantly, ProteinShop allows users to add human knowledge and intuition to the protein structure prediction process, thus bypassing bad configurations that would otherwise be fruitless for optimization. This saves compute cycles and accelerates

  17. Gross efficiency during rowing is not affected by stroke rate.

    Science.gov (United States)

    Hofmijster, Mathijs J; Van Soest, Arthur J; De Koning, Jos J

    2009-05-01

    It has been suggested that the optimal stroke rate in rowing is partly determined by the stroke-rate dependence of internal power losses. This should be reflected in a stroke-rate dependency of gross efficiency (e(gross)). The purpose of this study was to investigate if e(gross) is affected by stroke rate. A second aim was to determine whether internal power losses can be estimated by the negative power output during the stroke cycle (P(negative)). Seventeen well-trained female rowers participated in this study. They rowed three trials on a modified rowing ergometer on slides at a submaximal intensity, with a respiratory exchange ratio of 1 or close to 1. Stroke rates were 28, 34, and 40 strokes per minute. The trials were fully randomized. Power transfer to the flywheel was kept constant whereas e(gross) was determined during each trial. No significant differences in e(gross) were found between conditions. This finding suggests that in rowing internal power losses are not influenced by stroke rate. Furthermore, although P(negative) increased at increasing stroke rate (P measure to estimate internal power losses. This study shows that within the range of stroke rates applied in competitive rowing, internal power losses are unrelated to rowing cycle frequency.

  18. Objects, materiality and meaning

    DEFF Research Database (Denmark)

    Lenau, Torben Anker; Lindegaard, Hanne

    2008-01-01

    The present research work investigates the relation between physical objects, their materiality, understood as the physical substances they are made from, and the communication from the objects. In product design of physical objects the communicative aspects are just as important as the function ...... be written into the object. The materials are therefore carriers of communication, even though this is dependent of the cultural context and the environment which the object will be part of. However the designer has only minor influence on those.......The present research work investigates the relation between physical objects, their materiality, understood as the physical substances they are made from, and the communication from the objects. In product design of physical objects the communicative aspects are just as important as the function...... of the object, and the designers aim is therefore to tune both in order to achieve a desired goal. To do so the designer basically has 2 options: Alteration of the physical shape of the object and the selection of materials. Through the manipulation of shape and materials can symbolic and sensory information...

  19. Elementary School Teachers' Manipulative Use

    Science.gov (United States)

    Uribe-Florez, Lida J.; Wilkins, Jesse L. M.

    2010-01-01

    Using data from 503 inservice elementary teachers, this study investigated the relationship between teachers' background characteristics, teachers' beliefs about manipulatives, and the frequency with which teachers use manipulatives as part of their mathematics instruction. Findings from the study show that teachers' grade level and beliefs about…

  20. Ideological Manipulation in Translation Practice

    Institute of Scientific and Technical Information of China (English)

    张靖

    2011-01-01

    Lefevere's rewriting theory states that translation is a rewriting of the original text,all rewritings reflect a certain ideology and a poetics and as such manipulate literature to function in a given society.Based on this theory,some translation examples are illustrated and analyzed here to show that political and aesthetic ideology will inevitably manipulate translation in different aspects.

  1. Thermoelectrical manipulation of nanomagnets

    Science.gov (United States)

    Kadigrobov, A. M.; Andersson, S.; Radić, D.; Shekhter, R. I.; Jonson, M.; Korenivski, V.

    2010-06-01

    We investigate the interplay between the thermodynamic properties and spin-dependent transport in a mesoscopic device based on a magnetic multilayer (F/f/F), in which two strongly ferromagnetic layers (F) are exchange-coupled through a weakly ferromagnetic spacer (f) with the Curie temperature in the vicinity of room temperature. We show theoretically that the Joule heating produced by the spin-dependent current allows a spin-thermoelectronic control of the ferromagnetic-to-paramagnetic (f/N) transition in the spacer and, thereby, of the relative orientation of the outer F-layers in the device (spin-thermoelectric manipulation of nanomagnets). Supporting experimental evidence of such thermally-controlled switching from parallel to antiparallel magnetization orientations in F/f(N)/F sandwiches is presented. Furthermore, we show theoretically that local Joule heating due to a high concentration of current in a magnetic point contact or a nanopillar can be used to reversibly drive the weakly ferromagnetic spacer through its Curie point and thereby exchange couple and decouple the two strongly ferromagnetic F-layers. For the devices designed to have an antiparallel ground state above the Curie point of the spacer, the associated spin-thermionic parallel to antiparallel switching causes magnetoresistance oscillations whose frequency can be controlled by proper biasing from essentially dc to GHz. We discuss in detail an experimental realization of a device that can operate as a thermomagnetoresistive switch or oscillator.

  2. Genetic Manipulations in Dermatophytes.

    Science.gov (United States)

    Alshahni, Mohamed Mahdi; Yamada, Tsuyoshi

    2017-02-01

    Dermatophytes are a group of closely related fungi that nourish on keratinized materials for their survival. They infect stratum corneum, nails, and hair of human and animals, accounting the largest portion of fungi causing superficial mycoses. Huge populations are suffering from dermatophytoses, though the biology of these fungi is largely unknown yet. Reasons are partially attributed to the poor amenability of dermatophytes to genetic manipulation. However, advancements in this field over the last decade made it possible to conduct genetic studies to satisfying extents. These included genetic transformation methods, indispensable molecular tools, i.e., dominant selectable markers, inducible promoter, and marker recycling system, along with improving homologous recombination frequency and gene silencing. Furthermore, annotated genome sequences of several dermatophytic species have recently been available, ensuring an optimal recruitment of the molecular tools to expand our knowledge on these fungi. In conclusion, the establishment of basic molecular tools and the availability of genomic data will open a new era that might change our understanding on the biology and pathogenicity of this fungal group.

  3. Active Grasp Synthesis for Grasping Unknown Objects

    NARCIS (Netherlands)

    Çallı, B.

    2015-01-01

    Manipulation is a key feature for robots which are designed to work in daily environments like homes, offices and streets. These robots do not often have manipulators that are specialized for specific tasks, but grippers that can grasp the target object. This makes grasping a crucial ability that

  4. Adventures in Manipulation

    Science.gov (United States)

    Christensen, Bonniejean

    1971-01-01

    Objects to an alleged misrepresentation and inaccurate presentation of a J. R. R. Tolkien quotation in "Adventures in Reading" (Harcourt, Brace & World, 1969), a ninth grade literature anthology. (RD)

  5. 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. Keywords: Manipulation, Discourse, Cognitive, Power Abuse, Persuasion, Social representation, J.R.R. Tolkien

  6. Gross anatomy of superficial fascia and future localised fat deposit areas of the abdomen in foetus

    Directory of Open Access Journals (Sweden)

    Pramod Kumar

    2013-01-01

    Full Text Available Background: The development and popularity of body contouring procedures such as liposuction and abdominoplasty has renewed interest in the anatomy of the superficial fascia and subcutaneous fat deposits of the abdomen. The study of anatomy of fascia and fetal adipose tissue was proposed as it may be of value in understanding the possible programing of prevention of obesity. Objectives: The present study was undertaken to understand the gross anatomy of superficial fascia of abdomen and to study the gross anatomy of future localized fat deposits (LFDs area of abdomen in fetus. Materials and Methods: Four fetus (two male & two female of four month of intrauterine life were dissected. Attachments & layers of superficial fascia and future subcutaneous fat deposit area of upper and lower abdomen were noted. Results: Superficial fascia of the abdomen was multi layered in mid line and number of layers reduced laterally as in adult. The future abdominal LFD (localized fat deposits area in fetus shows brownish-white blubbary tissue without well-defined adult fat lobules. Conclusion: The attachment and gross anatomy of superficial fascia of the fetus was similar to that in adults. The future LFD areas showed brownish white blubbary tissue with ill-defined fat lobules.

  7. The clinical effect of hippotherapy on gross motor function of children with Cerebral Palsy

    Directory of Open Access Journals (Sweden)

    K Litlle

    2013-12-01

    Full Text Available Background: Cerebral palsy (CP is the most common cause of physical disability affecting gross motor function (GMF in early childhood. Hippotherapy is a treatment approach aimed at improving GMF in children with CP. Several systematic reviews have been published showing an improvement in Dimension E of the Gross Motor Function Measure (GMFM after hippotherapy. However, these reviews failed to evaluate the clinical effect of hippotherapy in improving GMF in children with CP.Objective: To critically appraise the evidence of hippotherapy to ascertain whether it is a clinically meaningful approach for children with CP.Methodology: Five computerised bibliographic databases were searched. Predetermined inclusion and exclusion criteria were set. The PEDro scale was used to assess the quality of the studies. A revised JBI Data extraction tool was used to extract data from the selected articles. Revman© Review Manager Software was used to create forest plots for comparisons of results.Results: All studies used the GMFM as an outcome measure for gross motor function. The added benefit of hippotherapy is a minimum 1% and a maximum 7% increase on the GMFM scores. However, all 95% confidence intervals (CI around all the mean differences were insignificant.Conclusion: The clinical effect of hippotherapy on the GMF of children with CP is small. Larger studies are required to provide evidence of the effect of hippotherapy within this population.

  8. Microcrystal manipulation with laser tweezers

    Energy Technology Data Exchange (ETDEWEB)

    Wagner, Armin, E-mail: armin.wagner@diamond.ac.uk; Duman, Ramona [Diamond Light Source, Harwell Science and Innovation Campus, Chilton, Didcot OX11 0DE (United Kingdom); Stevens, Bob [Nottingham Trent University, Nottingham NG1 4BU (United Kingdom); Ward, Andy [Research Complex at Harwell, Didcot OX11 0FA (United Kingdom); Diamond Light Source, Harwell Science and Innovation Campus, Chilton, Didcot OX11 0DE (United Kingdom)

    2013-07-01

    Optical trapping has successfully been applied to select and mount microcrystals for subsequent X-ray diffraction experiments. X-ray crystallography is the method of choice to deduce atomic resolution structural information from macromolecules. In recent years, significant investments in structural genomics initiatives have been undertaken to automate all steps in X-ray crystallography from protein expression to structure solution. Robotic systems are widely used to prepare crystallization screens and change samples on synchrotron beamlines for macromolecular crystallography. The only remaining manual handling step is the transfer of the crystal from the mother liquor onto the crystal holder. Manual mounting is relatively straightforward for crystals with dimensions of >25 µm; however, this step is nontrivial for smaller crystals. The mounting of microcrystals is becoming increasingly important as advances in microfocus synchrotron beamlines now allow data collection from crystals with dimensions of only a few micrometres. To make optimal usage of these beamlines, new approaches have to be taken to facilitate and automate this last manual handling step. Optical tweezers, which are routinely used for the manipulation of micrometre-sized objects, have successfully been applied to sort and mount macromolecular crystals on newly designed crystal holders. Diffraction data from CPV type 1 polyhedrin microcrystals mounted with laser tweezers are presented.

  9. Gross municipal product: the design procedure and application

    Directory of Open Access Journals (Sweden)

    Dmitry Vasilevich Kolechkov

    2012-12-01

    Full Text Available The article is devoted to the actual problem to find the adequate methods to assess the economic performance of municipalities conditioned by their growing independence and role in the development of regional economy. Nowadays many researchers are working on the practical application and testing of various approaches to assessing theterritory economicresults based on thecalculation of gross municipal product (GМP. However, the development of methodological reasonable calculation tools is still at an early stage. In this article presents a simplified method of calculating the gross municipal product, an analysis of the dynamics and territorialindustrial structure GМP, implemented in terms of grouping areas GМP methods hierarchical cluster analysis of the economic characteristics of the obtained clustersbased on systematic occurring in the economic literature, methodological developments in the calculation of gross municipal product, determination of strengths and weaknesses of different methodological approaches

  10. Anatomy of the Gross Intestine of the Capybara (Hydrochoerus Hydrochaeris

    Directory of Open Access Journals (Sweden)

    Noelia Vazquez

    2012-01-01

    Full Text Available Problem statement: The anatomy of the gross intestine and its mesentery of the capybara (Hydrochoerus hydrochaeris have not been described completely. Approach: In the present study, eight adult capybaras were studied using gross dissection. Results: The cecum was the largest part of the intestine and was divided into base, body and apex. The cecocolic fold joined the cecum to the full extent of the proximal loop of ascending colon. The ascending colon was divided into two ansae, one proximal and one distal or spiral. The distal ansa had a spiral arrangement and was placed cranially to the right, covered ventrally by the apex of the cecum. This ansa had a centripetal gyrus to the left, a central flexure and a centrifugal gyrus turning to the right that was continuous with the transverse colon in the right colic flexure. Conclusion: The gross intestine of the capybara was different to other previously studied rodents.

  11. Potato production in Europe - a gross margin analysis

    DEFF Research Database (Denmark)

    Pedersen, Søren Marcus; Bizik, Jan; Costa, Luisa Dalla;

    The purpose of this paper is to examine different cropping practices, cost structures and gross margins for producing conventional table potatoes in 6 different regions within the European Union: Czech Republic, Denmark, Italy, Poland, Portugal and Slovakia. Findings from this study show that pot......The purpose of this paper is to examine different cropping practices, cost structures and gross margins for producing conventional table potatoes in 6 different regions within the European Union: Czech Republic, Denmark, Italy, Poland, Portugal and Slovakia. Findings from this study show...... that potato cropping practices varies signifi-cantly between these countries with major differences in yields and costs. Italy and Denmark are the two regions with highest gross margins due to high yields and reve-nues. Poland is by far the largest potato producing country among the 6 countries ex...

  12. Ludwik Gross, Sarah Stewart, and the 1950s discoveries of Gross murine leukemia virus and polyoma virus.

    Science.gov (United States)

    Morgan, Gregory J

    2014-12-01

    The Polish-American scientist Ludwik Gross made two important discoveries in the early 1950s. He showed that two viruses - murine leukemia virus and parotid tumor virus - could cause cancer when they were injected into susceptible animals. At first, Gross's discoveries were greeted with skepticism: it seemed implausible that viruses could cause a disease as complex as cancer. Inspired by Gross's initial experiments, similar results were obtained by Sarah Stewart and Bernice Eddy who later renamed the parotid tumor virus SE polyoma virus after finding it could cause many different types of tumors in mice, hamsters, and rats. Eventually the "SE" was dropped and virologists adopted the name "polyoma virus." After Gross's work was published, additional viruses capable of causing solid tumors or blood-borne tumors in mice were described by Arnold Graffi, Charlotte Friend, John Moloney and others. By 1961, sufficient data had been accumulated for Gross to confidently publish an extensive monograph--Oncogenic Viruses--the first history of tumor virology, which became a standard reference work and marked the emergence of tumor virology as a distinct, legitimate field of study. Copyright © 2014 Elsevier Ltd. All rights reserved.

  13. The impact of gross anatomy laboratory on first year medical students' interest in a surgical career.

    Science.gov (United States)

    Pulcrano, Marisa E; Malekzadeh, Sonya; Kumar, Anagha

    2016-09-01

    This study sought to determine the impact of gross anatomy laboratory (GA) on first year medical students' (M1) interest in a surgical career. Secondary objectives included identifying other influences in M1s' career decision making. This prospective study included surveys before and after GA. All M1s enrolled in GA were invited to participate. Sixty students completed both the pre- and post-test surveys. A 5-point Likert-type scale surveyed participants' interests, specific personality traits, experience during the course of GA, and likelihood of pursuing a surgical career. Statistical analysis included Wilcoxon Signed Rank Test and (Polychotomous) Ordinal Logistic Regression Model. Students' desire to work with their hands increased (50 vs. 33.3%) and enjoyment working with instruments and tools similarly increased (50 vs. 41.7%). Likelihood of pursuing a surgical career after gross anatomy increased in 31.7% of students, decreased in 16.7%, and was unchanged in 51.7%. Over 75% of students with a prior interest in surgery and 21% of those who previously felt neutral agreed that they were likely to pursue a career in surgery at the conclusion of the laboratory. Students with a surgeon family member were 0.1976 times as likely to exhibit a positive change in interest (P values 0.024). Gross anatomy may influence up to a third of the class to consider a surgical career, especially those with a prior interest in surgery and those previously feeling ambivalent. Students with a surgeon family member became less likely to enter a surgical career after gross anatomy. Clin. Anat. 29:691-695, 2016. © 2016 Wiley Periodicals, Inc. © 2016 Wiley Periodicals, Inc.

  14. Numerical simulation for the Gross-Pitaevskii equation based on the lattice Boltzmann method

    Science.gov (United States)

    Wang, Huimin

    2017-09-01

    A lattice Boltzmann model for the Gross-Pitaevskii equation is proposed in this paper. Some numerical tests for one- and two-dimensional Gross-Pitaevskii equation have been conducted. The waves of the Gross-Pitaevskii equation are simulated. Numerical results show that the lattice Boltzmann method is an effective method for the wave of the Gross-Pitaevskii equation.

  15. 29 CFR 779.259 - What is included in annual gross volume.

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 3 2010-07-01 2010-07-01 false What is included in annual gross volume. 779.259 Section... Coverage Annual Gross Volume of Sales Made Or Business Done § 779.259 What is included in annual gross volume. (a) The annual gross volume of sales made or business done of an enterprise consists of its...

  16. 29 CFR 794.122 - Ascertainment of “annual” gross sales volume.

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 3 2010-07-01 2010-07-01 false Ascertainment of âannualâ gross sales volume. 794.122... Annual Gross Volume of Sales § 794.122 Ascertainment of “annual” gross sales volume. The annual gross volume of sales of an enterprise engaged in the wholesale or bulk distribution of petroleum...

  17. Happy Life Years: a measure of Gross National Happiness

    OpenAIRE

    Veenhoven, Ruut

    2004-01-01

    textabstractHappiness is defined as the degree to which a person enjoys his or her life-as-a-whole. Accordingly ‘Gross National Happiness’ is defined as the degree to which citizens in a country enjoy the life they live. Individual happiness can be measured by self-report on a single standard question. Hence Gross National Happiness can be measured by the average response to such questions in general populations surveys. Survey data on average self-report of happiness can be combined with est...

  18. The Impact of Investments and Gross Value Added upon Earnings

    Directory of Open Access Journals (Sweden)

    Larisa APARASCHIVEI

    2011-02-01

    Full Text Available In this paper we tried to capture the impact of investments and gross value added, but also the impact of the employment on the average wage. The analysis refers to the period 1998- 2008 and we are using data on the activities of the Romanian economy. The results of this study confirm the negative influence of the employment, being consistent with the theory. Also, the impact of investments and that of gross value added came out to be positive and significant.

  19. Revised Phase Diagram of the Gross-Neveu Model

    CERN Document Server

    Thies, M; Thies, Michael; Urlichs, Konrad

    2003-01-01

    We confirm earlier hints that the conventional phase diagram of the discrete chiral Gross-Neveu model in the large N limit is deficient at non-zero chemical potential. We present the corrected phase diagram constructed in mean field theory. It has three different phases, including a kink-antikink crystal phase. All transitions are second order. The driving mechanism for the new structure of baryonic matter in the Gross-Neveu model is an Overhauser type instability with gap formation at the Fermi surface.

  20. OPTIMAL TRAJECTORY PLANNING OF MANIPULATORS: A REVIEW

    Directory of Open Access Journals (Sweden)

    ATEF A. ATA

    2007-04-01

    Full Text Available Optimal motion planning is very important to the operation of robot manipulators. Its main target is the generation of a trajectory from start to goal that satisfies objectives, such as minimizing path traveling distance or time interval, lowest energy consumption or obstacle avoidance and satisfying the robot’s kinematics and dynamics. Review, discussion and analysis of optimization techniques to find the optimal trajectory either in Cartesian space or joint space are presented and investigated. Optimal trajectory selection approaches such as kinematics and dynamics techniques with various constraints are presented and explained. Although the kinematics approach is simple and straight forward, it will experience some problems in implementation because of lack of Inertia and torque constraints. The application of Genetic Algorithms to find the optimal trajectory of manipulators especially in the obstacle avoidance is also highlighted. Combining the Genetic Algorithms with other classical optimization methods proves to have better performance as a hybrid optimization technique.

  1. Optical Manipulation with Speckle Light Fields

    CERN Document Server

    Volpe, Giorgio; Gigan, Sylvain

    2014-01-01

    Optical tweezers have been widely applied to trap and manipulate micro- and nano-objects, such as cells, organelles and macromolecules. Generating well-controlled optical forces usually requires a highly focused laser beam, which means a careful engineering of the setups and the samples. Although similar conditions are routinely met in research laboratories, optical imperfections or scattering limit the applicability of this technique to real-life situations, such as in biomedical or microfluidic applications. Nonetheless, scattering of coherent light by disordered structures gives rise to speckles, random diffraction patterns with well-defined statistical properties. Here, we demonstrate how speckle fields can become a versatile tool to perform fundamental optical manipulation tasks such as trapping, guiding and sorting, exploiting the emergence of anomalous diffusion and drift in time-varying speckles. The simplicity and high-throughput of this technique greatly broadens the perspectives of optical manipula...

  2. Hybrid Force Motion Synchronization Control of Robot Manipulators

    OpenAIRE

    Fikkan, Kristoffer

    2010-01-01

    The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of another robot and a desired force trajectory at the same time. This report includes a short introduction to synchronization theory for robot manipulators, and a more thorough summary of existing hybrid control schemes. An intuitive method for describing constraints caused...

  3. Omnidirectional Analysis of Spatial Manipulator

    Directory of Open Access Journals (Sweden)

    Yuquan Leng

    2015-01-01

    Full Text Available Space manipulators are mainly used in the spatial loading task. According to problems of the spatial loading diversity, the testing loading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper proposes the Point Omnidirectional Coefficient (POC with unit attitude sphere/circle to describe attitude of the end-effector, which evaluates any points in the attainable space of the manipulators, in combination with the manipulation’s position message, and get relationships between its position and attitude of all points in the attainable space. It represents the mapping between sphere surface and plane for mission attitude constraints and the method for calculating volume of points space including attainable space, Omnidirectional space, and mission attitude space. Furthermore, the Manipulator Omnidirectional Coefficient based on mission or not is proposed for evaluating manipulator performance. Through analysis and simulation about 3D and 2D manipulators, the results show that the above theoretical approach is feasible and the relationships about link lengths, joints angles, attainable space, and Manipulator Omnidirectional Coefficient are drawn for guiding design.

  4. Impedance control of flexible macro/mini manipulators

    Science.gov (United States)

    Schubert, Heidi Christine

    Construction and maintenance of on-orbit crew-operated hardware is currently done mostly by extra-vehicular astronauts. Use of robotics for some of these tasks provides the opportunity for both increased safety for the astronauts and major cost savings. An effective space robotic manipulator must be lightweight, have a large workspace, and be capable of fine dexterous control. A large lightweight manipulator will necessarily be quite flexible, limiting the achievable end-point bandwidth. One way to achieve all of the objectives is via advanced control of a macro/mini manipulator: a large lightweight manipulator carrying a small dexterous manipulator, such as is planned for the International Space Station. The goal of this work is to control a flexible-joint macro carrying a two-arm mini manipulator. For ease of use, a low-level controller should be designed such that the user or automated planner need only command the desired end-point motions and forces. Designing an end-point controller for a macro/mini manipulator presents many challenges. Such a manipulator system is non-linear, has low frequency flexibility, and has dynamic coupling between the macro and mini. A smart method for controlling manipulators is impedance control, which specifies a desired force-velocity relationship at the end-point of the manipulator, enabling smooth contact with the environment. Using operational space control, the dynamics of the manipulator are transformed into operational coordinates for implementation of the impedance law. The operational space method also enables a secondary control of the redundant degrees of freedom, without degrading the end-point impedance task. This thesis presents new theoretical advances that enable extending the concepts of operational space and impedance control to redundant joint-flexible robots. Important advances include a new method for choosing the end-point impedance and a null-space controller that performs much better. The new control

  5. Manipulator control by exact linearization

    Science.gov (United States)

    Kruetz, K.

