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Sample records for large flexible manipulator

  1. Telerobotic operation of structurally flexible, long-reach manipulators

    International Nuclear Information System (INIS)

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

    1994-01-01

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

  2. Impact Vibration Attenuation for a Flexible Robotic Manipulator through Transfer and Dissipation of Energy

    Directory of Open Access Journals (Sweden)

    Yushu Bian

    2013-01-01

    Full Text Available Due to the presence of system flexibility, impact can excite severe large amplitude vibration responses of the flexible robotic manipulator. This impact vibration exhibits characteristics of remarkable nonlinearity and strong energy. The main goal of this study is to put forward an energy-based control method to absorb and attenuate large amplitude impact vibration of the flexible robotic manipulator. The method takes advantage of internal resonance and is implemented through a vibration absorber based on the transfer and dissipation of energy. The addition of the vibration absorber to the flexible arm generates a coupling effect between vibration modes of the system. By means of analysis on 2:1 internal resonance, the exchange of energy is proven to be existent. The impact vibrational energy can be transferred from the arm to the absorber and dissipated through the damping of the absorber. The results of numerical simulations are promising and preliminarily verify that the method is feasible and can be used to combat large amplitude impact vibration of the flexible manipulator undergoing rigid motion.

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

    Science.gov (United States)

    Kwon, Dong-Soo

    1991-01-01

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

  4. VIBRATION REDUCTION ON SINGLE-LINK FLEXIBLE MANIPULATOR USING H∞ CONTROL

    Directory of Open Access Journals (Sweden)

    Roberd Saragih

    2012-06-01

    Full Text Available This paper is concerned with the vibration and position control of a single link flexible manipulator. Robot link manipulators are widely used in various industrial applications. It is desirable to build light weight flexible manipulators. Light flexible manipulators have a variety of applications, most significantly in space exploration,manufacturing automation, construction, mining, and hazardous operation. Timoshenko beam theory is used to derive mathematical model of a flexible manipulator. The dynamic equations of motion are obtained using the Lagrange's formulation of dynamics.The H∞ controller is designed for vibration and position control of the system. Simulations are presented and show that vibration and position control of a single flexible link can be controlled with the designed H∞ controller.

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

    International Nuclear Information System (INIS)

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

    1994-01-01

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

  6. Modeling of Flexible Beams for Robotic Manipulators

    International Nuclear Information System (INIS)

    Martins, Jorge; Ayala Botto, Miguel; Costa, Jose sa da

    2002-01-01

    This work treats the problem of modeling robotic manipulators with structural flexibility. A mathematical model of a planar manipulator with a single flexible link is developed. This model is capable of reproducing nonlinear dynamic effects, such as the beam stiffening due to the centrifugal forces induced by the rotation of the joints, giving it the capability to predict reliable dynamic behaviors for a wide range of applications. On the other hand, the model complexity is reduced, in order to keep it amenable for analysis and controller design. The models found in current literature for control design of flexible manipulator arms present dynamic limitations for the sake of real time implementation in a control scheme. These limitations are the result of premature linearization in the formulation of the dynamics equations. In this paper, this common linearization is presented and their dynamic limitations uncovered. An alternative reliable model is then presented. The model is founded on two basic assumptions: inextensibility of the neutral fiber and moderate rotations of the cross sections in order to account for the foreshortening of the beam due to bending. Simulation and experimental results show that the proposed model has the closest dynamic behavior to the real beam

  7. Accurate nonlinear modeling for flexible manipulators using mixed finite element formulation in order to obtain maximum allowable load

    Energy Technology Data Exchange (ETDEWEB)

    Esfandiar, Habib; KoraYem, Moharam Habibnejad [Islamic Azad University, Tehran (Iran, Islamic Republic of)

    2015-09-15

    In this study, the researchers try to examine nonlinear dynamic analysis and determine Dynamic load carrying capacity (DLCC) in flexible manipulators. Manipulator modeling is based on Timoshenko beam theory (TBT) considering the effects of shear and rotational inertia. To get rid of the risk of shear locking, a new procedure is presented based on mixed finite element formulation. In the method proposed, shear deformation is free from the risk of shear locking and independent of the number of integration points along the element axis. Dynamic modeling of manipulators will be done by taking into account small and large deformation models and using extended Hamilton method. System motion equations are obtained by using nonlinear relationship between displacements-strain and 2nd PiolaKirchoff stress tensor. In addition, a comprehensive formulation will be developed to calculate DLCC of the flexible manipulators during the path determined considering the constraints end effector accuracy, maximum torque in motors and maximum stress in manipulators. Simulation studies are conducted to evaluate the efficiency of the method proposed taking two-link flexible and fixed base manipulators for linear and circular paths into consideration. Experimental results are also provided to validate the theoretical model. The findings represent the efficiency and appropriate performance of the method proposed.

  8. Accurate nonlinear modeling for flexible manipulators using mixed finite element formulation in order to obtain maximum allowable load

    International Nuclear Information System (INIS)

    Esfandiar, Habib; KoraYem, Moharam Habibnejad

    2015-01-01

    In this study, the researchers try to examine nonlinear dynamic analysis and determine Dynamic load carrying capacity (DLCC) in flexible manipulators. Manipulator modeling is based on Timoshenko beam theory (TBT) considering the effects of shear and rotational inertia. To get rid of the risk of shear locking, a new procedure is presented based on mixed finite element formulation. In the method proposed, shear deformation is free from the risk of shear locking and independent of the number of integration points along the element axis. Dynamic modeling of manipulators will be done by taking into account small and large deformation models and using extended Hamilton method. System motion equations are obtained by using nonlinear relationship between displacements-strain and 2nd PiolaKirchoff stress tensor. In addition, a comprehensive formulation will be developed to calculate DLCC of the flexible manipulators during the path determined considering the constraints end effector accuracy, maximum torque in motors and maximum stress in manipulators. Simulation studies are conducted to evaluate the efficiency of the method proposed taking two-link flexible and fixed base manipulators for linear and circular paths into consideration. Experimental results are also provided to validate the theoretical model. The findings represent the efficiency and appropriate performance of the method proposed.

  9. Interactive Web-based e-learning for Studying Flexible Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Abul K. M. Azad

    2008-03-01

    Full Text Available Abstract— This paper presents a web-based e-leaning facility for simulation, modeling, and control of flexible manipulator systems. The simulation and modeling part includes finite difference and finite element simulations along with neural network and genetic algorithm based modeling strategies for flexible manipulator systems. The controller part constitutes a number of open-loop and closed-loop designs. Closed loop control designs include the classical, adaptive, and neuro-model based strategies. Matlab software package and its associated toolboxes are used to implement these. The Matlab web server is used as the gateway between the facility and web-access. ASP.NET technology and SQL database are utilized to develop web applications for access control, user account and password maintenance, administrative management, and facility utilization monitoring. The reported facility provides a flexible but effective approach of web-based interactive e-learning facility of an engineering system. This can be extended to incorporate additional engineering systems within the e-learning framework.

  10. Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality

    Science.gov (United States)

    Zulfatman; Marzuki, Mohammad; Alif Mardiyah, Nur

    2017-04-01

    Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.

  11. Simultaneous control and piezoelectric insert optimization for manipulators with flexible link

    OpenAIRE

    Bottega, Valdecir; Pergher, Rejane; Fonseca, Jun S. O.

    2009-01-01

    This work proposes a tracking control model for a flexible link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of manipulator is obtained in a closed form through the Lagrangian approach. The control uses the motor torques for the tracking control of the joints and also to reduce the low frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuato...

  12. Development of a modular integrated control architecture for flexible manipulators. Final report

    International Nuclear Information System (INIS)

    Burks, B.L.; Battiston, G.

    1994-01-01

    In April 1994, ORNL and SPAR completed the joint development of a manipulator controls architecture for flexible structure controls under a CRADA between the two organizations. The CRADA project entailed design and development of a new architecture based upon the Modular Integrated Control Architecture (MICA) previously developed by ORNL. The new architecture, dubbed MICA-II, uses an object-oriented coding philosophy to provide a highly modular and expandable architecture for robotic manipulator control. This architecture can be readily ported to control of many different manipulator systems. The controller also provides a user friendly graphical operator interface and display of many forms of data including system diagnostics. The capabilities of MICA-II were demonstrated during oscillation damping experiments using the Flexible Beam Experimental Test Bed at Hanford

  13. Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System

    OpenAIRE

    Congqing, Wang; Pengfei, Wu; Xin, Zhou; Xiwu, Pei

    2013-01-01

    The flexible space manipulator is a highly nonlinear and coupled dynamic system. This paper proposes a novel composite sliding mode control to deal with the vibration suppression and trajectory tracking of a free-floating space rigid-flexible coupling manipulator with a rigid payload. First, the dynamic equations of this system are established by using Lagrange and assumed mode methods and in the meantime this dynamic modelling allows consideration of the modelling errors, the external distur...

  14. Adaptive precompensators for flexible-link manipulator control

    Science.gov (United States)

    Tzes, Anthony P.; Yurkovich, Stephen

    1989-01-01

    The application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.

  15. Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method

    DEFF Research Database (Denmark)

    Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

    2018-01-01

    This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations, and then is linea......This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations......, and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size...... manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies....

  16. Efficient dynamic simulation of flexible link manipulators with PID control

    NARCIS (Netherlands)

    Aarts, Ronald G.K.M.; Jonker, Jan B.; Mook, D.T.; Balachandran, B.

    2001-01-01

    For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set

  17. Tracking control of the hydraulically actuated flexible manipulator

    International Nuclear Information System (INIS)

    Kwon, D.S.; Babcock, S.M.; Burks, B.L.; Kress, R.L.

    1995-01-01

    The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

  18. Control issues related to bilateral teleoperation of long-reach, flexible manipulators

    International Nuclear Information System (INIS)

    Love, L.J.

    1997-01-01

    A challenging problem presently being addressed by the Department of Energy (DOE) is the extraction of large volumes of hazardous waste from underground waste storage facilities. The nature of the material requires the use of robotic and teleoperated systems. Furthermore, the constraints of the storage tanks require the use of long reach manipulators. These robots are characterized by their large workspace and reduced mass. Unfortunately, this reduction in mass increases structural compliance, making these robots susceptible to vibration. Until recently, no attempt has been made to provide the operator any type of force reflection due to the compliance of the slave robot. This paper addresses the control of bilateral teleoperation systems that use long-reach, flexible manipulators. Analysis and experiments show that the compliance of the slave robot directly affects the stability of the teleoperation system. This study suggests that this may be controlled by increasing the damping on the master robot. However, this increase in target damping increases the energy an operator must exert during the execution of a task. A new teleoperation strategy adapts the target impedance of the master robot to variations in the identified impedance of the remote environment coupled to the slave robot. Experiments show increased performance due to a decrease in the energy the operator must provide during task execution

  19. Advanced manipulator system for large hot cells

    International Nuclear Information System (INIS)

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

    1981-01-01

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

  20. Dynamic Analysis and Vibration Attenuation of Cable-Driven Parallel Manipulators for Large Workspace Applications

    Directory of Open Access Journals (Sweden)

    Jingli Du

    2013-01-01

    Full Text Available Cable-driven parallel manipulators are one of the best solutions to achieving large workspace since flexible cables can be easily stored on reels. However, due to the negligible flexural stiffness of cables, long cables will unavoidably vibrate during operation for large workspace applications. In this paper a finite element model for cable-driven parallel manipulators is proposed to mimic small amplitude vibration of cables around their desired position. Output feedback of the cable tension variation at the end of the end-effector is utilized to design the vibration attenuation controller which aims at attenuating the vibration of cables by slightly varying the cable length, thus decreasing its effect on the end-effector. When cable vibration is attenuated, motion controller could be designed for implementing precise large motion to track given trajectories. A numerical example is presented to demonstrate the dynamic model and the control algorithm.

  1. A large divertor manipulator for ASDEX Upgrade

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-10-15

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

  2. Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

    Science.gov (United States)

    Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

    2018-04-01

    In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

  3. Coupling characteristics of rigid body motion and elastic deformation of a 3-PRR parallel manipulator with flexible links

    International Nuclear Information System (INIS)

    Zhang Xuping; Mills, James K.; Cleghorn, William L.

    2009-01-01

    Modeling of multibody dynamics with flexible links is a challenging task, which not only involves the effect of rigid body motion on elastic deformations, but also includes the influence of elastic deformations on rigid body motion. This paper presents coupling characteristics of rigid body motions and elastic motions of a 3-PRR parallel manipulator with three flexible intermediate links. The intermediate links are modeled as Euler-Bernoulli beams with pinned-pinned boundary conditions based on the assumed mode method (AMM). Using Lagrange multipliers, the fully coupled equations of motions of the flexible parallel manipulator are developed by incorporating the rigid body motions with elastic motions. The mutual dependence of elastic deformations and rigid body motions are investigated from the analysis of the derived equations of motion. Open-loop simulation without joint motion controls and closed-loop simulation with joint motion controls are performed to illustrate the effect of elastic motion on rigid body motions and the coupling effect amongst flexible links. These analyses and results provide valuable insight to the design and control of the parallel manipulator with flexible intermediate links

  4. Demonstration of non-collocated vibration control of a flexible manipulator using electrical dynamic absorbers

    International Nuclear Information System (INIS)

    Kim, Sang-Myeong; Kim, Heungseob; Boo, Kwangsuck; Brennan, Michael J

    2013-01-01

    This paper describes an experimental study into the vibration control of a servo system comprising a servo motor and a flexible manipulator. Two modes of the system are controlled by using the servo motor and an accelerometer attached to the tip of the flexible manipulator. The control system is thus non-collocated. It consists of two electrical dynamic absorbers, each of which consists of a modal filter and, in case of an out-of-phase mode, a phase inverter. The experimental results show that each absorber acts as a mechanical dynamic vibration absorber attached to each mode and significantly reduces the settling time for the system response to a step input. (technical note)

  5. Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method

    DEFF Research Database (Denmark)

    Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

    2018-01-01

    , and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size...... manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies....

  6. Flexible manipulation of terahertz wave reflection using polarization insensitive coding metasurfaces.

    Science.gov (United States)

    Jiu-Sheng, Li; Ze-Jiang, Zhao; Jian-Quan, Yao

    2017-11-27

    In order to extend to 3-bit encoding, we propose notched-wheel structures as polarization insensitive coding metasurfaces to control terahertz wave reflection and suppress backward scattering. By using a coding sequence of "00110011…" along x-axis direction and 16 × 16 random coding sequence, we investigate the polarization insensitive properties of the coding metasurfaces. By designing the coding sequences of the basic coding elements, the terahertz wave reflection can be flexibly manipulated. Additionally, radar cross section (RCS) reduction in the backward direction is less than -10dB in a wide band. The present approach can offer application for novel terahertz manipulation devices.

  7. Design and experimental evaluation of flexible manipulator control algorithms

    International Nuclear Information System (INIS)

    Kwon, D.S.; Hwang, D.H.; Babcock, S.M.; Kress, R.L.

    1995-01-01

    Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this task. Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using an inner pressure feedback loop. Shaping filter techniques have been applied as feedforward controllers to avoid structural vibrations during operation. Various types of shaping filter methods have been investigated. Among them, a new approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

  8. On stiffening cables of a long reach manipulator

    International Nuclear Information System (INIS)

    Wang, S.L.; Santiago, P.

    1996-01-01

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

  9. 49 CFR 178.940 - Standards for flexible Large Packagings.

    Science.gov (United States)

    2010-10-01

    .... Flexible Large Packagings types are designated: (1) 51H flexible plastics. (2) 51M flexible paper. (b... this subchapter, flexible Large Packaging must be resistant to aging and degradation caused by ultraviolet radiation. (5) For plastic flexible Large Packagings, if necessary, protection against ultraviolet...

  10. Experimental studies of control concepts for a parallel manipulator with flexible links

    International Nuclear Information System (INIS)

    Burkhardt, Markus; Eberhard, Peter; Seifried, Robert

    2015-01-01

    Control of flexible multibody systems, such as flexible manipulators, is a challenging task. This is especially true if end-effector trajectory tracking is aspired. On the one hand, these systems require a large number of generalized coordinates to describe their dynamical behavior accurately. On the other hand, only a small subset of these values can be measured or reconstructed on-the-fly. Hence, it is difficult, if not nearly impossible, to use a state controller. In addition, flexible systems are under actuated, i.e. they possess less control inputs than generalized coordinates. In case of a non-collocated output controller, which is the case for end-effector trajectory tracking, the closed loop of the system might lose passivity and is non-minimum phase. In order to achieve end-effector trajectory tracking, exact and approximate feed-forward controls can be applied. In this work, two different versions of such concepts are compared experimentally. These model-based concepts are computed off-line and they supply, next to the required input values, a C1 -continuous solution of the complete state vector which can be used for feedback control. If the system is non-minimum phase, a two-sided boundary value problem has to be solved and the solution includes a pre-actuation as well as a post-actuation phase. While the exact method incorporates all dynamical effects of the flexible multibody system, the approximate concepts neglect certain implications, for example the dynamical effects due to the flexibility. In addition to the presentation of the theoretical basics of the control approaches and the underlying models, this contribution addresses some of the crucial obstacles, which have to be overcome for the operation of the test bench, e.g., signal conditioning, state reconstruction and friction compensation. Since the installed sensors do not allow the direct measurement of the end effector position, image tracking is used to judge the quality of the different

  11. Input preshaping with frequency domain information for flexible-link manipulator control

    Science.gov (United States)

    Tzes, Anthony; Englehart, Matthew J.; Yurkovich, Stephen

    1989-01-01

    The application of an input preshaping scheme to flexible manipulators is considered. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration free output. The robustness of the algorithm with respect to injected disturbances and modal frequency variations is not satisfactory and can be improved by convolving the input with a longer sequence of impulses. The incorporation of the preshaping scheme to a closed-loop plant, using acceleration feedback, offers satisfactory disturbance rejection due to feedback and cancellation of the flexible mode effects due to the preshaping. A frequency domain identification scheme is used to estimate the modal frequencies on-line and subsequently update the spacing between the impulses. The combined adaptive input preshaping scheme provides the fastest possible slew that results in a vibration free output.

  12. Large remote manipulator operating and maintenance experience at IEM cell

    International Nuclear Information System (INIS)

    Hicks, D.F.; McGuinness, P.W.

    1985-01-01

    The Interim Examination and Maintenance (IEM) Cell at the Fast Flux Test Facility (FFTF) has two large Electro-Mechanical Manipulators (EMM's). These manipulators are used for cell operations (processing of reactor core components) as well as general cell maintenance. From our eleven years of operation and maintenance experience with these large EMM's, we have learned many lessons concerning manipulator design. This paper describes the IEM Cell EMM design features and discusses operating and maintenance experience at the IEM Cell

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

    International Nuclear Information System (INIS)

    Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

    1994-10-01

    An articulated-arm type manipulator can be operated effectively in a restricted space due to its flexibility and it can be attractive for a wide range of in-vessel maintenance such as viewing, inspection and limiter handling in fusion experimental reactors. In case of the in-vessel maintenance using a flexible manipulator, it is quite essential to develop an autonomous control method for compensating a deflection of manipulator so as to minimize the maintenance time with high precision. For this purpose, a new position control method using a combination of neural network predictor with a rigid inverse kinematics is being developed. The key features of this method are to simplify a kinematics modeling of flexible manipulator, to enable quick position compensation in stead of ordinary large matrix compensation, and to be applicable to a wide variety of manipulator characteristics. A sub-scaled model of flexible manipulator with 4 joints has been fabricated for a benchmark experiments of the autonomous position control. Comparing analytical simulation with experiments using the flexible manipulator, it has been demonstrated that the new position control method gives significant improvement in control performance with high precision in order of a figure. In addition, further optimization can be possible by adding other non-linear predictors such as radial basis function and fuzzy modeling. This paper describes the details of a sub-scaled flexible manipulator and a neural network position control system as well as results of analytical simulation and benchmark experiments. (author)

  14. Large displacement bi-directional out-of-plane Lorentz actuator array for surface manipulation

    International Nuclear Information System (INIS)

    Park, Byoungyoul; Afsharipour, Elnaz; Chrusch, Dwayne; Shafai, Cyrus; Andersen, David; Burley, Greg

    2017-01-01

    This paper presents a large displacement out-of-plane Lorentz actuator array for surface manipulation. Actuators are formed from single crystal silicon flexible serpentine springs on either side of a rigid crossbar containing a narrow contact pillar. A rigid mounting rail system was employed to enable a 5  ×  5 array, which offers scalability of the array size. Analytical and finite element models were used to optimize actuator design. Individual actuators were tested to show linear deflection response of  ±150 µ m motion, using a  ±14.7 mA current in the presence of a 0.48 T magnetic field. This actuator array is suitable for various 2D surface modification applications due to its large deformation with low current and temperature of operation, and narrow contact area to a target surface. (paper)

  15. Long-reach manipulation for waste storage tank remediation

    International Nuclear Information System (INIS)

    Jansen, J.F.; Burks, B.L.; Babcock, S.M.; Kress, R.L.; Hamel, W.R.

    1991-01-01

    Remediation of large underground storage tanks containing hazardous waste provides an application for state-of-the-art technology in flexible link manipulator design and control and a need for additional research and development. Application requirements are described, and preliminary analyses associated with this problem are summarized. Inherent physical limitations of flexible manipulators are discussed. Potential kinematic configurations, drive-train elements, and control issues for both free-space motion and damping of forced vibration are addressed. Also included are future directions for research and development in mechanical components and control strategies. 21 refs., 4 figs., 4 tabs

  16. Tolerance Towards Sensor Faults: An Application to a Flexible Arm Manipulator

    Directory of Open Access Journals (Sweden)

    Chee Pin Tan

    2006-12-01

    Full Text Available As more engineering operations become automatic, the need for robustness towards faults increases. Hence, a fault tolerant control (FTC scheme is a valuable asset. This paper presents a robust sensor fault FTC scheme implemented on a flexible arm manipulator, which has many applications in automation. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this paper, the non-faulty sensors are used to reconstruct the faults on the potentially faulty sensors. The reconstruction is subtracted from the faulty sensors to form a compensated ‘virtual sensor’ and this signal (instead of the normally used faulty sensor output is then used to generate the control input. A design method is also presented in which the FTC scheme is made insensitive to any system uncertainties. Two fault conditions are tested; total failure and incipient faults. Then the scheme robustness is tested by implementing the flexible joint's FTC scheme on a flexible link, which has different parameters. Excellent results have been obtained for both cases (joint and link; the FTC scheme caused the system performance is almost identical to the fault-free scenario, whilst providing an indication that a fault is present, even for simultaneous faults.