    1987-01-01

    Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.

  6. Monitoring of gross alpha, gross beta and actinides activities in exhaust air released from the waste isolation pilot plant

    Energy Technology Data Exchange (ETDEWEB)

    Thakur, P., E-mail: pthakur@cemrc.org [Carlsbad Environmental Monitoring and Research Center, 1400 University Drive, Carlsbad, New Mexico 88220 (United States); Mulholland, G.P. [Carlsbad Environmental Monitoring and Research Center, 1400 University Drive, Carlsbad, New Mexico 88220 (United States)

    2011-09-15

    The simultaneous measurements of gross alpha and beta activities is one of the simplest radioanalytical technique used as a method for screening samples of both high and low activities of alpha and beta emitting radionuclides in environmental and bioassay samples. Such measurements are of great interest from both a radiological, waste disposal viewpoint, and to establish a trend of radioactivity based on long term monitoring. At the WIPP (Waste Isolation Pilot Plant) site, unfiltered exhaust air from the underground repository is the most important effluent. As part of its monitoring program, the particulates from WIPP exhaust air are collected everyday at a location typically called the Fixed Air Sampler (FAS) site or Station A, this site is located at the release point for aerosol effluents from the underground to the environment. The measurements of gross alpha and beta activity on air filter samples were performed using an ultra low level counter, PIC-MPC 9604-{alpha}/{beta}, from Protean Instrument Corporation. The high sensitivity of the gross alpha and beta instrument enables detection of low value activity from the air filters. In 2009, the values of gross alpha and beta activity concentrations ranged from Simultaneous measurements of gross alpha and gross beta activities in the particulates from WIPP exhaust air were performed. > Ultra low level counter, PIC-MPC 9604-{alpha}/{beta} counter was used for the measurements. > Values of gross alpha activity concentrations ranged from Values of gross beta activity concentrations ranged from

  7. Analysis, reconstruction and manipulation using arterial snakes

    KAUST Repository

    Li, Guo

    2010-01-01

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

  8. 26 CFR 1.555-2 - Additions to gross income.

    Science.gov (United States)

    2010-04-01

    ... Corporation sells 90percent of its stock in the Y Corporation and thus is a minority shareholder in the Y... on which the required United States group exists, and (2) Such foreign corporation is a shareholder... the gross income of its shareholders, whether United States shareholders or other foreign...

  9. Comments on the research article by Gross et al. (2012)

    DEFF Research Database (Denmark)

    Guntur, Srinivas; Sørensen, Niels N.

    2014-01-01

    The purpose of this Letter to the Editor is to present a discussion on the physics of rotational augmentation based on existing work. One of the latest works by Gross et al. (2012) is highlighted here, and its conclusions are discussed. Based on the existing understanding of rotational augmentati...

  10. Effective Collaboration among the Gross Motor Assessment Team Members

    Science.gov (United States)

    Menear, Kristi S.; Davis, Timothy D.

    2015-01-01

    This article describes the gross motor assessment team (GMAT) members' roles and collaborative approach to making appropriate decisions and modifications when addressing the needs of individuals with disabilities in physical education. Case studies of students are used to demonstrate effective uses of the GMAT. The primary outcome of the GMAT's…

  11. 40 CFR 403.15 - Net/Gross calculation.

    Science.gov (United States)

    2010-07-01

    ... STANDARDS GENERAL PRE-TREAT-MENT REGULATIONS FOR EXIST-ING AND NEW SOURCES OF POLLUTION § 403.15 Net/Gross... pollutants in the Industrial User's intake water in accordance with this section. Any Industrial User wishing... of the Industrial User, the applicable Standard will be calculated on a “net” basis (i.e., adjusted...

  12. Rubriek 'Meten in de praktijk': Gross Motor Function Measure.

    NARCIS (Netherlands)

    Veenhof, C.; Ketelaar, M.

    2004-01-01

    De Gross Motor Function Measure (GMFM) is een instrument dat de grof-motorische vaardigheden meet van kinderen met cerebrale parese. De GMFM is expliciet ontwikkeld als evaluatief meetinstrument, wat betekent dat het bedoeld is om veranderingen over de tijd of verandering en die optreden na behandel

  13. Development of the Gross Motor Function Classification System (1997)

    Science.gov (United States)

    Morris, Christopher

    2008-01-01

    To address the need for a standardized system to classify the gross motor function of children with cerebral palsy, the authors developed a five-level classification system analogous to the staging and grading systems used in medicine. Nominal group process and Delphi survey consensus methods were used to examine content validity and revise the…

  14. Effective Collaboration among the Gross Motor Assessment Team Members

    Science.gov (United States)

    Menear, Kristi S.; Davis, Timothy D.

    2015-01-01

    This article describes the gross motor assessment team (GMAT) members' roles and collaborative approach to making appropriate decisions and modifications when addressing the needs of individuals with disabilities in physical education. Case studies of students are used to demonstrate effective uses of the GMAT. The primary outcome of the GMAT's…

  15. Assessing Gross Motor Skills of Kosovar Preschool Children

    Science.gov (United States)

    Shala, Merita

    2009-01-01

    In the light of the new developments in preschool education in Kosovo, this study attempts to carry out an assessment of the development of gross motor skills of preschool children attending institutional education. The emphasis is on creating a set of tests to measure the motor attainments of these children by conducting assessments of the…

  16. 78 FR 26575 - Gross Combination Weight Rating; Definition

    Science.gov (United States)

    2013-05-07

    ... Weight Rating; Definition AGENCY: Federal Motor Carrier Safety Administration (FMCSA), DOT. ACTION... definition of ``gross combination weight rating'' (or GCWR) to clarify that a GCWR is the greater of: the....regulations.gov . Fax: 1-202-493-2251. Mail: Docket Management Facility (M-30), U.S. Department of...

  17. Gross and Microscopic Lesions in Corals from Micronesia.

    Science.gov (United States)

    Work, T M; Aeby, G S; Hughen, K A

    2016-01-01

    The authors documented gross and microscopic morphology of lesions in corals on 7 islands spanning western, southern, and eastern Micronesia, sampling 76 colonies comprising 30 species of corals among 18 genera, with Acropora, Porites, and Montipora dominating. Tissue loss comprised the majority of gross lesions sampled (41%), followed by discoloration (30%) and growth anomaly (29%). Of 31 cases of tissue loss, most lesions were subacute (48%), followed by acute and chronic (26% each). Of 23 samples with discoloration, most were dark discoloration (40%), with bleaching and other discoloration each constituting 30%. Of 22 growth anomalies, umbonate growth anomalies composed half, with exophytic, nodular, and rugose growth anomalies composing the remainder. On histopathology, for 9 cases of dark discoloration, fungal infections predominated (77%); for 7 bleached corals, depletion of zooxanthellae from the gastrodermis made up a majority of microscopic diagnoses (57%); and for growth anomalies other than umbonate, hyperplasia of the basal body wall was the most common microscopic finding (63%). For the remainder of the gross lesions, no single microscopic finding constituted >50% of the total. Host response varied with the agent present on histology. Fragmentation of tissues was most often associated with algae (60%), whereas necrosis dominated (53%) for fungi. Two newly documented potentially symbiotic tissue-associated metazoans were seen in Porites and Montipora. Findings of multiple potential etiologies for a given gross lesion highlight the importance of incorporating histopathology in coral disease surveys. This study also expands the range of corals infected with cell-associated microbial aggregates.

  18. Gross and microscopic lesions in corals from Micronesia

    Science.gov (United States)

    Work, Thierry M.; Aeby, Greta S.; Hughen, Konrad A.

    2015-01-01

    The authors documented gross and microscopic morphology of lesions in corals on 7 islands spanning western, southern, and eastern Micronesia, sampling 76 colonies comprising 30 species of corals among 18 genera, with Acropora, Porites, and Montipora dominating. Tissue loss comprised the majority of gross lesions sampled (41%), followed by discoloration (30%) and growth anomaly (29%). Of 31 cases of tissue loss, most lesions were subacute (48%), followed by acute and chronic (26% each). Of 23 samples with discoloration, most were dark discoloration (40%), with bleaching and other discoloration each constituting 30%. Of 22 growth anomalies, umbonate growth anomalies composed half, with exophytic, nodular, and rugose growth anomalies composing the remainder. On histopathology, for 9 cases of dark discoloration, fungal infections predominated (77%); for 7 bleached corals, depletion of zooxanthellae from the gastrodermis made up a majority of microscopic diagnoses (57%); and for growth anomalies other than umbonate, hyperplasia of the basal body wall was the most common microscopic finding (63%). For the remainder of the gross lesions, no single microscopic finding constituted >50% of the total. Host response varied with the agent present on histology. Fragmentation of tissues was most often associated with algae (60%), whereas necrosis dominated (53%) for fungi. Two newly documented potentially symbiotic tissue-associated metazoans were seen in Porites and Montipora. Findings of multiple potential etiologies for a given gross lesion highlight the importance of incorporating histopathology in coral disease surveys. This study also expands the range of corals infected with cell-associated microbial aggregates.

  19. Happy Life Years: a measure of Gross National Happiness

    NARCIS (Netherlands)

    R. Veenhoven (Ruut)

    2004-01-01

    textabstractHappiness is defined as the degree to which a person enjoys his or her life-as-a-whole. Accordingly ‘Gross National Happiness’ is defined as the degree to which citizens in a country enjoy the life they live. Individual happiness can be measured by self-report on a single standard

  20. 77 FR 51706 - Gross Combination Weight Rating (GCWR); Definition

    Science.gov (United States)

    2012-08-27

    ... Federal Motor Carrier Safety Administration 49 CFR Parts 383 and 390 RIN 2126-AB53 Gross Combination Weight Rating (GCWR); Definition AGENCY: Federal Motor Carrier Safety Administration (FMCSA), DOT. ACTION: Direct final rule; request for comments. SUMMARY: The Federal Motor Carrier Safety Administration...

  1. Strategic improvements for gross anatomy web-based teaching.

    Science.gov (United States)

    Marker, David R; Juluru, Krishna; Long, Chris; Magid, Donna

    2012-01-01

    Current generations of graduate students have been immersed in technology from their early school years and have high expectations regarding digital resources. To better meet the expectations of Gross Anatomy students at our institution, electronic radiology teaching files for first-year coursework were organized into a web site. The web site was custom designed to provide material that directly correlated to the Gross Anatomy dissection and lectures. Quick links provided sets of images grouped by anatomic location. Additionally, Lab and Study Companions provided specific material for the students to review prior to and after lectures and gross dissections. Student opinions of this education resource were compared to student opinions of the prior year's digital teaching files. The new content was ranked as more user friendly (3.1 points versus 2.3 points) and more useful for learning anatomy (3.3 points versus 2.6 points). Many students reported that using the web portal was critical in helping them to better understand relationships of anatomical structures. These findings suggest that a well-organized web portal can provide a user-friendly, valuable educational resource for medical students who are studying Gross Anatomy.

  2. Fine and Gross Motor Ability in Males with ADHD

    Directory of Open Access Journals (Sweden)

    J Gordon Millichap

    2003-09-01

    Full Text Available Both fine and gross motor abilities were evaluated in 10-year-old males with attention deficit hyperactivity disorder (ADHD and compared to a group of control children at the School of Psychology, Curtin University of Technology, Perth, Australia.

  3. Construction of 2-dimensional Grosse-Wulkenhaar Model

    CERN Document Server

    Wang, Zhituo

    2011-01-01

    In this paper we construct the noncommutative Grosse-Wulkenhaar model on 2-dimensional Moyal plane with the method of loop vertex expansion. We treat renormalization with this new tool, adapt Nelson's argument and prove Borel summability of the perturbation series. This is the first non-commutative quantum field theory model to be built in a non-perturbative sense.

  4. Monopol suretab kohaliku loomakasvataja / Oleg Gross ; interv . Illar Mõttus

    Index Scriptorium Estoniae

    Gross, Oleg, 1952-

    2005-01-01

    Väike-Maarja jäätmetehase monopoolse seisundi vastu sõna võtnud OG Elektra omanik Oleg Gross on kindel, et jäätmetehasega suretatakse kohalikud väiksemad lihatootjad välja. Kommenteerivad talupidaja Jüri Järvet ja Rakvere Lihakombinaadi direktor Olle Horm

  5. ɛ-expansion in the Gross-Neveu

    Science.gov (United States)

    Raju, Avinash

    2016-10-01

    We use the recently developed CFT techniques of Rychkov and Tan to compute anomalous dimensions in the O( N ) Gross-Neveu model in d = 2 + ɛ dimensions. To do this, we extend the "cowpie contraction" algorithm of arXiv:1506.06616 to theories with fermions. Our results match perfectly with Feynman diagram computations.

  6. Barn music at St Donat's castle / Philip Gross

    Index Scriptorium Estoniae

    Gross, Philip, 1952-

    2011-01-01

    Muusikafestivalist "Vale of Glamorgan", mis oli 2010. a. pühendatud Arvo Pärdile. Eesti kammermuusikaansambli Resonabilis kavas oli ka festivali tellimusel valminud uelsi helilooja Gareth Peredur Churchilli "Vocable", mille teksti kirjutas Philip Gross. Festivalikontsertide muljeid leiab Grossi luuletsüklis "Barn music" (avaldatud samas ajakirjanumbris, lk. 42-43)

  7. Samuel D. Gross: the nestor of American surgery.

    Science.gov (United States)

    Toledo-Pereyra, Luis H

    2006-01-01

    Samuel David Gross (1805-1884) represented the most notable surgeon of his generation and was honored with the title of "The Nestor of American Surgeon" by surgeon biographer Isaac Minis Hays. Of Pennsylvania Dutch stock, he was born on the family farm near Easton, Pennsylvania. He attended Wilkebarré Academy and Lawrenceville High School, noted private institutions of the day. He apprenticed under Doctor Joseph K. Swift of Easton and later with Professor George McClellan while in Philadelphia. In 1828, he graduated from Jefferson Medical College and remained for a short time in Philadelphia. Professor Gross focused his professional pursuits in the cities of Easton (1830-1833), Cincinnati (1833-1840), Louisville (1840-1856), and Philadelphia (1856-1882). He retired from Jefferson Medical College two years before his death in 1884. Samuel D. Gross' contributions to surgery were numerous and diverse. He was recognized as a prolific author of classic texts of pathology, surgery, and history, an educator, a leader, a surgical researcher, and a pioneer surgeon practitioner. His influence in national affairs was immense, and his recognition as a respected surgeon was unmatched. He remains the most distinguished surgeon of his times. History values him as a hard working, honest, highly competent, and committed individual. His capacity for work and his dedication to a single cause were unrivaled. Doctor Gross integrated the best that surgery could give to future generations of surgical professionals.

  8. Attitudes of Healthcare Students on Gross Anatomy Laboratory Sessions

    Science.gov (United States)

    Kawashiro, Yukiko; Anahara, Reiko; Kohno, Toshihiko; Mori, Chisato; Matsuno, Yoshiharu

    2009-01-01

    At Chiba University, gross anatomy laboratory sessions ("laboratories") are required for physical therapy students. Though most physical therapy schools require their students to participate in laboratories so that they will better understand the structure of the human body, few data exist on the value of these laboratories specifically…

  9. Uniqueness of Meromorphic Functions and Question of Gross

    Institute of Scientific and Technical Information of China (English)

    仪洪勋

    1994-01-01

    In this paper, we deal with the problem of uniqueness of meromorphic functions. It is shown that there exist two finite sets Sj (j=1, 2) such that any two nonconstant meromorphic functions f and g satisfying Ef(Sj)=Eg(Sj) for j = 1,2 must be identical, which answers a question posed by Gross.

  10. Interlimb Coordination: An Important Facet of Gross-Motor Ability

    Science.gov (United States)

    Bobbio, Tatiana; Gabbard, Carl; Cacola, Priscila

    2009-01-01

    Motor development attains landmark significance during early childhood. Although early childhood educators may be familiar with the gross-motor skill category, the subcategory of interlimb coordination needs greater attention than it typically receives from teachers of young children. Interlimb coordination primarily involves movements requiring…

  11. Barn music at St Donat's castle / Philip Gross

    Index Scriptorium Estoniae

    Gross, Philip, 1952-

    2011-01-01

    Muusikafestivalist "Vale of Glamorgan", mis oli 2010. a. pühendatud Arvo Pärdile. Eesti kammermuusikaansambli Resonabilis kavas oli ka festivali tellimusel valminud uelsi helilooja Gareth Peredur Churchilli "Vocable", mille teksti kirjutas Philip Gross. Festivalikontsertide muljeid leiab Grossi luuletsüklis "Barn music" (avaldatud samas ajakirjanumbris, lk. 42-43)

  12. 75 FR 15610 - Exclusions From Gross Income of Foreign Corporations

    Science.gov (United States)

    2010-03-30

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF THE TREASURY Internal Revenue Service 26 CFR Part 1 Exclusions From Gross Income of Foreign Corporations CFR Correction In Title 26 of the Code of Federal Regulations, Part 1 (Sec. Sec. 1.851 to 1.907), revised as...

  13. Gross Motor Development, Movement Abnormalities, and Early Identification of Autism

    Science.gov (United States)

    Ozonoff, Sally; Young, Gregory S.; Goldring, Stacy; Greiss-Hess, Laura; Herrera, Adriana M.; Steele, Joel; Macari, Suzanne; Hepburn, Susan; Rogers, Sally J.

    2008-01-01

    Gross motor development (supine, prone, rolling, sitting, crawling, walking) and movement abnormalities were examined in the home videos of infants later diagnosed with autism (regression and no regression subgroups), developmental delays (DD), or typical development. Group differences in maturity were found for walking, prone, and supine, with…

  14. Outcomes of a Rotational Dissection System in Gross Anatomy

    Science.gov (United States)

    Marshak, David W.; Oakes, Joanne; Hsieh, Pei-Hsuan; Chuang, Alice Z.; Cleary, Leonard J.

    2015-01-01

    At the University of Texas Houston Medical School, a rotational dissection system was introduced to improve coordination between the Gross Anatomy and the Introduction to Clinical Medicine (ICM) courses. Six students were assigned to each cadaver and divided into two teams. For each laboratory, one team was assigned to dissect and the other to…

  15. Strategic Improvements for Gross Anatomy Web-Based Teaching

    Directory of Open Access Journals (Sweden)

    David R. Marker

    2012-01-01

    Full Text Available Current generations of graduate students have been immersed in technology from their early school years and have high expectations regarding digital resources. To better meet the expectations of Gross Anatomy students at our institution, electronic radiology teaching files for first-year coursework were organized into a web site. The web site was custom designed to provide material that directly correlated to the Gross Anatomy dissection and lectures. Quick links provided sets of images grouped by anatomic location. Additionally, Lab and Study Companions provided specific material for the students to review prior to and after lectures and gross dissections. Student opinions of this education resource were compared to student opinions of the prior year’s digital teaching files. The new content was ranked as more user friendly (3.1 points versus 2.3 points and more useful for learning anatomy (3.3 points versus 2.6 points. Many students reported that using the web portal was critical in helping them to better understand relationships of anatomical structures. These findings suggest that a well-organized web portal can provide a user-friendly, valuable educational resource for medical students who are studying Gross Anatomy.

  16. Object crowding.

    Science.gov (United States)

    Wallace, Julian M; Tjan, Bosco S

    2011-05-25

    Crowding occurs when stimuli in the peripheral fields become harder to identify when flanked by other items. This phenomenon has been demonstrated extensively with simple patterns (e.g., Gabors and letters). Here, we characterize crowding for everyday objects. We presented three-item arrays of objects and letters, arranged radially and tangentially in the lower visual field. Observers identified the central target, and we measured contrast energy thresholds as a function of target-to-flanker spacing. Object crowding was similar to letter crowding in spatial extent but was much weaker. The average elevation in threshold contrast energy was in the order of 1 log unit for objects as compared to 2 log units for letters and silhouette objects. Furthermore, we examined whether the exterior and interior features of an object are differentially affected by crowding. We used a circular aperture to present or exclude the object interior. Critical spacings for these aperture and "donut" objects were similar to those of intact objects. Taken together, these findings suggest that crowding between letters and objects are essentially due to the same mechanism, which affects equally the interior and exterior features of an object. However, for objects defined with varying shades of gray, it is much easier to overcome crowding by increasing contrast.

  17. Performance Objectives

    Science.gov (United States)

    1978-12-01

    objectives may direct students’ learning (Duchastel and Merrill, 1973; Kapfer , 1970; Kibler et al., 1974), since such objectives may provide...matter learning. Journal of Educational Psychology, 62(1): 67-70 (1971). Kapfer , P. G. Behavioral objectives and the curriculum processor. Educational

  18. Dominating Manipulations in Voting with Partial Information

    CERN Document Server

    Conitzer, Vincent; Xia, Lirong

    2011-01-01

    We consider manipulation problems when the manipulator only has partial information about the votes of the nonmanipulators. Such partial information is described by an information set, which is the set of profiles of the nonmanipulators that are indistinguishable to the manipulator. Given such an information set, a dominating manipulation is a non-truthful vote that the manipulator can cast which makes the winner at least as preferable (and sometimes more preferable) as the winner when the manipulator votes truthfully. When the manipulator has full information, computing whether or not there exists a dominating manipulation is in P for many common voting rules (by known results). We show that when the manipulator has no information, there is no dominating manipulation for many common voting rules. When the manipulator's information is represented by partial orders and only a small portion of the preferences are unknown, computing a dominating manipulation is NP-hard for many common voting rules. Our results t...

  19. 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)....

  20. Effects of Neurodevelopmental Therapy on Gross Motor Function in Children with Cerebral Palsy

    Directory of Open Access Journals (Sweden)

    Sina LABAF

    2015-06-01

    Full Text Available Normal 0 false false false EN-US X-NONE AR-SA How to Cite This Article: labaf S, Shamsoddini A, Hollisaz MT, Sobhani V, Shakibaee A . Effects of Neurodevelopmental Therapy on Gross Motor Function in Children with Cerebral Palsy. Iran J Child Neurol. Spring 2015;9(1:37-42.AbstractObjectiveNeurodevelopmental treatments are an advanced therapeutic approach practiced by experienced occupational therapists for the rehabilitation of children with cerebral palsy. The primary challenge in children with cerebral palsy is gross motor dysfunction. We studied the effects of neurodevelopmental therapy on gross motor function in children with cerebral palsy.Materials & MethodsIn a quasi-experimental design, 28 children with cerebral palsy were randomly divided into two groups. Neurodevelopmental therapy was given to a first group (n=15 with a mean age of 4.9 years; and a second group with a mean age 4.4 years (n=13 who were the control group. All children were evaluated with the Gross Motor Function Measure. Treatments were scheduled for three - one-hour sessions per week for 3 months.ResultsWe obtained statistically significant differences in the values between the baseline and post treatment in two groups. The groups were significantly different in laying and rolling (P=0.000, sitting (0.002, crawling and kneeling (0.004, and standing abilities (P=0.005. However, there were no significantdifferences in walking, running, and jumping abilities between the two groups (0.090.ConclusionWe concluded that the neurodevelopmental treatment improved gross motor function in children with cerebral palsy in four dimensions (laying and rolling, sitting, crawling and kneeling, and standing. However, walking, running, and jumping did not improve significantly. /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-qformat:yes; mso

  1. Study of design and control of remote manipulators. Part 1: Summary and conclusions

    Science.gov (United States)

    Whitney, D. E.

    1973-01-01

    The long range objectives of the study of remote manipulators are discussed. The objectives discussed include: static and passive dynamic considerations in manipulator design; active control by man or man-computer combination; and integration of sensors, sensor control and displays.

  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. The Borda count and agenda manipulation

    OpenAIRE

    Michael Dummett

    1998-01-01

    A standard objection to the Borda count, as an actual voting procedure, is that it is subject to agenda manipulation. The classical example is the introduction, in order to favour a candidate or option y, of a new option z ranked on every voter's preference scale immediately below y; y may as a result obtain the highest Borda count, although, if z had not been introduced, a different option would have done so. Strategic use of this device is not greatly to be feared, but it does point to a de...

  4. COMMUNICATIVE EFFECT ACHIEVED THROUGH SPEECH ACTS OF MANIPULATION

    Directory of Open Access Journals (Sweden)

    Oksana Savvichna Grishechko

    2013-12-01

    Full Text Available Linguistic manipulation is a relatively new trend studies in the framework of pragmatics and generally defined as any verbal interaction viewed as goal-oriented and goal-preconditioned phenomenon. It is verbal communication described from the perspective of one of the speakers when he sees himself as a subject of manipulation, while his interlocutor plays the role of an object. Speech acts of manipulation expressed through a variety of utterances having a number of specific aims are used to directly or indirectly convey certain meanings. The article suggest a comprehensive analysis of linguistic means used to construct various types of manipulating and motivating speech acts aimed at conveying different tinges of meaning.

  5. PEMBUATAN PERANGKAT LUNAK WAVE MANIPULATOR UNTUK MEMANIPULASI FILE WAV

    Directory of Open Access Journals (Sweden)

    Ibnu Gunawan

    2005-01-01

    Full Text Available WAV File is a standard audio file used in Windows. Manipulation of WAV File can be done to obtain different output from the WAV File. These manipulation processes are made into an application that is capable to make changes on WAV File. WAVE Manipulator is an audio application used to change voice from audio files like WAV file. The objective of this project is to develop an application that can be used to change or give effect to the popular audio file known as WAV File using Borland Delphi 7. Application is designed using standard view to make it easier to use. The output of this research is a WAVE Manipulator Software that function as a tool to manipulate WAV File with the ability to choose part of sample for the manipulation, so that user can easily manipulate a WAV File. Abstract in Bahasa Indonesia : File WAV adalah file audio standar yang digunakan oleh Windows. Manipulasi file WAV bisa dilakukan untuk mendapatkan hasil suara yang berbeda-beda. Proses manipulasi file WAV tersebut akan dikemas menjadi suatu applikasi yang akan mampu melakukan perubahan-perubahan pada file WAV. WAVE Manipulator adalah nama dari suatu aplikasi audio yang akan dibuat untuk mengubah hasil suara dari file-file audio seperti file WAV. Tujuan dari pembuatan perangkat lunak ini adalah untuk membangun suatu aplikasi yang dapat digunakan untuk mengubah atau memberi efek pada file WAV yang merupakan salah satu file audio yang sangat dikenal dengan menggunakan Borland Delphi 7. Hasil dari penelitian ini adalah sebuah perangkat lunak yang bernama WAVE Manipulator yang akan berguna untuk melakukan manipulasi pada file WAV dilengkapi dengan kemampuan untuk menentukan bagian dari sample yang akan dimanipulasi dan lainnya untuk memudahkan pemakai program dalam melakukan manipulasi file WAV. Kata kunci: manipulasi, WAV, WAVE

  6. Agile Objects

    Science.gov (United States)

    German, Senta; Harris, Jim

    2017-01-01

    In this article, the authors argue that the art-historical canon, however it is construed, has little relevance to the selection of objects for museum-based teaching. Their contention is that all objects are fundamentally agile and capable of interrogation from any number of disciplinary standpoints, and that the canon of museum education,…

  7. The Effect of Resistance Training on Performance of Gross Motor Skills and Balance in Children with Spastic Cerebral Palsy

    Directory of Open Access Journals (Sweden)

    Ebrahim Zarrinkalam

    2016-03-01

    Full Text Available Objective: Cerebral palsy is the most common chronic motor disability in children and can have negative effect on motor functions. The purpose of this study was to investigate the effect of eight weeks resistance training on gross motor ability, balance and walking speed in a group of such children. Methods: 21 cerebral palsy boys with spastic diplegia, aged between 12 and 16 years (mean, 13.66 years, participated in this study. A pre-test, involving walking, sitting, standing and walking up stairs. They were randomly divided into an experimental and control groups. Then, the experimental group participated in 8 weeks of resistance training.  The data was attained from a 10 meter walk test, Berg Balance Test, gross motor ability Section E, D and GMFCS tests.  Kolmogorov-Smirnov test, sample t-test were used for analyzing the data. Results: The results showed a significant improvement in the performance of experimental group in gross motor abilities section  E and D, balance and walking speed after 8 weeks of resistance training (P <0.05(. However, significant differences were not observed in the control group before and after the study (P <0.05.  Conclusion: The results showed that resistance training improves gross motor ability, balance and gait in children with cerebral palsy hence, it is recommended that resistance exercise be used as a therapeutic modality for children with cerebral palsy.

  8. The relationship between spasticity in young children (18 months of age with cerebral palsy and their gross motor function development

    Directory of Open Access Journals (Sweden)

    Verschuren Olaf

    2009-09-01

    Full Text Available Abstract Background It is thought that spasticity has an influence on the development of functional motor abilities among children with cerebral palsy (CP. The extent to which spasticity is associated with the change in motor abilities in young children with CP has not been established. The objective of this study is to evaluate the relationship of initial spasticity in young children with CP and their gross motor function development over one year. Methods Fifty children with CP aged 18 months, GMFCS-levels I-V participated in a longitudinal observational study. Change in gross motor functioning (GMFM-66 was measured over one year. The level of spasticity measured at the first assessment was determined with the Modified Tardieu Scale in three muscle groups of the lower extremity (adductor muscles, the hamstrings and the m. gastrocnemius. The Spasticity Total Score per child was calculated with a maximum score of 12 points. Results Spearman's Rho Correlation (-0.28 revealed a statistically significant relationship (p Conclusion Our findings indicate that when measured over one year, spasticity is marginally related to gross motor function development in infants with CP. The initial level of spasticity is only one of the many child, environmental and family factors that determines gross motor development of a young child with CP.

  9. Vast Portfolio Selection with Gross-exposure Constraints*

    Science.gov (United States)

    Fan, Jianqing; Zhang, Jingjin; Yu, Ke

    2012-01-01

    We introduce the large portfolio selection using gross-exposure constraints. We show that with gross-exposure constraint the empirically selected optimal portfolios based on estimated covariance matrices have similar performance to the theoretical optimal ones and there is no error accumulation effect from estimation of vast covariance matrices. This gives theoretical justification to the empirical results in Jagannathan and Ma (2003). We also show that the no-short-sale portfolio can be improved by allowing some short positions. The applications to portfolio selection, tracking, and improvements are also addressed. The utility of our new approach is illustrated by simulation and empirical studies on the 100 Fama-French industrial portfolios and the 600 stocks randomly selected from Russell 3000. PMID:23293404

  10. Vast Portfolio Selection with Gross-exposure Constraints().

    Science.gov (United States)

    Fan, Jianqing; Zhang, Jingjin; Yu, Ke

    2012-01-01

    We introduce the large portfolio selection using gross-exposure constraints. We show that with gross-exposure constraint the empirically selected optimal portfolios based on estimated covariance matrices have similar performance to the theoretical optimal ones and there is no error accumulation effect from estimation of vast covariance matrices. This gives theoretical justification to the empirical results in Jagannathan and Ma (2003). We also show that the no-short-sale portfolio can be improved by allowing some short positions. The applications to portfolio selection, tracking, and improvements are also addressed. The utility of our new approach is illustrated by simulation and empirical studies on the 100 Fama-French industrial portfolios and the 600 stocks randomly selected from Russell 3000.

  11. Gross-Pitaevski map as a chaotic dynamical system

    Science.gov (United States)

    Guarneri, Italo

    2017-03-01

    The Gross-Pitaevski map is a discrete time, split-operator version of the Gross-Pitaevski dynamics in the circle, for which exponential instability has been recently reported. Here it is studied as a classical dynamical system in its own right. A systematic analysis of Lyapunov exponents exposes strongly chaotic behavior. Exponential growth of energy is then shown to be a direct consequence of rotational invariance and for stationary solutions the full spectrum of Lyapunov exponents is analytically computed. The present analysis includes the "resonant" case, when the free rotation period is commensurate to 2 π , and the map has countably many constants of the motion. Except for lowest-order resonances, this case exhibits an integrable-chaotic transition.

  12. The San Andreas fault experiment. [gross tectonic plates relative velocity

    Science.gov (United States)

    Smith, D. E.; Vonbun, F. O.

    1973-01-01

    A plan was developed during 1971 to determine gross tectonic plate motions along the San Andreas Fault System in California. Knowledge of the gross motion along the total fault system is an essential component in the construction of realistic deformation models of fault regions. Such mathematical models will be used in the future for studies which will eventually lead to prediction of major earthquakes. The main purpose of the experiment described is the determination of the relative velocity of the North American and the Pacific Plates. This motion being so extremely small, cannot be measured directly but can be deduced from distance measurements between points on opposite sites of the plate boundary taken over a number of years.

  13. GLOBALIZATION AND GROSS DOMESTIC PRODUCT CONSTRUCTION IN ASEAN

    Directory of Open Access Journals (Sweden)

    Muhammad Sri Wahyudi Suliswanto

    2011-09-01

    Full Text Available There is no more doubt about the importance of economic growth, which can be calculated fromGross Domestic Product (GDP. This research analyzes the role of globalization on GDP inASEAN-5 by estimating panel data. It uses a fixed effect approach to accommodate various characteristicsin the countries. To accommodate such variation, it assumes that the intercepts variesacross these countries, while the slopes remain similar. Based on the estimation result, it suggeststhat net export and foreign direct investment represent the globalization process. Both have positiveand significant influences on GDP in the corresponding countries.Keywords: Globalization, international trade, foreign direct investment, gross domestic productJEL classification numbers: E01, F51, F43

  14. PREDICTION OF GROSS FEED EFFICIENCY IN ITALIAN HOLSTEIN FRIESIAN BULLS

    Directory of Open Access Journals (Sweden)

    Raffaella Finocchiaro

    2015-09-01

    Full Text Available The aim of this study was to predict gross feed efficiency of Italian Holstein Friesian bulls selected for production, functional and type traits. A total of 12,238 bulls, from the April 2015 genetic evaluation, were used. Predicted daily gross feed efficiency (pFE was obtained as ratio between milk yield (MY and predicted dry matter intake (pDMI. Phenotypic trend for MY, predicted body weight (pBW and pFE were calculated by the bull birth year. The results suggest that pFE can be successfully selected to increase profitability of dairy cattle using the current milk recording system. Direct measurements on DMI should be considered to confirm results of pFE obtained in the present study.

  15. Selective Manipulation of Neural Circuits.

    Science.gov (United States)

    Park, Hong Geun; Carmel, Jason B

    2016-04-01

    Unraveling the complex network of neural circuits that form the nervous system demands tools that can manipulate specific circuits. The recent evolution of genetic tools to target neural circuits allows an unprecedented precision in elucidating their function. Here we describe two general approaches for achieving circuit specificity. The first uses the genetic identity of a cell, such as a transcription factor unique to a circuit, to drive expression of a molecule that can manipulate cell function. The second uses the spatial connectivity of a circuit to achieve specificity: one genetic element is introduced at the origin of a circuit and the other at its termination. When the two genetic elements combine within a neuron, they can alter its function. These two general approaches can be combined to allow manipulation of neurons with a specific genetic identity by introducing a regulatory gene into the origin or termination of the circuit. We consider the advantages and disadvantages of both these general approaches with regard to specificity and efficacy of the manipulations. We also review the genetic techniques that allow gain- and loss-of-function within specific neural circuits. These approaches introduce light-sensitive channels (optogenetic) or drug sensitive channels (chemogenetic) into neurons that form specific circuits. We compare these tools with others developed for circuit-specific manipulation and describe the advantages of each. Finally, we discuss how these tools might be applied for identification of the neural circuits that mediate behavior and for repair of neural connections.

  16. Determinants of gross motor skill performance in children with visual impairments.

    Science.gov (United States)

    Haibach, Pamela S; Wagner, Matthias O; Lieberman, Lauren J

    2014-10-01

    Children with visual impairments (CWVI) generally perform poorer in gross motor skills when compared with their sighted peers. This study examined the influence of age, sex, and severity of visual impairment upon locomotor and object control skills in CWVI. Participants included 100 CWVI from across the United States who completed the Test of Gross Motor Development II (TGMD-II). The TGMD-II consists of 12 gross motor skills including 6 object control skills (catching, kicking, striking, dribbling, throwing, and rolling) and 6 locomotor skills (running, sliding, galloping, leaping, jumping, and hopping). The full range of visual impairments according to United States Association for Blind Athletes (USABA; B3=20/200-20/599, legally blind; B2=20/600 and up, travel vision; B1=totally blind) were assessed. The B1 group performed significantly worse than the B2 (0.000 ≤ p ≤ 0.049) or B3 groups (0.000 ≤ p ≤ 0.005); however, there were no significant differences between B2 and B3 except for the run (p=0.006), catch (p=0.000), and throw (p=0.012). Age and sex did not play an important role in most of the skills, with the exception of boys outperforming girls striking (p=0.009), dribbling (p=0.013), and throwing (p=0.000), and older children outperforming younger children in dribbling (p=0.002). The significant impact of the severity of visual impairment is likely due to decreased experiences and opportunities for children with more severe visual impairments. In addition, it is likely that these reduced experiences explain the lack of age-related differences in the CWVI. The large disparities in performance between children who are blind and their partially sighted peers give direction for instruction and future research. In addition, there is a critical need for intentional and specific instruction on motor skills at a younger age to enable CWVI to develop their gross motor skills.

  17. Gross efficiency and energy expenditure in kayak ergometer exercise.

    Science.gov (United States)

    Gomes, B B; Mourão, L; Massart, A; Figueiredo, P; Vilas-Boas, J P; Santos, A M C; Fernandes, R J

    2012-08-01

    We purposed to study energy expenditure, power output and gross efficiency during kayak ergometer exercise in 12 elite sprint kayakers. 6 males (age 24.2±4.8 years, height 180.4±4.8 cm, body mass 79.7±8.5 kg) and 6 females (age 24.3±4.5 years, height 164.5±3.9 cm, body mass 65.4±3.5 kg), performed an incremental intermittent protocol on kayak ergometer with VO2 and blood lactate concentration assessment, a non-linear increase between power output and energy expenditure being observed. Paddling power output, energy expenditure and gross efficiency corresponding to VO2max averaged 199.92±50.41 W, 75.27±6.30 ml.kg - 1.min - 1, and 10.10±1.08%. Male kayakers presented higher VO2max, power output and gross efficiency at the VO2max, and lower heart rate and maximal lactate concentration than females, but no differences were found between genders regarding energy expenditure at VO2max. Aerobic and anaerobic components of energy expenditure evidenced a significant contribution of anaerobic energy sources in sprint kayak performance. Results also suggested the dependence of the gross efficiency on the changes in the amount of the aerobic and anaerobic contributions, at heavy and severe intensities. The inter-individual variance of the relationship between energy expenditure and the corresponding paddling power output revealed a relevant tracking for females (FDγ=0.73±0.06), conversely to the male group (FDγ=0.27±0.08), supporting that some male kayakers are more skilled in some paddling intensities than others.

  18. Constructive Renormalization of 2-dimensional Grosse-Wulkenhaar Model

    CERN Document Server

    Wang, Zhituo

    2012-01-01

    In this talk we briefly report the recent work on the construction of the 2-dimensional Grosse-Wulkenhaar model with the method of loop vertex expansion. We treat renormalization with this new tool, adapt Nelson's argument and prove Borel summability of the perturbation series. This is the first non-commutative quantum field theory model to be built in a non-perturbative sense.

  19. Transfer of learned manipulation following changes in degrees of freedom.

    Science.gov (United States)

    Fu, Qiushi; Hasan, Ziaul; Santello, Marco

    2011-09-21

    The present study was designed to determine whether manipulation learned with a set of digits can be transferred to grips involving a different number of digits, and possible mechanisms underlying such transfer. The goal of the task was to exert a torque and vertical forces on a visually symmetrical object at object lift onset to balance the external torque caused by asymmetrical mass distribution. Subjects learned this manipulation through consecutive practice using one grip type (two or three digits), after which they performed the same task but with another grip type (e.g., after adding or removing one digit, respectively). Subjects were able to switch grip type without compromising the behavioral outcome (i.e., the direction, timing, and magnitude of the torque exerted on the object was unchanged), despite the use of significantly different digit force-position coordination patterns in the two grip types. Our results support the transfer of learning for anticipatory control of manipulation and indicate that the CNS forms an internal model of the manipulation task independent of the effectors that are used to learn it. We propose that sensory information about the new digit placement--resulting from adding or removing a digit immediately after the switch in grip type--plays an important role in the accurate modulation of new digit force distributions. We discuss our results in relation to studies of manipulation reporting lack of learning transfer and propose a theoretical framework that accounts for failure or success of motor learning generalization.

  20. 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…

  1. Advanced manipulation for autonomous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Babcock, S.M.; Hamel, W.R.; Killough, S.M.

    1986-01-01

    This paper describes the development, mechanical configuration, and control system architecture of a lightweight, high performance, seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research (CESAR). Current activities focusing on modeling and parameter identification will provide a well-characterized manipulator for analytical and experimental research in manipulator dynamics and controls, coordinated manipulation, and autonomous mobile robotics.

  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. Concurrency Control Mechanism of Complex Objects

    Institute of Scientific and Technical Information of China (English)

    徐庆云; 王能斌

    1992-01-01

    A complex object is an abstraction and description of a complex entity of the real world.Many applications in such domains as CIMS,CAD and OA define and manipulate a complex object as a single unit.In this paper,a definition of the model of complex objects is given,and the concurrency control mechanism of complex objects in WHYMX object-oriented database system is described.

  4. Relation between hand function and gross motor function in full term infants aged 4 to 8 months

    OpenAIRE

    Nogueira, Solange F.; Figueiredo,Elyonara M.; Rejane V. Gonçalves; Marisa C. Mancini

    2015-01-01

    Background: In children, reaching emerges around four months of age, which is followed by rapid changes in hand function and concomitant changes in gross motor function, including the acquisition of independent sitting. Although there is a close functional relationship between these domains, to date they have been investigated separately. Objective: To investigate the longitudinal profile of changes and the relationship between the development of hand function (i.e. reaching for and manipulat...

  5. Der Körper im Spannungsfeld der Blicke: Eakins und seine Betrachter in The Gross Clinic (1875

    Directory of Open Access Journals (Sweden)

    Scheitzeneder, Franziska

    2005-01-01

    Full Text Available The presentation that was part of the student symposium 'American Visual Culture-Images and Interpretations' approaches Thomas Eakins' painting with an interest in the manifold modes of viewing that are inherent within the realm of the work itself-and which imply and address the viewer in a peculiar manner. A further aim is to disentangle the powerful and painful relationship of the view and the body as its object that is established in The Gross Clinic.

  6. Adaptive output stabilization of manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Colbaugh, R.; Glass, K.; Barany, E. [New Mexico State Univ., Las Cruces, NM (United States)

    1994-12-31

    This paper considers the position regulation problem for rigid robots for the case in which only joint position measurements are available, and proposes two adaptive controllers as solutions to this problem. The first controller is developed by assuming that the structure of the vector of gravity torques is known, but that the inertial parameters for the manipulator and payload are unknown; it is shown that this scheme ensures semiglobal stability and convergence of the position error to zero. Alternatively, the second adaptive strategy is derived under the assumption that no information is available concerning the manipulator model, and in this case it is shown that the controller provides uniform boundedness of all signals and exponential convergence of the position error to a set which can be made arbitrarily small. Experimental results are presented for a Zebra Zero manipulator and demonstrate that the proposed approach provides a simple and effective means of obtaining high performance position regulation.

  7. Manipulating complex light with metamaterials.

    Science.gov (United States)

    Zeng, Jinwei; Wang, Xi; Sun, Jingbo; Pandey, Apra; Cartwright, Alexander N; Litchinitser, Natalia M

    2013-10-02

    Recent developments in the field of metamaterials have revealed unparalleled opportunities for "engineering" space for light propagation; opening a new paradigm in spin- and quantum-related phenomena in optical physics. Here we show that unique optical properties of metamaterials (MMs) open unlimited prospects to "engineer" light itself. We propose and demonstrate for the first time a novel way of complex light manipulation in few-mode optical fibers using optical MMs. Most importantly, these studies highlight how unique properties of MMs, namely the ability to manipulate both electric and magnetic field components of electromagnetic (EM) waves, open new degrees of freedom in engineering complex polarization states of light at will, while preserving its orbital angular momentum (OAM) state. These results lay the first steps in manipulating complex light in optical fibers, likely providing new opportunities for high capacity communication systems, quantum information, and on-chip signal processing.

  8. 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.

  9. Trusted Objects

    Energy Technology Data Exchange (ETDEWEB)

    CAMPBELL,PHILIP L.; PIERSON,LYNDON G.; WITZKE,EDWARD L.

    1999-10-27

    In the world of computers a trusted object is a collection of possibly-sensitive data and programs that can be allowed to reside and execute on a computer, even on an adversary's machine. Beyond the scope of one computer we believe that network-based agents in high-consequence and highly reliable applications will depend on this approach, and that the basis for such objects is what we call ''faithful execution.''

  10. Object theatre

    DEFF Research Database (Denmark)

    Ryöppy, Merja; Heiberg, Andreas

    2015-01-01

    possibilities to emerge. We present a study in which the Object Theatre approach is applied to redesign socially shared everyday products that are located in public places. This project demonstrates how Object Theatre offers a broad perspective form which to explore and present product interactions....... In particular, it emphasises the understanding of a product by relating and changing perspectives, and takes into account context of use and diverse social settings....

  11. New techniques on embryo manipulation.

    Science.gov (United States)

    Escribá, M J; Valbuena, D; Remohí, J; Pellicer, A; Simón, C

    2002-01-01

    For many years, experience has been accumulated on embryo and gamete manipulation in livestock animals. The present work is a review of these techniques and their possible application in human embryology in specific cases. It is possible to manipulate gametes at different levels, producing paternal or maternal haploid embryos (hemicloning), using different techniques including nuclear transfer. At the embryonic stage, considering practical, ethical and legal issues, techniques will be reviewed that include cloning and embryo splitting at the cleavage stage, morula, or blastocyst stage.