  17. Simulation of robot manipulators

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  18. MoveBots - Flexible Object Handling using Dexterous Grippers

    DEFF Research Database (Denmark)

    Jørgensen, Jimmy Alison

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

  19. Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control

    Directory of Open Access Journals (Sweden)

    Quan Zhang

    2014-01-01

    Full Text Available This paper addresses the dynamic modeling and efficient modal control of a planar parallel manipulator (PPM with three flexible linkages actuated by linear ultrasonic motors (LUSM. To achieve active vibration control, multiple lead zirconate titanate (PZT transducers are mounted on the flexible links as vibration sensors and actuators. Based on Lagrange’s equations, the dynamic model of the flexible links is derived with the dynamics of PZT actuators incorporated. Using the assumed mode method (AMM, the elastic motion of the flexible links are discretized under the assumptions of pinned-free boundary conditions, and the assumed mode shapes are validated through experimental modal test. Efficient modal control (EMC, in which the feedback forces in different modes are determined according to the vibration amplitude or energy of their own, is employed to control the PZT actuators to realize active vibration suppression. Modal filters are developed to extract the modal displacements and velocities from the vibration sensors. Numerical simulation and vibration control experiments are conducted to verify the proposed dynamic model and controller. The results show that the EMC method has the capability of suppressing multimode vibration simultaneously, and both the structural and residual vibrations of the flexible links are effectively suppressed using EMC approach.

  20. Parametric design studies of long-reach manipulators

    International Nuclear Information System (INIS)

    Kwon, D.S.; March-Leuba, S.; Babcock, S.M.; Burks, B.L.; Hamel, W.R.

    1993-01-01

    A number of different approaches have been studied for remediation of waste storage tanks at various sites. One of the most promising approaches is the use of a high-capacity, long-reach manipulation (LRM) system with a variety of end effectors for dislodging the waste. LRMs may have characteristics significantly different from those of industrial robots due to the long links needed to cover the large workspace. Because link lengths are much greater than their diameters, link flexibility, as well as joint or drive train flexibility, is likely to be significant. LRMs will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional, kinematic, and performance requirements, a design approach for determining the kinematic applicability and performance characteristics considering link flexibility is presented with a focus on waste storage tank remediation. This paper addresses key design issues for LRM-based waste retrieval systems. It discusses the effects of parameters such as payload capacity, storage tanks size, and access port diameter on manipulator structural design. The estimated weight, fundamental natural frequency, and static deflection of the manipulator have been calculated for various parameter conditions

  1. Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints

    Directory of Open Access Journals (Sweden)

    Yufei Liu

    2015-01-01

    Full Text Available This paper investigates the dynamic of a flexible robotic manipulator (FRM which consists of rigid driving base, flexible links, and flexible joints. With considering the motion fluctuations caused by the coupling effect, such as the motor parameters and mechanism inertias, as harmonic disturbances, the system investigated in this paper remains a parametrically excited system. An elastic restraint model of the FRM with elastic joints (FRMEJ is proposed, which considers the elastic properties of the connecting joints between the flexible arm and the driving base, as well as the harmonic disturbances aroused by the electromechanical coupling effect. As a consequence, the FRMEJ accordingly remains a flexible multibody system which conveys the effects of rigid-flexible couple and electromechanical couple. The Lagrangian function and Hamilton’s principle are used to establish the dynamic model of the FRMEJ. Based on the dynamic model proposed, the vibration power flow is introduced to show the vibration energy distribution. Numerical simulations are conducted to investigate the effect of the joint elasticities and the disturbance excitations, and the influences of the structure parameters and motion parameters on the vibration power flow are studied. The results obtained in this paper contribute to the structure design, motion optimization, and vibration control of FRMs.

  2. Input shaping filter methods for the control of structurally flexible, long-reach manipulators

    International Nuclear Information System (INIS)

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

    1993-01-01

    Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. Concepts that utilize long-reach manipulators are being seriously considered for this task. Due to high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operation, various types of shaping filter methods have been investigated. A robust notch filtering method and an impulse shaping method were used as simulation benchmarks. In addition to that, two very different approaches have been developed and compared. One new approach, referred to as a ''feedforward simulation filter,'' uses imbedded simulation with complete knowledge of the system dynamics. The other approach, ''fuzzy shaping method,'' employs a fuzzy logic method to modify the joint trajectory from the desired end-position trajectory without precise knowledge of the system dynamics

  3. Large-area high-efficiency flexible PHOLED lighting panels

    Science.gov (United States)

    Pang, Huiqing; Mandlik, Prashant; Levermore, Peter A.; Silvernail, Jeff; Ma, Ruiqing; Brown, Julie J.

    2012-09-01

    Organic Light Emitting Diodes (OLEDs) provide various attractive features for next generation illumination systems, including high efficiency, low power, thin and flexible form factor. In this work, we incorporated phosphorescent emitters and demonstrated highly efficient white phosphorescent OLED (PHOLED) devices on flexible plastic substrates. The 0.94 cm2 small-area device has total thickness of approximately 0.25 mm and achieved 63 lm/W at 1,000 cd/m2 with CRI = 85 and CCT = 2920 K. We further designed and fabricated a 15 cm x 15 cm large-area flexible white OLED lighting panels, finished with a hybrid single-layer ultra-low permeability single layer barrier (SLB) encapsulation film. The flexible panel has an active area of 116.4 cm2, and achieved a power efficacy of 47 lm/W at 1,000 cd/m2 with CRI = 83 and CCT = 3470 K. The efficacy of the panel at 3,000 cd/m2 is 43 lm/W. The large-area flexible PHOLED lighting panel is to bring out enormous possibilities to the future general lighting applications.

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

    International Nuclear Information System (INIS)

    Wang, S.L.

    1994-01-01

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

  5. Flexible parents: joint effects of handicapping and brood size manipulation on female parental care in Nicrophorus vespilloides.

    Science.gov (United States)

    Ratz, Tom; Smiseth, Per T

    2018-02-22

    Parental care is highly variable, reflecting that parents make flexible decisions in response to variation in the cost of care to themselves and the benefit to their offspring. Much of the evidence that parents respond to such variation derives from handicapping and brood size manipulations, the separate effects of which are well understood. However, little is known about their joint effects. Here, we fill this gap by conducting a joint handicapping and brood size manipulation in the burying beetle Nicrophorus vespilloides. We handicapped half of the females by attaching a lead weight to their pronotum, leaving the remaining females as controls. We also manipulated brood size by providing each female with 5, 20 or 40 larvae. In contrast to what we predicted, handicapped females spent more time provisioning food than controls. We also found that handicapped females spent more time consuming carrion. Furthermore, handicapped females spent a similar amount of time consuming carrion regardless of brood size, whereas controls spent more time consuming carrion as brood increased. Females spent more time provisioning food towards larger broods, and females were more likely to engage in carrion consumption when caring for larger broods. We conclude that females respond to both handicapping and brood size manipulations, but these responses are largely independent of each other. Overall, our results suggest that handicapping might lead to a higher investment into current reproduction and that it might be associated with compensatory responses that negate the detrimental impact of higher cost of care in handicapped parents. © 2018 Crown copyright. Journal of Evolutionary Biology © 2018 European Society For Evolutionary Biology This article is published with the permission of the Controller of HMSO and the Queen’s Printer for Scotland. Note: some government agencies may require additional wording and acknowledgement.

  6. Low back pain and its treatment by spinal manipulation: measures of flexibility and asymmetry.

    Science.gov (United States)

    Hoehler, F K; Tobis, J S

    1982-02-01

    Nineteen low back pain patients and eight patients not suffering from low back pain were given several tests of flexibility and asymmetry by two different examiners. Three criteria of reliability and validity were used: (1) significant agreement between independent observers, (2) significantly different scores in the groups with and without low back pain, and (3) significant improvement following a successful spinal manipulation. Tests of anterior flexion and asymmetry of foot eversion met only the first and second criteria while tests of hamstring tightness and asymmetry of voluntary straight leg raising met only the first and third criteria. Passive and voluntary straight leg raising tests were the only measures that met all three criteria. Therefore, of the objective tests investigated here, only passive or voluntary straight leg raising can be strongly recommended for use in the evaluation of spinal manipulative therapy for low back pain.

  7. Finite Element Analysis for Active-force Control on Vibration of a Flexible Single-link Manipulator

    Directory of Open Access Journals (Sweden)

    Abdul Kadir Muhammad

    2015-10-01

    Full Text Available The purposes of this research are to formulate the equations of motion of the system, to develop computational codes by a finite element analysis in order to perform dynamics simulation with vibration control, to propose an effective control scheme using active-force (AF control a flexible single-link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform processing and eigenvalues-eigenvectors analysis were developed to calculate dynamic behavior of the link. Furthermore, the AF control was designed to drive the piezoelectric actuator. Calculated results have revealed that the vibration of the system can be suppressed effectively.

  8. Flexible Slippery Surface to Manipulate Droplet Coalescence and Sliding, and Its Practicability in Wind-Resistant Water Collection.

    Science.gov (United States)

    Wang, Yuanfeng; Qian, Baitai; Lai, Chuilin; Wang, Xiaowen; Ma, Kaikai; Guo, Yujuan; Zhu, Xingli; Fei, Bin; Xin, John H

    2017-07-26

    A flexible slippery membrane (FSM) with tunable morphology and high elastic deformability has been developed by infusing perfluoropolyether (PFPE) into a fluorinated-copolymer-modified thermoplastic polyurethane (TPU) nanofiberous membrane. To immobilize PFPE in TPU matrix, we synthesized a fluorinated-copolymer poly(DFMA-co-IBOA-co-LMA) with low surface energy, high chemical affinity to PFPE, adequate flexibility, and strong physical adhesion on TPU. Upon external tensile stress, the as-prepared FSM can realize a real-time manipulation of water sliding and coalescence on it. Furthermore, it exhibits the ability to preserve the captured water from being blown away by strong wind, which ensures the water collection efficiency in windy regions.

  9. Controlled manipulation of flexible carbon nanotubes through shape-dependent pushing by atomic force microscopy.

    Science.gov (United States)

    Yang, Seung-Cheol; Qian, Xiaoping

    2013-09-17

    A systematic approach to manipulating flexible carbon nanotubes (CNTs) has been developed on the basis of atomic force microscope (AFM) based pushing. Pushing CNTs enables efficient transport and precise location of individual CNTs. A key issue for pushing CNTs is preventing defective distortion in repetitive bending and unbending deformation. The approach presented here controls lateral movement of an AFM tip to bend CNTs without permanent distortion. The approach investigates possible defects caused by tensile strain of the outer tube under uniform bending and radial distortion by kinking. Using the continuum beam model and experimental bending tests, dependency of maximum bending strain on the length of bent CNTs and radial distortion on bending angles at a bent point have been demonstrated. Individual CNTs are manipulated by limiting the length of bent CNTs and the bending angle. In our approach, multiwalled CNTs with 5-15 nm diameter subjected to bending deformation produce no outer tube breakage under uniform bending and reversible radial deformation with bending angles less than 110°. The lateral tip movement is determined by a simple geometric model that relies on the shape of multiwalled CNTs. The model effectively controls deforming CNT length and bending angle for given CNT shape. Experimental results demonstrate successful manipulation of randomly dispersed CNTs without visual defects. This approach to pushing can be extended to develop a wide range of CNT based nanodevice applications.

  10. 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

    system should be viewed as a library of new technologies that have been proven to work in close to industrial conditions. As a rather basic, but necessary part, we provide a technology for determining the shape of the object when passing on, e. g., a conveyor belt prior to being handled. The main......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......, operating in real-time. Simulations have been used to bootstrap the learning of optimal actions, which are subsequently improved through real-world executions. To achieve reproducible results, we demonstrate this for casted silicone test objects of regular shape. Note to Practitioners-The aim of this work...

  11. Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder

    Science.gov (United States)

    Qiu, Zhi-cheng; Wang, Bin; Zhang, Xian-min; Han, Jian-da

    2013-04-01

    This study presents a novel translating piezoelectric flexible manipulator driven by a rodless cylinder. Simultaneous positioning control and vibration suppression of the flexible manipulator is accomplished by using a hybrid driving scheme composed of the pneumatic cylinder and a piezoelectric actuator. Pulse code modulation (PCM) method is utilized for the cylinder. First, the system dynamics model is derived, and its standard multiple input multiple output (MIMO) state-space representation is provided. Second, a composite proportional derivative (PD) control algorithms and a direct adaptive fuzzy control method are designed for the MIMO system. Also, a time delay compensation algorithm, bandstop and low-pass filters are utilized, under consideration of the control hysteresis and the caused high-frequency modal vibration due to the long stroke of the cylinder, gas compression and nonlinear factors of the pneumatic system. The convergence of the closed loop system is analyzed. Finally, experimental apparatus is constructed and experiments are conducted. The effectiveness of the designed controllers and the hybrid driving scheme is verified through simulation and experimental comparison studies. The numerical simulation and experimental results demonstrate that the proposed system scheme of employing the pneumatic drive and piezoelectric actuator can suppress the vibration and achieve the desired positioning location simultaneously. Furthermore, the adopted adaptive fuzzy control algorithms can significantly enhance the control performance.

  12. Backup flexibility classes in emerging large-scale renewable electricity systems

    International Nuclear Information System (INIS)

    Schlachtberger, D.P.; Becker, S.; Schramm, S.; Greiner, M.

    2016-01-01

    Highlights: • Flexible backup demand in a European wind and solar based power system is modelled. • Three flexibility classes are defined based on production and consumption timescales. • Seasonal backup capacities are shown to be only used below 50% renewable penetration. • Large-scale transmission between countries can reduce fast flexible capacities. - Abstract: High shares of intermittent renewable power generation in a European electricity system will require flexible backup power generation on the dominant diurnal, synoptic, and seasonal weather timescales. The same three timescales are already covered by today’s dispatchable electricity generation facilities, which are able to follow the typical load variations on the intra-day, intra-week, and seasonal timescales. This work aims to quantify the changing demand for those three backup flexibility classes in emerging large-scale electricity systems, as they transform from low to high shares of variable renewable power generation. A weather-driven modelling is used, which aggregates eight years of wind and solar power generation data as well as load data over Germany and Europe, and splits the backup system required to cover the residual load into three flexibility classes distinguished by their respective maximum rates of change of power output. This modelling shows that the slowly flexible backup system is dominant at low renewable shares, but its optimized capacity decreases and drops close to zero once the average renewable power generation exceeds 50% of the mean load. The medium flexible backup capacities increase for modest renewable shares, peak at around a 40% renewable share, and then continuously decrease to almost zero once the average renewable power generation becomes larger than 100% of the mean load. The dispatch capacity of the highly flexible backup system becomes dominant for renewable shares beyond 50%, and reach their maximum around a 70% renewable share. For renewable shares

  13. Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes

    Science.gov (United States)

    Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying

    2018-03-01

    This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.

  14. Temporal flexibility and careers: The role of large-scale organizations for physicians

    OpenAIRE

    Forrest Briscoe

    2006-01-01

    Temporal flexibility and careers: The role of large-scale organizations for physicians. Forrest Briscoe Briscoe This study investigates how employment in large-scale organizations affects the work lives of practicing physicians. Well-established theory associates larger organizations with bureaucratic constraint, loss of workplace control, and dissatisfaction, but this author finds that large scale is also associated with greater schedule and career flexibility. Ironically, the bureaucratic p...

  15. Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics

    Science.gov (United States)

    Saupe, Florian; Knoblach, Andreas

    2015-02-01

    Two different approaches for the determination of frequency response functions (FRFs) are used for the non-parametric closed loop identification of a flexible joint industrial manipulator with serial kinematics. The two applied experiment designs are based on low power multisine and high power chirp excitations. The main challenge is to eliminate disturbances of the FRF estimates caused by the numerous nonlinearities of the robot. For the experiment design based on chirp excitations, a simple iterative procedure is proposed which allows exploiting the good crest factor of chirp signals in a closed loop setup. An interesting synergy of the two approaches, beyond validation purposes, is pointed out.

  16. Gravure printing of graphene for large-area flexible electronics.

    Science.gov (United States)

    Secor, Ethan B; Lim, Sooman; Zhang, Heng; Frisbie, C Daniel; Francis, Lorraine F; Hersam, Mark C

    2014-07-09

    Gravure printing of graphene is demonstrated for the rapid production of conductive patterns on flexible substrates. Development of suitable inks and printing parameters enables the fabrication of patterns with a resolution down to 30 μm. A mild annealing step yields conductive lines with high reliability and uniformity, providing an efficient method for the integration of graphene into large-area printed and flexible electronics. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  17. Large area flexible lighting foils using distributed bare LED dies on polyester substrates

    NARCIS (Netherlands)

    Ende, D.A. van den; Kusters, R.H.L.; Cauwe, M.; Waal, A. van der; Brand, J. van den

    2013-01-01

    Integration of LEDs on flexible foil substrates is of interest for flexible lighting applications and for backlights for flexible displays. Such a large area lighting device can be made by integrating a matrix of closely spaced LEDs on a flexible foil substrate. Preferably, these LEDs are integrated

  18. Cavity Mediated Manipulation of Distant Spin Currents Using a Cavity-Magnon-Polariton.

    Science.gov (United States)

    Bai, Lihui; Harder, Michael; Hyde, Paul; Zhang, Zhaohui; Hu, Can-Ming; Chen, Y P; Xiao, John Q

    2017-05-26

    Using electrical detection of a strongly coupled spin-photon system comprised of a microwave cavity mode and two magnetic samples, we demonstrate the long distance manipulation of spin currents. This distant control is not limited by the spin diffusion length, instead depending on the interplay between the local and global properties of the coupled system, enabling systematic spin current control over large distance scales (several centimeters in this work). This flexibility opens the door to improved spin current generation and manipulation for cavity spintronic devices.

  19. Research on The Construction of Flexible Multi-body Dynamics Model based on Virtual Components

    Science.gov (United States)

    Dong, Z. H.; Ye, X.; Yang, F.

    2018-05-01

    Focus on the harsh operation condition of space manipulator, which cannot afford relative large collision momentum, this paper proposes a new concept and technology, called soft-contact technology. In order to solve the problem of collision dynamics of flexible multi-body system caused by this technology, this paper also proposes the concepts of virtual components and virtual hinges, and constructs flexible dynamic model based on virtual components, and also studies on its solutions. On this basis, this paper uses NX to carry out model and comparison simulation for space manipulator in 3 different modes. The results show that using the model of multi-rigid body + flexible body hinge + controllable damping can make effective control on amplitude for the force and torque caused by target satellite collision.

  20. Large-Scale Direct-Writing of Aligned Nanofibers for Flexible Electronics.

    Science.gov (United States)

    Ye, Dong; Ding, Yajiang; Duan, Yongqing; Su, Jiangtao; Yin, Zhouping; Huang, Yong An

    2018-05-01

    Nanofibers/nanowires usually exhibit exceptionally low flexural rigidities and remarkable tolerance against mechanical bending, showing superior advantages in flexible electronics applications. Electrospinning is regarded as a powerful process for this 1D nanostructure; however, it can only be able to produce chaotic fibers that are incompatible with the well-patterned microstructures in flexible electronics. Electro-hydrodynamic (EHD) direct-writing technology enables large-scale deposition of highly aligned nanofibers in an additive, noncontact, real-time adjustment, and individual control manner on rigid or flexible, planar or curved substrates, making it rather attractive in the fabrication of flexible electronics. In this Review, the ground-breaking research progress in the field of EHD direct-writing technology is summarized, including a brief chronology of EHD direct-writing techniques, basic principles and alignment strategies, and applications in flexible electronics. Finally, future prospects are suggested to advance flexible electronics based on orderly arranged EHD direct-written fibers. This technology overcomes the limitations of the resolution of fabrication and viscosity of ink of conventional inkjet printing, and represents major advances in manufacturing of flexible electronics. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  1. Nonlinear modelling and dynamic stability analysis of a flexible Cartesian robotic manipulator with base disturbance and terminal load

    Directory of Open Access Journals (Sweden)

    J. Ju

    2017-07-01

    Full Text Available The flexible Cartesian robotic manipulator (FCRM is coming into widespread application in industry. Because of the feeble rigidity and heavy deflection, the dynamic characteristics of the FCRM are easily influenced by external disturbances which mainly concentrate in the driving end and the load end. Thus, with the influence of driving base disturbance and terminal load considered, the motion differential equations of the FCRM under the plane motion of the base are constructed, which contain the forced and non-linear parametric excitations originated from the disturbances of base lateral and axial motion respectively. Considering the relationship between the coefficients of the motion differential equations and the mode shapes of the flexible manipulator, the analytic expressions of the mode shapes with terminal load are deduced. Then, based on multiple scales method and rectangular coordinate transformation, the average equations of the FCRM are derived to analyze the influence mechanism of base disturbance and terminal load on the system parametric vibration stability. The results show that terminal load mainly affects the node locations of mode shapes and mode frequencies of the FCRM, and the axial motion disturbance of the driving base introduces parametric excitation while the lateral motion disturbance generates forced excitation for the transverse vibration model of the FCRM. Furthermore, with the increase of the base excitation acceleration and terminal load, the parametric vibration instability region of the FCRM increases significantly. This study will be helpful for the dynamic characteristics analysis and vibration control of the FCRM.

  2. Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions

    Directory of Open Access Journals (Sweden)

    Lianchao Sheng

    2017-01-01

    Full Text Available Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM, it is often difficult to achieve active vibration control algorithm based on the system dynamic model. To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigid-flexible coupling and the moment of inertia at the end of the flexible intermediate link, the modal function is determined with the pinned-free boundary condition. Then, considering the main vibration modes of the system, a high-efficiency coupling dynamic model is established on the basis of guaranteeing the model control accuracy. According to the model, the modal characteristics of the flexible intermediate link are analyzed and compared with the modal test results. The results show that the model can effectively reflect the main vibration modes of the planar 3-RRR FPM; in addition the model can be used to analyze the effects of inertial and coupling forces on the dynamics model and the drive torque of the drive motor. Because this model is of the less dynamic parameters, it is convenient to carry out the control program.

  3. Semiconductor-based, large-area, flexible, electronic devices

    Science.gov (United States)

    Goyal, Amit [Knoxville, TN

    2011-03-15

    Novel articles and methods to fabricate the same resulting in flexible, large-area, triaxially textured, single-crystal or single-crystal-like, semiconductor-based, electronic devices are disclosed. Potential applications of resulting articles are in areas of photovoltaic devices, flat-panel displays, thermophotovoltaic devices, ferroelectric devices, light emitting diode devices, computer hard disc drive devices, magnetoresistance based devices, photoluminescence based devices, non-volatile memory devices, dielectric devices, thermoelectric devices and quantum dot laser devices.