  12. Landscape History of Grosses Moos, NW Swiss Alpine Foreland.

    Science.gov (United States)

    Joanna Heer, Aleksandra; Adamiec, Grzegorz; Veit, Heinz; May, Jan-Hendrik; Novenko, Elena; Hajdas, Irka

    2017-04-01

    The western Swiss Plateau with Lake Neuchâtel is part of the alpine foreland and among the key areas for the reconstruction of environmental changes since the last postglacial. This study was carried out in a landscape located NE of the lake and called Grosses Moos (The Large Fen) - currently designated the Swiss largest, continuous farming area, after the fen was drained in course of landscape engineering projects performed in Switzerland at the end of the 19th century. The study contributes new results from nine excavations of littoral ridges identified in Grosses Moos, and integrates sedimentology, paleo-environmental analysis and three independent chronological methods. Radiocarbon dating, pollen analysis and optically stimulated luminescence (OSL) were applied to the sediments. While pollen and radiocarbon follow the standard procedures, the evaluation of the luminescence age estimates demanded adjustment according to the physical and microdosimetric properties of the alpine quartz, and consideration of the peculiarities of the changing littoral environments of Grosses Moos. The Grosses Moos landscape developed on the temporary surface of the post-Last Glacial sedimentary infill of the over-deepened glacial Aare valley. In this study the landscape history has been fitted into the existing supraregional time scales of NGRIP, the Swiss bio-zones system and the human history based on archaeological and historic records and covers a time span of up to 15'000 yr b2k. The wide-ranging suite of geomorphic features and sedimentary sequences, including littoral lake sediments, beach ridges, dunes, palaeo-channels, peat and colluvial deposits, enable the extensive reconstruction of spatially and temporally variable natural shaping processes. In addition, our results indicate remobilization of soil, colluvium, and sediment due to human settlement activities since the Neolithic - with an important increase in sediment load and spatial variability since the Bronze Age

  13. Participation in asynchronous online discussion forums does improve student learning of gross anatomy.

    Science.gov (United States)

    Green, Rodney A; Farchione, Davide; Hughes, Diane L; Chan, Siew-Pang

    2014-01-01

    Asynchronous online discussion forums are common in blended learning models and are popular with students. A previous report has suggested that participation in these forums may assist student learning in a gross anatomy subject but it was unclear as to whether more academically able students post more often or whether participation led to improved learning outcomes. This study used a path model to analyze the contribution of forum participation, previous academic ability, and student campus of enrolment to final marks in a multicampus gross anatomy course for physiotherapy students. The course has a substantial online learning management system (LMS) that incorporates asynchronous forums as a learning tool, particularly to answer learning objectives. Students were encouraged to post new threads and answer queries in threads started by others. The forums were moderated weekly by staff. Discussion forums were the most used feature of the LMS site with 31,920 hits. Forty-eight percent of the students posted at least once with 186 threads initiated by students and a total of 608 posts. The total number of posts made a significant direct contribution to final mark (P = 0.008) as did previous academic ability (P = 0.002). Although campus did not contribute to final mark, there was a trend for students at the campus where the course coordinator was situated to post more often than those at the other campus (P = 0.073). These results indicate that asynchronous online discussion forums can be an effective tool for improving student learning outcomes as evidenced by final marks in gross anatomy teaching.

  14. Degeneration of the long biceps tendon: comparison of MRI with gross anatomy and histology.

    Science.gov (United States)

    Buck, Florian M; Grehn, Holger; Hilbe, Monika; Pfirrmann, Christian W A; Manzanell, Silvana; Hodler, Jürg

    2009-11-01

    The objective of our study was to relate alterations in biceps tendon diameter and signal on MR images to gross anatomy and histology. T1-weighted, T2-weighted fat-saturated, and proton density-weighted fat-saturated spin-echo sequences were acquired in 15 cadaveric shoulders. Biceps tendon diameter (normal, flattened, thickened, and partially or completely torn) and signal intensity (compared with bone, fat, muscle, and joint fluid) were graded by two readers independently and in a blinded fashion. The distance of tendon abnormalities from the attachment at the glenoid were noted in millimeters. MRI findings were related to gross anatomic and histologic findings. On the basis of gross anatomy, there were six normal, five flattened, two thickened, and two partially torn tendons. Reader 1 graded nine diameter changes correctly, missed two, and incorrectly graded four. The corresponding values for reader 2 were seven, one, and five, respectively, with kappa = 0.75. Histology showed mucoid degeneration (n = 13), lipoid degeneration (n = 7), and fatty infiltration (n = 6). At least one type of abnormality was found in each single tendon. Mucoid degeneration was hyperintense compared with fatty infiltration on T2-weighted fat-saturated images and hyperintense compared with magic-angle artifacts on proton density-weighted fat-saturated images. MRI-based localization of degeneration agreed well with histologic findings. Diameter changes are specific but not sensitive in diagnosing tendinopathy of the biceps tendon. Increased tendon signal is most typical for mucoid degeneration but should be used with care as a sign of tendon degeneration.

  15. Evaluating dissection in the gross anatomy course: Correlation between quality of laboratory dissection and students outcomes.

    Science.gov (United States)

    Nwachukwu, Chika; Lachman, Nirusha; Pawlina, Wojciech

    2015-01-01

    Anatomy learned by active exploration through dissection has many proven benefits including improvement of anatomic knowledge. Decreased laboratory time may affect the quality of dissection and ultimately lower student performance in anatomy translating to lower knowledge acquisition. The aim of this study was to determine whether the quality of students' dissection in teams correlates with their performance in the gross anatomy course. Quality of dissections for each team enrolled in a gross anatomy course at Mayo Medical School was evaluated biweekly using a five-point rubric based on course learning objectives. Assessment of anatomic knowledge was based on sequential laboratory practice practical examination scores, achievements on daily audience response system (ARS) quizzes, and final practical, written, and National Board of Medical Examiners(®) (NBME(®) ) Gross Anatomy and Embryology Subject Examinations. Twelve teams comprising 48 students were included in the study. There was a positive correlation between dissection quality and practice practical examination score (R = 0.83) and a negative correlation between dissection quality and ARS quizzes (R = -0.985). Dissection teams with a passing score on their dissection evaluations (>70%) performed better on their final examinations. Based on an end of course survey, students agreed that dissection evaluations should continue to be a part of the course. This study showed that better quality of dissection was associated with higher scores on practice practical examinations, final practical, written, and NBME examinations. The study demonstrated a positive correlation between dissection evaluations, accompanied by formative feedback during the course, and higher scores on final course assessments.

  16. 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.

  17. Control landscape for ultrafast manipulation by a qubit

    Science.gov (United States)

    Pechen, Alexander; Il'in, Nikolay

    2017-02-01

    In this work we study extrema of objective functionals for ultrafast manipulation by a qubit. Traps are extrema of the objective functionals which are optimal for manipulation by quantum systems only locally, not globally. Prior work has devoted a large amount of effort to the analysis of traps for quantum systems controlled by laser pulses which are long enough, and, for example, manipulation by a qubit with long control pulses was shown to be trap-free. Ultrafast femtosecond and attosecond control has now become widely applicable, which makes the analysis of traps on the ultrafast time scale a necessity. We complete such analysis for a qubit and show that ultrafast state transfer in a qubit remains trap-free for a wide range of the initial and final states of the qubit. We prove that for this range the probability of transition between the initial and the final states has a saddle but no traps.

  18. Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-10-15

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

  19. Forces at the Main Mechanism of a Railbound Forging Manipulator

    Directory of Open Access Journals (Sweden)

    Florian Ion Tiberiu Petrescu

    2015-12-01

    Full Text Available Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper we determine the driving forces of the main mechanism from such manipulator. Forces diagram shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. Hydraulic drives are with the lifting hydraulic cylinder, the buffer hydraulic cylinder and the leaning hydraulic cylinder, which are individually denoted by c1, c2 and c3. In this work considering that the kinematics is being solved it determines the forces of the mechanism. In the first place shall be calculated all external forces from the mechanism (The inertia forces, gravitational forces and the force of the weight of the cast part. Is then calculated all the forces from couplers. 

  20. 26 CFR 1.927(b)-1T - Temporary regulations; Definition of gross receipts.

    Science.gov (United States)

    2010-04-01

    ... 26 Internal Revenue 10 2010-04-01 2010-04-01 false Temporary regulations; Definition of gross...(b)-1T Temporary regulations; Definition of gross receipts. (a) General rule. Under section 927(b.... The FSC's gross receipts for purposes of computing its profit under the administrative pricing...

  1. The relationship between gross motor skills and academic achievement in children with learning disabilities

    NARCIS (Netherlands)

    Westendorp, Marieke; Hartman, Esther; Houwen, Suzanne; Smith, Joanne; Visscher, Chris

    2011-01-01

    The present study compared the gross motor skills of 7- to 12-year-old children with learning disabilities (n = 104) with those of age-matched typically developing children (n = 104) using the Test of Gross Motor Development-2. Additionally, the specific relationships between subsets of gross motor

  2. 46 CFR 130.110 - Internal communications on OSVs of less than 100 gross tons.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Internal communications on OSVs of less than 100 gross... Internal communications on OSVs of less than 100 gross tons. Each vessel of less than 100 gross tons... have a fixed means of communication between the pilothouse and the place where the auxiliary means...

  3. The relationship between gross motor skills and academic achievement in children with learning disabilities

    NARCIS (Netherlands)

    Westendorp, Marieke; Hartman, Esther; Houwen, Suzanne; Smith, Joanne; Visscher, Chris

    2011-01-01

    The present study compared the gross motor skills of 7- to 12-year-old children with learning disabilities (n = 104) with those of age-matched typically developing children (n = 104) using the Test of Gross Motor Development-2. Additionally, the specific relationships between subsets of gross motor

  4. 26 CFR 1.872-1 - Gross income of nonresident alien individuals.

    Science.gov (United States)

    2010-04-01

    ... 26 Internal Revenue 9 2010-04-01 2010-04-01 false Gross income of nonresident alien individuals. 1...) INCOME TAX (CONTINUED) INCOME TAXES Nonresident Aliens and Foreign Corporations § 1.872-1 Gross income of nonresident alien individuals. (a) In general—(1) Inclusions. The gross income of a nonresident...

  5. 26 CFR 20.2031-1 - Definition of gross estate; valuation of property.

    Science.gov (United States)

    2010-04-01

    ..., except that if the executor elects the alternate valuation method under section 2032, it is the fair... 26 Internal Revenue 14 2010-04-01 2010-04-01 false Definition of gross estate; valuation of... § 20.2031-1 Definition of gross estate; valuation of property. (a) Definition of gross estate. Except...

  6. 26 CFR 1.924(a)-1T - Temporary regulations; definition of foreign trading gross receipts.

    Science.gov (United States)

    2010-04-01

    ... trading gross receipts. 1.924(a)-1T Section 1.924(a)-1T Internal Revenue INTERNAL REVENUE SERVICE... United States § 1.924(a)-1T Temporary regulations; definition of foreign trading gross receipts. (a) In general. The term “foreign trading gross receipts” means any of the five amounts described in...

  7. The sensorimotor system minimizes prediction error for object lifting when the object's weight is uncertain.

    Science.gov (United States)

    Brooks, Jack; Thaler, Anne

    2017-08-01

    A reliable mechanism to predict the heaviness of an object is important for manipulating an object under environmental uncertainty. Recently, Cashaback et al. (Cashaback JGA, McGregor HR, Pun HCH, Buckingham G, Gribble PL. J Neurophysiol 117: 260-274, 2017) showed that for object lifting the sensorimotor system uses a strategy that minimizes prediction error when the object's weight is uncertain. Previous research demonstrates that visually guided reaching is similarly optimized. Although this suggests a unified strategy of the sensorimotor system for object manipulation, the selected strategy appears to be task dependent and subject to change in response to the degree of environmental uncertainty. Copyright © 2017 the American Physiological Society.

  8. Optical manipulation of valley pseudospin

    Science.gov (United States)

    Ye, Ziliang; Sun, Dezheng; Heinz, Tony F.

    2017-01-01

    The coherent manipulation of spin and pseudospin underlies existing and emerging quantum technologies, including quantum communication and quantum computation. Valley polarization, associated with the occupancy of degenerate, but quantum mechanically distinct valleys in momentum space, closely resembles spin polarization and has been proposed as a pseudospin carrier for the future quantum electronics. Valley exciton polarization has been created in the transition metal dichalcogenide monolayers using excitation by circularly polarized light and has been detected both optically and electrically. In addition, the existence of coherence in the valley pseudospin has been identified experimentally. The manipulation of such valley coherence has, however, remained out of reach. Here we demonstrate all-optical control of the valley coherence by means of the pseudomagnetic field associated with the optical Stark effect. Using below-bandgap circularly polarized light, we rotate the valley exciton pseudospin in monolayer WSe2 on the femtosecond timescale. Both the direction and speed of the rotation can be manipulated optically by tuning the dynamic phase of excitons in opposite valleys. This study unveils the possibility of generation, manipulation, and detection of the valley pseudospin by coupling to photons.

  9. 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…

  10. How to manipulate the microbiota

    NARCIS (Netherlands)

    Fuentes Enriquez de Salamanca, Susana; Vos, de Willem M.

    2016-01-01

    Fecal microbiota transplantation (FMT) is a rather straightforward therapy that manipulates the human gastrointestinal (GI) microbiota, by which a healthy donor microbiota is transferred into an existing but disturbed microbial ecosystem. This is a natural process that occurs already at birth; in

  11. Manipulating Genetic Material in Bacteria

    Science.gov (United States)

    1998-01-01

    Lisa Crawford, a graduate research assistant from the University of Toledo, works with Laurel Karr of Marshall Space Flight Center (MSFC) in the molecular biology laboratory. They are donducting genetic manipulation of bacteria and yeast for the production of large amount of desired protein. Photo credit: NASA/Marshall Space Flight Center (MSFC)

  12. How to manipulate the microbiota

    NARCIS (Netherlands)

    Fuentes Enriquez de Salamanca, Susana; Vos, de Willem M.

    2016-01-01

    Fecal microbiota transplantation (FMT) is a rather straightforward therapy that manipulates the human gastrointestinal (GI) microbiota, by which a healthy donor microbiota is transferred into an existing but disturbed microbial ecosystem. This is a natural process that occurs already at birth; in

  13. 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…

  14. Adaptive Control Of Remote Manipulator

    Science.gov (United States)

    Seraji, Homayoun

    1989-01-01

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

  15. DYMAFLEX: DYnamic Manipulation FLight EXperiment

    Science.gov (United States)

    2013-09-03

    Moosavian. Learning- based Modified Transpose Jacobian control of robotic manipulators. In Proc. IEEE Conf. on Advanced Intelligent Mechatronics , pages...34Path planning for minimizing base reaction of space robot and its ground experimental study," in IEEE International Conference on Mechatronics

  16. Fashion Objects

    DEFF Research Database (Denmark)

    Andersen, Bjørn Schiermer

    2009-01-01

    This article attempts to create a framework for understanding modern fashion phenomena on the basis of Durkheim's sociology of religion. It focuses on Durkheim's conception of the relation between the cult and the sacred object, on his notion of 'exteriorisation', and on his theory of the social...... symbol in an attempt to describe the peculiar attraction of the fashion object and its social constitution. However, Durkheim's notions of cult and ritual must undergo profound changes if they are to be used in an analysis of fashion. The article tries to expand the Durkheimian cult, radically enlarging...... it without totally dispersing it; depicting it as held together exclusively by the sheer 'force' of the sacred object. Firstly, the article introduces the themes and problems surrounding Durkheim's conception of the sacred. Next, it briefly sketches an outline of fashion phenomena in Durkheimian categories...

  17. Teleoperation of a robot manipulator from 3D human hand-arm motion

    Science.gov (United States)

    Kofman, Jonathan; Verma, Siddharth; Wu, Xianghai; Luu, Timothy

    2003-10-01

    The control of a robot manipulator by a human operator is often necessary in unstructured dynamic environments with unfamiliar objects. Remote teleoperation is required when human presence at the robot site is undesirable or difficult, such as in handling hazardous materials and operating in dangerous or inaccessible environments. Previous approaches have employed mechanical or other contacting interfaces which require unnatural motions for object manipulation tasks or hinder dexterous human motion. This paper presents a non-contacting method of teleoperating a robot manipulator by having the human operator perform the 3D human hand-arm motion that would naturally be used to compete an object manipulation task and tracking the motion with a stereo-camera system at a local site. The 3D human hand-arm motion is reconstructed at the remote robot site and is used to control the position and orientation of the robot manipulator end-effector in real-time. Images captured of the robot interacting with objects at the remote site provide visual feedback to the human operator. Tests in teleoperation of the robot manipulator have demonstrated the ability of the human to carry out object manipulator tasks remotely and the teleoperated robot manipulator system to copy human-arm motions in real-time.

  18. Integration of Mobile Manipulators in an Industrial Production

    DEFF Research Database (Denmark)

    Madsen, Ole; Bøgh, Simon; Schou, Casper

    2015-01-01

    Purpose – The purpose of this study has been to evaluate the technology of autonomous mobile manipulation in a real world industrial manufacturing environment. The objective has been to obtain experience in the integration with existing equipment and determine key challenges in maturing the techn......Purpose – The purpose of this study has been to evaluate the technology of autonomous mobile manipulation in a real world industrial manufacturing environment. The objective has been to obtain experience in the integration with existing equipment and determine key challenges in maturing...... the technology to a level of readiness suitable for industry. Despite much research within the topic of industrial mobile manipulation, the technology has not yet found its way to the industry. To mature the technology to a level of readiness suitable for industry real-world experience is crucial. This paper...... reports from such a real-world industrial experiment with two mobile manipulators. Design/methodology/approach – In the experiment, autonomous industrial mobile manipulators are integrated into the actual manufacturing environment of the pump manufacturer Grundfos. The two robots together solve the task...

  19. Influence of the environment on performance of gross motor function in children with cerebral palsy.

    Science.gov (United States)

    Fatudimu, Margaret Bukola

    2012-01-01

    Assessment and physiotherapy intervention for children with cerebral palsy (CP) are conventionally carried out in the hospital or clinic setting. However, the daily lives of these children include a variety of environmental settings in addition to the clinical setting. The objective of this study was therefore to explore the possible influence of the environment on motor function in children with CP. Purposively selected children with CP (n=107), ages 1 and 6 years with mean age of 2.1 years (SD 1.10 yrs), were involved in this study. The motor function of each child was assessed in the hospital and at their homes within a one-week interval, using the gross motor function measure (GMFM); this was done at the baseline and on a monthly basis for eight consecutive months. The paired t-test rank was computed to compare the overall GMFM score and each of the sub-domain scores measured in the clinic and at home. GMFM scores measured at home were significantly higher than those measured in the clinic and this pattern was also obtained for the sub-domains throughout the study period, suggesting that children performed gross motor functions better at their homes than in the clinic.

  20. [Hans Gross and the beginning of criminology on a scientific basis].

    Science.gov (United States)

    Bachhiesl, Christian

    2007-01-01

    Modern criminology--if one wants to consider it a separate scientific discipline at all--is usually perceived as being mainly influenced by the methods of natural sciences supplemented by components from the field of psychology, which, at least in some of its conceptions, tends to define itself as a natural science, too. If we take a look at the history of science, we will see development of criminology in this direction was not necessarily inevitable. The scientific work of the Austrian Hans Gross (1847-1915), one of the founding fathers of scientific criminology, serves as an example of the way how natural sciences and their exact methods became established in the methodological apparatus of modern criminology, although in praxi his claim for the application of exact methods was all too often replaced by irrational and intuitive ways of working. Still, Hans Gross' fundamental decision for the exact methods derived from the natural sciences is an important step towards a criminology that can be understood as a part of natural sciences, largely superseding the methods of cultural sciences and anthropological philosophy. This approach made the (criminal) human being an object of measurement and can result in the concept of man as a mere phenomenon of quantity. This is, on the one hand, ethically questionable; on the other hand, it made modern criminology more efficient and successful.

  1. Gross, Histologic, and Computed Tomographic Anatomy of the Lacrimal System of Snakes

    Science.gov (United States)

    Souza, Nicole M.; Maggs, David J.; Park, Shin Ae; Puchalski, Sarah; Reilly, Christopher M.; Paul-Murphy, Joanne; Murphy, Christopher J.

    2014-01-01

    Objective To describe the lacrimal system of snakes using contrast micro-computed tomography (micro-CT) with 3-dimensional reconstruction, fluorescein passage (“Jones”) testing, histology, and gross dissection. Animals studied One Royal Python and 19 snake cadavers representing 10 species. Procedures Direct observation following injection of fluorescein into the subspectacular space, micro-CT following injection of 3 contrast agents into the subspectacular space, gross dissection following injection of latex into the subspectacular space, and histopathology. Results Injection of fluorescein confirmed patency but not course of the lacrimal duct. Barium enabled clear visualization of the lacrimal duct whereas two iodinated contrast agents proved inadequate. Collectively, micro-CT, anatomic dissections, and histology suggest tears are produced by a single, large, serous, retrobulbar gland, released into the subspectacular space via several ductules, and drained through a single punctum originating in the ventronasal subspectacular space and the lacrimal duct taking one of 3 routes of variable tortuosity before opening into the oral cavity in close association with the opening of the duct of the vomeronasal organ. Conclusions The ophidian lacrimal duct has a generally tortuous course and the details of its anatomy is species variable. The tortuous course of the duct likely predisposes snakes to duct occlusion and must be considered when planning medical and surgical interventions in snakes with pseudobuphthalmos and subspectacular abscessation. PMID:24862081

  2. Learned manipulation at unconstrained contacts does not transfer across hands.

    Directory of Open Access Journals (Sweden)

    Qiushi Fu

    Full Text Available Recent studies about sensorimotor control of the human hand have focused on how dexterous manipulation is learned and generalized. Here we address this question by testing the extent to which learned manipulation can be transferred when the contralateral hand is used and/or object orientation is reversed. We asked subjects to use a precision grip to lift a grip device with an asymmetrical mass distribution while minimizing object roll during lifting by generating a compensatory torque. Subjects were allowed to grasp anywhere on the object's vertical surfaces, and were therefore able to modulate both digit positions and forces. After every block of eight trials performed in one manipulation context (i.e., using the right hand and at a given object orientation, subjects had to lift the same object in the second context for one trial (transfer trial. Context changes were made by asking subjects to switch the hand used to lift the object and/or rotate the object 180° about a vertical axis. Therefore, three transfer conditions, hand switch (HS, object rotation (OR, and both hand switch and object rotation (HS+OR, were tested and compared with hand matched control groups who did not experience context changes. We found that subjects in all transfer conditions adapted digit positions across multiple transfer trials similar to the learning of control groups, regardless of different changes of contexts. Moreover, subjects in both HS and HS+OR group also adapted digit forces similar to the control group, suggesting independent learning of the left hand. In contrast, the OR group showed significant negative transfer of the compensatory torque due to an inability to adapt digit forces. Our results indicate that internal representations of dexterous manipulation tasks may be primarily built through the hand used for learning and cannot be transferred across hands.

  3. Learned manipulation at unconstrained contacts does not transfer across hands.

    Science.gov (United States)

    Fu, Qiushi; Choi, Jason Y; Gordon, Andrew M; Jesunathadas, Mark; Santello, Marco

    2014-01-01

    Recent studies about sensorimotor control of the human hand have focused on how dexterous manipulation is learned and generalized. Here we address this question by testing the extent to which learned manipulation can be transferred when the contralateral hand is used and/or object orientation is reversed. We asked subjects to use a precision grip to lift a grip device with an asymmetrical mass distribution while minimizing object roll during lifting by generating a compensatory torque. Subjects were allowed to grasp anywhere on the object's vertical surfaces, and were therefore able to modulate both digit positions and forces. After every block of eight trials performed in one manipulation context (i.e., using the right hand and at a given object orientation), subjects had to lift the same object in the second context for one trial (transfer trial). Context changes were made by asking subjects to switch the hand used to lift the object and/or rotate the object 180° about a vertical axis. Therefore, three transfer conditions, hand switch (HS), object rotation (OR), and both hand switch and object rotation (HS+OR), were tested and compared with hand matched control groups who did not experience context changes. We found that subjects in all transfer conditions adapted digit positions across multiple transfer trials similar to the learning of control groups, regardless of different changes of contexts. Moreover, subjects in both HS and HS+OR group also adapted digit forces similar to the control group, suggesting independent learning of the left hand. In contrast, the OR group showed significant negative transfer of the compensatory torque due to an inability to adapt digit forces. Our results indicate that internal representations of dexterous manipulation tasks may be primarily built through the hand used for learning and cannot be transferred across hands.

  4. Active Vibration Control of a Large Flexible Manipulator by Inertial Force and Joint Torque. Ph.D. Thesis

    Science.gov (United States)

    Lee, Soo Han

    1988-01-01

    The efficiency and positional accuracy of a lightweight flexible manipulator are limited by its flexural vibrations, which last after a gross motion is completed. The vibration delays subsequent operations. In the proposed work, the vibration is suppressed by inertial force of a small arm in addition to the joint actuators and passive damping treatment. The proposed approach is: (1) Dynamic modeling of a combined system, a large flexible manipulator and a small arm, (2) Determination of optimal sensor location and controller algorithm, and (3) Verification of the fitness of model and the performance of controller.

  5. The response of gross nitrogen mineralization to labile carbon inputs

    Science.gov (United States)

    Bengtson, Per

    2014-05-01

    Input of labile carbon sources to forest soils commonly result in priming, i.e. an increase in the microbial decomposition of soil organic matter. Efforts aimed at quantifying the extent of priming have, to date, largely focused on soil organic matter decomposition manifested as soil respiration. Less is known about how gross nitrogen mineralization responds to input of labile carbon. It is often assumed that increased priming results in decreased soil carbon stocks. However, microbial mineralization of organic nitrogen into plant available forms is a major factor limiting primary production in forests. If increased decomposition of soil organic matter in response to labile carbon is accompanied by a concurrent increased nitrogen mineralization, this could result in elevated primary production and higher rates of plant derived organic matter input to soils. Therefore, in order to fully understand the effect of priming on net ecosystem exchange and soil carbon stocks, it is vital to consider if increased decomposition of soil organic matter caused by priming also results in increased nitrogen mineralization. Here I present the results from a series of experiments aimed at determining if, and to which extent, gross nitrogen mineralization is stimulated by input of labile carbon. The results suggest that it is by no means uncommon to find an increase in gross N mineralization rates in response to labile carbon inputs. The magnitude of the increase seems dependent on the nitrogen status of the soil, as well as the concentration and rate of labile carbon inputs. However, continuous input of labile carbon sources that also contains nitrogen, e.g. amino acids, seems to inhibit rather than increase the mineralization of organic nitrogen. These findings suggest that there is a potential for a positive feedback between priming and primary production that needs to be considered in order to fully understand the influence of priming on net ecosystem exchange and soil carbon

  6. The Schroedinger functional for Gross-Neveu models

    Energy Technology Data Exchange (ETDEWEB)

    Leder, B.

    2007-04-18

    Gross-Neveu type models with a finite number of fermion flavours are studied on a two-dimensional Euclidean space-time lattice. The models are asymptotically free and are invariant under a chiral symmetry. These similarities to QCD make them perfect benchmark systems for fermion actions used in large scale lattice QCD computations. The Schroedinger functional for the Gross-Neveu models is defined for both, Wilson and Ginsparg-Wilson fermions, and shown to be renormalisable in 1-loop lattice perturbation theory. In two dimensions four fermion interactions of the Gross-Neveu models have dimensionless coupling constants. The symmetry properties of the four fermion interaction terms and the relations among them are discussed. For Wilson fermions chiral symmetry is explicitly broken and additional terms must be included in the action. Chiral symmetry is restored up to cut-off effects by tuning the bare mass and one of the couplings. The critical mass and the symmetry restoring coupling are computed to second order in lattice perturbation theory. This result is used in the 1-loop computation of the renormalised couplings and the associated beta-functions. The renormalised couplings are defined in terms of suitable boundary-to-boundary correlation functions. In the computation the known first order coefficients of the beta-functions are reproduced. One of the couplings is found to have a vanishing betafunction. The calculation is repeated for the recently proposed Schroedinger functional with exact chiral symmetry, i.e. Ginsparg-Wilson fermions. The renormalisation pattern is found to be the same as in the Wilson case. Using the regularisation dependent finite part of the renormalised couplings, the ratio of the Lambda-parameters is computed. (orig.)

  7. Verbal priming and taste sensitivity make moral transgressions gross.

    Science.gov (United States)

    Herz, Rachel S

    2014-02-01

    The aims of the present study were to assess whether: (a) visceral and moral disgust share a common oral origin (taste); (b) moral transgressions that are also viscerally involving are evaluated accordingly as a function of individual differences in taste sensitivity; (c) verbal priming interacts with taste sensitivity to alter how disgust is experienced in moral transgressions; and (d) whether gender moderates these effects. Standard tests of disgust sensitivity, a questionnaire developed for this research assessing different types of moral transgressions (nonvisceral, implied-visceral, visceral) with the terms "angry" and "grossed-out," and a taste sensitivity test of 6-n-propylthiouracil (PROP) were administered to 102 participants. Results confirmed past findings that the more sensitive to PROP a participant was the more disgusted they were by visceral, but not moral, disgust elicitors. Importantly, the findings newly revealed that taste sensitivity had no bearing on evaluations of moral transgressions, regardless of their visceral nature, when "angry" was the emotion primed. However, when "grossed-out" was primed for evaluating moral violations, the more intense PROP tasted to a participant the more "grossed-out" they were by all transgressions. Women were generally more disgust sensitive and morally condemning than men, but disgust test, transgression type, and priming scale modulated these effects. The present findings support the proposition that moral and visceral disgust do not share a common oral origin, but show that linguistic priming can transform a moral transgression into a viscerally repulsive event and that susceptibility to this priming varies as a function of an individual's sensitivity to the origins of visceral disgust-bitter taste.

  8. Observed manipulation enhances left fronto-parietal activations in the processing of unfamiliar tools.

    Directory of Open Access Journals (Sweden)

    Norma Naima Rüther

    Full Text Available Tools represent a special class of objects, as functional details of tools can afford certain actions. In addition, information gained via prior experience with tools can be accessed on a semantic level, providing a basis for meaningful object interactions. Conceptual representations of tools also encompass knowledge about tool manipulation which can be acquired via direct (active manipulation or indirect (observation of others manipulating objects motor experience. The present study aimed to explore the impact of observation of manipulation on the neural processing of previously unfamiliar, manipulable objects. Brain activity was assessed by means of functional magnetic resonance imaging while participants accomplished a visual matching task involving pictures of the novel objects before and after they received object-related training. Three training session in which subjects observed an experimenter manipulating one set of objects and visually explored another set of objects were used to make subjects familiar with the tools and to allow the formation of new tool representations. A control object set was not part of the training. Training-related brain activation increases were found for observed manipulation objects compared to not trained objects in a left-hemispheric network consisting of inferior frontal gyrus (iFG pars opercularis and triangularis and supramarginal/angular gyrus. This illustrates that direct manipulation experience is not required to elicit tool-associated activation changes in the action system. While the iFG activation might indicate a close relationship between the areas involved in tool representation and those involved in observational knowledge acquisition, the parietal activation is discussed in terms of non-semantic effects of object affordances and hand-tool spatial relationships.

  9. Complex saddles in the Gross-Witten-Wadia matrix model

    CERN Document Server

    Álvarez, Gabriel; Medina, Elena

    2016-01-01

    We give an exhaustive characterization of the complex saddle point configurations of the Gross-Witten-Wadia matrix model in the large-N limit. In particular, we characterize the cases in which the saddles accumulate in one, two, or three arcs, in terms of the values of the coupling constant and of the fraction of the total unit density that is supported in one of the arcs, and derive an explicit condition for gap closing associated to nonvacuum saddles. By applying the idea of large-N instanton we also give direct analytic derivations of the weak-coupling and strong-coupling instanton actions.

  10. Pathology Gross Photography: The Beginning of Digital Pathology.

    Science.gov (United States)

    Rampy, B Alan; Glassy, Eric F

    2015-06-01

    The underutilized practice of photographing anatomic pathology specimens from surgical pathology and autopsies is an invaluable benefit to patients, clinicians, pathologists, and students. Photographic documentation of clinical specimens is essential for the effective practice of pathology. When considering what specimens to photograph, all grossly evident pathology, absent yet expected pathologic features, and gross-only specimens should be thoroughly documented. Specimen preparation prior to photography includes proper lighting and background, wiping surfaces of blood, removing material such as tubes or bandages, orienting the specimen in a logical fashion, framing the specimen to fill the screen, positioning of probes, and using the right-sized scale.

  11. Four loop renormalization of the Gross-Neveu model

    CERN Document Server

    Gracey, J A; Schroder, Y

    2016-01-01

    We renormalize the SU(N) Gross-Neveu model in the modified minimal subtraction (MSbar) scheme at four loops and determine the beta-function at this order. The theory ceases to be multiplicatively renormalizable when dimensionally regularized due to the generation of evanescent 4-fermi operators. The first of these appears at three loops and we correctly take their effect into account in deriving the renormalization group functions. We use the results to provide estimates of critical exponents relevant to phase transitions in graphene.

  12. Gross shell structure at high spin in heavy nuclei

    CERN Document Server

    Deleplanque, M A; Pashkevich, V V; Chu, S Y; Unzhakova, A

    2004-01-01

    Experimental nuclear moments of inertia at high spins along the yrast line have been determined systematically and found to differ from the rigid-body values. The difference is attributed to shell effects and these have been calculated microscopically. The data and quantal calculations are interpreted by means of the semiclassical Periodic Orbit Theory. From this new perspective, features in the moments of inertia as a function of neutron number and spin, as well as their relation to the shell energies can be understood. Gross shell effects persist up to the highest angular momenta observed.

  13. Characterizing the development of sectoral gross domestic product composition.

    Science.gov (United States)

    Lutz, Raphael; Spies, Michael; Reusser, Dominik E; Kropp, Jürgen P; Rybski, Diego

    2013-07-01

    We consider the sectoral composition of a country's gross domestic product (GDP), i.e., the partitioning into agrarian, industrial, and service sectors. Exploring a simple system of differential equations, we characterize the transfer of GDP shares between the sectors in the course of economic development. The model fits for the majority of countries providing four country-specific parameters. Relating the agrarian with the industrial sector, a data collapse over all countries and all years supports the applicability of our approach. Depending on the parameter ranges, country development exhibits different transfer properties. Most countries follow three of eight characteristic paths. The types are not random but show distinct geographic and development patterns.

  14. Gross shell structure at high spin in heavy nuclei

    Energy Technology Data Exchange (ETDEWEB)

    Deleplanque, Marie-Agnes; Frauendorf, Stefan; Pashkevich, Vitaly V.; Chu, S.Y.; Unzhakova, Anja

    2003-10-07

    Experimental nuclear moments of inertia at high spins along the yrast line have been determined systematically and found to differ from the rigid-body values. The difference is attributed to shell effect and these have been calculated microscopically. The data and quantal calculations are interpreted by means of the semiclassical Periodic Orbit Theory. From this new perspective, features in the moments of inertia as a function of neutron number and spin, as well as their relation to the shell energies can be understood. Gross shell effects persist up to the highest angular momenta observed.

  15. Generalization of Dexterous Manipulation Is Sensitive to the Frame of Reference in Which It Is Learned.

    Science.gov (United States)

    Marneweck, Michelle; Knelange, Elisabeth; Lee-Miller, Trevor; Santello, Marco; Gordon, Andrew M

    2015-01-01

    Studies have shown that internal representations of manipulations of objects with asymmetric mass distributions that are generated within a specific orientation are not generalizable to novel orientations, i.e., subjects fail to prevent object roll on their first grasp-lift attempt of the object following 180° object rotation. This suggests that representations of these manipulations are specific to the reference frame in which they are formed. However, it is unknown whether that reference frame is specific to the hand, the body, or both, because rotating the object 180° modifies the relation between object and body as well as object and hand. An alternative, untested explanation for the above failure to generalize learned manipulations is that any rotation will disrupt grasp performance, regardless if the reference frame in which the manipulation was learned is maintained or modified. We examined the effect of rotations that (1) maintain and (2) modify relations between object and body, and object and hand, on the generalizability of learned two-digit manipulation of an object with an asymmetric mass distribution. Following rotations that maintained the relation between object and body and object and hand (e.g., rotating the object and subject 180°), subjects continued to use appropriate digit placement and load force distributions, thus generating sufficient compensatory moments to minimize object roll. In contrast, following rotations that modified the relation between (1) object and hand (e.g. rotating the hand around to the opposite object side), (2) object and body (e.g. rotating subject and hand 180°), or (3) both (e.g. rotating the subject 180°), subjects used the same, yet inappropriate digit placement and load force distribution, as those used prior to the rotation. Consequently, the compensatory moments were insufficient to prevent large object rolls. These findings suggest that representations of learned manipulation of objects with asymmetric mass

  16. Generalization of Dexterous Manipulation Is Sensitive to the Frame of Reference in Which It Is Learned.

    Directory of Open Access Journals (Sweden)

    Michelle Marneweck

    Full Text Available Studies have shown that internal representations of manipulations of objects with asymmetric mass distributions that are generated within a specific orientation are not generalizable to novel orientations, i.e., subjects fail to prevent object roll on their first grasp-lift attempt of the object following 180° object rotation. This suggests that representations of these manipulations are specific to the reference frame in which they are formed. However, it is unknown whether that reference frame is specific to the hand, the body, or both, because rotating the object 180° modifies the relation between object and body as well as object and hand. An alternative, untested explanation for the above failure to generalize learned manipulations is that any rotation will disrupt grasp performance, regardless if the reference frame in which the manipulation was learned is maintained or modified. We examined the effect of rotations that (1 maintain and (2 modify relations between object and body, and object and hand, on the generalizability of learned two-digit manipulation of an object with an asymmetric mass distribution. Following rotations that maintained the relation between object and body and object and hand (e.g., rotating the object and subject 180°, subjects continued to use appropriate digit placement and load force distributions, thus generating sufficient compensatory moments to minimize object roll. In contrast, following rotations that modified the relation between (1 object and hand (e.g. rotating the hand around to the opposite object side, (2 object and body (e.g. rotating subject and hand 180°, or (3 both (e.g. rotating the subject 180°, subjects used the same, yet inappropriate digit placement and load force distribution, as those used prior to the rotation. Consequently, the compensatory moments were insufficient to prevent large object rolls. These findings suggest that representations of learned manipulation of objects with

  17. Objective becoming

    CERN Document Server

    Skow, Bradford

    2015-01-01

    Bradford Skow presents an original defense of the 'block universe' theory of time, often said to be a theory according to which time does not pass. Along the way, he provides in-depth discussions of alternative theories of time, including those in which there is 'robust passage' of time or 'objective becoming': presentism, the moving spotlight theory of time, the growing block theory of time, and the 'branching time' theory of time. Skow explains why the moving spotlight theory is the best of these arguments, and rebuts several popular arguments against the thesis that time passes. He surveys the problems that the special theory of relativity has been thought to raise for objective becoming, and suggests ways in which fans of objective becoming may reconcile their view with relativistic physics. The last third of the book aims to clarify and evaluate the argument that we should believe that time passes because, somehow, the passage of time is given to us in experience. He isolates three separate arguments thi...

  18. Perceptual Load Modulates Object-Based Attention

    Science.gov (United States)

    Ho, Ming-Chou; Atchley, Paul

    2009-01-01

    Two experimental series are reported using both reaction time (RT) and a data-limited perceptual report to examine the effects of perceptual load on object-based attention. Perceptual load was manipulated across 3 levels by increasing the complexity of perceptual judgments. Data from the RT-based experiments showed object-based effects when the…

  19. Large and Small Scale Nitrogen and Phosporous Manipulation Experiment in a Tree-Grass Ecosystem: first year of results

    Science.gov (United States)

    Migliavacca, Mirco; Perez Priego, Oscar; El-Madany, Tarek; Guan, JinHong; Carrara, Arnaud; Fava, Francesco; Moreno, Gerardo; Kolle, Olaf; Rossini, Micol; Schrumpf, Marion; Julitta, Tommaso; Reichstein, Markus

    2015-04-01

    Recent studies have shown how human induced N/P imbalances affect essential ecosystem processes (e.g. photosynthesis, plant growth rate, respiration), and might be particularly important in water-limited ecosystems. In this contribution we will present the experimental design and the results of the first year of two nutrient manipulation experiments conducted at different spatial scale. In the first experiment a cluster of 2 eddy covariance (EC) flux towers has been set up beside a long-term EC site (Las Majadas del Tietar, Spain). Sites are selected in a way to have similar nutrient conditions, canopy structure, and stoichiometry of the different vegetation and soil pools. Two of the three footprints will be manipulated with addition of N and NP fertilizer at the beginning of 2015. The comparison of the three EC flux towers installed during the first year of the experiment (without fertilization) will be shown. We characterized the differences of the responses of carbon and water fluxes measured by the EC systems to environmental drivers, and structural and biophysical properties of the canopy. The second experiment was conducted over a Mediterranean grassland, where 16 plots of 10x10 meters that were manipulated by adding nutrient (N, P, and NP). The overall objective was to investigate the response of the gross primary productivity (GPP), assessed by using transparent transient-state canopy chambers, to different nutrient availability. The second objective was to evaluate the capability of hyperspectral data and Solar induced fluorescence to track short- and long-term GPP and light use efficiency variation under different N and P fertilization treatments. Spectral vegetation indices (VIs) were acquired manually using high resolution spectrometers (HR4000, OceanOptics, USA) along a phenological cycle. The VIs used included photochemical reflectance index (PRI), MERIS terrestrial-chlorophyll index (MTCI) and normalized difference vegetation index (NDVI). Solar

  20. Laser Micro-beam Manipulation System for Cells

    Institute of Scientific and Technical Information of China (English)

    孟祥旺; 李岩; 张书练; 张志诚; 赵南明

    2002-01-01

    This paper introduces a laser micro-beam system for cells manipulation. The laser micro-beam system comprises a laser scissors and a laser tweezers, which are focused by a Nd∶YAG laser and a He-Ne laser through a microscope objective, respectively. Not only the overall design of the laser micro-beam system is discussed, but also the design and choice of the critical components. A laser micro-beam system was constructed and anticipated experiment results were gained. Yeast cells can be successfully manipulated with the laser tweezers. Chromosomes can be successfully incised with the laser scissors.

  1. Verification hybrid control of a wheeled mobile robot and manipulator

    Science.gov (United States)

    Muszynska, Magdalena; Burghardt, Andrzej; Kurc, Krzysztof; Szybicki, Dariusz

    2016-04-01

    In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

  2. The effect of training in an interactive dynamic stander on ankle dorsiflexion and gross motor function in children with cerebral palsy

    DEFF Research Database (Denmark)

    Curtis, Derek John; Bencke, Jesper; Mygind, Bente

    2014-01-01

    OBJECTIVE: To study the effect of active stretching of ankle plantarflexors using an interactive dynamic stander in children with cerebral palsy (CP). METHODS: Six children in Gross Motor Function Classification System classes I-III, aged 4-10 years, trained intensive active dorsiflexion...

  3. Avaliação da motricidade ampla e fina na Síndrome de Williams: relato de caso Findings of the gross and fine motor in the Syndrome William Case: case Report

    Directory of Open Access Journals (Sweden)

    Marcela Melo Almeida

    2010-12-01

    Full Text Available O presente estudo teve como objetivo analisar os achados da motricidade ampla e fina de uma criança de 8 anos de idade portador da Síndrome de Williams. Foram coletados dados biológicos da criança e da mãe durante a gestação e história pré, peri e pós-natal da criança e suas condições clínicas. O desenvolvimento motor amplo e fino foi avaliado pelo Inventário Portage Operacionalizado. Os resultados demonstraram que a criança revelou maior dificuldade na motricidade fina em relação à ampla, apresentando dificuldades na escrita, em manipular objetos que necessite fazer movimento de pronação e supinação e dificuldade no movimento de pinça.This study aimed to analyze the findings of motor and fine of an 8 years old holder of Williams Syndrome. Data were collected biological child and mother during pregnancy and history of pre, peri and postnatal child and their clinical conditions. The development and fine motor function was assessed by Portage Guide. The results showed that children showed greater difficulty with fine motor skills in relation to gross skills, having difficulty in writing, to manipulate objects that need to make movement of pronation and supination and difficulty in of the pincer movement.

  4. The implications of particle energy and acidic media on gross alpha and gross beta determination using liquid scintillation

    Energy Technology Data Exchange (ETDEWEB)

    Zapata-Garcia, D. [Laboratori de Radiologia Ambiental (LRA), Departament de Quimica Analitica, Universitat de Barcelona, Marti i Franques, 1-11 Planta 3, E-08028 Barcelona (Spain); Llaurado, M., E-mail: montse.llaurado@ub.edu [Laboratori de Radiologia Ambiental (LRA), Departament de Quimica Analitica, Universitat de Barcelona, Marti i Franques, 1-11 Planta 3, E-08028 Barcelona (Spain); Rauret, G. [Laboratori de Radiologia Ambiental (LRA), Departament de Quimica Analitica, Universitat de Barcelona, Marti i Franques, 1-11 Planta 3, E-08028 Barcelona (Spain)

    2012-04-15

    The interaction of humans with radioactivity present in the environment from natural and artificial sources necessitates an evaluation of its risk on human health. Gross alpha and gross beta activities can provide a rapid evaluation of the radioactive content of a sample and can be simultaneously determined by using liquid scintillation counters. However, calibration of the liquid scintillation counter is required and is affected by many factors, such as particle energy and the acidity of the media. This study investigates what effect the particle energy used for calibration has on misclassification and how to account for this misclassification in routine measurements. The variability in measurement produced by the final pH, as well as any acids used in sample treatment, was also studied. These results showed that the most commonly used acid for these types of analyses, HNO{sub 3}, produced a high amount of misclassifications at very low pH. The results improved when HCl was used to adjust the sample to low pH. - Highlights: Black-Right-Pointing-Pointer We study the effect of alpha and beta energies on PSA optimisation. Black-Right-Pointing-Pointer The optimum PSA shifts to higher values as the alpha energy increases. Beta energies do not affect it. Black-Right-Pointing-Pointer We study the effect of pH on the simultaneous determination of gross alpha/beta activities. Black-Right-Pointing-Pointer HNO{sub 3} produces a high amount of misclassification at very low pH. Black-Right-Pointing-Pointer The results improve when HCl is used to adjust the sample to low pH.

  5. PyMOL mControl: Manipulating Molecular Visualization with Mobile Devices

    Science.gov (United States)

    Lam, Wendy W. T.; Siu, Shirley W. I.

    2017-01-01

    Viewing and manipulating three-dimensional (3D) structures in molecular graphics software are essential tasks for researchers and students to understand the functions of molecules. Currently, the way to manipulate a 3D molecular object is mainly based on mouse-and-keyboard control that is usually difficult and tedious to learn. While gesture-based…

  6. Efficacy and safety of uterine manipulators in laparoscopic surgery: a review

    NARCIS (Netherlands)

    Van den Haak, L.; Alleblas, C.; Nieboer, T.E.; Rhemrev, J.P.; Jansen, F.W.

    2015-01-01

    Purpose This review aims to objectively assess the efficacy and safety of uterine manipulators as reported in scientific literature. Furthermore, it evaluates as to which manipulator best suits which surgical procedure. Methods PubMed, Embase, Web of Science, COCHRANE, CINAHL, Academic Search Premi

  7. Efficacy and safety of uterine manipulators in laparoscopic surgery: a review

    NARCIS (Netherlands)

    Haak, L. van den; Alleblas, C.; Nieboer, T.E.; Rhemrev, J.P.; Jansen, F.W.

    2015-01-01

    PURPOSE: This review aims to objectively assess the efficacy and safety of uterine manipulators as reported in scientific literature. Furthermore, it evaluates as to which manipulator best suits which surgical procedure. METHODS: PubMed, Embase, Web of Science, COCHRANE, CINAHL, Academic Search Prem

  8. Efficacy and safety of uterine manipulators in laparoscopic surgery: a review

    NARCIS (Netherlands)

    Haak, L. van den; Alleblas, C.; Nieboer, T.E.; Rhemrev, J.P.; Jansen, F.W.

    2015-01-01

    PURPOSE: This review aims to objectively assess the efficacy and safety of uterine manipulators as reported in scientific literature. Furthermore, it evaluates as to which manipulator best suits which surgical procedure. METHODS: PubMed, Embase, Web of Science, COCHRANE, CINAHL, Academic Search

  9. Efficacy and safety of uterine manipulators in laparoscopic surgery: a review

    NARCIS (Netherlands)

    Van den Haak, L.; Alleblas, C.; Nieboer, T.E.; Rhemrev, J.P.; Jansen, F.W.