  4. A time domain inverse dynamic method for the end point tracking control of a flexible manipulator

    Science.gov (United States)

    Kwon, Dong-Soo; Book, Wayne J.

    1991-01-01

    The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, we calculated the torque and the trajectories of all state variables for a given end point trajectory. The interpretation of this method in the frequency domain was explained in detail using the two-sided Laplace transform and the convolution integral. The open loop control of the inverse dynamic method shows an excellent result in simulation. For real applications, a practical control strategy is proposed by adding a feedback tracking control loop to the inverse dynamic feedforward control, and its good experimental performance is presented.

  5. Identifying the adaptive mechanism in globular proteins: Fluctuations in densely packed regions manipulate flexible parts

    Science.gov (United States)

    Yilmaz, Lutfu Safak; Atilgan, Ali Rana

    2000-09-01

    A low-resolution structural model based on the packing geometry of α-carbons is utilized to establish a connection between the flexible and rigid parts of a folded protein. The former commonly recognizes a complementing molecule for making a complex, while the latter manipulates the necessary conformational change for binding. We attempt analytically to distinguish this control architecture that intrinsically exists in globular proteins. First with two-dimensional simple models, then for a native protein, bovine pancreatic trypsin inhibitor, we explicitly demonstrate that inserting fluctuations in tertiary contacts supported by the stable core, one can regulate the displacement of residues on loop regions. The positional fluctuations of the flexible regions are annihilated by the rest of the protein in conformity with the Le Chatelier-Braun principle. The results indicate that the distortion of the principal nonbonded contacts between highly packed residues is accompanied by that of the slavery fluctuations that are widely distributed over the native structure. These positional arrangements do not appear in a reciprocal relation between a perturbation and the associated response; the effect of a movement of residue i on residue j is not equal to that of the same movement of residue j on residue i.

  6. Design of a Large-scale Three-dimensional Flexible Arrayed Tactile Sensor

    Directory of Open Access Journals (Sweden)

    Junxiang Ding

    2011-01-01

    Full Text Available This paper proposes a new type of large-scale three-dimensional flexible arrayed tactile sensor based on conductive rubber. It can be used to detect three-dimensional force information on the continuous surface of the sensor, which realizes a true skin type tactile sensor. The widely used method of liquid rubber injection molding (LIMS method is used for "the overall injection molding" sample preparation. The structure details of staggered nodes and a new decoupling algorithm of force analysis are given. Simulation results show that the sensor based on this structure can achieve flexible measurement of large-scale 3-D tactile sensor arrays.

  7. Hydraulic manipulator research at ORNL

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  8. 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.

  9. River food web response to large-scale riparian zone manipulations.

    Directory of Open Access Journals (Sweden)

    J Timothy Wootton

    Full Text Available Conservation programs often focus on select species, leading to management plans based on the autecology of the focal species, but multiple ecosystem components can be affected both by the environmental factors impacting, and the management targeting, focal species. These broader effects can have indirect impacts on target species through the web of interactions within ecosystems. For example, human activity can strongly alter riparian vegetation, potentially impacting both economically-important salmonids and their associated river food web. In an Olympic Peninsula river, Washington state, USA, replicated large-scale riparian vegetation manipulations implemented with the long-term (>40 yr goal of improving salmon habitat did not affect water temperature, nutrient limitation or habitat characteristics, but reduced canopy cover, causing reduced energy input via leaf litter, increased incident solar radiation (UV and PAR and increased algal production compared to controls. In response, benthic algae, most insect taxa, and juvenile salmonids increased in manipulated areas. Stable isotope analysis revealed a predominant contribution of algal-derived energy to salmonid diets in manipulated reaches. The experiment demonstrates that riparian management targeting salmonids strongly affects river food webs via changes in the energy base, illustrates how species-based management strategies can have unanticipated indirect effects on the target species via the associated food web, and supports ecosystem-based management approaches for restoring depleted salmonid stocks.

  10. To increase controllability of a large flexible antenna by modal optimization

    Science.gov (United States)

    Wang, Feng; Wang, Pengpeng; Jiang, Wenjian

    2017-12-01

    Large deployable antennas are widely used in aerospace engineering to meet the envelop limit of rocket fairing. The high flexibility and low damping of antenna has proposed critical requirement not only for stability control of the antenna itself, but also for attitude control of the satellite. This paper aims to increase controllability of a large flexible antenna by modal optimization. Firstly, Sensitivity analysis of antenna modal frequencies to stiffness of support structure and stiffness of scanning mechanism are conducted respectively. Secondly, Modal simulation results of antenna frequencies are given, influences of scanning angles on moment of inertia and modal frequencies are evaluated, and modal test is carried out to validate the simulation results. All the simulation and test results show that, after modal optimization the modal characteristic of the large deployable antenna meets the controllability requirement well.

  11. Space robots with flexible appendages: Dynamic modeling, coupling measurement, and vibration suppression

    Science.gov (United States)

    Meng, Deshan; Wang, Xueqian; Xu, Wenfu; Liang, Bin

    2017-05-01

    For a space robot with flexible appendages, vibrations of flexible structure can be easily excited during both orbit and/or attitude maneuvers of the base and the operation of the manipulators. Hence, the pose (position and attitude) of the manipulator's end-effector will greatly deviate from the desired values, and furthermore, the motion of the manipulator will trigger and exacerbate vibrations of flexible appendages. Given lack of the atmospheric damping in orbit, the vibrations will last for quite a while and cause the on-orbital tasks to fail. We derived the rigid-flexible coupling dynamics of a space robot system with flexible appendages and established a coupling model between the flexible base and the space manipulator. A specific index was defined to measure the coupling degree between the flexible motion of the appendages and the rigid motion of the end-effector. Then, we analyzed the dynamic coupling for different conditions, such as modal displacements, joint angles (manipulator configuration), and mass properties. Moreover, the coupling map was adopted and drawn to represent the coupling motion. Based on this map, a trajectory planning method was addressed to suppress structure vibration. Finally, simulation studies of typical cases were performed, which verified the proposed models and method. This work provides a theoretic basis for the system design, performance evaluation, trajectory planning, and control of such space robots.

  12. Nonlinear model and attitude dynamics of flexible spacecraft with large amplitude slosh

    Science.gov (United States)

    Deng, Mingle; Yue, Baozeng

    2017-04-01

    This paper is focused on the nonlinearly modelling and attitude dynamics of spacecraft coupled with large amplitude liquid sloshing dynamics and flexible appendage vibration. The large amplitude fuel slosh dynamics is included by using an improved moving pulsating ball model. The moving pulsating ball model is an equivalent mechanical model that is capable of imitating the whole liquid reorientation process. A modification is introduced in the capillary force computation in order to more precisely estimate the settling location of liquid in microgravity or zero-g environment. The flexible appendage is modelled as a three dimensional Bernoulli-Euler beam and the assumed modal method is employed to derive the nonlinear mechanical model for the overall coupled system of liquid filled spacecraft with appendage. The attitude maneuver is implemented by the momentum transfer technique, and a feedback controller is designed. The simulation results show that the liquid sloshing can always result in nutation behavior, but the effect of flexible deformation of appendage depends on the amplitude and direction of attitude maneuver performed by spacecraft. Moreover, it is found that the liquid sloshing and the vibration of flexible appendage are coupled with each other, and the coupling becomes more significant with more rapid motion of spacecraft. This study reveals that the appendage's flexibility has influence on the liquid's location and settling time in microgravity. The presented nonlinear system model can provide an important reference for the overall design of the modern spacecraft composed of rigid platform, liquid filled tank and flexible appendage.

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

    Science.gov (United States)

    Zuo, H.

    2012-09-01

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

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

    Science.gov (United States)

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

    2018-03-01

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

  15. Hybrid PD and effective multi-mode positive position feedback control for slewing and vibration suppression of a smart flexible manipulator

    International Nuclear Information System (INIS)

    Lou, Jun-qiang; Wei, Yan-ding; Yang, Yi-ling; Xie, Feng-ran

    2015-01-01

    A hybrid control strategy for slewing and vibration suppression of a smart flexible manipulator is presented in this paper. It consists of a proportional derivative controller to realize motion control, and an effective multi-mode positive position feedback (EMPPF) controller to suppress the multi-mode vibration. Rather than treat each mode equally as the standard multi-mode PPF, the essence of the EMPPF is that control forces of different modes are applied according to the mode parameters of the respective modes, so the vibration modes with less vibration energy receive fewer control forces. Stability conditions for the close loop system are established through stability analysis. Optimal parameters of the EMPPF controller are obtained using the method of root locus analysis. The performance of the proposed strategy is demonstrated by simulation and experiments. Experimental results show that the first two vibration modes of the manipulator are effectively suppressed. The setting time of the setup descends approximately 55%, reaching 3.12 s from 5.67 s. (paper)

  16. Hybrid PD and effective multi-mode positive position feedback control for slewing and vibration suppression of a smart flexible manipulator

    Science.gov (United States)

    Lou, Jun-qiang; Wei, Yan-ding; Yang, Yi-ling; Xie, Feng-ran

    2015-03-01

    A hybrid control strategy for slewing and vibration suppression of a smart flexible manipulator is presented in this paper. It consists of a proportional derivative controller to realize motion control, and an effective multi-mode positive position feedback (EMPPF) controller to suppress the multi-mode vibration. Rather than treat each mode equally as the standard multi-mode PPF, the essence of the EMPPF is that control forces of different modes are applied according to the mode parameters of the respective modes, so the vibration modes with less vibration energy receive fewer control forces. Stability conditions for the close loop system are established through stability analysis. Optimal parameters of the EMPPF controller are obtained using the method of root locus analysis. The performance of the proposed strategy is demonstrated by simulation and experiments. Experimental results show that the first two vibration modes of the manipulator are effectively suppressed. The setting time of the setup descends approximately 55%, reaching 3.12 s from 5.67 s.

  17. Key Design Requirements for Long-Reach Manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Kwon, D.S.

    2001-01-01

    Long-reach manipulators differ from industrial robots and teleoperators typically used in the nuclear industry in that the aspect ratio (length to diameter) of links is much greater and link flexibility, as well as joint or drive train flexibility, is likely to be significant. Long-reach manipulators will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional, kinematic, and performance requirements, an approach for determining the kinematic applicability and performance characteristics is presented, with a focus on waste storage tank remediation. Requirements are identified, kinematic configurations are considered, and a parametric study of link design parameters and their effects on performance characteristics is presented.

  18. Key design requirements for long-reach manipulators

    International Nuclear Information System (INIS)

    Kwon, D.S.; March-Leuba, S.; Babcock, S.M.; Hamel, W.R.

    1993-09-01

    Long-reach manipulators differ from industrial robots and teleoperators typically used in the nuclear industry in that the aspect ratio (length to diameter) of links is much greater and link flexibility, as well as joint or drive train flexibility, is likely to be significant. Long-reach manipulators will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional kinematic, and performance requirements an approach for determining the kinematic applicability and performance characteristics is presented, with a focus on waste storage tank remediation. Requirements are identified, kinematic configurations are considered, and a parametric study of link design parameters and their effects on performance characteristics is presented

  19. Key Design Requirements for Long-Reach Manipulators

    International Nuclear Information System (INIS)

    Kwon, D.S.

    2001-01-01

    Long-reach manipulators differ from industrial robots and teleoperators typically used in the nuclear industry in that the aspect ratio (length to diameter) of links is much greater and link flexibility, as well as joint or drive train flexibility, is likely to be significant. Long-reach manipulators will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional, kinematic, and performance requirements, an approach for determining the kinematic applicability and performance characteristics is presented, with a focus on waste storage tank remediation. Requirements are identified, kinematic configurations are considered, and a parametric study of link design parameters and their effects on performance characteristics is presented

  20. Remote manipulation techniques in the maintenance and repair of nuclear power plants

    International Nuclear Information System (INIS)

    Rininsland, H.; Boehme, G.

    1986-01-01

    Remote manipulation means the application of multi-purpose devices featuring high mobility and universal applicability. The paper describes such a remote manipulation system (manipulation vehicle MF1 and MF2, master-slave manipulator, TFTR maintenance manipulator) which can be used flexibly in the NNP during maintenance and repair and in incident and accident situations. Connecting elements and tools can be redesigned for remote manipulation to meet the specific application environments. (DG) [de

  1. Manipulators inspired by the tongue of the chameleon.

    Science.gov (United States)

    Debray, Alexis

    2011-06-01

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

  2. Manipulators inspired by the tongue of the chameleon

    International Nuclear Information System (INIS)

    Debray, Alexis

    2011-01-01

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

  3. Manipulators inspired by the tongue of the chameleon

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-06-15

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

  4. Large Neighborhood Search and Adaptive Randomized Decompositions for Flexible Jobshop Scheduling

    DEFF Research Database (Denmark)

    Pacino, Dario; Van Hentenryck, Pascal

    2011-01-01

    This paper considers a constraint-based scheduling approach to the flexible jobshop, a generalization of the traditional jobshop scheduling where activities have a choice of machines. It studies both large neighborhood (LNS) and adaptive randomized de- composition (ARD) schemes, using random...

  5. Attitude tracking control of flexible spacecraft with large amplitude slosh

    Science.gov (United States)

    Deng, Mingle; Yue, Baozeng

    2017-12-01

    This paper is focused on attitude tracking control of a spacecraft that is equipped with flexible appendage and partially filled liquid propellant tank. The large amplitude liquid slosh is included by using a moving pulsating ball model that is further improved to estimate the settling location of liquid in microgravity or a zero-g environment. The flexible appendage is modelled as a three-dimensional Bernoulli-Euler beam, and the assumed modal method is employed. A hybrid controller that combines sliding mode control with an adaptive algorithm is designed for spacecraft to perform attitude tracking. The proposed controller has proved to be asymptotically stable. A nonlinear model for the overall coupled system including spacecraft attitude dynamics, liquid slosh, structural vibration and control action is established. Numerical simulation results are presented to show the dynamic behaviors of the coupled system and to verify the effectiveness of the control approach when the spacecraft undergoes the disturbance produced by large amplitude slosh and appendage vibration. Lastly, the designed adaptive algorithm is found to be effective to improve the precision of attitude tracking.

  6. Nonlinear analysis of flexible beams undergoing large rotations Via symbolic computations

    Directory of Open Access Journals (Sweden)

    Yuan Xiaofeng

    2001-01-01

    Full Text Available In this paper, a two-stage approach is presented for analyzing flexible beams undergoing large rotations. In the first stage, the symbolic forms of equations of motion and the Jacobian matrix are generated by means of MATLAB and written into a MATLAB script file automatically, where the flexible beams are described by the unified formulation presented in our previous paper. In the second stage, the derived equations of motion are solved by means of implicit numerical methods. Several comparison computations are performed. The two-stage approach proves to be much more efficient than pure numerical one.

  7. Vibration control of an artificial muscle manipulator with a magnetorheological fluid brake

    Science.gov (United States)

    Tomori, H.; Midorikawa, Y.; Nakamura, T.

    2013-02-01

    Recently, proposed applications of robots require them to contact human safely. Therefore, we focus on pneumatic rubber artificial muscle. This actuator is flexible, light, and has high-power density. However, because the artificial muscle is flexible, it vibrates when there is a high load. Therefore, we paid attention to the magnetorheological (MR) fluid. We propose a control method of the MR brake considering energy of the manipulator system. By this control method, MR brake dissipates energy leading to vibration of the manipulator. In this paper, we calculated the energy and controlled the MR brake. And, we deliberated the proposal method by simulation using the dynamic model of the manipulator, and experiment.

  8. Value of flexibility in systems with large wind penetration

    OpenAIRE

    Silva , Vera

    2010-01-01

    The focus of this thesis is the quantification of the value of operation flexibility in systems with large penetration of wind generation. This begins with the quantification of the impact of wind generation (WG) uncertainty on the system's needs for frequency regulation and reserve. This is done by combing the stochastic behaviour of wind generation, demand uncertainty and generation outages. Two different approaches are compared to access the implications of using normal distribution approx...

  9. Flexible DWDM Grid Manipulation Using Four Wave Mixing-based Time Lenses

    DEFF Research Database (Denmark)

    Røge, Kasper Meldgaard; Guan, Pengyu; Mulvad, Hans Christian Hansen

    2014-01-01

    An experimental demonstration of dense wavelength-division multiplexing (DWDM) grid manipulation is carried out using two time lenses. A DWDM spectrum is compressed from a 100-GHz to a 28-GHz grid with error-free performance.......An experimental demonstration of dense wavelength-division multiplexing (DWDM) grid manipulation is carried out using two time lenses. A DWDM spectrum is compressed from a 100-GHz to a 28-GHz grid with error-free performance....

  10. Modeling and control of a hydraulically actuated flexible-prismatic link robot

    International Nuclear Information System (INIS)

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

    1996-12-01

    Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies

  11. Large-Area High-Performance Flexible Pressure Sensor with Carbon Nanotube Active Matrix for Electronic Skin.

    Science.gov (United States)

    Nela, Luca; Tang, Jianshi; Cao, Qing; Tulevski, George; Han, Shu-Jen

    2018-03-14

    Artificial "electronic skin" is of great interest for mimicking the functionality of human skin, such as tactile pressure sensing. Several important performance metrics include mechanical flexibility, operation voltage, sensitivity, and accuracy, as well as response speed. In this Letter, we demonstrate a large-area high-performance flexible pressure sensor built on an active matrix of 16 × 16 carbon nanotube thin-film transistors (CNT TFTs). Made from highly purified solution tubes, the active matrix exhibits superior flexible TFT performance with high mobility and large current density, along with a high device yield of nearly 99% over 4 inch sample area. The fully integrated flexible pressure sensor operates within a small voltage range of 3 V and shows superb performance featuring high spatial resolution of 4 mm, faster response than human skin (<30 ms), and excellent accuracy in sensing complex objects on both flat and curved surfaces. This work may pave the road for future integration of high-performance electronic skin in smart robotics and prosthetic solutions.

  12. Real-Time Strategy Game Training: Emergence of a Cognitive Flexibility Trait

    Science.gov (United States)

    Glass, Brian D.; Maddox, W. Todd; Love, Bradley C.

    2013-01-01

    Training in action video games can increase the speed of perceptual processing. However, it is unknown whether video-game training can lead to broad-based changes in higher-level competencies such as cognitive flexibility, a core and neurally distributed component of cognition. To determine whether video gaming can enhance cognitive flexibility and, if so, why these changes occur, the current study compares two versions of a real-time strategy (RTS) game. Using a meta-analytic Bayes factor approach, we found that the gaming condition that emphasized maintenance and rapid switching between multiple information and action sources led to a large increase in cognitive flexibility as measured by a wide array of non-video gaming tasks. Theoretically, the results suggest that the distributed brain networks supporting cognitive flexibility can be tuned by engrossing video game experience that stresses maintenance and rapid manipulation of multiple information sources. Practically, these results suggest avenues for increasing cognitive function. PMID:23950921

  13. Real-time strategy game training: emergence of a cognitive flexibility trait.

    Science.gov (United States)

    Glass, Brian D; Maddox, W Todd; Love, Bradley C

    2013-01-01

    Training in action video games can increase the speed of perceptual processing. However, it is unknown whether video-game training can lead to broad-based changes in higher-level competencies such as cognitive flexibility, a core and neurally distributed component of cognition. To determine whether video gaming can enhance cognitive flexibility and, if so, why these changes occur, the current study compares two versions of a real-time strategy (RTS) game. Using a meta-analytic Bayes factor approach, we found that the gaming condition that emphasized maintenance and rapid switching between multiple information and action sources led to a large increase in cognitive flexibility as measured by a wide array of non-video gaming tasks. Theoretically, the results suggest that the distributed brain networks supporting cognitive flexibility can be tuned by engrossing video game experience that stresses maintenance and rapid manipulation of multiple information sources. Practically, these results suggest avenues for increasing cognitive function.

  14. Real-time strategy game training: emergence of a cognitive flexibility trait.

    Directory of Open Access Journals (Sweden)

    Brian D Glass

    Full Text Available Training in action video games can increase the speed of perceptual processing. However, it is unknown whether video-game training can lead to broad-based changes in higher-level competencies such as cognitive flexibility, a core and neurally distributed component of cognition. To determine whether video gaming can enhance cognitive flexibility and, if so, why these changes occur, the current study compares two versions of a real-time strategy (RTS game. Using a meta-analytic Bayes factor approach, we found that the gaming condition that emphasized maintenance and rapid switching between multiple information and action sources led to a large increase in cognitive flexibility as measured by a wide array of non-video gaming tasks. Theoretically, the results suggest that the distributed brain networks supporting cognitive flexibility can be tuned by engrossing video game experience that stresses maintenance and rapid manipulation of multiple information sources. Practically, these results suggest avenues for increasing cognitive function.

  15. Micro manipulators to handle micro machines. ; Aiming at developing clever and deft robots. Micro machine wo handling surutameno micro manipulator. ; Kashikoku kiyo na robot kaihatsu wo mezashite

    Energy Technology Data Exchange (ETDEWEB)

    Fujie, M [Hitachi, Ltd., Tokyo (Japan)

    1991-11-15

    The current state of micro manipulators (MM) to control micro machines is described. No MM can be realized with the conventional robots of which finger positions and attitudes are controlled by information on angles of each articulate. To solve this problem, such a system using the conception called a master slave manipulator with complex structure is proposed, in which human ways of manipulation are coupled with master arms with simple structure and slave arms facilitating works via a computer. The MM requires a flexible articulate chaining mechanism when the considerations on smallness of the arm structure and chaining of the multiple actuators are taken. To control the relative positions and attitudes, development of the control algorithm is required, which can learn the command signals given to a large number of actuators to drive mechanisms with ultra high freedoms and the relationship among changes in the end effector movements, rotation and directions, and can perform works according to precise relative positioning of objects to be handled. 8 refs., 4 figs.

  16. Manipulating Liquids With Acoustic Radiation Pressure Phased Arrays

    Science.gov (United States)

    Oeftering, Richard C.

    1999-01-01

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

  17. WORKER, a program for histogram manipulation

    International Nuclear Information System (INIS)

    Bolger, J.E.; Ellinger, H.; Moore, C.F.

    1979-01-01

    A set of programs is provided which may link to any user-written program, permitting dynamic creation of histograms as well as display, manipulation and transfer of histogrammed data. With wide flexibility, constants within the user's code may be set or monitored at any time during execution. (Auth.)

  18. Control and manipulation of cold atoms in optical tweezers

    International Nuclear Information System (INIS)

    Muldoon, Cecilia; Brandt, Lukas; Dong Jian; Stuart, Dustin; Brainis, Edouard; Himsworth, Matthew; Kuhn, Axel

    2012-01-01

    Neutral atoms trapped by laser light are among the most promising candidates for storing and processing information in a quantum computer or simulator. The application certainly calls for a scalable and flexible scheme for addressing and manipulating the atoms. We have now made this a reality by implementing a fast and versatile method to dynamically control the position of neutral atoms trapped in optical tweezers. The tweezers result from a spatial light modulator (SLM) controlling and shaping a large number of optical dipole-force traps. Trapped atoms adapt to any change in the potential landscape, such that one can rearrange and randomly access individual sites within atom-trap arrays. (paper)

  19. Silvabase: A flexible data file management system

    Science.gov (United States)

    Lambing, Steven J.; Reynolds, Sandra J.

    1991-01-01

    The need for a more flexible and efficient data file management system for mission planning in the Mission Operations Laboratory (EO) at MSFC has spawned the development of Silvabase. Silvabase is a new data file structure based on a B+ tree data structure. This data organization allows for efficient forward and backward sequential reads, random searches, and appends to existing data. It also provides random insertions and deletions with reasonable efficiency, utilization of storage space well but not at the expense of speed, and performance of these functions on a large volume of data. Mission planners required that some data be keyed and manipulated in ways not found in a commercial product. Mission planning software is currently being converted to use Silvabase in the Spacelab and Space Station Mission Planning Systems. Silvabase runs on a Digital Equipment Corporation's popular VAX/VMS computers in VAX Fortran. Silvabase has unique features involving time histories and intervals such as in operations research. Because of its flexibility and unique capabilities, Silvabase could be used in almost any government or commercial application that requires efficient reads, searches, and appends in medium to large amounts of almost any kind of data.

  20. Data-driven methods towards learning the highly nonlinear inverse kinematics of tendon-driven surgical manipulators.

    Science.gov (United States)

    Xu, Wenjun; Chen, Jie; Lau, Henry Y K; Ren, Hongliang

    2017-09-01

    Accurate motion control of flexible surgical manipulators is crucial in tissue manipulation tasks. The tendon-driven serpentine manipulator (TSM) is one of the most widely adopted flexible mechanisms in minimally invasive surgery because of its enhanced maneuverability in torturous environments. TSM, however, exhibits high nonlinearities and conventional analytical kinematics model is insufficient to achieve high accuracy. To account for the system nonlinearities, we applied a data driven approach to encode the system inverse kinematics. Three regression methods: extreme learning machine (ELM), Gaussian mixture regression (GMR) and K-nearest neighbors regression (KNNR) were implemented to learn a nonlinear mapping from the robot 3D position states to the control inputs. The performance of the three algorithms was evaluated both in simulation and physical trajectory tracking experiments. KNNR performed the best in the tracking experiments, with the lowest RMSE of 2.1275 mm. The proposed inverse kinematics learning methods provide an alternative and efficient way to accurately model the tendon driven flexible manipulator. Copyright © 2016 John Wiley & Sons, Ltd.

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

    Science.gov (United States)

    Tolman, C. T.

    1987-01-01

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

  2. Intelligent Hierarchical Modal Control of a Novel Manipulator with Slewing and Deployable Links

    Science.gov (United States)

    Modi, V. J.; Zhang, J.; de Silva, C. W.

    1. Introduction The Space Shuttle based Canada arm has vividly demonstrated its application in launching of satellites as well as retrieval of disabled spacecraft for repair. There have been proposals for free flying robotic systems with appropriate instrumentation to monitor health of spacecraft, identify problems and even perform corrective measures. Most of these applications involve multilink manipulators with revolute joints for which there is a vast body of literature [1]. On the other hand, manipulators with revolute as well as prismatic joints, permitting slewing as well as deployment/retrieval of links, have received relatively little attention [2]. Such variable geometry, snake-like manipulators have distinct advantages of reduced coupling effects leading to simpler equations of motion and inverse kinematics, less number of singularity conditions, and ease of obstacle avoidance [3]. 2. Hierarchical Structure The control system developed for the deployable manipulator has a three-level structure. This hierarchical structure takes the advantages of a crisp controller; specially, a modal controller, with those of a soft, knowledge-based, supervisory control . The overall structure can be separated and developed as three main layers. The first layer is the lowest layer of the control system. It deals with information coming from sensors attached to the plant ( manipulator). This type of information is characterized by a large amount of individual data points of high resolution, produced and collected at high frequency. The crisp controller that is used is a state feedback regulator with its feedback gain matrix determined using the eigenstructure assignment approach. The data processing for monitoring and evaluation of the system performance occurs in this intermediate or second layer. Here high-resolution, crisp data from sensors are filtered to afford representation of the current state of the manipulator. This servo-expert layer acts as an interface

  3. Measurement and correlation of high frequency behaviors of a very flexible beam undergoing large deformation

    International Nuclear Information System (INIS)

    Lee, Jae Wook; Kim, Hyun Woo; Ku, Hi Chun; Yoo, Wan Suk

    2009-01-01

    A correlation method of high frequency behaviors of a very flexible beam undergoing large displacement is presented. The suggested method based on the experimental modal analysis leads to more accurate correlation results because it directly uses the modal parameters of each mode achieved from experiment. First, the modal testing and the parameter identification method are suggested for flexible multibody dynamics. Due to the flexibility of a very thin beam, traditional testing methods such as impact hammer or contact type accelerometer are not working well. The suggested measurement with high speed camera, even though the test beam is very flexible, is working well. Using measurements with a high speed camera, modal properties until the 5th mode are measured. And After measuring each damping ratio until the 5th mode, a generic damping model is constructed using inverse modal transformation technique. It's very interesting that the modal transformation technique can be also applied even in the ANCF simulation which uses the global displacement and finite slope as the nodal coordinates. The results of experiment and simulation are compared until the 5th mode frequency, respectively, by using ANCF forced vibration analysis. Through comparison between numerical simulation and experiment, this study showed that the proposed generic damping matrix, modal testing and parameter identification method is very proper in flexible multibody dynamic problems undergoing large deformation

  4. Transparent Large-Area MoS2 Phototransistors with Inkjet-Printed Components on Flexible Platforms.

    Science.gov (United States)

    Kim, Tae-Young; Ha, Jewook; Cho, Kyungjune; Pak, Jinsu; Seo, Jiseok; Park, Jongjang; Kim, Jae-Keun; Chung, Seungjun; Hong, Yongtaek; Lee, Takhee

    2017-10-24

    Two-dimensional (2D) transition-metal dichalcogenides (TMDCs) have gained considerable attention as an emerging semiconductor due to their promising atomically thin film characteristics with good field-effect mobility and a tunable band gap energy. However, their electronic applications have been generally realized with conventional inorganic electrodes and dielectrics implemented using conventional photolithography or transferring processes that are not compatible with large-area and flexible device applications. To facilitate the advantages of 2D TMDCs in practical applications, strategies for realizing flexible and transparent 2D electronics using low-temperature, large-area, and low-cost processes should be developed. Motivated by this challenge, we report fully printed transparent chemical vapor deposition (CVD)-synthesized monolayer molybdenum disulfide (MoS 2 ) phototransistor arrays on flexible polymer substrates. All the electronic components, including dielectric and electrodes, were directly deposited with mechanically tolerable organic materials by inkjet-printing technology onto transferred monolayer MoS 2 , and their annealing temperature of printed MoS 2 phototransistors exhibit excellent transparency and mechanically stable operation.

  5. Manipulators in teleoperation

    International Nuclear Information System (INIS)

    Hamel, W.R.

    1985-01-01

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

  6. ZnO HEMTs on Flexible Substrates for Large Area Monolithic Antenna Applications, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — AMBP Tech will implement Zinc Oxide high mobility material technology it has developed specifically for flexible electronics into a direct write process onto large...

  7. Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

    Science.gov (United States)

    Lew, Jae Young; Book, Wayne J.

    1991-01-01

    Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

  8. Highly Flexible and High-Performance Complementary Inverters of Large-Area Transition Metal Dichalcogenide Monolayers

    KAUST Repository

    Pu, Jiang

    2016-03-23

    Complementary inverters constructed from large-area monolayers of WSe2 and MoS2 achieve excellent logic swings and yield an extremely high gain, large total noise margin, low power consumption, and good switching speed. Moreover, the WSe2 complementary-like inverters built on plastic substrates exhibit high mechanical stability. The results provide a path toward large-area flexible electronics. © 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  9. Non-collocated fuzzy logic and input shaping control strategy for elastic joint manipulator: vibration suppression and time response analysis

    Energy Technology Data Exchange (ETDEWEB)

    Rashidifar, Mohammed Amin [Faculty of Mechanical Engineering, Islamic Azad University, SHADEGAN (Iran, Islamic Republic of); Rashidifar, Ali Amin, E-mail: rashidifar_58@yahoo.com [Computer Science, Islamic Azad University, SHADEGAN (Iran, Islamic Republic of)

    2014-07-01

    Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, initially a collocated proportional-derivative (P D)-type Fuzzy Logic Controller (FLC) is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller and input shaping scheme for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed. (Author)

  10. Rational manipulation of digital EEG: pearls and pitfalls.

    Science.gov (United States)

    Seneviratne, Udaya

    2014-12-01

    The advent of digital EEG has provided greater flexibility and more opportunities in data analysis to optimize the diagnostic yield. Changing the filter settings, sensitivity, montages, and time-base are possible rational manipulations to achieve this goal. The options to use polygraphy, video, and quantification are additional useful features. Aliasing and loss of data are potential pitfalls in the use of digital EEG. This review illustrates some common clinical scenarios where rational manipulations can enhance the diagnostic EEG yield and potential pitfalls in the process.

  11. An easy, low-cost method to transfer large-scale graphene onto polyethylene terephthalate as a transparent conductive flexible substrate

    International Nuclear Information System (INIS)

    Chen, Chih-Sheng; Hsieh, Chien-Kuo

    2014-01-01

    In this study, we develop a low-cost method for transferring a large-scale graphene film onto a flexible transparent substrate. An easily accessible method for home-made chemical vapor deposition (CVD) and a commercial photograph laminator were utilized to fabricate the low-cost graphene-based transparent conductive flexible substrate. The graphene was developed based on CVD growth on nickel foil using a carbon gas source, and the graphene thin film was easily transferred onto the laminating film via a heated photograph laminator. Field emission scanning electron microscopy and atomic force microscopy were utilized to examine the morphological characteristics of the graphene surface. Raman spectroscopy and transmission electron microscopy were utilized to examine the microstructure of the graphene. The optical–electronic properties of the transferred graphene flexible thin film were measured by ultraviolet–visible spectrometry and a four-point probe. The advantage of this method is that large-scale graphene-based thin films can be easily obtained. We provide an economical method for fabricating a graphene-based transparent conductive flexible substrate. - Highlight: • We synthesized the large-scale graphene by thermal CVD method. • A low-cost commercial photograph laminator was used to transfer graphene. • A large-scale transparent and flexible graphene substrate was obtained easily

  12. An easy, low-cost method to transfer large-scale graphene onto polyethylene terephthalate as a transparent conductive flexible substrate

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Chih-Sheng; Hsieh, Chien-Kuo, E-mail: jack_hsieh@mail.mcut.edu.tw

    2014-11-03

    In this study, we develop a low-cost method for transferring a large-scale graphene film onto a flexible transparent substrate. An easily accessible method for home-made chemical vapor deposition (CVD) and a commercial photograph laminator were utilized to fabricate the low-cost graphene-based transparent conductive flexible substrate. The graphene was developed based on CVD growth on nickel foil using a carbon gas source, and the graphene thin film was easily transferred onto the laminating film via a heated photograph laminator. Field emission scanning electron microscopy and atomic force microscopy were utilized to examine the morphological characteristics of the graphene surface. Raman spectroscopy and transmission electron microscopy were utilized to examine the microstructure of the graphene. The optical–electronic properties of the transferred graphene flexible thin film were measured by ultraviolet–visible spectrometry and a four-point probe. The advantage of this method is that large-scale graphene-based thin films can be easily obtained. We provide an economical method for fabricating a graphene-based transparent conductive flexible substrate. - Highlight: • We synthesized the large-scale graphene by thermal CVD method. • A low-cost commercial photograph laminator was used to transfer graphene. • A large-scale transparent and flexible graphene substrate was obtained easily.

  13. Stability Result For Dynamic Inversion Devised to Control Large Flexible Aircraft

    Science.gov (United States)

    Gregory, Irene M.

    2001-01-01

    High performance aircraft of the future will be designed lighter, more maneuverable, and operate over an ever expanding flight envelope. One of the largest differences from the flight control perspective between current and future advanced aircraft is elasticity. Over the last decade, dynamic inversion methodology has gained considerable popularity in application to highly maneuverable fighter aircraft, which were treated as rigid vehicles. This paper is an initial attempt to establish global stability results for dynamic inversion methodology as applied to a large, flexible aircraft. This work builds on a previous result for rigid fighter aircraft and adds a new level of complexity that is the flexible aircraft dynamics, which cannot be ignored even in the most basic flight control. The results arise from observations of the control laws designed for a new generation of the High-Speed Civil Transport aircraft.

  14. [100] or [110] aligned, semiconductor-based, large-area, flexible, electronic devices

    Science.gov (United States)

    Goyal, Amit

    2015-03-24

    Novel articles and methods to fabricate the same resulting in flexible, large-area, [100] or [110] textured, semiconductor-based, electronic devices are disclosed. Potential applications of resulting articles are in areas of photovoltaic devices, flat-panel displays, thermophotovoltaic devices, ferroelectric devices, light emitting diode devices, computer hard disc drive devices, magnetoresistance based devices, photoluminescence based devices, non-volatile memory devices, dielectric devices, thermoelectric devices and quantum dot laser devices.

  15. Preliminary results on the dynamics of large and flexible space structures in Halo orbits

    Science.gov (United States)

    Colagrossi, Andrea; Lavagna, Michèle

    2017-05-01

    The global exploration roadmap suggests, among other ambitious future space programmes, a possible manned outpost in lunar vicinity, to support surface operations and further astronaut training for longer and deeper space missions and transfers. In particular, a Lagrangian point orbit location - in the Earth- Moon system - is suggested for a manned cis-lunar infrastructure; proposal which opens an interesting field of study from the astrodynamics perspective. Literature offers a wide set of scientific research done on orbital dynamics under the Three-Body Problem modelling approach, while less of it includes the attitude dynamics modelling as well. However, whenever a large space structure (ISS-like) is considered, not only the coupled orbit-attitude dynamics should be modelled to run more accurate analyses, but the structural flexibility should be included too. The paper, starting from the well-known Circular Restricted Three-Body Problem formulation, presents some preliminary results obtained by adding a coupled orbit-attitude dynamical model and the effects due to the large structure flexibility. In addition, the most relevant perturbing phenomena, such as the Solar Radiation Pressure (SRP) and the fourth-body (Sun) gravity, are included in the model as well. A multi-body approach has been preferred to represent possible configurations of the large cis-lunar infrastructure: interconnected simple structural elements - such as beams, rods or lumped masses linked by springs - build up the space segment. To better investigate the relevance of the flexibility effects, the lumped parameters approach is compared with a distributed parameters semi-analytical technique. A sensitivity analysis of system dynamics, with respect to different configurations and mechanical properties of the extended structure, is also presented, in order to highlight drivers for the lunar outpost design. Furthermore, a case study for a large and flexible space structure in Halo orbits around

  16. Responses of arthropods to large-scale manipulations of dead wood in loblolly pine stands of the Southeastern United States

    Science.gov (United States)

    Michael D. Ulyshen; James L. Hanula

    2009-01-01

    Large-scale experimental manipulations of deadwood are needed to better understand its importance to animal communities in managed forests. In this experiment, we compared the abundance, species richness, diversity, and composition of arthropods in 9.3-ha plots in which either (1) all coarse woody debris was removed, (2) a large number of logs were added, (3) a large...

  17. A large scale flexible real-time communications topology for the LHC accelerator

    CERN Document Server

    Lauckner, R J; Ribeiro, P; Wijnands, Thijs

    1999-01-01

    The LHC design parameters impose very stringent beam control requirements in order to reach the nominal performance. Prompted by the lack of accurate models to predict field behaviour in superconducting magnet systems the control system of the accelerator will provide flexible feedback channels between monitors and magnets around the 27 Km circumference machine. The implementation of feedback systems composed of a large number of sparsely located elements presents some interesting challenges. Our goal was to find a topology where the control loop requirements: number and distribution of nodes, latency and throughput could be guaranteed without compromising the flexibility. Our proposal is to federate a number of well known technologies and concepts, namely ATM, WorldFIP and RTOS, into a general framework. (6 refs).

  18. Computational investigation of large-scale vortex interaction with flexible bodies

    Science.gov (United States)

    Connell, Benjamin; Yue, Dick K. P.

    2003-11-01

    The interaction of large-scale vortices with flexible bodies is examined with particular interest paid to the energy and momentum budgets of the system. Finite difference direct numerical simulation of the Navier-Stokes equations on a moving curvilinear grid is coupled with a finite difference structural solver of both a linear membrane under tension and linear Euler-Bernoulli beam. The hydrodynamics and structural dynamics are solved simultaneously using an iterative procedure with the external structural forcing calculated from the hydrodynamics at the surface and the flow-field velocity boundary condition given by the structural motion. We focus on an investigation into the canonical problem of a vortex-dipole impinging on a flexible membrane. It is discovered that the structural properties of the membrane direct the interaction in terms of the flow evolution and the energy budget. Pressure gradients associated with resonant membrane response are shown to sustain the oscillatory motion of the vortex pair. Understanding how the key mechanisms in vortex-body interactions are guided by the structural properties of the body is a prerequisite to exploiting these mechanisms.

  19. Multi-layered fabrication of large area PDMS flexible optical light guide sheets

    Science.gov (United States)

    Green, Robert; Knopf, George K.; Bordatchev, Evgueni V.

    2017-02-01

    Large area polydimethylsiloxane (PDMS) flexible optical light guide sheets can be used to create a variety of passive light harvesting and illumination systems for wearable technology, advanced indoor lighting, non-planar solar light collectors, customized signature lighting, and enhanced safety illumination for motorized vehicles. These thin optically transparent micro-patterned polymer sheets can be draped over a flat or arbitrarily curved surface. The light guiding behavior of the optical light guides depends on the geometry and spatial distribution of micro-optical structures, thickness and shape of the flexible sheet, refractive indices of the constituent layers, and the wavelength of the incident light. A scalable fabrication method that combines soft-lithography, closed thin cavity molding, partial curing, and centrifugal casting is described in this paper for building thin large area multi-layered PDMS optical light guide sheets. The proposed fabrication methodology enables the of internal micro-optical structures (MOSs) in the monolithic PDMS light guide by building the optical system layer-by-layer. Each PDMS layer in the optical light guide can have the similar, or a slightly different, indices of refraction that permit total internal reflection within the optical sheet. The individual molded layers may also be defect free or micro-patterned with microlens or reflecting micro-features. In addition, the bond between adjacent layers is ensured because each layer is only partially cured before the next functional layer is added. To illustrate the scalable build-by-layers fabrication method a three-layer mechanically flexible illuminator with an embedded LED strip is constructed and demonstrated.

  20. Rod-coating: towards large-area fabrication of uniform reduced graphene oxide films for flexible touch screens.

    Science.gov (United States)

    Wang, Jie; Liang, Minghui; Fang, Yan; Qiu, Tengfei; Zhang, Jin; Zhi, Linjie

    2012-06-05

    A novel strategy is developed for the large-scale fabrication of reduced graphene oxide films directly on flexible substrates in a controlled manner by the combination of a rod-coating technique and room-temperature reduction of graphene oxide. The as-prepared films display excellent uniformity, good transparency and conductivity, and great flexibility in a touch screen. Copyright © 2012 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  1. Stainless steel decontamination manipulators

    International Nuclear Information System (INIS)

    Sullivan, R.J.

    1986-01-01

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

  2. Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

    Science.gov (United States)

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

    2018-05-10

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

  3. Open Source Tools for Temporally Controlled Rodent Behavior Suitable for Electrophysiology and Optogenetic Manipulations

    Directory of Open Access Journals (Sweden)

    Nicola Solari

    2018-05-01

    Full Text Available Understanding how the brain controls behavior requires observing and manipulating neural activity in awake behaving animals. Neuronal firing is timed at millisecond precision. Therefore, to decipher temporal coding, it is necessary to monitor and control animal behavior at the same level of temporal accuracy. However, it is technically challenging to deliver sensory stimuli and reinforcers as well as to read the behavioral responses they elicit with millisecond precision. Presently available commercial systems often excel in specific aspects of behavior control, but they do not provide a customizable environment allowing flexible experimental design while maintaining high standards for temporal control necessary for interpreting neuronal activity. Moreover, delay measurements of stimulus and reinforcement delivery are largely unavailable. We combined microcontroller-based behavior control with a sound delivery system for playing complex acoustic stimuli, fast solenoid valves for precisely timed reinforcement delivery and a custom-built sound attenuated chamber using high-end industrial insulation materials. Together this setup provides a physical environment to train head-fixed animals, enables calibrated sound stimuli and precisely timed fluid and air puff presentation as reinforcers. We provide latency measurements for stimulus and reinforcement delivery and an algorithm to perform such measurements on other behavior control systems. Combined with electrophysiology and optogenetic manipulations, the millisecond timing accuracy will help interpret temporally precise neural signals and behavioral changes. Additionally, since software and hardware provided here can be readily customized to achieve a large variety of paradigms, these solutions enable an unusually flexible design of rodent behavioral experiments.

  4. Open Source Tools for Temporally Controlled Rodent Behavior Suitable for Electrophysiology and Optogenetic Manipulations.

    Science.gov (United States)

    Solari, Nicola; Sviatkó, Katalin; Laszlovszky, Tamás; Hegedüs, Panna; Hangya, Balázs

    2018-01-01

    Understanding how the brain controls behavior requires observing and manipulating neural activity in awake behaving animals. Neuronal firing is timed at millisecond precision. Therefore, to decipher temporal coding, it is necessary to monitor and control animal behavior at the same level of temporal accuracy. However, it is technically challenging to deliver sensory stimuli and reinforcers as well as to read the behavioral responses they elicit with millisecond precision. Presently available commercial systems often excel in specific aspects of behavior control, but they do not provide a customizable environment allowing flexible experimental design while maintaining high standards for temporal control necessary for interpreting neuronal activity. Moreover, delay measurements of stimulus and reinforcement delivery are largely unavailable. We combined microcontroller-based behavior control with a sound delivery system for playing complex acoustic stimuli, fast solenoid valves for precisely timed reinforcement delivery and a custom-built sound attenuated chamber using high-end industrial insulation materials. Together this setup provides a physical environment to train head-fixed animals, enables calibrated sound stimuli and precisely timed fluid and air puff presentation as reinforcers. We provide latency measurements for stimulus and reinforcement delivery and an algorithm to perform such measurements on other behavior control systems. Combined with electrophysiology and optogenetic manipulations, the millisecond timing accuracy will help interpret temporally precise neural signals and behavioral changes. Additionally, since software and hardware provided here can be readily customized to achieve a large variety of paradigms, these solutions enable an unusually flexible design of rodent behavioral experiments.