    2015-01-01

    Purpose This review aims to objectively assess the efficacy and safety of uterine manipulators as reported in scientific literature. Furthermore, it evaluates as to which manipulator best suits which surgical procedure. Methods PubMed, Embase, Web of Science, COCHRANE, CINAHL, Academic Search

  10. Genetic manipulation of Francisella tularensis

    Directory of Open Access Journals (Sweden)

    Xhavit eZogaj

    2011-01-01

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

  11. Accurate manipulation using laser technology

    Science.gov (United States)

    Hoving, Willem

    1997-08-01

    In the industrial production of electrical, optical, and micro-mechanical components, progress in miniaturization requires improved adjusting techniques. Sub-micrometer accuracy adjustment must be obtained within seconds, and the accuracy should be stable over many years. All methods that are presently applied for manipulation in sub-micron dimensions are cumbersome, time-consuming, and tedious, and require expensive equipment. A novel method, laser adjustment, is being explored in which permanent deformation of thin metal sheets are obtained by using thermo-mechanical stresses that occur when the sheets are locally heated using short, intense laser pulses. Manipulation along several degrees of freedom can be realized by both out-of-plane and in-plane laser adjustment or a combination thereof. Within the Brite-Euram project AMULET this new automated micro- manufacturing technology for mass production is developed in order to assemble components where tolerance conditions and accessibility are beyond human capability.

  12. List manipulation in Turbo Prolog

    Directory of Open Access Journals (Sweden)

    V.Cotelea

    1995-06-01

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

  13. Surviving Objects

    OpenAIRE

    Murjas, Teresa

    2012-01-01

    Surviving Objects (2012) is a devised multi-media practice-as-research performance based on extensive interviews conducted with my elderly mother and recorded on a hand-held device. Our conversations concern her experiences as a child refugee following violent deportation by the Soviet Army from Eastern Poland to Siberia (1941), and her subsequent route, via Persia, to a British-run refugee camp in Northern Rhodesia, where she remained for 6 years before arriving in the UK. In order to aid my...

  14. Manipulation of Biofilm Microbial Ecology

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-08-15

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

  15. Photovoltaic Manipulation of Water Microdroplets on a Hydrophobic LiNbO3 Substrate

    Science.gov (United States)

    Fan, Bolin; Li, Feifei; Chen, Lipin; Shi, Lihong; Yan, Wenbo; Zhang, Yuqing; Li, Shaobei; Wang, Xuliang; Wang, Xun; Chen, Hongjian

    2017-06-01

    Aqueous microdroplets are challenging objects for photoassisted manipulation techniques based on lithium niobate (LN) substrates. In this paper, we demonstrate a successful photovoltaic manipulation of water microdroplets on LN substrates coated with a hydrophobic film. Through the analysis of the dynamic process of the photovoltaic manipulation and the simulation of the electrostatic distribution around the microdroplet-substrate interface, the electrowetting mechanism is suggested to account for the photovoltaic manipulation of water microdroplets. Both the hydrophobicity and the large electrostatic energy capability of the coated film are emphasized for producing a sufficient unbalanced hydrostatic pressure required by the steady water-microdroplet actuation.

  16. Tools for Manipulation and Characterisation of Nanostructures

    DEFF Research Database (Denmark)

    Mølhave, Kristian; Bøggild, Peter

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

  17. Study of design and control of remote manipulators. Part 4: Experiments in video camera positioning with regard to remote manipulation

    Science.gov (United States)

    Mackro, J.

    1973-01-01

    The results are presented of a study involving closed circuit television as the means of providing the necessary task-to-operator feedback for efficient performance of the remote manipulation system. Experiments were performed to determine the remote video configuration that will result in the best overall system. Two categories of tests were conducted which include: those which involved remote control position (rate) of just the video system, and those in which closed circuit TV was used along with manipulation of the objects themselves.

  18. Search versus Decision for Election Manipulation Problems

    OpenAIRE

    Hemaspaandra, Edith; Hemaspaandra, Lane A.; Menton, Curtis

    2012-01-01

    Most theoretical definitions about the complexity of manipulating elections focus on the decision problem of recognizing which instances can be successfully manipulated, rather than the search problem of finding the successful manipulative actions. Since the latter is a far more natural goal for manipulators, that definitional focus may be misguided if these two complexities can differ. Our main result is that they probably do differ: If integer factoring is hard, then for election manipulati...

  19. Optoelectrofluidic Manipulation of Nanoparticles and Biomolecules

    Directory of Open Access Journals (Sweden)

    Hyundoo Hwang

    2011-01-01

    Full Text Available This paper presents optoelectrofluidic technologies for manipulation of nanoparticles and biomolecules. Optoelectrofluidics provides an elegant scheme for the programmable manipulation of particles or fluids in microenvironments based on optically induced electrokinetics. Recent progress on the optoelectrofluidic manipulation of nanoobjects, which include nanospheres, nanowires, nanotubes, and biomolecules, is introduced. Some potential applications of the optoelectrofluidic nanoparticle manipulation, such as nanoparticles separation, nanostructures manufacturing, molecular physics, and clinical diagnostics, and their future directions are also discussed.

  20. Robotic manipulation with flexible link fingers

    OpenAIRE

    Sur, Sudipto

    1997-01-01

    A robot manipulator is a spatial mechanism consisting essentially of a series of bodies, called "links", connected to each other at "joints". The joints can be of various types: revolute, rotary, planar, prismatic, telescopic or combinations of these. A serial connection of the links results in an open-chain manipulator. Closed-chain manipulators result from non-serial (or parallel) connections between links. Actuators at the joints of the manipulator provide power for motion. A rob...

  1. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  2. Naturally Supervised Learning in Manipulable Technologies

    CERN Document Server

    Alicea, Bradly

    2011-01-01

    Objective: It will be argued that haptic and proprioceptive sensory inputs serve a supervisory function in movement production related to the control of virtual environments and human-machine interfaces. To accomplish this, an approach new to human factors called neuromechanics will be used. This involves the introduction of novel techniques and analyses which demonstrate the multifaceted and regulatory role of adaptation in interactions between humans and motion and touch-based (e.g. manipulable) devices and interfaces. Background: Neuromechanics is an approach that unifies the role of physiological function, motor performance, and environmental effects in determining human performance. In this paper, a neuromechanical perspective will be used to explain the supervisory role of environmental variation on human performance. Method: Three experiments are presented using two different types of virtual environment that allowed for selective perturbation. Electromyography (EMG) and information related to kinemati...

  3. Ponderomotive manipulation of cold subwavelength plasmas

    CERN Document Server

    Smorenburg, P W; Luiten, O J

    2012-01-01

    Ponderomotive forces (PFs) induced in cold subwavelength plasmas by an externally applied electromagnetic wave are studied analytically. To this end, the plasma is modeled as a sphere with a radially varying permittivity, and the internal electric fields are calculated by solving the macroscopic Maxwell equations using an expansion in Debye potentials. It is found that the PF is directed opposite to the plasma density gradient, similarly to large-scale plasmas. In case of a uniform density profile, a residual spherically symmetric compressive PF is found, suggesting possibilities for contactless ponderomotive manipulation of homogeneous subwavelength objects. The presence of a surface PF on discontinuous plasma boundaries is derived. This force is essential for a microscopic description of the radiation-plasma interaction consistent with momentum conservation. It is shown that the PF integrated over the plasma volume is equivalent to the radiation pressure exerted on the plasma by the incident wave. The conce...

  4. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2003-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high...

  5. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2003-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high l...

  6. Objective thermomechanics

    CERN Document Server

    Fülöp, Tamás

    2015-01-01

    An irreversible thermodynamical theory of solids is presented where the kinematic quantities are defined in an automatically objective way. Namely, auxiliary elements like reference frame, reference time and reference configuration are avoided by formulating the motion of the continuum on spacetime directly, utilizing the Weyl-Matolcsi description of spacetime. This restricts the range of definable kinematic quantities heavily. Solids are distinguished from fluids by possessing not only an instantaneous metric tensor but a relaxed metric, too, that represents the natural geometric structure of the solid. The comparison of the instantaneous metric to the relaxed one is the basis of the definition of the elastic state variable, the elastic deformedness tensor. Thermal expansion is conceived as the temperature dependence of the relaxed metric. As opposed to this reversible type of change, plasticity means an irreversible change in the relaxed metric, and is describable via a plastic change rate tensor. The relat...

  7. BioWord: A sequence manipulation suite for Microsoft Word

    Directory of Open Access Journals (Sweden)

    Anzaldi Laura J

    2012-06-01

    Full Text Available Abstract Background The ability to manipulate, edit and process DNA and protein sequences has rapidly become a necessary skill for practicing biologists across a wide swath of disciplines. In spite of this, most everyday sequence manipulation tools are distributed across several programs and web servers, sometimes requiring installation and typically involving frequent switching between applications. To address this problem, here we have developed BioWord, a macro-enabled self-installing template for Microsoft Word documents that integrates an extensive suite of DNA and protein sequence manipulation tools. Results BioWord is distributed as a single macro-enabled template that self-installs with a single click. After installation, BioWord will open as a tab in the Office ribbon. Biologists can then easily manipulate DNA and protein sequences using a familiar interface and minimize the need to switch between applications. Beyond simple sequence manipulation, BioWord integrates functionality ranging from dyad search and consensus logos to motif discovery and pair-wise alignment. Written in Visual Basic for Applications (VBA as an open source, object-oriented project, BioWord allows users with varying programming experience to expand and customize the program to better meet their own needs. Conclusions BioWord integrates a powerful set of tools for biological sequence manipulation within a handy, user-friendly tab in a widely used word processing software package. The use of a simple scripting language and an object-oriented scheme facilitates customization by users and provides a very accessible educational platform for introducing students to basic bioinformatics algorithms.

  8. A complete manipulation platform for characterization of micro-components

    Science.gov (United States)

    Canales, C.; Cosandier, F.; Boetsch, G.; Chatagny, V.; Lee, J. H.; Bringout, G.; Clavel, R.

    2008-11-01

    This paper presents a complete manipulation platform for characterization of micro-components that is being developed in the scope of the European project GOLEM. Various tools such as electrical probes and force sensors have been designed and integrated on both high precision mobile micro-robots and fixed manipulators in order to interact with micro-objects. The platform enables the user to characterize parts with sizes ranging from sub-micrometer up to the millimeter. Forces ranging from 1 mN up to 120 mN can be measured as well as electrical resistivity of microcomponents. As the characterization platform is aimed to be used by material scientists and biologists, the manipulation is "assisted" so that the user focuses on the application and not on the robotic systems. One of the key features is that the control software will automatically bring the end-effectors of the manipulators in the local (microscope) field of view. The platform is composed of an XY stage mounted on an inverted optical microscope, of manipulators (fixed and mobile) and of various sensors (optical, force and electrical).

  9. Optical manipulation for optogenetics: otoliths manipulation in zebrafish (Conference Presentation)

    Science.gov (United States)

    Favre-Bulle, Itia A.; Scott, Ethan; Rubinsztein-Dunlop, Halina

    2016-03-01

    Otoliths play an important role in Zebrafish in terms of hearing and sense of balance. Many studies have been conducted to understand its structure and function, however the encoding of its movement in the brain remains unknown. Here we developed a noninvasive system capable of manipulating the otolith using optical trapping while we image its behavioral response and brain activity. We'll also present our tools for behavioral response detection and brain activity mapping. Acceleration is sensed through movements of the otoliths in the inner ear. Because experimental manipulations involve movements, electrophysiology and fluorescence microscopy are difficult. As a result, the neural codes underlying acceleration sensation are poorly understood. We have developed a technique for optically trapping otoliths, allowing us to simulate acceleration in stationary larval zebrafish. By applying forces to the otoliths, we can elicit behavioral responses consistent with compensation for perceived acceleration. Since the animal is stationary, we can use calcium imaging in these animals' brains to identify the functional circuits responsible for mediating responses to acceleration in natural settings.

  10. Optimal Bilinear Control of Gross--Pitaevskii Equations

    KAUST Repository

    Hintermüller, Michael

    2013-01-01

    A mathematical framework for optimal bilinear control of nonlinear Schrödinger equations of Gross--Pitaevskii type arising in the description of Bose--Einstein condensates is presented. The obtained results generalize earlier efforts found in the literature in several aspects. In particular, the cost induced by the physical workload over the control process is taken into account rather than the often used L^2- or H^1-norms for the cost of the control action. Well-posedness of the problem and existence of an optimal control are proved. In addition, the first order optimality system is rigorously derived. Also a numerical solution method is proposed, which is based on a Newton-type iteration, and used to solve several coherent quantum control problems.

  11. Gross National Happiness: Ideology versus practices in Bhutanese Seconday Schools

    DEFF Research Database (Denmark)

    Kjær-Rasmussen, Lone Krogh; Giri, Krishna Prasad

    2015-01-01

    This paper investigates practices related to the ideology of infusing Gross National Happiness (GNH) into school curriculum, the effectiveness of the meditation and mind training and the implication of GNH for school environment. It also explores how GNH ambience has been managed and practiced......, the influence of the concept of GNH in school life generally and specifically and the effects on teachers and students of mindfull training in the class, how does it work? The investigation is based on empirical data from eight selected secondary schools spread all over Bhutan. Principals, teachers, students...... and parents were interviewed in 2012/2013 individually and in groups. Further more classroom observations took place. Finally the investigation is based on literature review and readings of documents, which describe and analyse policies, principles, strategies and philosophies related to the implementation...

  12. Measurement and Quantification of Gross Human Shoulder Motion

    Directory of Open Access Journals (Sweden)

    Jeremy T. Newkirk

    2013-01-01

    Full Text Available The shoulder girdle plays an important role in the large pointing workspace that humans enjoy. The goal of this work was to characterize the human shoulder girdle motion in relation to the arm. The overall motion of the human shoulder girdle was characterized based on motion studies completed on test subjects during voluntary (natural/unforced motion. The collected data from the experiments were used to develop surface fit equations that represent the position and orientation of the glenohumeral joint for a given humeral pointing direction. These equations completely quantify gross human shoulder girdle motion relative to the humerus. The equations are presented along with goodness-of-fit results that indicate the equations well approximate the motion of the human glenohumeral joint. This is the first time the motion has been quantified for the entire workspace, and the equations provide a reference against which to compare future work.

  13. Specific features of measuring the ecologically adjusted gross regional product

    Directory of Open Access Journals (Sweden)

    Douginets Ganna V.

    2013-03-01

    Full Text Available The article formulates a necessity of deepening and improvement of ecological and economic indicators and considers the existing indices and indicators of sustainable development. It conducts a comparative analysis of existing norms of calculation of the ecological tax and fees for environmental pollution. It marks main problems of nature management in Ukraine and their consequences, namely, negative impact on health of the population. It offers methods of measurement of the ecologically adjusted gross regional product (EGRP on the basis of improvement of the cost method. It analyses dependence of the regional welfare on the state of environment with the help of measuring the EGRP of Ukrainian regions. It studies the pressure on Ukrainian regions by components: pollution of aquatic environment, atmospheric air, land resources and rates of waste formation. It conducts grouping of regions by EGRP per capita with specification of positive and negative dynamics of the indicator.

  14. Stimulation of gross dimethylsulfide (DMS) production by solar radiation

    Science.gov (United States)

    Galí, Martí; Saló, Violeta; Almeda, Rodrigo; Calbet, Albert; Simó, Rafel

    2011-08-01

    Oceanic gross DMS production (GP) exerts a fundamental control on the concentration and the sea-air flux of this climatically-active trace gas. However, it is a poorly constrained process, owing to the complexity of the microbial food web processes involved and their interplay with physical forcing, particularly with solar radiation. The “inhibitor method”, using dimethyldisulfide (DMDS) or other compounds to inhibit bacterial DMS consumption, has been frequently used to determine GP in dark incubations. In the work presented here, DMDS addition was optimized for its use in light incubations. By comparing simultaneous dark and light measurements of GP in meso- to ultraoligotrophic waters, we found a significant enhancement of GP in natural sunlight in 7 out of 10 experiments. Such stimulation, which was generally between 30 and 80% on a daily basis, occurred throughout contrasting microbial communities and oceanographic settings.

  15. Full Phase Diagram of the Massive Gross-Neveu Model

    CERN Document Server

    Schnetz, O; Urlichs, K; Schnetz, Oliver; Thies, Michael; Urlichs, Konrad

    2006-01-01

    The massive Gross-Neveu model is solved in the large N limit at finite temperature and chemical potential. The scalar potential is given in terms of Jacobi elliptic functions. It contains three parameters which are determined by transcendental equations. Self-consistency of the scalar potential is proved. The phase diagram for non-zero bare quark mass is found to contain a kink-antikink crystal phase as well as a massive fermion gas phase featuring a cross-over from light to heavy effective fermion mass. For zero bare quark mass we recover the three known phases kink-antikink crystal, massless fermion gas, and massive fermion gas. All phase transitions are shown to be of second order. Equations for the phase boundaries are given and solved numerically. Implications on condensed matter physics are indicated where our results generalize the bipolaron lattice in non-degenerate conducting polymers to finite temperature.

  16. The effect of aquatic intervention on the gross motor function and aquatic skills in children with cerebral palsy.

    Science.gov (United States)

    Dimitrijević, Lidija; Aleksandrović, Marko; Madić, Dejan; Okičić, Tomislav; Radovanović, Dragan; Daly, Daniel

    2012-05-01

    The objective of this study was to investigate the effect of an aquatic intervention on the gross motor function and aquatic skills of children with cerebral palsy (CP). Twenty-nine children with CP, aged 5 to 14, were recruited. Fourteen children completed an aquatic intervention (EG), and 13 children served as controls (CG). Two participants dropped out due to events (illness) unrelated to the intervention. The aquatic intervention lasted 6 weeks (2 sessions per week at 55 minutes per session) with a follow-up period of 3 weeks. The outcome measures were the Gross Motor Function Measure (GMFM) for motor function and the Water Orientation Test Alyn 2 (WOTA 2) for aquatic skills assessment. A significant improvement was observed in the secondary assessment of GMFM and WOTA 2. In contrast to the aquatic skills improvement, the GMFM change was not maintained at follow-up. Our results indicate that children with CP can improve gross motor function on dry land and aquatic skills with a 6-week water intervention. The intervention period was too short for sustainable improvement in dry-land motor skills after intervention (follow-up), but time was sufficient to achieve sustainable improvements in aquatic skills.

  17. Accuracy of Ultrasound in Detection of Gross Prenatal Central Nervous System Anomalies after the Eighteenth Week of Gestation

    Directory of Open Access Journals (Sweden)

    M. Tahmasebi

    2007-10-01

    Full Text Available Background/Objective: Ultrasound (US detection of prenatal central nervous system (CNS anatomic anomalies is very important in making decision about therapeutic termination. In the present study, the accuracy of US in detection of gross prenatal CNS anatomic anomalies has been investigated."nPatients and Methods: 3012 pregnant women were scanned after 18 weeks of gestation by an expert operator in a referring center. All delivered fetuses were followed after birth through clinical examination and sonography."nResults: In this study, the accuracy of US in detection of gross CNS anatomic anomalies of fetuses after 18 weeks gestation was found to be 100%. The sensitivity, specificity, positive and negative predictive values of US were 100%. In sonographic examination of these 3012 pregnant women, 36 fetuses were detected with CNS anomalies, some of whom had more than one anomaly. Gross CNS anomalies observed included microcephaly, hydrocephaly, anencephaly, holoprosencephaly, ventriculomegaly, meningocele, encephalocele, lissencephaly, agenesis of corpus callosum, bilateral choroid plexus cysts and hypoplastic cerebellum."nConclusion: US is highly operator dependent and operator experience may be the most determinant affecting the results. Sonographic scanning after 18 weeks of gestation is associated with the best results.

  18. Morphometric Identification, Gross and Histopathological Lesions of Eimeria Species in Japanese Quails (Coturnix coturnix japonica in Zaria, Nigeria

    Directory of Open Access Journals (Sweden)

    H. A. Umar

    2014-01-01

    Full Text Available The objective of the study was to identify the species, gross and histopathological lesions of Eimeria in Japanese quails in Zaria. A total of 400 fresh faecal samples were collected and 10 quail birds were purchased from a quail farm. The faecal samples were processed using simple floatation technique. Oocysts shape indices of sporulated oocysts were determined. The intestines were observed for gross lesions and segments were analyzed using Giemsa stain and Haematoxylin and Eosin stain and then observed microscopically for the developmental stages of the parasite. Four species of Eimeria were identified in the study. Eimeria bateri of shape index of 1.36 conformed to the guidelines used while the other three Eimeria species with shape indices of 1.48, 1.03, and 1.40 were not confirmed. The main gross lesion seen was nonhaemorrhagic ballooning of the caeca. Intestinal scrapping smear revealed a developmental stage of the parasite (merozoites in the jejunum. Histopathology also revealed a developmental stage (schizont of the parasite in the caecum and desquamation of the epithelial lining with areas of necrosis. Further study is required using molecular techniques to properly identify the unknown species of Eimeria that were detected in the study.

  19. Laparoscopic ovum collection in sheep: gross and microscopic evaluation of the ovary and influence on ooctye production.

    Science.gov (United States)

    Teixeira, P P M; Padilha, L C; Oliveira, M E F; Motheo, T F; da Silva, A S L; Barros, F F P C; Coutinho, L N; Flôres, F N; Lopes, M C S; Bandarra, M B; Silva, M A M; Vasconcelos, R O; Rodrigues, L F S; Vicente, W R R

    2011-09-01

    Gross and microscopic evaluations of the ovaries of sheep subjected to successive ovum collection were performed with the objective of identifying if there was interference in oocyte production and morphology of gonads. Gross evaluation of the internal genital tract was also performed. Eighteen ewes of the Santa Inês breed were randomly distributed into three experimental groups of six animals each; G0, G1 and G9 with no, one and nine repetitions, respectively. Estrous synchronization was achieved with a short protocol using MAP followed by single dose stimulation with 80mg of FSHp and 300 IU of eCG (IM). Laparoscopic ovum pick-up was performed 36h later, with 7-day intervals. The number of visualized follicles, aspirated follicles and oocytes recovery was recorded. After the last intervention, ovariectomy was performed for evaluation of gross and microscopical appearance and existence of lesions caused by follicular puncture, which were classified as absent (0), mild (1), moderate (2) and severe (3). The number of visualized follicles, aspirated follicles and oocytes recovery were 13.2±2.0, 11.3±3.0 and 5.8±2.3, respectively, with a recovery rate of 51.7%. No statistical difference was found between the nine sessions (P>0.05). Nine sessions of superovulation and ovum collection procedures did not cause ovarian lesions and did not interfere with the production of follicles in ewes of the Santa Inês breed.

  20. Effects of Motor Skill Intervention on Gross Motor Development, Creative Thinking and Academic Performance in Preschool Children

    Directory of Open Access Journals (Sweden)

    Judith Jiménez Díaz

    2010-08-01

    Full Text Available The purpose of this study was to investigate how students (mean= 6.08±0.5 years benefit from a physical education program in motor performance, creative thinking and academic achievement. Students (n = 39 were randomly assigned to comparison group (6 boys and 7 girls who received the regular preschool program (which includes 1 session of 30 minutes per week; intervention group 1 (6 boys and 7 girls who received the regular preschool program plus 1 session of 30 minutes per week of the intervention program; or intervention group 2 (6 boys and 7 girls, who received the regular preschool program plus 1 session of 60 minutes per week of the intervention program; during 8 weeks. All participants performed the Test of Gross Motor Development (TGMD-2 and the Torrance Test of Creative Thinking (TTCT before and after the study. The academic achievement score was given by the school. The ANOVA (Group x Gender x Time pre and post analysis revealed a significant triple interaction in the object control. Significant double interactions in the locomotor subscale and in the gross motor quotient were also found. After the post-hoc analysis, the results suggest that the physical education program benefits the gross motor performance and did not have an effect on the creative thinking or on the academic achievement.