  5. A comparison of force sensing techniques for planetary manipulation

    Science.gov (United States)

    Helmick, Daniel; Okon, Avi; DiCicco, Matt

    2006-01-01

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

  6. CMOS compatible route for GaAs based large scale flexible and transparent electronics

    KAUST Repository

    Nour, Maha A.; Ghoneim, Mohamed T.; Droopad, Ravi; Hussain, Muhammad Mustafa

    2014-01-01

    Flexible electronics using gallium arsenide (GaAs) for nano-electronics with high electron mobility and optoelectronics with direct band gap are attractive for many applications. Here we describe a state-of-the-art CMOS compatible batch fabrication process of transforming traditional electronic circuitry into large-area flexible, semitransparent platform. We show a simple release process for peeling off 200 nm of GaAs from 200 nm GaAs/300 nm AlAs stack on GaAs substrate using diluted hydrofluoric acid (HF). This process enables releasing a single top layer compared to peeling off all layers with small sizes at the same time. This is done utilizing a network of release holes which contributes to the better transparency (45 % at 724 nm wavelength) observed.

  7. CMOS compatible route for GaAs based large scale flexible and transparent electronics

    KAUST Repository

    Nour, Maha A.

    2014-08-01

    Flexible electronics using gallium arsenide (GaAs) for nano-electronics with high electron mobility and optoelectronics with direct band gap are attractive for many applications. Here we describe a state-of-the-art CMOS compatible batch fabrication process of transforming traditional electronic circuitry into large-area flexible, semitransparent platform. We show a simple release process for peeling off 200 nm of GaAs from 200 nm GaAs/300 nm AlAs stack on GaAs substrate using diluted hydrofluoric acid (HF). This process enables releasing a single top layer compared to peeling off all layers with small sizes at the same time. This is done utilizing a network of release holes which contributes to the better transparency (45 % at 724 nm wavelength) observed.

  8. A Novel Method of Fabricating Flexible Transparent Conductive Large Area Graphene Film

    International Nuclear Information System (INIS)

    Fan Tian-Ju; Yuan Chun-Qiu; Tang Wei; Tong Song-Zhao; Huang Wei; Min Yong-Gang; Liu Yi-Dong; Epstein, Arthur J.

    2015-01-01

    We fabricate flexible conductive and transparent graphene films on position-emission-tomography substrates and prepare large area graphene films by graphite oxide sheets with the new technical process. The multi-layer graphene oxide sheets can be chemically reduced by HNO 3 and HI to form a highly conductive graphene film on a substrate at lower temperature. The reduced graphene oxide sheets show a high conductivity sheet with resistance of 476 Ω/sq and transmittance of 76% at 550 nm (6 layers). The technique used to produce the transparent conductive graphene thin film is facile, inexpensive, and can be tunable for a large area production applied for electronics or touch screens. (paper)

  9. An integrated open-cavity system for magnetic bead manipulation.

    Science.gov (United States)

    Abu-Nimeh, F T; Salem, F M

    2013-02-01

    Superparamagnetic beads are increasingly used in biomedical assays to manipulate, transport, and maneuver biomaterials. We present a low-cost integrated system designed in bulk CMOS to manipulate and separate biomedical magnetic beads. The system consists of 8 × 8 coil-arrays suitable for single bead manipulation, or collaborative multi-bead manipulation, using pseudo-parallel executions. We demonstrate the flexibility of the design in terms of different coil sizes, DC current levels, and layout techniques. In one array module example, the size of a single coil is 30 μm × 30 μm and the full array occupies an area of 248 μm × 248 μm in 0.5 μm CMOS technology. The programmable DC current source supports 8 discrete levels up to 1.5 mA. The total power consumption of the entire module is 9 mW when running at full power.

  10. Large-Area Cross-Aligned Silver Nanowire Electrodes for Flexible, Transparent, and Force-Sensitive Mechanochromic Touch Screens.

    Science.gov (United States)

    Cho, Seungse; Kang, Saewon; Pandya, Ashish; Shanker, Ravi; Khan, Ziyauddin; Lee, Youngsu; Park, Jonghwa; Craig, Stephen L; Ko, Hyunhyub

    2017-04-25

    Silver nanowire (AgNW) networks are considered to be promising structures for use as flexible transparent electrodes for various optoelectronic devices. One important application of AgNW transparent electrodes is the flexible touch screens. However, the performances of flexible touch screens are still limited by the large surface roughness and low electrical to optical conductivity ratio of random network AgNW electrodes. In addition, although the perception of writing force on the touch screen enables a variety of different functions, the current technology still relies on the complicated capacitive force touch sensors. This paper demonstrates a simple and high-throughput bar-coating assembly technique for the fabrication of large-area (>20 × 20 cm 2 ), highly cross-aligned AgNW networks for transparent electrodes with the sheet resistance of 21.0 Ω sq -1 at 95.0% of optical transmittance, which compares favorably with that of random AgNW networks (sheet resistance of 21.0 Ω sq -1 at 90.4% of optical transmittance). As a proof of concept demonstration, we fabricate flexible, transparent, and force-sensitive touch screens using cross-aligned AgNW electrodes integrated with mechanochromic spiropyran-polydimethylsiloxane composite film. Our force-sensitive touch screens enable the precise monitoring of dynamic writings, tracing and drawing of underneath pictures, and perception of handwriting patterns with locally different writing forces. The suggested technique provides a robust and powerful platform for the controllable assembly of nanowires beyond the scale of conventional fabrication techniques, which can find diverse applications in multifunctional flexible electronic and optoelectronic devices.

  11. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  12. Next generation non-vacuum, maskless, low temperature nanoparticle ink laser digital direct metal patterning for a large area flexible electronics.

    Science.gov (United States)

    Yeo, Junyeob; Hong, Sukjoon; Lee, Daehoo; Hotz, Nico; Lee, Ming-Tsang; Grigoropoulos, Costas P; Ko, Seung Hwan

    2012-01-01

    Flexible electronics opened a new class of future electronics. The foldable, light and durable nature of flexible electronics allows vast flexibility in applications such as display, energy devices and mobile electronics. Even though conventional electronics fabrication methods are well developed for rigid substrates, direct application or slight modification of conventional processes for flexible electronics fabrication cannot work. The future flexible electronics fabrication requires totally new low-temperature process development optimized for flexible substrate and it should be based on new material too. Here we present a simple approach to developing a flexible electronics fabrication without using conventional vacuum deposition and photolithography. We found that direct metal patterning based on laser-induced local melting of metal nanoparticle ink is a promising low-temperature alternative to vacuum deposition- and photolithography-based conventional metal patterning processes. The "digital" nature of the proposed direct metal patterning process removes the need for expensive photomask and allows easy design modification and short turnaround time. This new process can be extremely useful for current small-volume, large-variety manufacturing paradigms. Besides, simple, scalable, fast and low-temperature processes can lead to cost-effective fabrication methods on a large-area polymer substrate. The developed process was successfully applied to demonstrate high-quality Ag patterning (2.1 µΩ·cm) and high-performance flexible organic field effect transistor arrays.

  13. Next generation non-vacuum, maskless, low temperature nanoparticle ink laser digital direct metal patterning for a large area flexible electronics.

    Directory of Open Access Journals (Sweden)

    Junyeob Yeo

    Full Text Available Flexible electronics opened a new class of future electronics. The foldable, light and durable nature of flexible electronics allows vast flexibility in applications such as display, energy devices and mobile electronics. Even though conventional electronics fabrication methods are well developed for rigid substrates, direct application or slight modification of conventional processes for flexible electronics fabrication cannot work. The future flexible electronics fabrication requires totally new low-temperature process development optimized for flexible substrate and it should be based on new material too. Here we present a simple approach to developing a flexible electronics fabrication without using conventional vacuum deposition and photolithography. We found that direct metal patterning based on laser-induced local melting of metal nanoparticle ink is a promising low-temperature alternative to vacuum deposition- and photolithography-based conventional metal patterning processes. The "digital" nature of the proposed direct metal patterning process removes the need for expensive photomask and allows easy design modification and short turnaround time. This new process can be extremely useful for current small-volume, large-variety manufacturing paradigms. Besides, simple, scalable, fast and low-temperature processes can lead to cost-effective fabrication methods on a large-area polymer substrate. The developed process was successfully applied to demonstrate high-quality Ag patterning (2.1 µΩ·cm and high-performance flexible organic field effect transistor arrays.

  14. Research on mechanism of the large-amplitude and narrow-band vibration of a flexible flat plate in the rectangular channel

    Energy Technology Data Exchange (ETDEWEB)

    Liu Lifang, E-mail: liu_lifang1106@yahoo.cn [School of Nuclear Science and Engineering, North China Electric Power University, Zhuxinzhuang, Dewai, Beijing 102206 (China); State Nuclear Power Software Development Center, Building 1, Compound No. 29, North Third Ring Road, Xicheng District, Beijing 100029 (China); Lu Daogang [School of Nuclear Science and Engineering, North China Electric Power University, Zhuxinzhuang, Dewai, Beijing 102206 (China)

    2012-09-15

    Highlights: Black-Right-Pointing-Pointer The large amplitude and narrow-band vibration experiment was performed. Black-Right-Pointing-Pointer The added mass theory was used to analyze the test plates' natural vibration characteristics in static water. Black-Right-Pointing-Pointer The occurring condition of the large amplitude and narrow band vibration was investigated. Black-Right-Pointing-Pointer The large amplitude and narrow-band vibration mechanism was investigated. - Abstract: Further experiments and theoretical analysis were performed to investigate mechanism of the large-amplitude and narrow-band vibration behavior of a flexible flat plate in a rectangular channel. Test plates with different thicknesses were adopted in the FIV experiments. The natural vibration characteristics of the flexible flat plates in air were tested, and the added mass theory of column was used to analyze the flexible flat plates' natural vibration characteristics in static water. It was found that the natural vibration frequency of a certain test plate in static water is approximately within the main vibration frequency band of the plate when it was induced to vibrate with the large-amplitude and narrow-band in the rectangular channel. It can be concluded that the harmonic between the flowing fluid and the vibrating plate is one of the key reasons to induce the large-amplitude and narrow-band vibration phenomenon. The occurring condition of the phenomenon and some important narrow-band vibration characteristics of a foursquare fix-supported flexible flat plate were investigated.

  15. Outline of a Hardware Reconfiguration Framework for Modular Industrial Mobile Manipulators

    DEFF Research Database (Denmark)

    Schou, Casper; Bøgh, Simon; Madsen, Ole

    2014-01-01

    This paper presents concepts and ideas of a hard- ware reconfiguration framework for modular industrial mobile manipulators. Mobile manipulators pose a highly flexible pro- duction resource due to their ability to autonomously navigate between workstations. However, due to this high flexibility new...... approaches to the operation of the robots are needed. Reconfig- uring the robot to a new task should be carried out by shop floor operators and, thus, be both quick and intuitive. Late research has already proposed a method for intuitive robot programming. However, this relies on a predetermined hardware...... configuration. Finding a single multi-purpose hardware configuration suited to all tasks is considered unrealistic. As a result, the need for reconfiguration of the hardware is inevitable. In this paper an outline of a framework for making hardware reconfiguration quick and intuitive is presented. Two main...

  16. Floating substructure flexibility of large-volume 10MW offshore wind turbine platforms in dynamic calculations

    International Nuclear Information System (INIS)

    Borg, Michael; Hansen, Anders Melchior; Bredmose, Henrik

    2016-01-01

    Designing floating substructures for the next generation of 10MW and larger wind turbines has introduced new challenges in capturing relevant physical effects in dynamic simulation tools. In achieving technically and economically optimal floating substructures, structural flexibility may increase to the extent that it becomes relevant to include in addition to the standard rigid body substructure modes which are typically described through linear radiation-diffraction theory. This paper describes a method for the inclusion of substructural flexibility in aero-hydro-servo-elastic dynamic simulations for large-volume substructures, including wave-structure interactions, to form the basis of deriving sectional loads and stresses within the substructure. The method is applied to a case study to illustrate the implementation and relevance. It is found that the flexible mode is significantly excited in an extreme event, indicating an increase in predicted substructure internal loads. (paper)

  17. Recent advances in flexible and wearable organic optoelectronic devices

    Science.gov (United States)

    Zhu, Hong; Shen, Yang; Li, Yanqing; Tang, Jianxin

    2018-01-01

    Flexible and wearable optoelectronic devices have been developing to a new stage due to their unique capacity for the possibility of a variety of wearable intelligent electronics, including bendable smartphones, foldable touch screens and antennas, paper-like displays, and curved and flexible solid-state lighting devices. Before extensive commercial applications, some issues still have to be solved for flexible and wearable optoelectronic devices. In this regard, this review concludes the newly emerging flexible substrate materials, transparent conductive electrodes, device architectures and light manipulation methods. Examples of these components applied for various kinds of devices are also summarized. Finally, perspectives about the bright future of flexible and wearable electronic devices are proposed. Project supported by the Ministry of Science and Technology of China (No. 2016YFB0400700).

  18. Development of an advanced robot manipulator system

    International Nuclear Information System (INIS)

    Oomichi, Takeo; Higuchi, Masaru; Shimizu, Yujiro; Ohnishi, Ken

    1991-01-01

    A sophisticated manipulator system for an advanced robot was developed under the 'Advanced Robot Technology Development' Program promoted and supported by the Agency of Industrial Science and Technology of MITI. The authors have participated in the development of a fingered manipulator with force and tactile sensors applicable to a masterslave robot system. Our slave manipulator is equipped with four fingers. Though the finger needs many degrees of freedom so as to be suitable for skilful handing of an object, our fingers are designed to have minimum degree of freedom in order to reduce weight. Each finger tip was designed to be similar to a human finger which has flexibility, softness and contact feeling. The shape of the master finger manipulator was so designed that the movement of the fingers is smoother and that the constraint feeling of the operator is smaller. We were adopted to a pneumatic pressure system for transmitting the tactile feeling of the slave fingers to the master fingers. A multiple sensory bilateral control system which gives an operator a feeling of force and tactile reduces his feeling of constraint in carrying out work with a robot system. (author)

  19. Master-slave-manipulator 'EMSM I'

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.

    1976-01-01

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

  20. Master-slave-manipulator EMSM I

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.

    1976-01-01

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

  1. Towards development of nanofibrous large strain flexible strain sensors with programmable shape memory properties

    Science.gov (United States)

    Khalili, N.; Asif, H.; Naguib, H. E.

    2018-05-01

    Electrospun polymeric fibers can be used as strain sensors due to their large surface to weight/volume ratio, high porosity and pore interconnectivity. Large strain flexible strain sensors are used in numerous applications including rehabilitation, health monitoring, and sports performance monitoring where large strain detection should be accommodated by the sensor. This has boosted the demand for a stretchable, flexible and highly sensitive sensor able to detect a wide range of mechanically induced deformations. Herein, a physically cross-linked polylactic acid (PLA) and thermoplastic polyurethane (TPU) blend is made into nanofiber networks via electrospinning. The PLA/TPU weight ratio is optimized to obtain a maximum attainable strain of 100% while maintaining its mechanical integrity. The TPU/PLA fibers also allowed for their thermally activated recovery due to shape memory properties of the substrate. This novel feature enhances the sensor’s performance as it is no longer limited by its plastic deformation. Using spray coating method, a homogeneous layer of single-walled carbon nanotube is deposited onto the as-spun fiber mat to induce electrical conductivity to the surface of the fibers. It is shown that stretching and bending the sensor result in a highly sensitive and linear response with a maximum gauge factor of 33.

  2. Control of flexible robots with prismatic joints and hydraulic drives

    International Nuclear Information System (INIS)

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

    1997-01-01

    The design and control of long-reach, flexible manipulators has been an active research topic for over 20 years. Most of the research to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long-reach systems. One example is the Modified Light Duty Utility Arm (MLDUA) designed and built by Spar Aerospace for Oak Ridge National Laboratory (ORNL). This arm operates in larger, underground waste storage tanks located at ORNL. The size and nature of the tanks require that the robot have a reach of approximately 15 ft and a payload capacity of 250 lb. In order to achieve these criteria, each joint is hydraulically actuated. Furthermore, the robot has a prismatic degree-of-freedom to ease deployment. When fully extended, the robot's first natural frequency is 1.76 Hz. Many of the projected tasks, coupled with the robot's flexibility, present an interesting problem. How will many of the existing flexure control algorithms perform on a hydraulic, long-reach manipulator with prismatic links? To minimize cost and risk of testing these algorithms on the MLDUA, the authors have designed a new test bed that contains many of the same elements. This manuscript described a new hydraulically actuated, long-reach manipulator with a flexible prismatic link at ORNL. Focus is directed toward both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies

  3. Sliding Mode Control of a Slewing Flexible Beam

    Science.gov (United States)

    Wilson, David G.; Parker, Gordon G.; Starr, Gregory P.; Robinett, Rush D., III

    1997-01-01

    An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

  4. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    International Nuclear Information System (INIS)

    Geisinger, Joseph W. Ph.D.

    2001-01-01

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

  5. Large Scale Triboelectric Nanogenerator and Self-Powered Flexible Sensor for Human Sleep Monitoring

    Directory of Open Access Journals (Sweden)

    Xiaoheng Ding

    2018-05-01

    Full Text Available The triboelectric nanogenerator (TENG and its application as a sensor is a popular research subject. There is demand for self-powered, flexible sensors with high sensitivity and high power-output for the next generation of consumer electronics. In this study, a 300 mm × 300 mm carbon nanotube (CNT-doped porous PDMS film was successfully fabricated wherein the CNT influenced the micropore structure. A self-powered TENG tactile sensor was established according to triboelectric theory. The CNT-doped porous TENG showed a voltage output seven times higher than undoped porous TENG and 16 times higher than TENG with pure PDMS, respectively. The TENG successfully acquired human motion signals, breath signals, and heartbeat signals during a sleep monitoring experiment. The results presented here may provide an effective approach for fabricating large-scale and low-cost flexible TENG sensors.

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

    Science.gov (United States)

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

    2012-01-01

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

  7. Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator

    Science.gov (United States)

    Yang, Yi-ling; Wei, Yan-ding; Lou, Jun-qiang; Fu, Lei; Fang, Sheng; Chen, Te-huan

    2018-05-01

    This paper presents a dynamic modeling and microscopic vibration suppression for a flexible macro-micro manipulator dedicated to high-speed operation. The manipulator system mainly consists of a macro motion stage and a flexible micromanipulator bonded with one macro-fiber-composite actuator. Based on Hamilton's principle and the Bouc-Wen hysteresis equation, the nonlinear dynamic model is obtained. Then, a hybrid control scheme is proposed to simultaneously suppress the elastic vibration during and after the motor motion. In particular, the hybrid control strategy is composed of a trajectory planning approach and an adaptive variable structure control. Moreover, two optimization indices regarding the comprehensive torques and synthesized vibrations are designed, and the optimal trajectories are acquired using a genetic algorithm. Furthermore, a nonlinear fuzzy regulator is used to adjust the switching gain in the variable structure control. Thus, a fuzzy variable structure control with nonlinear adaptive control law is achieved. A series of experiments are performed to verify the effectiveness and feasibility of the established system model and hybrid control strategy. The excited vibration during the motor motion and the residual vibration after the motor motion are decreased. Meanwhile, the settling time is shortened. Both the manipulation stability and operation efficiency of the manipulator are improved by the proposed hybrid strategy.

  8. Transparent, broadband, flexible, and bifacial-operable photodetectors containing a large-area graphene-gold oxide heterojunction.

    Science.gov (United States)

    Liu, Yu-Lun; Yu, Chen-Chieh; Lin, Keng-Te; Yang, Tai-Chi; Wang, En-Yun; Chen, Hsuen-Li; Chen, Li-Chyong; Chen, Kuei-Hsien

    2015-05-26

    In this study, we combine graphene with gold oxide (AuOx), a transparent and high-work-function electrode material, to achieve a high-efficient, low-bias, large-area, flexible, transparent, broadband, and bifacial-operable photodetector. The photodetector operates through hot electrons being generated in the graphene and charge separation occurring at the AuOx-graphene heterojunction. The large-area graphene covering the AuOx electrode efficiently prevented reduction of its surface; it also acted as a square-centimeter-scale active area for light harvesting and photodetection. Our graphene/AuOx photodetector displays high responsivity under low-intensity light illumination, demonstrating picowatt sensitivity in the ultraviolet regime and nanowatt sensitivity in the infrared regime for optical telecommunication. In addition, this photodetector not only exhibited broadband (from UV to IR) high responsivity-3300 A W(-1) at 310 nm (UV), 58 A W(-1) at 500 nm (visible), and 9 A W(-1) at 1550 nm (IR)-but also required only a low applied bias (0.1 V). The hot-carrier-assisted photoresponse was excellent, especially in the short-wavelength regime. In addition, the graphene/AuOx photodetector exhibited great flexibility and stability. Moreover, such vertical heterojunction-based graphene/AuOx photodetectors should be compatible with other transparent optoelectronic devices, suggesting applications in flexible and wearable optoelectronic technologies.

  9. Tool position tracking control of a nonlinear uncertain flexible robot ...

    Indian Academy of Sciences (India)

    Moreover, other different papers and thesis of flexible manipulators ... various applications is highly sensitive to variations of disturbance torque acting on ...... Dang X 2014 Robust adaptive sliding-mode control of condenser-cleaning mobile.

  10. Application of flexible scope in large testing laboratories

    Directory of Open Access Journals (Sweden)

    Carina Di Candia

    2011-04-01

    Full Text Available According as the international definition of Flexible Scope, a laboratory must demonstrate face with the accreditation body that it has the knowledge, experience and competence to work within the full range of its flexible scope, as well as possessing suitable laboratory environments and equipment. The laboratory must also demonstrate that it has a management system in place that can control its proposed approach while continuing to comply with the requirements of ISO 17025:2005. In case of UKAS (Unites Kingdom Accreditation Service, prior to offering accreditation for flexible scope they must have a high degree of confidence that the staff are technically competent and that the management system controlling certain key processes as development, review, validation and authorization.LATU apply these requirements since 2004 as "Unified Tests". Until this date, LATU was doing the same type of tests in different materials departments using different equipment, personal, and testing quality control. In order to that were defined cross disciplinary groups to analyze this topic approaching in personal competence and quality control tests improvement, and resource's decrease. For example, LATU has the Unified Test Tensile Strength accredited by UKAS in: corrugated and solid fiberboard, paper board, linerboard, cork plugs, plastic bags, plastic sheeting, paper, woven fabrics, plastic woven bags and woven plastic. As a result of the Unified Tests was generated a general unified manage procedure with unified criteria's, responsibilities and actions. Was written a unique testing procedure not only with the actual flexible scope and the flexibilities limits but also the compliance requirements of ISO 17025 and the accreditations body methodology. We could decrease the amount of documentation to control. Was defined the methodology and implemented periodicaly internal inter comparisons between departments in order to valid the unified tests and has a unique

  11. Controlling Flexible Robot Arms Using High Speed Dynamics Process

    Science.gov (United States)

    Jain, Abhinandan (Inventor)

    1996-01-01

    A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

  12. Manipulation of Cash-Settled Futures Contracts.

    OpenAIRE

    Pirrong, Craig

    2001-01-01

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

  13. Optimal trajectories for flexible-link manipulator slewing using recursive quadratic programming: Experimental verification

    International Nuclear Information System (INIS)

    Parker, G.G.; Eisler, G.R.; Feddema, J.T.

    1994-01-01

    Procedures for trajectory planning and control of flexible link robots are becoming increasingly important to satisfy performance requirements of hazardous waste removal efforts. It has been shown that utilizing link flexibility in designing open loop joint commands can result in improved performance as opposed to damping vibration throughout a trajectory. The efficient use of link compliance is exploited in this work. Specifically, experimental verification of minimum time, straight line tracking using a two-link planar flexible robot is presented. A numerical optimization process, using an experimentally verified modal model, is used for obtaining minimum time joint torque and angle histories. The optimal joint states are used as commands to the proportional-derivative servo actuated joints. These commands are precompensated for the nonnegligible joint servo actuator dynamics. Using the precompensated joint commands, the optimal joint angles are tracked with such fidelity that the tip tracking error is less than 2.5 cm

  14. Reconfigurable optical manipulation by phase change material waveguides.

    Science.gov (United States)

    Zhang, Tianhang; Mei, Shengtao; Wang, Qian; Liu, Hong; Lim, Chwee Teck; Teng, Jinghua

    2017-05-25

    Optical manipulation by dielectric waveguides enables the transportation of particles and biomolecules beyond diffraction limits. However, traditional dielectric waveguides could only transport objects in the forward direction which does not fulfill the requirements of the next generation lab-on-chip system where the integrated manipulation system should be much more flexible and multifunctional. In this work, bidirectional transportation of objects on the nanoscale is demonstrated on a rectangular waveguide made of the phase change material Ge 2 Sb 2 Te 5 (GST) by numerical simulations. Either continuous pushing forces or pulling forces are generated on the trapped particles when the GST is in the amorphous or crystalline phase. With the technique of a femtosecond laser induced phase transition on the GST, we further proposed a reconfigurable optical trap array on the same waveguide. This work demonstrates GST waveguide's potential of achieving multifunctional manipulation of multiple objects on the nanoscale with plausible optical setups.

  15. Large-amplitude and narrow-band vibration phenomenon of a foursquare fix-supported flexible plate in a rigid narrow channel

    Energy Technology Data Exchange (ETDEWEB)

    Liu Lifang, E-mail: liu_lifang1106@yahoo.cn [School of Nuclear Science and Engineering, North China Electric Power University, Zhuxinzhuang, Dewai, Beijing 102206 (China); Lu Daogang, E-mail: ludaogang@ncepu.edu.cn [School of Nuclear Science and Engineering, North China Electric Power University, Zhuxinzhuang, Dewai, Beijing 102206 (China); Li Yang, E-mail: qinxiuyi@sina.com [School of Nuclear Science and Engineering, North China Electric Power University, Zhuxinzhuang, Dewai, Beijing 102206 (China); Zhang Pan, E-mail: zhangpan@ncepu.edu.cn [School of Nuclear Science and Engineering, North China Electric Power University, Zhuxinzhuang, Dewai, Beijing 102206 (China); Niu Fenglei, E-mail: niufenglei@ncepu.edu.cn [School of Nuclear Science and Engineering, North China Electric Power University, Zhuxinzhuang, Dewai, Beijing 102206 (China)

    2011-08-15

    Highlights: > FIV of a foursquare fix-supported flexible plate exposed to axial flow was studied. > Special designed test section and advanced measuring equipments were adopted. > The narrow-band vibration phenomenon with large amplitude was observed. > Line of plate's vibration amplitude and flow rate was investigated. > The phenomenon and the measurement error were analyzed. - Abstract: An experiment was performed to analyze the flow-induced vibration behavior of a foursquare fix-supported flexible plate exposed to the axial flow within a rigid narrow channel. The large-amplitude and narrow-band vibration phenomenon was observed in the experiment when the flow velocity varied with the range of 0-5 m/s. The occurring condition and some characteristics of the large-amplitude and narrow-band vibrations were investigated.

  16. A novel large thrust-weight ratio V-shaped linear ultrasonic motor with a flexible joint.

    Science.gov (United States)

    Li, Xiaoniu; Yao, Zhiyuan; Yang, Mojian

    2017-06-01

    A novel large thrust-weight ratio V-shaped linear ultrasonic motor with a flexible joint is proposed in this paper. The motor is comprised of a V-shaped transducer, a slider, a clamp, and a base. The V-shaped transducer consists of two piezoelectric beams connected through a flexible joint to form an appropriate coupling angle. The V-shaped motor is operated in the coupled longitudinal-bending mode. Longitudinal and bending movements are transferred by the flexible joint between the two beams. Compared with the coupled longitudinal-bending mode of the single piezoelectric beam or the symmetrical and asymmetrical modes of the previous V-shaped transducer, the coupled longitudinal-bending mode of the V-shaped transducer with a flexible joint provides higher vibration efficiency and more convenient mode conformance adjustment. A finite element model of the V-shaped transducer is created to numerically study the influence of geometrical parameters and to determine the final geometrical parameters. In this paper, three prototypes were then fabricated and experimentally investigated. The modal test results match well with the finite element analysis. The motor mechanical output characteristics of three different coupling angles θ indicate that V-90 (θ = 90°) is the optimal angle. The mechanical output experiments conducted using the V-90 prototype (Size: 59.4 mm × 30.7 mm × 4 mm) demonstrate that the maximum unloaded speed is 1.2 m/s under a voltage of 350 Vpp, and the maximum output force is 15 N under a voltage of 300 Vpp. The proposed novel V-shaped linear ultrasonic motor has a compact size and a simple structure with a large thrust-weight ratio (0.75 N/g) and high speed.

  17. On-Demand Isolation and Manipulation of C. elegans by In Vitro Maskless Photopatterning.

    Directory of Open Access Journals (Sweden)

    C Ryan Oliver

    Full Text Available Caenorhabditis elegans (C. elegans is a model organism for understanding aging and studying animal behavior. Microfluidic assay techniques have brought widespread advances in C. elegans research; however, traditional microfluidic assays such as those based on soft lithography require time-consuming design and fabrication cycles and offer limited flexibility in changing the geometric environment during experimentation. We present a technique for maskless photopatterning of a biocompatible hydrogel on an NGM (Agar substrate, enabling dynamic manipulation of the C. elegans culture environment in vitro. Maskless photopatterning is performed using a projector-based microscope system largely built from off-the-shelf components. We demonstrate the capabilities of this technique by building micropillar arrays during C. elegans observation, by fabricating free-floating mechanisms that can be actuated by C. elegans motion, by using freehand drawing to isolate individual C. elegans in real time, and by patterning arrays of mazes for isolation and fitness testing of C. elegans populations. In vitro photopatterning enables rapid and flexible design of experiment geometry as well as real-time interaction between the researcher and the assay such as by sequential isolation of individual organisms. Future adoption of image analysis and machine learning techniques could be used to acquire large datasets and automatically adapt the assay geometry.

  18. 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.

  19. An Indium-Free Anode for Large-Area Flexible OLEDs: Defect-Free Transparent Conductive Zinc Tin Oxide

    NARCIS (Netherlands)

    Morales-Masis, M.; Dauzou, F.; Jeangros, Q.; Dabirian, A.; Lifka, H.; Gierth, R.; Ruske, M.; Moet, D.; Hessler-Wyser, A.; Ballif, C.

    2016-01-01

    Flexible large-area organic light-emitting diodes (OLEDs) require highly conductive and transparent anodes for efficient and uniform light emission. Tin-doped indium oxide (ITO) is the standard anode in industry. However, due to the scarcity of indium, alternative anodes that eliminate its use are

  20. Manipulation and handling processes off-line programming and optimization with use of K-Roset

    Science.gov (United States)

    Gołda, G.; Kampa, A.

    2017-08-01

    Contemporary trends in development of efficient, flexible manufacturing systems require practical implementation of modern “Lean production” concepts for maximizing customer value through minimizing all wastes in manufacturing and logistics processes. Every FMS is built on the basis of automated and robotized production cells. Except flexible CNC machine tools and other equipments, the industrial robots are primary elements of the system. In the studies, authors look for wastes of time and cost in real tasks of robots, during manipulation processes. According to aspiration for optimization of handling and manipulation processes with use of the robots, the application of modern off-line programming methods and computer simulation, is the best solution and it is only way to minimize unnecessary movements and other instructions. The modelling process of robotized production cell and offline programming of Kawasaki robots in AS-Language will be described. The simulation of robotized workstation will be realized with use of virtual reality software K-Roset. Authors show the process of industrial robot’s programs improvement and optimization in terms of minimizing the number of useless manipulator movements and unnecessary instructions. This is realized in order to shorten the time of production cycles. This will also reduce costs of handling, manipulations and technological process.

  1. A technical review of flexible endoscopic multitasking platforms.

    Science.gov (United States)

    Yeung, Baldwin Po Man; Gourlay, Terence

    2012-01-01

    Further development of advanced therapeutic endoscopic techniques and natural orifice translumenal endoscopic surgery (NOTES) requires a powerful flexible endoscopic multitasking platform. Medline search was performed to identify literature relating to flexible endoscopic multitasking platform from year 2004-2011 using keywords: Flexible endoscopic multitasking platform, NOTES, Instrumentation, Endoscopic robotic surgery, and specific names of various endoscopic multitasking platforms. Key articles from articles references were reviewed. Flexible multitasking platforms can be classified as either mechanical or robotic. Purely mechanical systems include the dual channel endoscope (DCE) (Olympus), R-Scope (Olympus), the EndoSamurai (Olympus), the ANUBIScope (Karl-Storz), Incisionless Operating Platform (IOP) (USGI), and DDES system (Boston Scientific). Robotic systems include the MASTER system (Nanyang University, Singapore) and the Viacath (Hansen Medical). The DCE, the R-Scope, the EndoSamurai and the ANUBIScope have integrated visual function and instrument manipulation function. The IOP and DDES systems rely on the conventional flexible endoscope for visualization, and instrument manipulation is integrated through the use of a flexible, often lockable, multichannel access device. The advantage of the access device concept is that it allows optics and instrument dissociation. Due to the anatomical constrains of the pharynx, systems are designed to have a diameter of less than 20 mm. All systems are controlled by traction cable system actuated either by hand or by robotic machinery. In a flexible system, this method of actuation inevitably leads to significant hysteresis. This problem will be accentuated with a long endoscope such as that required in performing colonic procedures. Systems often require multiple operators. To date, the DCE, the R-Scope, the IOP, and the Viacath system have data published relating to their application in human. Alternative forms of

  2. Flexible kinesthetic distance perception: when do your arms tell you how far you have walked?

    Science.gov (United States)

    Harrison, Steven J; Kuznetsov, Nikita; Breheim, Samuel

    2013-01-01

    Given the flexible organization of locomotion evidenced in the many ways the limbs can be coordinated, the authors explored the potentially correspondingly flexible organization of nonvisual (kinesthetic) distance perception. As kinesthetic distance perception is known to be affected by how the limbs are coordinated, the authors probed the potential perceptual contribution of the arms during locomotion by manipulating arm-leg coordination patterns in blind-walked distance-matching tasks. Whereas manipulation of arm-leg coordination for walking with free-swinging arms had no observable perceptual consequences, comparable manipulation for walking with hiking poles did affect distance matching. These results suggest that under conditions in which the arms act to propel the body (e.g., crawling or stair-climbing) a person's nonvisual sense of movement is conveyed in the coordinated actions of all four limbs.

  3. Inkjet printed large-area flexible circuits: a simple methodology for optimizing the printing quality

    Science.gov (United States)

    Cheng, Tao; Wu, Youwei; Shen, Xiaoqin; Lai, Wenyong; Huang, Wei

    2018-01-01

    In this work, a simple methodology was developed to enhance the patterning resolution of inkjet printing, involving process optimization as well as substrate modification and treatment. The line width of the inkjet-printed silver lines was successfully reduced to 1/3 of the original value using this methodology. Large-area flexible circuits with delicate patterns and good morphology were thus fabricated. The resultant flexible circuits showed excellent electrical conductivity as low as 4.5 Ω/□ and strong tolerance to mechanical bending. The simple methodology is also applicable to substrates with various wettability, which suggests a general strategy to enhance the printing quality of inkjet printing for manufacturing high-performance large-area flexible electronics. Project supported by the National Key Basic Research Program of China (Nos. 2014CB648300, 2017YFB0404501), the National Natural Science Foundation of China (Nos. 21422402, 21674050), the Natural Science Foundation of Jiangsu Province (Nos. BK20140060, BK20130037, BK20140865, BM2012010), the Program for Jiangsu Specially-Appointed Professors (No. RK030STP15001), the Program for New Century Excellent Talents in University (No. NCET-13-0872), the NUPT "1311 Project" and Scientific Foundation (Nos. NY213119, NY213169), the Synergetic Innovation Center for Organic Electronics and Information Displays, the Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD), the Leading Talent of Technological Innovation of National Ten-Thousands Talents Program of China, the Excellent Scientific and Technological Innovative Teams of Jiangsu Higher Education Institutions (No. TJ217038), the Program for Graduate Students Research and Innovation of Jiangsu Province (No. KYZZ16-0253), and the 333 Project of Jiangsu Province (Nos. BRA2017402, BRA2015374).

  4. Tool position tracking control of a nonlinear uncertain flexible robot ...

    Indian Academy of Sciences (India)

    Robot manipulators have become progressively important in the field of flexible ... this research, tracking of tool position and minimization of motor torque are ...... and Menhaj M B 2013a Position and current control of a permanent-magnet syn-.

  5. Consistent Performance Differences between Children and Adults Despite Manipulation of Cue-Target Variables

    Directory of Open Access Journals (Sweden)

    Jessie-Raye Bauer

    2017-08-01

    Full Text Available Two behavioral experiments assessed the plasticity and short-term improvement of task switching in 215 children and adults. Specifically, we studied manipulations of cued attention to different features of a target stimulus as a way to assess the development of cognitive flexibility. Each experiment had multiple levels of difficulty via manipulation of number of cued features (2–4 and number of response options (2 or 4. Working memory demand was manipulated across the two experiments. Impact of memory demand and task level manipulations on task accuracy and response times were measured. There were three overall goals: First, these task manipulations (number of cued features, response choices, and working memory load were tested to assess the stability of group differences in performance between children ages 6–16 years and adults 18–27 years, with the goal of reducing age group differences. Second, age-related transitions to adult-level performance were examined within subgroups of the child sample. Third, short-term improvement from the beginning to the end of the study session was measured to probe whether children can improve with task experience. Attempts to use task manipulations to reduce age differences in cued task switching performance were unsuccessful: children performed consistently worse and were more susceptible to task manipulations than adults. However, across both studies, adult-like performance was observed around mid-adolescence, by ages 13-16 years. Certain task manipulations, especially increasing number of response options when working memory demand was low, produced differences from adults even in the oldest children. Interestingly, there was similar performance improvement with practice for both child and adult groups. The higher memory demand version of the task (Experiment 2 prompted greater short-term improvement in accuracy and response times than the lower memory demand version (Experiment 1. These results

  6. A novel three-dimensional and high-definition flexible scope.

    Science.gov (United States)

    Nishiyama, Kenichi; Natori, Yoshihiro; Oka, Kazunari

    2014-06-01

    Recent high-tech innovations in digital surgical technology have led to advances in three-dimensional (3D) and high-definition (HD) operating scopes. We introduce a novel 3D-HD flexible surgical scope called "3D-Eye-Flex" and evaluate its utility as an alternative to the operating microscope. The 3D-Eye-Flex has a 15 mm long 3D-HD scope-head with a 15 mm outer diameter, a focus distance of 18-100 mm and 80° angle of view. Attached to a 615-mm-long flexible bellows, 3D-Eye-Flex can be easily fixed to the operating table. Microsurgical dissection of wet brain tissue and drilling a skull base model were performed under the scope while using the 3D-HD video monitor. This scope system provided excellent illumination and image quality during the procedures. A large depth of field with stereoscopic vision had a greater advantage over using an operating microscope. 3D-Eye-Flex was easy to manipulate and provided an abundance of space above the operative field. Surgeons felt comfortable while working and could easily shift the position of the scope. This novel 3D-HD flexible scope is an effective alternative to the operating microscope as a new surgeon's eye and will be suitable for digital image-based surgery with further refinement.

  7. Microstructural Control via Copious Nucleation Manipulated by In Situ Formed Nucleants: Large-Sized and Ductile Metallic Glass Composites.

    Science.gov (United States)

    Song, Wenli; Wu, Yuan; Wang, Hui; Liu, Xiongjun; Chen, Houwen; Guo, Zhenxi; Lu, Zhaoping

    2016-10-01

    A novel strategy to control the precipitation behavior of the austenitic phase, and to obtain large-sized, transformation-induced, plasticity-reinforced bulk metallic glass matrix composites, with good tensile properties, is proposed. By inducing heterogeneous nucleation of the transformable reinforcement via potent nucleants formed in situ, the characteristics of the austenitic phase are well manipulated. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  8. A round robin study of flexible large-area roll-to-roll processed polymer solar cell modules

    DEFF Research Database (Denmark)

    Krebs, Frederik C; Gevorgyan, Suren; Gholamkhass, Bobak

    2009-01-01

    A round robin for the performance of roll-to-roll coated flexible large-area polymer solar-cell modules involving 18 different laboratories in Northern America, Europe and Middle East is presented. The study involved the performance measurement of the devices at one location (Risø DTU) followed b...

  9. A variable geometry truss manipulator for positioning large payloads

    International Nuclear Information System (INIS)

    Stoughton, R.S.; Tucker, J.C.; Horner, C.G.

    1995-02-01

    A major thrust within the Department of Energy's (DOE) Decontamination and Dismantling (D ampersand D) Robotics program is the development of a Selective Equipment Removal System (SERS). SERS will consist of a mobile vehicle, a Dual-Arm Work Module (DAWM), and a deployment manipulator capable of extending the DAWM up to 6.096m (20) from the vehicle. The DAWM, built by RedZone Robotics, includes two Schilling Titan II manipulators, a unique five degree-of-freedom (DOF) module for positioning/orienting the two Schilling arms, and a massive steel backplane to maintain structural rigidity. Together with its payload, the DAWM weighs about 975 kg (2150 pounds). In order to accurately position the DAWM, the Pacific Northwest Laboratory (PNL) together with the National Aeronautics and Space Administration's Langley Research Center (NASA LARC) are developing a deployment manipulator, which includes two double-octahedral Variable Geometry Truss (VGT) modules connected with a static truss section. The entire SERS system (Figure 1) will include the mobile vehicle, a 2-DOF base actuation system (waist rotate and pitch) with an output link approximately 2.134m (7) in length, the VGT system and the DAWM. The VGT system (Figure 2) consists of a 1.067m (42) diameter (∼1.346m (53) long) base VGT, which mounts to the end of the output link of the base actuation system, a 1.524m (60) long static truss section which tapers from 1.067m (42) diameter at its base to 0.8128m (32) diameter at the end, and a 0.8128m (32) diameter (∼1.0922m (43) long) tip VGT to which the DAWM is mounted. The stiffness of the VGT system is such that with the base VGT mounted to a rigid base and the VGT system oriented horizontally (worst case), the static deflection of the DAWM together with full payload will be less than 0.0254m

  10. Conceptual design of EAST flexible in-vessel inspection system

    International Nuclear Information System (INIS)

    Peng, X.B.; Song, Y.T.; Li, C.C.; Lei, M.Z.; Li, G.

    2010-01-01

    Remote handling technology, especially the flexible in-vessel inspection system (FIVIS) without breaking the working condition of the vacuum vessel, has been identified as one major challenge on the maintenance for the future tokamak fusion reactor. The FIVIS introduced here is specially developed for EAST superconducting tokamak that has actively cooled plasma facing components (PFCs). It aims flexible close-up inspection of EAST PFCs to help the understanding of operation issues that could occur in the vacuum vessel. This paper resumes the preliminary work of the FIVIS project, including the requirement analysis and the development of the conceptual design. The FIVIS consists out of a long reach multi-articulated manipulator and a process tool. The manipulator has a modular design for its subsystems and can reach all areas of the first wall in the distance of 15 mm and in the range of ±90 o along toroidal direction. It will be folded and hidden in the designated horizontal port during plasma discharge period.

  11. Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force

    Science.gov (United States)

    Boku, Kazuhiko; Nakamura, Taro

    2009-02-01

    .With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.

  12. Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force

    International Nuclear Information System (INIS)

    Boku, Kazuhiko; Nakamura, Taro

    2009-01-01

    Abstract.With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.

  13. Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force

    Energy Technology Data Exchange (ETDEWEB)

    Boku, Kazuhiko; Nakamura, Taro [Chuo University, Faculty of Science and Engineering, Department of Precision Mechanics, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551 (Japan)], E-mail: k_boku@bio.mech.chuo-u.ac.jp

    2009-02-01

    Abstract.With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.

  14. Hydraulic manipulator

    International Nuclear Information System (INIS)

    Sinha, A.K.; Srikrishnamurty, G.

    1990-01-01

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

  15. Enabling Technologies for Fabrication of Large Area Flexible Antennas, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Flexible, foldable, and/or inflatable antenna systems open up a wealth of opportunities. Integrating antenna elements and related electronics onto flexible...