  1. Distribution of control decisions in remote manipulation

    Science.gov (United States)

    Bejczy, A. K.

    1975-01-01

    The particular characteristics of the problem of distributing control decisions between man and computer in remotely controlled manipulation are discussed. State of the art is reviewed from two viewpoints: (1) specifications of both control commands and control context of sensor signals the operator inputs to the manipulator control computer; (2) operations the manipulator control computer performs on operator commands and realtime sensor signals to control the manipulator for a specified task. JPL breadboard systems, system components, and control experiments are described related to the development and evaluation of manipulator control systems with capabilities of distributing control decisions between man and computer.

  2. Pulse voltage determination for electrostatic micro manipulation considering surface conductivity and adhesion of glass particle

    Directory of Open Access Journals (Sweden)

    Ryo Fujiwara

    2015-05-01

    Full Text Available A model with surface conductivity and adhesional force is proposed to investigate the mechanism for electrostatic micro manipulation of a dielectric object using a single probe. The manipulation system consists of three elements: a conductive probe as a manipulator, a conductive plate as a substrate, and a dielectric particle as the target object for manipulation. The particle can be successfully picked up/placed if a rectangular pulse voltage is applied between the probe and the plate. The reliability of the picking up/placing operation is improved by applying a pulse voltage that is determined by a theoretical model considering surface conductivity and adhesion. To verify the theoretical prediction, manipulation experiment is conducted using soda-lime glass particles with radii of 20 μm and 40 μm.

  3. Impact vibration reduction for flexible manipulators via controllable local degrees of freedom

    Institute of Scientific and Technical Information of China (English)

    Bian Yushu; Gao Zhihui; Deng Yuchun

    2013-01-01

    When performing operation tasks, the interaction between a flexible manipulator and a grasped object usually results in an impact. In this paper, a new way is suggested to alleviate impact vibration of a flexible manipulator via its structural characteristic when capturing a moving object. Controllable local degrees of freedom are introduced to the topological structure of the flexible manipulator, and used as an effective tool to combat impact vibration through dynamic coupling. A corresponding method is put forward to reduce impact vibration responses of the flexible manip-ulator via the controllable local degrees of freedom. By planning motion of the controllable local degrees of freedom, appropriate control force can be constructed to increase the modal damping and stiffness and eliminate the exciting force simultaneously, thereby reducing impact vibration responses of the flexible manipulator. Simulations are conducted and results are shown to prove the presented method.

  4. Orbiting Rainbows: Optical Manipulation of Aerosols and the Beginnings of Future Space Construction Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Our objective is to investigate the conditions to manipulate and maintain the shape of an orbiting cloud of dust-like matter so that it can function as an...

  5. Control Suite and Teleoperator Interface for Whole-Body Mobile Manipulators Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots that can move about in terrestrial environments and manipulate large and small objects serve a critical role in NASA's Moon/Mars initiative. Such systems will...

  6. A Mobile Robot for Small Object Handling

    Science.gov (United States)

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

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

  7. Querying and Manipulating Temporal Databases

    Directory of Open Access Journals (Sweden)

    Mohamed Mkaouar

    2011-03-01

    Full Text Available Many works have focused, for over twenty five years, on the integration of the time dimension indatabases (DB. However, the standard SQL3 does not yet allow easy definition, manipulation andquerying of temporal DBs. In this paper, we study how we can simplify querying and manipulatingtemporal facts in SQL3, using a model that integrates time in a native manner. To do this, we proposenew keywords and syntax to define different temporal versions for many relational operators andfunctions used in SQL. It then becomes possible to perform various queries and updates appropriate totemporal facts. We illustrate the use of these proposals on many examples from a real application.

  8. VIMS: toward an adaptive and versatile video manipulation server

    Science.gov (United States)

    Lee, John C.; Li, Qing; Xiong, Wei

    1996-09-01

    Recently, there has been much research on video manipulation in the area of video-on-demand and video databases. Most of the recent work has so far focused on video classification, feature extraction, spatial reasoning and image retrieval; little work has been done on supporting adaptive video editing and production activities, nor has there been much work done on providing facilities for building a versatile video manipulation server. In this paper, we describe the development of an experimental video manipulation server called 'VIMS', which has been implemented at the Hong Kong University of Science and Technology. VIMS consists of two fundamental components: i) a video classification components (VCC) for the generation of effective indices necessary for structuring the video data, and ii) a conceptual clustering mechanism (CCM) having advanced object-oriented features and techniques. The former supports video structuring through camera break detection, shot classification using domain knowledge, as well as content-based retrieval through interactive learning, whereas the latter enables users to form, among other things, video programs form existing objects based on semantic features/index terms dynamically and adaptively. By tightly coupling CCM techniques together with VCC;s, the VIMS further allows the user to perform annotation-based and content-based retrieval in a well integrated and interleaved manner, which we regard as essential for a versatile video manipulation server. A prototype of VIMS embodying VCC and CCM has recently been constructed, running on the PC Pentium platform.

  9. Single Epoch GPS Deformation Signals Extraction and Gross Error Detection Technique Based on Wavelet Transform

    Institute of Scientific and Technical Information of China (English)

    WANG Jian; GAO Jingxiang; XU Changhui

    2006-01-01

    Wavelet theory is efficient as an adequate tool for analyzing single epoch GPS deformation signal. Wavelet analysis technique on gross error detection and recovery is advanced. Criteria of wavelet function choosing and Mallat decomposition levels decision are discussed. An effective deformation signal extracting method is proposed, that is wavelet noise reduction technique considering gross error recovery, which combines wavelet multi-resolution gross error detection results. Time position recognizing of gross errors and their repairing performance are realized. In the experiment, compactly supported orthogonal wavelet with short support block is more efficient than the longer one when discerning gross errors, which can obtain more finely analyses. And the shape of discerned gross error of short support wavelet is simpler than that of the longer one. Meanwhile, the time scale is easier to identify.

  10. Tracking in Object Action Space

    DEFF Research Database (Denmark)

    Krüger, Volker; Herzog, Dennis

    2013-01-01

    In this paper we focus on the joint problem of tracking humans and recognizing human action in scenarios such as a kitchen scenario or a scenario where a robot cooperates with a human, e.g., for a manufacturing task. In these scenarios, the human directly interacts with objects physically by using....../manipulating them or by, e.g., pointing at them such as in “Give me that…”. To recognize these types of human actions is difficult because (a) they ought to be recognized independent of scene parameters such as viewing direction and (b) the actions are parametric, where the parameters are either object...... tracking and action recognition should be seen as an intertwined problem that is primed by the objects on which the actions are applied. In this paper, we are looking at human body tracking and action recognition from a object-driven perspective. Instead of the space of human body poses we consider...

  11. Genetic manipulation of Methanosarcina spp.

    Directory of Open Access Journals (Sweden)

    Petra Regine Adelheid Kohler

    2012-07-01

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

  12. Purple sea urchin Strongylocentrotus purpuratus gamete manipulation using optical trapping and microfluidics

    Science.gov (United States)

    Chandsawangbhuwana, Charlie; Shi, Linda Z.; Zhu, Qingyuan; Berns, Michael W.

    2013-04-01

    A system has been developed that allows for optical and fluidic manipulation of gametes. The optical manipulation is performed by using a single-point gradient trap with a 40× oil immersion PH3 1.3 NA objective on a Zeiss inverted microscope. The fluidic manipulation is performed by using a custom microfluidic chamber designed to fit into the short working distance between the condenser and objective. The system is validated using purple sea urchin Strongylocentrotus purpuratus gametes and has the potential to be used for mammalian in vitro fertilization and animal husbandry.

  13. Test of gross motor development-2 for Filipino children with intellectual disability: validity and reliability.

    Science.gov (United States)

    Capio, Catherine M; Eguia, Kathlynne F; Simons, Johan

    2016-01-01

    This study aimed to examine aspects of validity and reliability of the Test of Gross Motor Development-2 (TGMD-2) in Filipino children with intellectual disability. Content and construct validity were verified, as well as inter-rater and intra-rater reliability. Two paediatric physiotherapists tested 81 children with intellectual disability (mean age = 9.29 ± 2.71 years) on locomotor and object control skills. Analysis of covariance, confirmatory factor analysis and analysis of variance were used to test validity, while Cronbach's alpha, intra-class correlation coefficients (ICC) and Bland-Altman plots were used to examine reliability. Age was a significant predictor of locomotor and object control scores (P = 0.004). The data fit the hypothesised two-factor model with fit indices as follows: χ(2) = 33.525, DF = 34, P = 0.491, χ(2)/DF = 0.986. As hypothesised, gender was a significant predictor for object control skills (P = 0.038). Participants' mean scores were significantly below mastery (locomotor, P children with intellectual disability.

  14. Effect of physical therapy frequency on gross motor function in children with cerebral palsy.

    Science.gov (United States)

    Park, Eun-Young

    2016-06-01

    [Purpose] This study attempted to investigate the effect of physical therapy frequency based on neurodevelopmental therapy on gross motor function in children with cerebral palsy. [Subjects and Methods] The study sample included 161 children with cerebral palsy who attended a convalescent or rehabilitation center for disabled individuals or a special school for children with physical disabilities in South Korea. Gross Motor Function Measure data were collected according to physical therapy frequency based on neurodevelopmental therapy for a period of 1 year. [Results] The correlation between physical therapy frequency and Gross Motor Function Measure scores for crawling and kneeling, standing, walking, running and jumping, and rolling, and the Gross Motor Function Measure total score was significant. The differences in gross motor function according to physical therapy frequency were significant for crawling, kneeling, standing, and Gross Motor Function Measure total score. The differences in gross motor function according to frequency of physical therapy were significant for standing in Gross Motor Function Classification System Level V. [Conclusion] Intensive physical therapy was more effective for improving gross motor function in children with cerebral palsy. In particular, crawling and kneeling, and standing ability showed greater increases with intensive physical therapy.

  15. Effect of physical therapy frequency on gross motor function in children with cerebral palsy

    Science.gov (United States)

    Park, Eun-Young

    2016-01-01

    [Purpose] This study attempted to investigate the effect of physical therapy frequency based on neurodevelopmental therapy on gross motor function in children with cerebral palsy. [Subjects and Methods] The study sample included 161 children with cerebral palsy who attended a convalescent or rehabilitation center for disabled individuals or a special school for children with physical disabilities in South Korea. Gross Motor Function Measure data were collected according to physical therapy frequency based on neurodevelopmental therapy for a period of 1 year. [Results] The correlation between physical therapy frequency and Gross Motor Function Measure scores for crawling and kneeling, standing, walking, running and jumping, and rolling, and the Gross Motor Function Measure total score was significant. The differences in gross motor function according to physical therapy frequency were significant for crawling, kneeling, standing, and Gross Motor Function Measure total score. The differences in gross motor function according to frequency of physical therapy were significant for standing in Gross Motor Function Classification System Level V. [Conclusion] Intensive physical therapy was more effective for improving gross motor function in children with cerebral palsy. In particular, crawling and kneeling, and standing ability showed greater increases with intensive physical therapy. PMID:27390440

  16. Context-dependent learning interferes with visuomotor transformations for manipulation planning.

    Science.gov (United States)

    Fu, Qiushi; Santello, Marco

    2012-10-24

    How the CNS transforms visual information of object properties into motor commands for manipulation is not well understood. We designed novel apparatus and protocols in which human subjects had to learn manipulations in two different contexts. The first task involved manipulating a U-shaped object that can afford two actions by grasping different parts of the same object. The second task involved manipulating two L-shaped objects that were posed at different orientations. In both experiments, subjects learned the manipulation over consecutive trials in one context before switching to a different context. For both objects and tasks, the visual geometric cues were effective in eliciting anticipatory control with little error at the beginning of learning of the first context. However, subjects failed to use the visual information to the same extent when switching to the second context as sensorimotor memory built through eight consecutive repetitions in the first context exerted a strong interference on subjects' ability to use visual cues again when the context changed. A follow-up experiment where subjects were exposed to a pseudorandom sequence of context switches with the U-shaped object revealed that the interference caused by the preceding context persisted even when subjects switched context after only one trial. Our results suggest that learning generalization of dexterous manipulation is fundamentally limited by context-specific learning of motor actions and competition between vision-based motor planning and sensorimotor memory.

  17. Physical fitness of primary school children in the reflection of different levels of gross motor coordination

    Directory of Open Access Journals (Sweden)

    Ingrid Ružbarská

    2016-12-01

    Full Text Available Background: Lower level of motor competences may result in unsuccessful engaging of children in physical activities as early as pre-school age and also prepubescent ages. This may subsequently lead to a spiral of forming negative attitudes towards an active lifestyle and may be accompanied by a negative trend in weight status and physical fitness outcomes. Objective: The aim of the study was to identify and analyze differences in physical fitness and somatic parameters of primary school-aged children according to level of their gross motor coordination. Methods:  A sample of 436 children aged 7 to 10 years, of which were 222 girls and 214 boys, performed physical fitness tests - Eurofit test battery. The level of motor coordination was assessed using the test battery Körperkoordination-Test-für-Kinder (KTK. The anthropometric data (body mass, body height, sum of five skinfolds were measured. The one-way ANOVA was used to assess differences in physical fitness test items and anthropometry parameters between children with normal motor quotient (MQ ≥ 86 and decreased levels of gross motor coordination (MQ ≤ 85. Results: Research findings indicate a strongly negative trend in physical development of children with motor deficits (MQ ≤ 85. The results of ANOVA revealed significantly less favourable level of most of the assessed physical fitness parameters in children with decreased level of motor coordination. Conclusions: The findings suggest that physical fitness outcomes of primary school-aged children are associated with a lower level of motor coordination. Motor coordination probably plays an important role in preventing, or moderating the so-called negative trajectory leading to childhood overweight or obesity.

  18. Associations between Manual Abilities, Gross Motor Function, Epilepsy, and Mental Capacity in Children with Cerebral Palsy

    Directory of Open Access Journals (Sweden)

    Ewa GAJEWSKA*

    2014-04-01

    Full Text Available How to Cite This Article: Gajewska E, Sobieska M, Samborski W. Associations between Manual Abilities, Gross Motor Function, Epilepsy, and Mental Capacity in Children with Cerebral Palsy. Iran J Child Neurol. 2014 Spring 8(2:45-52.ObjectiveThis study aimed to evaluate gross motor function and hand function in children with cerebral palsy to explore their association with epilepsy and mental capacity. Material & MethodsThe research investigating the association between gross and fine motor function and the presence of epilepsy and/or mental impairment was conducted on a group of 83 children (45 girls, 38 boys. Among them, 41 were diagnosedwith quadriplegia, 14 hemiplegia, 18 diplegia, 7 mixed form, and 3 athetosis.A neurologist assessed each child in terms of possible epilepsy and confirmed diagnosis in 35 children. A psychologist assessed the mental level (according toWechsler and found 13 children within intellectual norm, 3 children with mild mental impairment, 18 with moderate, 27 with severe, and 22 with profound.Children were then classified based on Gross Motor Function Classification System and Manual Ability Classification Scale.ResultsThe gross motor function and manual performance were analysed in relation to mental impairment and the presence of epilepsy. Epilepsy was found to disturb conscious motor functions, but also higher degree of mental impairment wasobserved in children with epilepsy.ConclusionThe occurrence of epilepsy in children with cerebral palsy is associated with worse manual function. The occurrence of epilepsy is associated with limitations in conscious motor functions. There is an association between epilepsy in children with cerebral palsy and the degree of mental impairment.The occurrence of epilepsy, mainly in children with hemiplegia and diplegia is associated with worse mental capacities.ReferencesRichards CL, Malouin F. Cerebral palsy: definition, assessment and rehabilitation. Handb Clin Neurol

  19. Planar Serial Manipulator Motion Synthesis

    Institute of Scientific and Technical Information of China (English)

    Yanhui Wei; Han Han; Zepeng Wang; Xin Liu; Guangchun Li

    2015-01-01

    This paper deals with the universal serial manipulator on the inverse kinematics problem of plane type, the fast working space solution method, and the obstacle avoidance path planning method. With the vector projection as the main constraint condition of the target, it proposes a general form of the inverse kinematics solution which does not depend on the robot configuration of freedom degree. By identifying the target vector direction maximum and minimum workspace boundary and determining the destination vector by thick search on the workspace boundary method, an expressing method of the polar coordinate form of work space is then introduced. Finally, according to the form of plane trajectory planning for obstacle avoidance problem, the method of solving the inverse kinematics solution of the concave and convex forms of the safe obstacle avoidance area is improved. The simulation results verify that the proposed method has feasibility and generality.

  20. Task Space Tracking for Manipulators

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1985-04-01

    Full Text Available For the purpose of controlling a manipulator in the task space, a linear model with task space position and velocity as state variables can be developed. This is done by means of exact compensation of the state-space model non-linearities using non-linear feedback. In this paper, feedback control for this linear state space model is developed using optimal control theory. Integral action is included to compensate for unmodeled forces and torques. In the resulting control system, the problem of transforming the task space trajectory to the joint space is avoided, and the controller parameters can be chosen to satisfy requirements specified in the task space. Simulation experiments show promising results.

  1. Incretin manipulation in diabetes management

    Institute of Scientific and Technical Information of China (English)

    2015-01-01

    Incretin-based therapies have revolutionized the medicalmanagement of type 2 diabetes mellitus (T2DM)in the 21st century. Glucagon-like peptide-1 (GLP-1)suppresses appetite and gastric motility, and has trophiceffects on pancreas, cardio-protective and renal effects.GLP-1 analogues and dipeptidyl peptidase-4 inhibitorsform the incretin-based therapies. Significant reductionof hemoglobin A1c when used as monotherapy andin combination regimens, favorable effects on bodyweight, and low risk of hypoglycemia are their uniquetherapeutic benefits. Their safety and tolerability arecomparable to other anti-diabetic medications. Concernabout elevated risk of pancreatitis has been discardedby two recent meta-analyses. This article discussesthe therapeutic manipulation of incretin system for themanagement of T2DM.

  2. Multidiscipline simulation of elastic manipulators

    Directory of Open Access Journals (Sweden)

    T. Rølvåg

    1992-10-01

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

  3. Dynamic High-speed Knotting of a Rope by a Manipulator

    Directory of Open Access Journals (Sweden)

    Yuji Yamakawa

    2013-10-01

    Full Text Available In this paper we suggest an entirely new strategy for the dexterous manipulation of a linear flexible object, such as rope or a cable, with a high-speed manipulator. We deal with a flexible rope as one example of the linear flexible object. The strategy involves manipulating the object at high-speed. By moving the robot at high-speed, we can assume that the dynamic behaviour of the flexible rope can be obtained by performing algebraic calculations of the high- speed robot motion. Based on this assumption, we derive a dynamic deformation model of the flexible rope and confirm the validity of the proposed model. Then we perform a simulation of dynamic, high-speed knotting based on the proposed model. We also discuss the possibility of forming the knot based on a simple analysis model. Finally, we show experimental results demonstrating dynamic, high-speed knotting with a high-speed manipulator.

  4. Improved Collision-Detection Method for Robotic Manipulator

    Science.gov (United States)

    Leger, Chris

    2003-01-01

    An improved method has been devised for the computational prediction of a collision between (1) a robotic manipulator and (2) another part of the robot or an external object in the vicinity of the robot. The method is intended to be used to test commanded manipulator trajectories in advance so that execution of the commands can be stopped before damage is done. The method involves utilization of both (1) mathematical models of the robot and its environment constructed manually prior to operation and (2) similar models constructed automatically from sensory data acquired during operation. The representation of objects in this method is simpler and more efficient (with respect to both computation time and computer memory), relative to the representations used in most prior methods. The present method was developed especially for use on a robotic land vehicle (rover) equipped with a manipulator arm and a vision system that includes stereoscopic electronic cameras. In this method, objects are represented and collisions detected by use of a previously developed technique known in the art as the method of oriented bounding boxes (OBBs). As the name of this technique indicates, an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs), as in the example of Figure 1. Unlike prior methods, the OBB/OBP method does not require any divisions or transcendental functions; this feature leads to greater robustness and numerical accuracy. The OBB/OBP method was selected for incorporation into the present method because it offers the best compromise between accuracy on the one hand and computational efficiency (and thus computational speed) on the other hand.

  5. Optical Manipulation with Plasmonic Beam Shaping Antenna Structures

    OpenAIRE

    Young Chul Jun; Igal Brener

    2012-01-01

    Near-field optical trapping of objects using plasmonic antenna structures has recently attracted great attention. However, metal nanostructures also provide a compact platform for general wavefront engineering of intermediate and far-field beams. Here, we analyze optical forces generated by plasmonic beam shaping antenna structures and show that they can be used for general optical manipulation such as guiding of a dielectric particle along a linear or curved trajectory. This removes the need...

  6. Autonomous intelligent robotic manipulator for on-orbit servicing

    Science.gov (United States)

    Larouche, Benoit P.

    The doctoral research is to develop an autonomous intelligent robotic manipulator technology for on-orbit servicing (OOS). More specifically, the research is focused on one of the most critical tasks in OOS- the capture of a non-cooperative object whilst minimizing impact forces and accelerations. The objective of the research is: the development of a vision-based control theory, and the implementation and testing of the developed theory by designing and constructing a custom non-redundant holonomic robotic manipulator. The research validated the newly developed control theory and its ability to (i) capture a moving target autonomously and (ii) minimize unfavourable contact dynamics during the most critical parts of the capture operations between the capture satellite and a non-cooperative/tumbling object. A custom robotic manipulator functional prototype has been designed, assembled, constructed, and programmed from concept to completion in order to provide full customizability and controllability in both the hardware and the software. Based on the test platform, a thorough experimental investigation has been conducted to validate the newly developed control methodologies to govern the behaviour of the robotic manipulators (RM) in an autonomous capture. The capture itself is effected on non-cooperative targets in zero-gravity simulated environment. The RM employs a vision system, force sensors, and encoders in order to sense its environment. The control is effected through position and pseudo-torque inputs to three stepper motors and three servo motors. The controller is a modified hybrid force/neural network impedance controller based on N. Hogan's original work. The experimental results demonstrate the set objectives of this thesis have been successfully achieved.

  7. Towards Physarum robots: computing and manipulating on water surface

    CERN Document Server

    Adamatzky, Andrew

    2008-01-01

    Plasmodium of Physarym polycephalum is an ideal biological substrate for implementing concurrent and parallel computation, including combinatorial geometry and optimization on graphs. We report results of scoping experiments on Physarum computing in conditions of minimal friction, on the water surface. We show that plasmodium of Physarum is capable for computing a basic spanning trees and manipulating of light-weight objects. We speculate that our results pave the pathways towards design and implementation of amorphous biological robots.

  8. Spinal manipulative therapy for acute low-back pain (Review)

    OpenAIRE

    Rubinstein, S.M.; Terwee, C. B.; Assendelft, W J J; Boer, M.R.M. de; van Tulder, M. W.

    2012-01-01

    BACKGROUND: Many therapies exist for the treatment of low-back pain including spinal manipulative therapy (SMT), which is a worldwide, extensively practised intervention. This report is an update of the earlier Cochrane review, first published in January 2004 with the last search for studies up to January 2000. OBJECTIVES: To examine the effects of SMT for acute low-back pain, which is defined as pain of less than six weeks duration. SEARCH METHODS: A comprehensive search was conducted on 31 ...

  9. Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics

    OpenAIRE

    Wang, Hanlei

    2014-01-01

    In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking irrespective of the uncertain kinematics and dynamics. The proposed controllers have the desirable separation property, and we also show that the first adaptive controller with appropriate modifications can yield improved performance, without the expense of conservat...