  16. Roll-coating fabrication of flexible large area small molecule solar cells with power conversion efficiency exceeding 1%

    DEFF Research Database (Denmark)

    Liu, Wenqing; Liu, Shiyong; Zawacka, Natalia Klaudia

    2014-01-01

    All solution-processed flexible large area small molecule bulk heterojunction solar cells were fabricated via roll-coating technology. Our devices were produced from slot-die coating on a lab-scale mini roll-coater under ambient conditions without the use of spin-coating or vacuum evaporation.......01%, combined with an open circuit voltage of 0.73 V, a short-circuit current density of 3.13 mA cm (2) and a fill factor of 44% were obtained for the device with SM1, which was the first example reported for efficient roll-coating fabrication of flexible large area small molecule solar cells with PCE exceeding...... methods. Four diketopyrrolopyrrole based small molecules (SMs 1-4) were utilized as electron donors with (6,6)phenyl- C61-butyric acid methyl ester as an acceptor and their photovoltaic performances based on roll-coated devices were investigated. The best power conversion efficiency (PCE) of 1...

  17. 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.

  18. [The essence of Professor Wu Lian-Zhong's acupuncture manipulation].

    Science.gov (United States)

    Liu, Jing; Guo, Yi; Wu, Lian-Zhong

    2014-05-01

    The painless needle insertion technique, summarized by Professor WU Lian-zhong during his decades of acupuncture clinical practice is introduced in this article, which is characterized as soft, flexible, fast, plucking and activating antipathogenic qi. The Sancai (three layers) lifting and thrusting manipulation technique is adopted by Professor WU for getting the qi sensation. And features of 10 kinds of needling sensation such as soreness, numbness, heaviness, distension, pain, cold, hot, radiation, jumping and contracture are summarized. Finger force, amplitude, speed and time length are also taken as the basis of reinforcing and reducing manipulations. Moreover, examples are also given to explain the needling technique on some specific points which further embodies Professor WU's unique experiences and understandings on acupuncture.

  19. High-flexibility, noncollapsing lightweight hose

    Science.gov (United States)

    Williams, D.A.

    1993-04-20

    A high-flexibility, noncollapsing, lightweight, large-bore, wire-reinforced hose is inside fiber-reinforced PVC tubing that is flexible, lightweight, and abrasion resistant. It provides a strong, kink- and collapse-free conduit for moving large quantities of dangerous fluids, e.g., removing radioactive waste water or processing chemicals.

  20. Bioinspired legged-robot based on large deformation of flexible skeleton

    International Nuclear Information System (INIS)

    Mayyas, Mohammad

    2014-01-01

    In this article we present STARbot, a bioinspired legged robot capable of multiple locomotion modalities by using large deformation of its skeleton. We construct STARbot by using origami-style folding of flexible laminates. The long-term goal is to provide a robotic platform with maximum mobility on multiple surfaces. This paper particularly studies the quasistatic model of STARbot’s leg under different conditions. We describe the large elastic deformation of a leg under external force, payload, and friction by using a set of non-dimensional, nonlinear approximate equations. We developed a test mechanism that models the motion of a leg in STARbot. We augmented several foot shapes and then tested them on soft to rough grounds. Both simulation and experimental findings were in good agreement. We utilized the model to develop several scales of tri and quad STARbot. We demonstrated the capability of these robots to locomote by combining their leg deformations with their foot motions. The combination provided a design platform for an active suspension STARbot with controlled foot locomotion. This included the ability of STARbot to change size, run over obstacles, walk and slide. Furthermore, in this paper we discuss a cost effective manufacturing and production method for manufacturing STARbot. (paper)

  1. Bioinspired legged-robot based on large deformation of flexible skeleton.

    Science.gov (United States)

    Mayyas, Mohammad

    2014-11-11

    In this article we present STARbot, a bioinspired legged robot capable of multiple locomotion modalities by using large deformation of its skeleton. We construct STARbot by using origami-style folding of flexible laminates. The long-term goal is to provide a robotic platform with maximum mobility on multiple surfaces. This paper particularly studies the quasistatic model of STARbot's leg under different conditions. We describe the large elastic deformation of a leg under external force, payload, and friction by using a set of non-dimensional, nonlinear approximate equations. We developed a test mechanism that models the motion of a leg in STARbot. We augmented several foot shapes and then tested them on soft to rough grounds. Both simulation and experimental findings were in good agreement. We utilized the model to develop several scales of tri and quad STARbot. We demonstrated the capability of these robots to locomote by combining their leg deformations with their foot motions. The combination provided a design platform for an active suspension STARbot with controlled foot locomotion. This included the ability of STARbot to change size, run over obstacles, walk and slide. Furthermore, in this paper we discuss a cost effective manufacturing and production method for manufacturing STARbot.

  2. Bio-inspired multistructured conical copper wires for highly efficient liquid manipulation.

    Science.gov (United States)

    Wang, Qianbin; Meng, Qingan; Chen, Ming; Liu, Huan; Jiang, Lei

    2014-09-23

    Animal hairs are typical structured conical fibers ubiquitous in natural system that enable the manipulation of low viscosity liquid in a well-controlled manner, which serves as the fundamental structure in Chinese brush for ink delivery in a controllable manner. Here, drawing inspiration from these structure, we developed a dynamic electrochemical method that enables fabricating the anisotropic multiscale structured conical copper wire (SCCW) with controllable conicity and surface morphology. The as-prepared SCCW exhibits a unique ability for manipulating liquid with significantly high efficiency, and over 428 times greater than its own volume of liquid could be therefore operated. We propose that the boundary condition of the dynamic liquid balance behavior on conical fibers, namely, steady holding of liquid droplet at the tip region of the SCCW, makes it an excellent fibrous medium to manipulate liquid. Moreover, we demonstrate that the titling angle of the SCCW can also affect its efficiency of liquid manipulation by virtue of its mechanical rigidity, which is hardly realized by flexible natural hairs. We envision that the bio-inspired SCCW could give inspiration in designing materials and devices to manipulate liquid in a more controllable way and with high efficiency.

  3. Application of identification techniques to remote manipulator system flight data

    Science.gov (United States)

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

    1983-01-01

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

  4. Policy Driven Development: Flexible Policy Insertion for Large Scale Systems.

    Science.gov (United States)

    Demchak, Barry; Krüger, Ingolf

    2012-07-01

    The success of a software system depends critically on how well it reflects and adapts to stakeholder requirements. Traditional development methods often frustrate stakeholders by creating long latencies between requirement articulation and system deployment, especially in large scale systems. One source of latency is the maintenance of policy decisions encoded directly into system workflows at development time, including those involving access control and feature set selection. We created the Policy Driven Development (PDD) methodology to address these development latencies by enabling the flexible injection of decision points into existing workflows at runtime , thus enabling policy composition that integrates requirements furnished by multiple, oblivious stakeholder groups. Using PDD, we designed and implemented a production cyberinfrastructure that demonstrates policy and workflow injection that quickly implements stakeholder requirements, including features not contemplated in the original system design. PDD provides a path to quickly and cost effectively evolve such applications over a long lifetime.

  5. Flexible Foam Model.

    Energy Technology Data Exchange (ETDEWEB)

    Neilsen, Michael K.; Lu, Wei-Yang; Werner, Brian T.; Scherzinger, William M.; Lo, Chi S.

    2018-03-01

    Experiments were performed to characterize the mechanical response of a 15 pcf flexible polyurethane foam to large deformation at different strain rates and temperatures. Results from these experiments indicated that at room temperature, flexible polyurethane foams exhibit significant nonlinear elastic deformation and nearly return to their original undeformed shape when unloaded. However, when these foams are cooled to temperatures below their glass transition temperature of approximately -35 o C, they behave like rigid polyurethane foams and exhibit significant permanent deformation when compressed. Thus, a new model which captures this dramatic change in behavior with temperature was developed and implemented into SIERRA with the name Flex_Foam to describe the mechanical response of both flexible and rigid foams to large deformation at a variety of temperatures and strain rates. This report includes a description of recent experiments. Next, development of the Flex Foam model for flexible polyurethane and other flexible foams is described. Selection of material parameters are discussed and finite element simulations with the new Flex Foam model are compared with experimental results to show behavior that can be captured with this new model.

  6. Responses of arthropods to large-scale manipulations of dead wood in loblolly pine stands of the southeastern United States.

    Science.gov (United States)

    Ulyshen, Michael D; Hanula, James L

    2009-08-01

    Large-scale experimental manipulations of dead wood are needed to better understand its importance to animal communities in managed forests. In this experiment, we compared the abundance, species richness, diversity, and composition of arthropods in 9.3-ha plots in which either (1) all coarse woody debris was removed, (2) a large number of logs were added, (3) a large number of snags were added, or (4) no coarse woody debris was added or removed. The target taxa were ground-dwelling arthropods, sampled by pitfall traps, and saproxylic beetles (i.e., dependent on dead wood), sampled by flight intercept traps and emergence traps. There were no differences in total ground-dwelling arthropod abundance, richness, diversity, or composition among treatments. Only the results for ground beetles (Carabidae), which were more species rich and diverse in log input plots, supported our prediction that ground-dwelling arthropods would benefit from additions of dead wood. There were also no differences in saproxylic beetle abundance, richness, diversity, or composition among treatments. The findings from this study are encouraging in that arthropods seem less sensitive than expected to manipulations of dead wood in managed pine forests of the southeastern United States. Based on our results, we cannot recommend inputting large amounts of dead wood for conservation purposes, given the expense of such measures. However, the persistence of saproxylic beetles requires that an adequate amount of dead wood is available in the landscape, and we recommend that dead wood be retained whenever possible in managed pine forests.

  7. Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

    Science.gov (United States)

    Phillips, Warren F.

    1989-01-01

    The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

  8. Rapid prototyping of an adaptive light-source for mobile manipulators with EasyKit and EasyLab

    Science.gov (United States)

    Wojtczyk, Martin; Barner, Simon; Geisinger, Michael; Knoll, Alois

    2008-08-01

    While still not common in day-to-day business, mobile robot platforms form a growing market in robotics. Mobile platforms equipped with a manipulator for increased flexibility have been used successfully in biotech laboratories for sample management as shown on the well-known ESACT meetings. Navigation and object recognition is carried out by the utilization of a mounted machine vision camera. To cope with the different illumination conditions in a large laboratory, development of an adaptive light source was indispensable. We present our approach of rapid developing a computer controlled, adaptive LED light within one single business day, by utilizing the hardware toolbox EasyKit and our appropriate software counterpart EasyLab.

  9. A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation

    Directory of Open Access Journals (Sweden)

    Wu Ren

    2014-01-01

    Full Text Available Stress signal is difficult to obtain in the health monitoring of multibody manipulator. In order to solve this problem, a soft sensor method is presented. In the method, stress signal is considered as dominant variable and angle signal is regarded as auxiliary variable. By establishing the mathematical relationship between them, a soft sensor model is proposed. In the model, the stress information can be deduced by angle information which can be easily measured for such structures by experiments. Finally, test of ground and wall working conditions is done on a multibody manipulator test rig. The results show that the stress calculated by the proposed method is closed to the test one. Thus, the stress signal is easier to get than the traditional method. All of these prove that the model is correct and the method is feasible.

  10. Broadband and flexible acoustic focusing by metafiber bundles

    Science.gov (United States)

    Sun, Hong-Xiang; Chen, Jia-He; Ge, Yong; Yuan, Shou-Qi; Liu, Xiao-Jun

    2018-06-01

    We report a broadband and flexible acoustic focusing through metafiber bundles in air, in which each metafiber consists of eight circular and narrow rectangular cavities. The fractional bandwidth of the acoustic focusing could reach about 0.2, which arises from the eigenmodes of the metafiber structure. Besides, owing to the flexible characteristic of the metafibers, the focus position can be manipulated by bending the metafiber bundles, and the metafiber bundles could bypass rigid scatterers inside the lens structure. More interestingly, the acoustic propagation and focusing directions can be changed by using a designed right-angled direction converter fabricated by the metafibers, and a waveform converter and a focusing lens of the cylindrical acoustic source are realized based on the metafiber bundles. The proposed focusing lens has the advantages of broad bandwidth, flexible structure, and high focusing performance, showing great potentials in versatile applications.

  11. "Little Helper" - An Autonomous Industrial Mobile Manipulator Concept

    Directory of Open Access Journals (Sweden)

    Mads Hvilshoj

    2011-06-01

    Full Text Available This paper presents the concept "autonomous industrial mobile manipulation" (AIMM based on the mobile manipulator "Little Helper" - an ongoing research project at Aalborg University, Denmark, concerning the development of an autonomous and flexible manufacturing assistant. The paper focuses on the contextual aspects and the working principles of AIMM. Furthermore, the paper deals with the design principles and overall hardware and software architectures of "Little Helper" from a functional and modular mechatronics point of view, in order to create a generic AIMM platform. The design challenges faced in the project is to integrate commercial off‐the‐shelf (COTS and dedicated highly integrated systems into an autonomous mobile manipulator system with the ability to perform diverse tasks in industrial environments. We propose an action based domain specific communication language for AIMM for routine and task definition, in order to lower the entry barriers for the users of the technology. To demonstrate the "Little Helper" concept a full‐scale prototype has been built and different application examples carried out. Experiences and knowledge gained from this show promising results regarding industrial integration, exploitation and maturation of the AIMM technology.

  12. The senior pupils’ understanding of the essence of manipulative strategies in communicative sphere

    Directory of Open Access Journals (Sweden)

    Валентина Григорівна Кучерявець

    2016-03-01

    Full Text Available The article is dedicated to the problem of an adequate understanding of the manipulative strategy in educational process of the modern school by the high school aged pupils. The topicality of the problem is connected with inadequate spread of manipulative interaction in all life spheres. The deficiency of the skill of expedient use of manipulation in pedagogical process as well as fixing manipulation as the main way of relation construction are the unfavorable variants of human development. There were characterized the main influence strategies in communication. There were cited the results of techniques and creative tasks that allow to reveal the understanding of essence of manipulative strategy and to study its functioning in the senior pupils’ communicative plane. The special authors’ attention was concentrated on determination of pedagogical conditions of mastering the experience of manipulative communication by the high school aged pupils. In the process of research there were determined the certain threatening moments: the significant part of senior pupils does not understand their own manipulative actions, but see it in surrounding people and is ready to aggressive response. The ability to use the ways of flexible, adaptive countermanipulation that allow retain communicative connections between pupils and teachers is not sufficiently developed in the pupils of high school age

  13. Sub-surface laser nanostructuring in stratified metal/dielectric media: a versatile platform towards flexible, durable and large-scale plasmonic writing

    International Nuclear Information System (INIS)

    Siozios, A; Bellas, D V; Lidorikis, E; Patsalas, P; Kalfagiannis, N; Cranton, W M; Koutsogeorgis, D C; Bazioti, C; Dimitrakopulos, G P; Vourlias, G

    2015-01-01

    Laser nanostructuring of pure ultrathin metal layers or ceramic/metal composite thin films has emerged as a promising route for the fabrication of plasmonic patterns with applications in information storage, cryptography, and security tagging. However, the environmental sensitivity of pure Ag layers and the complexity of ceramic/metal composite film growth hinder the implementation of this technology to large-scale production, as well as its combination with flexible substrates. In the present work we investigate an alternative pathway, namely, starting from non-plasmonic multilayer metal/dielectric layers, whose growth is compatible with large scale production such as in-line sputtering and roll-to-roll deposition, which are then transformed into plasmonic templates by single-shot UV-laser annealing (LA). This entirely cold, large-scale process leads to a subsurface nanoconstruction involving plasmonic Ag nanoparticles (NPs) embedded in a hard and inert dielectric matrix on top of both rigid and flexible substrates. The subsurface encapsulation of Ag NPs provides durability and long-term stability, while the cold character of LA suits the use of sensitive flexible substrates. The morphology of the final composite film depends primarily on the nanocrystalline character of the dielectric host and its thermal conductivity. We demonstrate the emergence of a localized surface plasmon resonance, and its tunability depending on the applied fluence and environmental pressure. The results are well explained by theoretical photothermal modeling. Overall, our findings qualify the proposed process as an excellent candidate for versatile, large-scale optical encoding applications. (paper)

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

    Science.gov (United States)

    Miyamoto, Daisuke; Murayama, Masanori

    2016-02-01

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

  15. Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches

    International Nuclear Information System (INIS)

    Lew, J.Y.; Cannon, D.W.; Magee, D.P.; Book, W.J.

    1995-09-01

    Pacific Northwest Laboratory (PDL) researchers investigated the combined use of two control approaches to minimize micro/macro-manipulator structural vibration: (1) modified input shaping and (2) inertial force active damping control. Modified input shaping (MIS) is used as a feedforward controller to modify reference input by canceling the vibratory motion. Inertial force active damping (IFAD) is applied as a feedback controller to increase the system damping and robustness to unexpected disturbances. Researchers implemented both control schemes in the PNL micro/macro flexible-link manipulator testbed collaborating with Georgia Institute of Technology. The experiments successfully demonstrated the effectiveness of two control approaches in reducing structural vibration. Based on the results of the experiments, the combined use of two controllers is recommended for a micro/macro manipulator to achieve the fastest response to commands while canceling disturbances from unexpected forces

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-09-01

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

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

    International Nuclear Information System (INIS)

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

    1996-09-01

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

  18. On the Effect of Hull Girder Flexibility on the Vertical Wave Bending Moment for Ultra Large Container Vessels

    DEFF Research Database (Denmark)

    Andersen, Ingrid Marie Vincent; Jensen, Jørgen Juncher

    2012-01-01

    Currently, a number of very large container ships are being built and more are on order, and some concerns have been expressed about the importance of the reduced hull girder stiffness to the wave-induced loads. The main concern is related to the fatigue life, but also a possible increase...... in the global hull girder loads as consequence of the increased hull flexibility must be considered. This is especially so as the rules of the classification societies do not explicitly account for the effect of hull flexibility on the global loads. In the present paper an analysis has been carried out...... in the waves. Slamming forces are determined by a standard momentum formulation. The hull flexibility is modelled as a nonprismatic Timoshenko beam. Generally, good agreement with experimental results and more accurate numerical predictions has previously been obtained in a number of studies. The statistical...

  19. Flexible non-linear predictive models for large-scale wind turbine diagnostics

    DEFF Research Database (Denmark)

    Bach-Andersen, Martin; Rømer-Odgaard, Bo; Winther, Ole

    2017-01-01

    We demonstrate how flexible non-linear models can provide accurate and robust predictions on turbine component temperature sensor data using data-driven principles and only a minimum of system modeling. The merits of different model architectures are evaluated using data from a large set...... of turbines operating under diverse conditions. We then go on to test the predictive models in a diagnostic setting, where the output of the models are used to detect mechanical faults in rotor bearings. Using retrospective data from 22 actual rotor bearing failures, the fault detection performance...... of the models are quantified using a structured framework that provides the metrics required for evaluating the performance in a fleet wide monitoring setup. It is demonstrated that faults are identified with high accuracy up to 45 days before a warning from the hard-threshold warning system....

  20. Design of a Generic and Flexible Data Structure for Efficient Formulation of Large Scale Network Problems

    DEFF Research Database (Denmark)

    Quaglia, Alberto; Sarup, Bent; Sin, Gürkan

    2013-01-01

    structure for efficient formulation of enterprise-wide optimization problems is presented. Through the integration of the described data structure in our synthesis and design framework, the problem formulation workflow is automated in a software tool, reducing time and resources needed to formulate large......The formulation of Enterprise-Wide Optimization (EWO) problems as mixed integer nonlinear programming requires collecting, consolidating and systematizing large amount of data, coming from different sources and specific to different disciplines. In this manuscript, a generic and flexible data...... problems, while ensuring at the same time data consistency and quality at the application stage....

  1. Fully Screen-Printed, Large-Area, and Flexible Active-Matrix Electrochromic Displays Using Carbon Nanotube Thin-Film Transistors.

    Science.gov (United States)

    Cao, Xuan; Lau, Christian; Liu, Yihang; Wu, Fanqi; Gui, Hui; Liu, Qingzhou; Ma, Yuqiang; Wan, Haochuan; Amer, Moh R; Zhou, Chongwu

    2016-11-22

    Semiconducting single-wall carbon nanotubes are ideal semiconductors for printed electronics due to their advantageous electrical and mechanical properties, intrinsic printability in solution, and desirable stability in air. However, fully printed, large-area, high-performance, and flexible carbon nanotube active-matrix backplanes are still difficult to realize for future displays and sensing applications. Here, we report fully screen-printed active-matrix electrochromic displays employing carbon nanotube thin-film transistors. Our fully printed backplane shows high electrical performance with mobility of 3.92 ± 1.08 cm 2 V -1 s -1 , on-off current ratio I on /I off ∼ 10 4 , and good uniformity. The printed backplane was then monolithically integrated with an array of printed electrochromic pixels, resulting in an entirely screen-printed active-matrix electrochromic display (AMECD) with good switching characteristics, facile manufacturing, and long-term stability. Overall, our fully screen-printed AMECD is promising for the mass production of large-area and low-cost flexible displays for applications such as disposable tags, medical electronics, and smart home appliances.

  2. Solution Coating of Superior Large-Area Flexible Perovskite Thin Films with Controlled Crystal Packing

    KAUST Repository

    Li, Jianbo

    2017-05-08

    Solution coating of organohalide lead perovskites offers great potential for achieving low-cost manufacturing of large-area flexible optoelectronics. However, the rapid coating speed needed for industrial-scale production poses challenges to the control of crystal packing. Herein, this study reports using solution shearing to confine crystal nucleation and growth in large-area printed MAPbI3 thin films. Near single-crystalline perovskite microarrays are demonstrated with a high degree of controlled macroscopic alignment and crystal orientation, which exhibit significant improvements in optical and optoelectronic properties comparing with their random counterparts, spherulitic, and nanograined films. In particular, photodetectors based on the confined films showing intense anisotropy in charge transport are fabricated, and the device exhibits significantly improved performance in all aspects by one more orders of magnitude relative to their random counterparts. It is anticipated that perovskite films with controlled crystal packing may find applications in high-performance, large-area printed optoelectronics, and solar cells.