  10. Graspable objects shape number processing

    Directory of Open Access Journals (Sweden)

    Mariagrazia eRanzini

    2011-12-01

    Full Text Available The field of numerical cognition represents an interesting case for action-based theories of cognition, since number is a special kind of abstract concept. Several studies have shown that within the parietal lobes adjacent neural regions code numerical magnitude and grasping-related information. This anatomical proximity between brain areas involved in number and sensorimotor processes may account for interactions between numerical magnitude and action. In particular, recent studies has demonstrated a causal role of action perception on numerical magnitude processing. If objects are represented in terms of actions (affordances, the causal role of action on number processing should extend to the case of objects affordances. This study investigates the relationship between numbers and objects affordances in two experiments, without (Experiment 1 or with (Experiment 2 a motor action execution (i.e., participants were asked to hold an object in their hands during the task. The task consisted in repeating aloud the odd or even digit within a pair depending on the type of the preceding or following object. Order of presentation (object-number vs. number-object, object type (graspable vs. ungraspable, object size (small vs. large, and Numerical magnitude (small vs. large were manipulated for each experiment. Experiment 1 showed a facilitation – in terms of quicker responses - for graspable over ungraspable objects preceded by numbers, and an effect of numerical magnitude after the presentation of graspable objects. Experiment 2 demonstrated that the action execution enhanced overall the sensitivity to numerical magnitude, however interfering with the effects of objects affordances on number processing. Overall, these findings demonstrate that numbers and graspable objects communicate with each other, supporting the view that abstract concepts may be grounded in motor experience.

  11. The effect of traditional games and ordinary games on manipulative skills development in educable mental retarded boys

    Directory of Open Access Journals (Sweden)

    hamid reza Gheiji

    2014-03-01

    Full Text Available Background : Manipulative skills are one of the fundamental skills subtitles which is used in most of daily and sports activities. The aim of this study was to compare the effect of traditional games and ordinary games on manipulative skills development in 8-10 years old Gorgan boys with educable mental retardation. Materials and Methods: Personal information was evaluated by the researcher made questionnaire and children's intelligence by the Wechsler test. Also, manipulative skills were assessed by the Test of Gross Motor Development- edition 2 (TGMD-2 in pre-test. Then, participants were distributed into two groups traditional games (n=15 and ordinary games (n=15 randomly. Post-test of TGMD-2 were done from two groups after 8 weeks training (3 sessions per week and 45 min for each session. Data analyzes was done by independent t-test, paired t-test and variance analysis with repeated measurement in a significant rate (α= 0.05. Results: The two groups showed significant improvements in manipulation skills, but the improvement of traditional games group was significantly more than ordinary games group in all of measured manipulating skills (throwing, catching, kicking, striking, dribbling , rolling a ball (p<0.05. Conclusion: It can be said, selected traditional games could be an appropriate program for the manipulative skills development of children.

  12. World distribution of gross domestic product per-capita

    Science.gov (United States)

    Bustos-Guajardo, R.; Moukarzel, Cristian F.

    2015-05-01

    It is shown that the world distribution of gross domestic products per capita (GDPpc) is well described by a trade-investment model that combines yard-sale (YS) exchange and random multiplicative noise (RMN). We first derive analytically the typical value w(r, t) of the ranked wealths for a system evolving under YS exchange and RMN. The resulting analytical expressions are fitted to data for the GDPpc of up to 200 countries, in the period 1960-2013. Our model fits the data significantly better than previously proposed approaches that consider either Noise or Trade alone. Analysis of the resulting values for the fitting parameters, and of their time dependence, suggests that: (a) International trade conditions have (from 1960 to 2008) a statistical bias towards favoring richer countries. (b) Biased international commerce is the main cause for the observed divergence of GDPpc values from 1960 to 2008. (c) After 2008, the distribution of GDPpc starts to converge, and the world product per capita stops growing.

  13. Gross congenital malformation at birth in a government hospital

    Directory of Open Access Journals (Sweden)

    Sandeep Sachdeva

    2014-01-01

    Full Text Available A hospital-based cross-sectional study was undertaken to determine proportion of gross congenital malformation (GCMF occurring at intramural births. Rate of GCMF was found to be 16.4/1000 consecutive singleton births (>28 weeks with three leading malformation as anencephaly (44.68%, talipes equinovarus (17.02% and meningomyelocele (10.63%. Higher risk of malformed births were noticed amongst un-booked (2.07% in-comparison to booked (1.01% mothers; women with low level of education (up to 8 years [2.14%] vs. at least 9 years of schooling [0.82%]; gravida status of at least 3 (2.69% followed by 1 (1.43% and 2 (1.0% respectively; pre-term (5.13% vs. term (0.66%; cesarean section (4.36% versus vaginal delivery (0.62%. Mortality was significantly higher among congenitally malformed (17.35% than normal (0.34% newborns. With-in study limitation, emergence of neural tube defect as the single largest category of congenital malformation indicates maternal malnutrition (especially folic acid that needs appropriate attention and management.

  14. Progestogen-related gross and microscopic changes in female Beagles.

    Science.gov (United States)

    Nelson, L W; Kelly, W A

    1976-01-01

    Long-term studies of megestrol acetate and chlormadinone acetate in 100 female dogs are in progress. Doses of zero, one, 10 and 25 times the expected human dose of megestrol acetate and 25 times the expected human dose of chlormadinone acetate (on a milligram per kilogram body weight basis) are being given daily. During the first 4 years, eight dogs from each of the five groups were killed. The principal gross findings included enlarged uteri with mucoid material in the lumina, mammary development in dogs given middle and high doses of megestrol acetate and chlormadinone acetate, and thickened gallbladder walls in dogs given high doses of each. Histologic evaluation showed inhibition of ovulation for progestogen-treated dogs and suppression of ovarian follicular development with the high doses. Cystic endometrial hyperplasia was slight in the low-dose dogs and moderate to severe in most of the high-dose dogs; a few also had ulcerative endometritis and pyometra. The mammary glands of dogs given the middle and high doses produced lobules, acini, and secretion exceeding natural metestrus. Slight to marked cystic mucinous hyperplasia occurred in the gallbladders of most dogs given the high doses. Tow high-dose megestrol dogs had clinical signs and microscopic pancreatic, renal, and ocular changes indicative of diabetes mellitus.

  15. Stratospheric sulfate geoengineering enhances terrestrial gross primary productivity

    Science.gov (United States)

    Xia, L.; Robock, A.; Tilmes, S.; Neely, R. R., III

    2015-09-01

    Stratospheric sulfate geoengineering could impact the terrestrial carbon cycle by enhancing the carbon sink. With an 8 Tg yr-1 injection of SO2 to balance a Representative Concentration Pathway 6.0 (RCP6.0) scenario, we conducted climate model simulations with the Community Earth System Model, with the Community Atmospheric Model 4 fully coupled to tropospheric and stratospheric chemistry (CAM4-chem). During the geoengineering period, as compared to RCP6.0, land-averaged downward visible diffuse radiation increased 3.2 W m-2 (11 %). The enhanced diffuse radiation combined with the cooling increased plant photosynthesis by 2.4 %, which could contribute to an additional 3.8 ± 1.1 Gt C yr-1 global gross primary productivity without nutrient limitation. This increase could potentially increase the land carbon sink. Suppressed plant and soil respiration due to the cooling would reduce natural land carbon emission and therefore further enhance the terrestrial carbon sink during the geoengineering period. This beneficial impact of stratospheric sulfate geoengineering would need to be balanced by a large number of potential risks in any future decisions about implementation of geoengineering.

  16. Stratospheric sulfate geoengineering enhances terrestrial gross primary productivity

    Directory of Open Access Journals (Sweden)

    L. Xia

    2015-09-01

    Full Text Available Stratospheric sulfate geoengineering could impact the terrestrial carbon cycle by enhancing the carbon sink. With an 8 Tg yr−1 injection of SO2 to balance a Representative Concentration Pathway 6.0 (RCP6.0 scenario, we conducted climate model simulations with the Community Earth System Model, with the Community Atmospheric Model 4 fully coupled to tropospheric and stratospheric chemistry (CAM4-chem. During the geoengineering period, as compared to RCP6.0, land-averaged downward visible diffuse radiation increased 3.2 W m−2 (11 %. The enhanced diffuse radiation combined with the cooling increased plant photosynthesis by 2.4 %, which could contribute to an additional 3.8 ± 1.1 Gt C yr−1 global gross primary productivity without nutrient limitation. This increase could potentially increase the land carbon sink. Suppressed plant and soil respiration due to the cooling would reduce natural land carbon emission and therefore further enhance the terrestrial carbon sink during the geoengineering period. This beneficial impact of stratospheric sulfate geoengineering would need to be balanced by a large number of potential risks in any future decisions about implementation of geoengineering.

  17. Horava-Lifshitz-like Gross-Neveu model

    Science.gov (United States)

    Lima, A. M.; Mariz, T.; Martinez, R.; Nascimento, J. R.; Petrov, A. Yu.; Ribeiro, R. F.

    2017-03-01

    We describe a Horava-Lifshitz-like reformulated four-fermion Gross-Neveu model describing the dynamics of two-component spinors in (2 +1 )-dimensional space-time. Within our study, we introduce the Lagrange multiplier, study the gap equation (including the finite temperature case) which turns out to display essentially distinct behaviors for even and odd values of the critical exponent z , and show that the dynamical parity breaking occurs only for the odd z . We demonstrate that for any odd z , there exists a critical temperature at which the dynamical parity breaking disappears. Besides of this, we obtain the effective propagator and show that the resulting effective theory is renormalizable within the framework of the 1/N expansion for all values of z . As one more application of the dynamical parity breaking, we consider coupling of the vector field to the fermions in the case of a simplified spinor-vector coupling and discuss the generation of the Chern-Simons term.

  18. Large historical growth in global terrestrial gross primary production

    Science.gov (United States)

    Campbell, J. E.; Berry, J. A.; Seibt, U.; Smith, S. J.; Montzka, S. A.; Launois, T.; Belviso, S.; Bopp, L.; Laine, M.

    2017-04-01

    Growth in terrestrial gross primary production (GPP)—the amount of carbon dioxide that is ‘fixed’ into organic material through the photosynthesis of land plants—may provide a negative feedback for climate change. It remains uncertain, however, to what extent biogeochemical processes can suppress global GPP growth. As a consequence, modelling estimates of terrestrial carbon storage, and of feedbacks between the carbon cycle and climate, remain poorly constrained. Here we present a global, measurement-based estimate of GPP growth during the twentieth century that is based on long-term atmospheric carbonyl sulfide (COS) records, derived from ice-core, firn and ambient air samples. We interpret these records using a model that simulates changes in COS concentration according to changes in its sources and sinks—including a large sink that is related to GPP. We find that the observation-based COS record is most consistent with simulations of climate and the carbon cycle that assume large GPP growth during the twentieth century (31% ± 5% growth; mean ± 95% confidence interval). Although this COS analysis does not directly constrain models of future GPP growth, it does provide a global-scale benchmark for historical carbon-cycle simulations.

  19. Large historical growth in global terrestrial gross primary production

    Energy Technology Data Exchange (ETDEWEB)

    Campbell, J. E.; Berry, J. A.; Seibt, U.; Smith, S. J.; Montzka, S. A.; Launois, T.; Belviso, S.; Bopp, L.; Laine, M.

    2017-04-05

    Growth in terrestrial gross primary production (GPP) may provide a feedback for climate change, but there is still strong disagreement on the extent to which biogeochemical processes may suppress this GPP growth at the ecosystem to continental scales. The consequent uncertainty in modeling of future carbon storage by the terrestrial biosphere constitutes one of the largest unknowns in global climate projections for the next century. Here we provide a global, measurement-based estimate of historical GPP growth using long-term atmospheric carbonyl sulfide (COS) records derived from ice core, firn, and ambient air samples. We interpret these records using a model that relates changes in the COS concentration to changes in its sources and sinks, the largest of which is proportional to GPP. The COS history was most consistent with simulations that assume a large historical GPP growth. Carbon-climate models that assume little to no GPP growth predicted trajectories of COS concentration over the anthropogenic era that differ from those observed. Continued COS monitoring may be useful for detecting ongoing changes in GPP while extending the ice core record to glacial cycles could provide further opportunities to evaluate earth system models.

  20. A boy with fever, cough and gross haematuria.

    Science.gov (United States)

    Cozzi, Giorgio; Maschio, Massimo; Poillucci, Gabriele; Pennesi, Marco; Barbi, Egidio

    2017-08-28

    A 5 year-old boy presented with 2-days of fever and cough. On examination, he had mild dyspnoea and chest pain, with crackles and hypoventilation at the right lung base. Blood tests showed: WBC 39.1×10(9)/L; N 28.9×10(9)/L; Hb 11.3gr/dL; PLT 375×10(9)/L; CRP 28.7mg/dL; ESR 41mm/h. Chest x-ray confirmed a pulmonary consolidation in the right lower lobe (figure 1), with an associated pleural effusion. Bacterial pneumonia was diagnosed and intravenous ceftriaxone 100mg/kg/die was started. The following day, he developed palpebral oedema and his urine became tea coloured. His blood pressure was 126/82mmHg (>99th percentile).(1) Serum creatinine rose from 0.45mg/dl to 1.09mg/dl (39.8µmol/L - 93.4µmol/L) and C3 was 9mg/dl (n.r. 90-180mg/dl). Urinalysis revealed gross hematuria and 3+ proteinuria, with microscopicy showing dysmorphic red blood cells with casts. Ultrasounds showed enlarged kidneys with increased echogenicity. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2017. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

  1. Object technology: A white paper

    Energy Technology Data Exchange (ETDEWEB)

    Jordan, S.R.; Arrowood, L.F.; Cain, W.D.; Stephens, W.M.; Vickers, B.D.

    1992-05-11

    Object-Oriented Technology (OOT), although not a new paradigm, has recently been prominently featured in the trade press and even general business publications. Indeed, the promises of object technology are alluring: the ability to handle complex design and engineering information through the full manufacturing production life cycle or to manipulate multimedia information, and the ability to improve programmer productivity in creating and maintaining high quality software. Groups at a number of the DOE facilities have been exploring the use of object technology for engineering, business, and other applications. In this white paper, the technology is explored thoroughly and compared with previous means of developing software and storing databases of information. Several specific projects within the DOE Complex are described, and the state of the commercial marketplace is indicated.

  2. Object technology: A white paper

    Energy Technology Data Exchange (ETDEWEB)

    Jordan, S.R.; Arrowood, L.F.; Cain, W.D.; Stephens, W.M.; Vickers, B.D.

    1992-05-11

    Object-Oriented Technology (OOT), although not a new paradigm, has recently been prominently featured in the trade press and even general business publications. Indeed, the promises of object technology are alluring: the ability to handle complex design and engineering information through the full manufacturing production life cycle or to manipulate multimedia information, and the ability to improve programmer productivity in creating and maintaining high quality software. Groups at a number of the DOE facilities have been exploring the use of object technology for engineering, business, and other applications. In this white paper, the technology is explored thoroughly and compared with previous means of developing software and storing databases of information. Several specific projects within the DOE Complex are described, and the state of the commercial marketplace is indicated.

  3. Combined method for parallel manipulator configuration design

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    Configuration design is an essential, creative and decision-making step in parallel manipulator design process, in which modeling and assembly are iterative and trivial. Combined approach with automatic parametric modeling and automatic assembly is proposed for parallel manipulator configuration design. The design process and key techniques, such as configuration design, configuration verification, poses calculation of all parts in parallel manipulator, virtual assembly and etc., are discussed and demonstrated by an example. A software package is developed for parallel manipulator configuration design based on the proposed method with Visual C+ + and UG/OPEN on Unigraphics.

  4. Nano-manipulation of single DNA molecules

    Institute of Scientific and Technical Information of China (English)

    HU Jun; L(U) Jun-Hong; LI Hai-Kuo; AN Hong-Jie; WANG Guo-Hua; WANG Ying; LI Min-Qian; ZHANG Yi; LI Bin

    2004-01-01

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

  5. Implementing version support for complex objects

    NARCIS (Netherlands)

    Blanken, Henk

    1991-01-01

    New applications in the area of office information systems, computer aided design and manufacturing make new demands upon database management systems. Among others highly structured objects and their history have to be represented and manipulated. The paper discusses some general problems concerning

  6. Content validity and reliability of test of gross motor development in Chilean children

    Directory of Open Access Journals (Sweden)

    Marcelo Cano-Cappellacci

    2015-01-01

    Full Text Available ABSTRACT OBJECTIVE To validate a Spanish version of the Test of Gross Motor Development (TGMD-2 for the Chilean population. METHODS Descriptive, transversal, non-experimental validity and reliability study. Four translators, three experts and 92 Chilean children, from five to 10 years, students from a primary school in Santiago, Chile, have participated. The Committee of Experts has carried out translation, back-translation and revision processes to determine the translinguistic equivalence and content validity of the test, using the content validity index in 2013. In addition, a pilot implementation was achieved to determine test reliability in Spanish, by using the intraclass correlation coefficient and Bland-Altman method. We evaluated whether the results presented significant differences by replacing the bat with a racket, using T-test. RESULTS We obtained a content validity index higher than 0.80 for language clarity and relevance of the TGMD-2 for children. There were significant differences in the object control subtest when comparing the results with bat and racket. The intraclass correlation coefficient for reliability inter-rater, intra-rater and test-retest reliability was greater than 0.80 in all cases. CONCLUSIONS The TGMD-2 has appropriate content validity to be applied in the Chilean population. The reliability of this test is within the appropriate parameters and its use could be recommended in this population after the establishment of normative data, setting a further precedent for the validation in other Latin American countries.

  7. 20 CFR 418.1115 - What are the modified adjusted gross income ranges?

    Science.gov (United States)

    2010-04-01

    ... gross income range amounts by any percentage increase in the Consumer Price Index rounded to the nearest...) of this section. We will use your modified adjusted gross income amount together with your tax filing... from his/her spouse for the entire tax year for the year we use to make our income-related...

  8. Balloon-occluded percutaneous transheptic obliteration of isolated vesical varices causing gross hematuria

    Energy Technology Data Exchange (ETDEWEB)

    Lim, Dong Hoon; Kim, Dong Hyun; Kim, Min Seok; Kim, Chul Sung [Department of Urology, College of Medicine, Chosun University, Gwangju (Korea, Republic of)

    2013-01-15

    Gross hematuria secondary to vesical varices is an unusual presentation. We report such a case recurrent gross hematuria in a male patient who had a history of bladder substitution with ileal segments that had been treated by balloon-occluded percutaneous transhepatic obliteration of vesical varices.

  9. De Gross Motor Function Measure (GMFM): een onderzoek naar de responsiviteit van de Nederlandse vertaling.

    NARCIS (Netherlands)

    Veenhof, C.; Ketelaar, M.; Petegem-van Beek, E. van; Vermeer, A.

    2003-01-01

    This article is about the psychometric characteristics of the Dutch translation of the Gross Motor Function Measure (GMFM). It describes the responsiveness to change. The article "Gross Motor Function Measure (GMFM): a reliability study of the Dutch translation" focuses on the reliability of the GMF

  10. De Gross Motor Function Measure (GMFM): een onderzoek naar de betrouwbaarheid van de Nederlandse vertaling.

    NARCIS (Netherlands)

    Veenhof, C.; Ketelaar, M.; Petegem-van Beek, E. van

    2003-01-01

    This article is about the psychometric characteristics of the Dutch translation of the Gross Motor Function Measure (GMFM). It describes the reliability of the instrument. The article "Gross Motor Function Measure" (GMFM): a validity study of the Dutch translation focusses on the responsiveness of t

  11. Brief Assessment of Motor Function: Content Validity and Reliability of the Upper Extremity Gross Motor Scale

    Science.gov (United States)

    Cintas, Holly Lea; Parks, Rebecca; Don, Sarah; Gerber, Lynn

    2011-01-01

    Content validity and reliability of the Brief Assessment of Motor Function (BAMF) Upper Extremity Gross Motor Scale (UEGMS) were evaluated in this prospective, descriptive study. The UEGMS is one of five BAMF ordinal scales designed for quick documentation of gross, fine, and oral motor skill levels. Designed to be independent of age and…

  12. Fixed Point of Generalized Eventual Cyclic Gross in Fuzzy Norm Spaces for Contractive Mappings

    Directory of Open Access Journals (Sweden)

    S. A. M. Mohsenialhosseini

    2015-01-01

    Full Text Available We define generalized eventual cyclic gross contractive mapping in fuzzy norm spaces, which is a generalization of the eventual cyclic gross contractions. Also we prove the existence of a fixed point for this type of contractive mapping on fuzzy norm spaces.

  13. 46 CFR 129.315 - Power sources for OSVs of 100 or more gross tons.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Power sources for OSVs of 100 or more gross tons. 129.315 Section 129.315 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OFFSHORE SUPPLY VESSELS ELECTRICAL INSTALLATIONS Power Sources and Distribution Systems § 129.315 Power sources for OSVs of 100 or more gross tons. (a) The...

  14. Combined climate factors alleviate changes in gross soil nitrogen dynamics in heathlands

    DEFF Research Database (Denmark)

    Bjorsne, Anna-Karin; Rutting, Tobias; Ambus, Per

    2014-01-01

    of exposure to three climate change factors, i.e. warming, elevated CO2 (eCO(2)) and summer drought, applied both in isolation and in combination. By conducting laboratory N-15 tracing experiments we show that warming increased both gross N mineralization and nitrification rates. In contrast, gross...

  15. 26 CFR 1.1332-1 - Inclusion in gross income of war loss recoveries.

    Science.gov (United States)

    2010-04-01

    ... 26 Internal Revenue 11 2010-04-01 2010-04-01 true Inclusion in gross income of war loss recoveries. 1.1332-1 Section 1.1332-1 Internal Revenue INTERNAL REVENUE SERVICE, DEPARTMENT OF THE TREASURY (CONTINUED) INCOME TAX (CONTINUED) INCOME TAXES War Loss Recoveries § 1.1332-1 Inclusion in gross income of...

  16. Comparison of Gross Anatomy Test Scores Using Traditional Specimens vs. Quicktime Virtual Reality Animated Specimens

    Science.gov (United States)

    Maza, Paul Sadiri

    2010-01-01

    In recent years, technological advances such as computers have been employed in teaching gross anatomy at all levels of education, even in professional schools such as medical and veterinary medical colleges. Benefits of computer based instructional tools for gross anatomy include the convenience of not having to physically view or dissect a…

  17. The Effects of Basketball Basic Skills Training on Gross Motor Skills Development of Female Children

    Science.gov (United States)

    Bayazit, Betul

    2015-01-01

    The purpose of this study was to investigate the effects of basketball basic skills training on gross motor skills development of female children in Turkey. For that purpose, 40 female children took part in the study voluntarily. Basketball basic skills test was used to improve the gross motor skills of the female children in the study. Also,…

  18. The Effects of Basketball Basic Skills Training on Gross Motor Skills Development of Female Children

    Science.gov (United States)

    Bayazit, Betul

    2015-01-01

    The purpose of this study was to investigate the effects of basketball basic skills training on gross motor skills development of female children in Turkey. For that purpose, 40 female children took part in the study voluntarily. Basketball basic skills test was used to improve the gross motor skills of the female children in the study. Also,…

  19. 25 CFR 215.21 - Payment of gross production tax on lead and zinc.

    Science.gov (United States)

    2010-04-01

    ... 25 Indians 1 2010-04-01 2010-04-01 false Payment of gross production tax on lead and zinc. 215.21... ZINC MINING OPERATIONS AND LEASES, QUAPAW AGENCY § 215.21 Payment of gross production tax on lead and zinc. The superintendent of the Quapaw Indian Agency is hereby authorized and directed to pay at...

  20. 26 CFR 1.61-3 - Gross income derived from business.

    Science.gov (United States)

    2010-04-01

    ... 26 Internal Revenue 2 2010-04-01 2010-04-01 false Gross income derived from business. 1.61-3 Section 1.61-3 Internal Revenue INTERNAL REVENUE SERVICE, DEPARTMENT OF THE TREASURY (CONTINUED) INCOME... Taxable Income § 1.61-3 Gross income derived from business. (a) In general. In a...