  3. Solution Coating of Superior Large-Area Flexible Perovskite Thin Films with Controlled Crystal Packing

    KAUST Repository

    Li, Jianbo; Liu, Yucheng; Ren, Xiaodong; Yang, Zhou; Li, Ruipeng; Su, Hang; Yang, Xiaoming; Xu, Junzhuo; Xu, Hua; Hu, Jian-Yong; Amassian, Aram; Zhao, Kui; Liu, Shengzhong Frank

    2017-01-01

    Solution coating of organohalide lead perovskites offers great potential for achieving low-cost manufacturing of large-area flexible optoelectronics. However, the rapid coating speed needed for industrial-scale production poses challenges to the control of crystal packing. Herein, this study reports using solution shearing to confine crystal nucleation and growth in large-area printed MAPbI3 thin films. Near single-crystalline perovskite microarrays are demonstrated with a high degree of controlled macroscopic alignment and crystal orientation, which exhibit significant improvements in optical and optoelectronic properties comparing with their random counterparts, spherulitic, and nanograined films. In particular, photodetectors based on the confined films showing intense anisotropy in charge transport are fabricated, and the device exhibits significantly improved performance in all aspects by one more orders of magnitude relative to their random counterparts. It is anticipated that perovskite films with controlled crystal packing may find applications in high-performance, large-area printed optoelectronics, and solar cells.

  4. Better with Byzantine: Manipulation-Optimal Mechanisms

    Science.gov (United States)

    Othman, Abraham; Sandholm, Tuomas

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

  5. Large area flexible polymer solar cells with high efficiency enabled by imprinted Ag grid and modified buffer layer

    International Nuclear Information System (INIS)

    Lu, Shudi; Lin, Jie; Liu, Kong; Yue, Shizhong; Ren, Kuankuan; Tan, Furui; Wang, Zhijie; Jin, Peng; Qu, Shengchun; Wang, Zhanguo

    2017-01-01

    To take a full advantage of polymer semiconductors on realization of large-area flexible photovoltaic devices, herein, we fabricate polymer solar cells on the basis of polyethylene terephthalate (PET) with imprinted Ag grid as transparent electrode. The key fabrication procedure is the adoption of a modified PEDOT:PSS (PH1000) solution for spin-coating the buffer layer to form a compact contact with the substrate. In comparison with the devices with intrinsic PEDOT:PSS buffer layer, the advanced devices present a much higher efficiency of 6.51%, even in a large device area of 2.25 cm"2. Subsequent characterizations reveal that such devices show an impressive performance stability as the bending angle is enlarged to 180° and bending time is up to 1000 cycles. Not only providing a general methodology to construct high efficient and flexible polymer solar cells, this paper also involves deep insights on device working mechanism in bending conditions.

  6. Human-computer interface glove using flexible piezoelectric sensors

    Science.gov (United States)

    Cha, Youngsu; Seo, Jeonggyu; Kim, Jun-Sik; Park, Jung-Min

    2017-05-01

    In this note, we propose a human-computer interface glove based on flexible piezoelectric sensors. We select polyvinylidene fluoride as the piezoelectric material for the sensors because of advantages such as a steady piezoelectric characteristic and good flexibility. The sensors are installed in a fabric glove by means of pockets and Velcro bands. We detect changes in the angles of the finger joints from the outputs of the sensors, and use them for controlling a virtual hand that is utilized in virtual object manipulation. To assess the sensing ability of the piezoelectric sensors, we compare the processed angles from the sensor outputs with the real angles from a camera recoding. With good agreement between the processed and real angles, we successfully demonstrate the user interaction system with the virtual hand and interface glove based on the flexible piezoelectric sensors, for four hand motions: fist clenching, pinching, touching, and grasping.

  7. Flexible Aqueous Lithium-Ion Battery with High Safety and Large Volumetric Energy Density.

    Science.gov (United States)

    Dong, Xiaoli; Chen, Long; Su, Xiuli; Wang, Yonggang; Xia, Yongyao

    2016-06-20

    A flexible and wearable aqueous lithium-ion battery is introduced based on spinel Li1.1 Mn2 O4 cathode and a carbon-coated NASICON-type LiTi2 (PO4 )3 anode (NASICON=sodium-ion super ionic conductor). Energy densities of 63 Wh kg(-1) or 124 mWh cm(-3) and power densities of 3 275 W kg(-1) or 11.1 W cm(-3) can be obtained, which are seven times larger than the largest reported till now. The full cell can keep its capacity without significant loss under different bending states, which shows excellent flexibility. Furthermore, two such flexible cells in series with an operation voltage of 4 V can be compatible with current nonaqueous Li-ion batteries. Therefore, such a flexible cell can potentially be put into practical applications for wearable electronics. In addition, a self-chargeable unit is realized by integrating a single flexible aqueous Li-ion battery with a commercial flexible solar cell, which may facilitate the long-time outdoor operation of flexible and wearable electronic devices. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  8. Controlling flexible robot arms using a high speed dynamics process

    Science.gov (United States)

    Jain, Abhinandan (Inventor); Rodriguez, Guillermo (Inventor)

    1992-01-01

    Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

  9. Vision-based online vibration estimation of the in-vessel inspection flexible robot with short-time Fourier transformation

    International Nuclear Information System (INIS)

    Wang, Hesheng; Chen, Weidong; Xu, Lifei; He, Tao

    2015-01-01

    Highlights: • Vision-based online vibration estimation method for a flexible arm is proposed. • The vibration signal is obtained by image processing in unknown environments. • Vibration parameters are estimated by short-time Fourier transformation. - Abstract: The vibration should be suppressed if it happens during the motion of a flexible robot or under the influence of external disturbance caused by its structural features and material properties, because the vibration may affect the positioning accuracy and image quality. In Tokamak environment, we need to get the real-time vibration information on vibration suppression of robotic arm, however, some sensors are not allowed in the extreme Tokamak environment. This paper proposed a vision-based method for online vibration estimation of a flexible manipulator, which is achieved by utilizing the environment image information from the end-effector camera to estimate its vibration. Short-time Fourier Transformation with adaptive window length method is used to estimate vibration parameters of non-stationary vibration signals. Experiments with one-link flexible manipulator equipped with camera are carried out to validate the feasibility of this method in this paper.

  10. Vision-based online vibration estimation of the in-vessel inspection flexible robot with short-time Fourier transformation

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng [Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Xu, Lifei; He, Tao [Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-10-15

    Highlights: • Vision-based online vibration estimation method for a flexible arm is proposed. • The vibration signal is obtained by image processing in unknown environments. • Vibration parameters are estimated by short-time Fourier transformation. - Abstract: The vibration should be suppressed if it happens during the motion of a flexible robot or under the influence of external disturbance caused by its structural features and material properties, because the vibration may affect the positioning accuracy and image quality. In Tokamak environment, we need to get the real-time vibration information on vibration suppression of robotic arm, however, some sensors are not allowed in the extreme Tokamak environment. This paper proposed a vision-based method for online vibration estimation of a flexible manipulator, which is achieved by utilizing the environment image information from the end-effector camera to estimate its vibration. Short-time Fourier Transformation with adaptive window length method is used to estimate vibration parameters of non-stationary vibration signals. Experiments with one-link flexible manipulator equipped with camera are carried out to validate the feasibility of this method in this paper.

  11. Task-space sensory feedback control of robot manipulators

    CERN Document Server

    Cheah, Chien Chern

    2015-01-01

    This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...

  12. Carbon Nanotube Flexible and Stretchable Electronics.

    Science.gov (United States)

    Cai, Le; Wang, Chuan

    2015-12-01

    The low-cost and large-area manufacturing of flexible and stretchable electronics using printing processes could radically change people's perspectives on electronics and substantially expand the spectrum of potential applications. Examples range from personalized wearable electronics to large-area smart wallpapers and from interactive bio-inspired robots to implantable health/medical apparatus. Owing to its one-dimensional structure and superior electrical property, carbon nanotube is one of the most promising material platforms for flexible and stretchable electronics. Here in this paper, we review the recent progress in this field. Applications of single-wall carbon nanotube networks as channel semiconductor in flexible thin-film transistors and integrated circuits, as stretchable conductors in various sensors, and as channel material in stretchable transistors will be discussed. Lastly, state-of-the-art advancement on printing process, which is ideal for large-scale fabrication of flexible and stretchable electronics, will also be reviewed in detail.

  13. Modeling and control of lateral vibration of an axially translating flexible link

    Energy Technology Data Exchange (ETDEWEB)

    Shin, Heon Seop; Rhim, Sung Soo [Kyung Hee University, Yongin (Korea, Republic of)

    2015-01-15

    Manipulators used for the transportation of large panel-shape payloads often adopt long and slender links (or forks) with translational joins to carry the payloads. As the size of the payload increases, the length of the links also increases to hold the payload securely. The increased length of the link inevitably amplifies the effect of the flexure in the link. Intuitively, the translational motion of the link in its longitudinal direction should have no effect on the lateral vibration of the link because of the orthogonality between the direction of the translational motion and the lateral vibration. If, however, the link was flexible and translated horizontally (perpendicular to the gravitational field) the asymmetric deflection of the link caused by gravity would break the orthogonality between the two directions, and the longitudinal motion of the link would excite lateral motion in the link. In this paper, the lateral oscillatory motion of the flexible link in a large-scale solar cell panel handling robot is investigated where the links carry the panel in its longitudinal direction. The Newtonian approach in conjunction with the assumed modes method is used for derivation of the equation of motion for the flexible forks where non-zero control force is applied at the base of the link. The analysis illustrates the effect of longitudinal motion on the lateral vibration and dynamic stiffening effect (variation of the natural frequency) of the link due to the translational velocity. Lateral vibration behavior is simulated using the derived equations of the motion. A robust vibration control scheme, the input shaping filter technique, is implemented on the model and the effectiveness of the scheme is verified numerically.

  14. Modeling and control of lateral vibration of an axially translating flexible link

    International Nuclear Information System (INIS)

    Shin, Heon Seop; Rhim, Sung Soo

    2015-01-01

    Manipulators used for the transportation of large panel-shape payloads often adopt long and slender links (or forks) with translational joins to carry the payloads. As the size of the payload increases, the length of the links also increases to hold the payload securely. The increased length of the link inevitably amplifies the effect of the flexure in the link. Intuitively, the translational motion of the link in its longitudinal direction should have no effect on the lateral vibration of the link because of the orthogonality between the direction of the translational motion and the lateral vibration. If, however, the link was flexible and translated horizontally (perpendicular to the gravitational field) the asymmetric deflection of the link caused by gravity would break the orthogonality between the two directions, and the longitudinal motion of the link would excite lateral motion in the link. In this paper, the lateral oscillatory motion of the flexible link in a large-scale solar cell panel handling robot is investigated where the links carry the panel in its longitudinal direction. The Newtonian approach in conjunction with the assumed modes method is used for derivation of the equation of motion for the flexible forks where non-zero control force is applied at the base of the link. The analysis illustrates the effect of longitudinal motion on the lateral vibration and dynamic stiffening effect (variation of the natural frequency) of the link due to the translational velocity. Lateral vibration behavior is simulated using the derived equations of the motion. A robust vibration control scheme, the input shaping filter technique, is implemented on the model and the effectiveness of the scheme is verified numerically.

  15. Roll-to-roll slot-die coating of 400 mm wide, flexible, transparent Ag nanowire films for flexible touch screen panels.

    Science.gov (United States)

    Kim, Dong-Ju; Shin, Hae-In; Ko, Eun-Hye; Kim, Ki-Hyun; Kim, Tae-Woong; Kim, Han-Ki

    2016-09-28

    We report fabrication of large area Ag nanowire (NW) film coated using a continuous roll-to-roll (RTR) slot die coater as a viable alternative to conventional ITO electrodes for cost-effective and large-area flexible touch screen panels (TSPs). By controlling the flow rate of shear-thinning Ag NW ink in the slot die, we fabricated Ag NW percolating network films with different sheet resistances (30-70 Ohm/square), optical transmittance values (89-90%), and haze (0.5-1%) percentages. Outer/inner bending, twisting, and rolling tests as well as dynamic fatigue tests demonstrated that the mechanical flexibility of the slot-die coated Ag NW films was superior to that of conventional ITO films. Using diamond-shape patterned Ag NW layer electrodes (50 Ohm/square, 90% optical transmittance), we fabricated 12-inch flexible film-film type and rigid glass-film-film type TSPs. Successful operation of flexible TSPs with Ag NW electrodes indicates that slot-die-coated large-area Ag NW films are promising low cost, high performance, and flexible transparent electrodes for cost-effective large-area flexible TSPs and can be substituted for ITO films, which have high sheet resistance and are brittle.

  16. Roll-to-roll slot-die coating of 400 mm wide, flexible, transparent Ag nanowire films for flexible touch screen panels

    Science.gov (United States)

    Kim, Dong-Ju; Shin, Hae-In; Ko, Eun-Hye; Kim, Ki-Hyun; Kim, Tae-Woong; Kim, Han-Ki

    2016-09-01

    We report fabrication of large area Ag nanowire (NW) film coated using a continuous roll-to-roll (RTR) slot die coater as a viable alternative to conventional ITO electrodes for cost-effective and large-area flexible touch screen panels (TSPs). By controlling the flow rate of shear-thinning Ag NW ink in the slot die, we fabricated Ag NW percolating network films with different sheet resistances (30-70 Ohm/square), optical transmittance values (89-90%), and haze (0.5-1%) percentages. Outer/inner bending, twisting, and rolling tests as well as dynamic fatigue tests demonstrated that the mechanical flexibility of the slot-die coated Ag NW films was superior to that of conventional ITO films. Using diamond-shape patterned Ag NW layer electrodes (50 Ohm/square, 90% optical transmittance), we fabricated 12-inch flexible film-film type and rigid glass-film-film type TSPs. Successful operation of flexible TSPs with Ag NW electrodes indicates that slot-die-coated large-area Ag NW films are promising low cost, high performance, and flexible transparent electrodes for cost-effective large-area flexible TSPs and can be substituted for ITO films, which have high sheet resistance and are brittle.

  17. Controlled higher-order transverse mode conversion from a fiber laser by polarization manipulation

    Science.gov (United States)

    Huang, Bin; Yi, Qian; Yang, Lingling; Zhao, Chujun; Wen, Shuangchun

    2018-02-01

    We report a vectorial fiber laser with controlled transverse mode conversion by intra-cavity polarization manipulation. By combining a q-plate and two quarter-wave plates (QWPs), we can generate a switchable polarization state output represented by the higher-order Poincaré sphere (l = +1, l = -1), and distinguish the fourfold degenerate LP11 mode. The four transverse vector modes can be obtained and switched in a flexible way, and the slope efficiency of the fiber laser can reach up to 39.4%. This compactness, high efficiency, and switchable operation potential will benefit a range of applications, such as materials processing, particle manipulation, etc.

  18. Autonomous Industrial Mobile Manipulation (AIMM) - Maturation, Exploitation and Implementation

    DEFF Research Database (Denmark)

    Bøgh, Simon

    ) "Little Helper" is introduced, a manufacturing assistant inspired by the Walt Disney character. The main rationale of the AIMM concept is a compromise between traditional automation (efficiency) and manual labor (flexibility), which contributes to realizing transformable manufacturing systems. From...... a state-of-the-art review, it is observed that implementations of mobile manipulators in industry have been limited although the needs for flexible automation are present. The second topic is “Identifying skills for AIMM robots” and is dedicated to defining a unifying terminology for task......-level programming by means of skills with focus on the identification of skills for AIMM robots. The terminology is built as a hierarchy similar to that of human action modeling (e.g. actions and activities) or human language (e.g. words and sentences). Two approaches are applied for identifying relevant skills...

  19. Multi-purpose mid-plane manipulator for plasma surface interaction research in KSTAR

    Energy Technology Data Exchange (ETDEWEB)

    Son, S.H., E-mail: ssh0609@nfri.re.kr [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Hong, S.-H. [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Department of Electrical Engineering, HanYang University, Seoul 133-791 (Korea, Republic of); Department of Accelerator and Nuclear Fusion Physics and Engineering, Korea University of Science and Technology, Daejeon 305-333 (Korea, Republic of); Kim, Junghee [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Kim, Jun Young [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Department of Accelerator and Nuclear Fusion Physics and Engineering, Korea University of Science and Technology, Daejeon 305-333 (Korea, Republic of); Kim, H.S. [National Fusion Research Institute, Daejeon 305-333 (Korea, Republic of); Ding, F.; Luo, G.-N. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 1126 (China); Németh, J.; Zoletnik, S. [Institute for Particle and Nuclear Physics (RMI), Wigner RCP, Hungarian Academy of Sciences, Budapest (Hungary); Fenyvesi, A. [Institute for Nuclear Physis (MTA Atomki), Hungarian Academy of Sciences, Devrecent (Hungary); Pitts, R. [ITER Organization, Route de Vinon-surVerdon, 13115 Saint Paul-lez-Durance (France)

    2016-11-01

    Highlights: • A multi-purpose mid-plane manipulator system has been developed and installed at the mid-plane of the KSTAR vacuum vessel. • It presents mechanial structure and function for multi-purpose manipulator system. • The changeable head part allows change the samples and probe during inter-shot/day without breaking vacuum system in KSTAR which gives flexibility for various PSI studies in a campaign. - Abstract: A multi-purpose mid-plane manipulator system has been developed and installed at the mid-plane of the KSTAR vacuum vessel. The system serves as user facility which allows to cover various topics of researches in plasma-surface interaction (PSI) including material sample test and PSI diagnostic. The multi-purpose mid-plane manipulator system has a 4 m long cantilever structure with a 3 m long moving shaft. The system is equipped with a differential pumping system for the independent installation and removal of samples and diagnostic without vacuum break of KSTAR. The sample mounting head at the end of the shaft can reach the position of the outer boundary of ∼10 cm away from the last closed flux surface (LCFS). In this paper, selected PSI related experiments by using the manipulator are introduced.

  20. Multi-purpose mid-plane manipulator for plasma surface interaction research in KSTAR

    International Nuclear Information System (INIS)

    Son, S.H.; Hong, S.-H.; Kim, Junghee; Kim, Jun Young; Kim, H.S.; Ding, F.; Luo, G.-N.; Németh, J.; Zoletnik, S.; Fenyvesi, A.; Pitts, R.

    2016-01-01

    Highlights: • A multi-purpose mid-plane manipulator system has been developed and installed at the mid-plane of the KSTAR vacuum vessel. • It presents mechanial structure and function for multi-purpose manipulator system. • The changeable head part allows change the samples and probe during inter-shot/day without breaking vacuum system in KSTAR which gives flexibility for various PSI studies in a campaign. - Abstract: A multi-purpose mid-plane manipulator system has been developed and installed at the mid-plane of the KSTAR vacuum vessel. The system serves as user facility which allows to cover various topics of researches in plasma-surface interaction (PSI) including material sample test and PSI diagnostic. The multi-purpose mid-plane manipulator system has a 4 m long cantilever structure with a 3 m long moving shaft. The system is equipped with a differential pumping system for the independent installation and removal of samples and diagnostic without vacuum break of KSTAR. The sample mounting head at the end of the shaft can reach the position of the outer boundary of ∼10 cm away from the last closed flux surface (LCFS). In this paper, selected PSI related experiments by using the manipulator are introduced.

  1. Mathematical Model and Calibration Experiment of a Large Measurement Range Flexible Joints 6-UPUR Six-Axis Force Sensor

    Directory of Open Access Journals (Sweden)

    Yanzhi Zhao

    2016-08-01

    Full Text Available Nowadays improving the accuracy and enlarging the measuring range of six-axis force sensors for wider applications in aircraft landing, rocket thrust, and spacecraft docking testing experiments has become an urgent objective. However, it is still difficult to achieve high accuracy and large measuring range with traditional parallel six-axis force sensors due to the influence of the gap and friction of the joints. Therefore, to overcome the mentioned limitations, this paper proposed a 6-Universal-Prismatic-Universal-Revolute (UPUR joints parallel mechanism with flexible joints to develop a large measurement range six-axis force sensor. The structural characteristics of the sensor are analyzed in comparison with traditional parallel sensor based on the Stewart platform. The force transfer relation of the sensor is deduced, and the force Jacobian matrix is obtained using screw theory in two cases of the ideal state and the state of flexibility of each flexible joint is considered. The prototype and loading calibration system are designed and developed. The K value method and least squares method are used to process experimental data, and in errors of kind Ι and kind II linearity are obtained. The experimental results show that the calibration error of the K value method is more than 13.4%, and the calibration error of the least squares method is 2.67%. The experimental results prove the feasibility of the sensor and the correctness of the theoretical analysis which are expected to be adopted in practical applications.

  2. Mathematical Model and Calibration Experiment of a Large Measurement Range Flexible Joints 6-UPUR Six-Axis Force Sensor.

    Science.gov (United States)

    Zhao, Yanzhi; Zhang, Caifeng; Zhang, Dan; Shi, Zhongpan; Zhao, Tieshi

    2016-08-11

    Nowadays improving the accuracy and enlarging the measuring range of six-axis force sensors for wider applications in aircraft landing, rocket thrust, and spacecraft docking testing experiments has become an urgent objective. However, it is still difficult to achieve high accuracy and large measuring range with traditional parallel six-axis force sensors due to the influence of the gap and friction of the joints. Therefore, to overcome the mentioned limitations, this paper proposed a 6-Universal-Prismatic-Universal-Revolute (UPUR) joints parallel mechanism with flexible joints to develop a large measurement range six-axis force sensor. The structural characteristics of the sensor are analyzed in comparison with traditional parallel sensor based on the Stewart platform. The force transfer relation of the sensor is deduced, and the force Jacobian matrix is obtained using screw theory in two cases of the ideal state and the state of flexibility of each flexible joint is considered. The prototype and loading calibration system are designed and developed. The K value method and least squares method are used to process experimental data, and in errors of kind Ι and kind II linearity are obtained. The experimental results show that the calibration error of the K value method is more than 13.4%, and the calibration error of the least squares method is 2.67%. The experimental results prove the feasibility of the sensor and the correctness of the theoretical analysis which are expected to be adopted in practical applications.

  3. Flexible Carbon Aerogels

    Directory of Open Access Journals (Sweden)

    Marina Schwan

    2016-09-01

    Full Text Available Carbon aerogels are highly porous materials with a large inner surface area. Due to their high electrical conductivity they are excellent electrode materials in supercapacitors. Their brittleness, however, imposes certain limitations in terms of applicability. In that context, novel carbon aerogels with varying degree of flexibility have been developed. These highly porous, light aerogels are characterized by a high surface area and possess pore structures in the micrometer range, allowing for a reversible deformation of the aerogel network. A high ratio of pore size to particle size was found to be crucial for high flexibility. For dynamic microstructural analysis, compression tests were performed in-situ within a scanning electron microscope allowing us to directly visualize the microstructural flexibility of an aerogel. The flexible carbon aerogels were found to withstand between 15% and 30% of uniaxial compression in a reversible fashion. These findings might stimulate further research and new application fields directed towards flexible supercapacitors and batteries.

  4. Workplace flexibility: from research to action.

    Science.gov (United States)

    Galinsky, Ellen; Sakai, Kelly; Wigton, Tyler

    2011-01-01

    Ellen Galinsky, Kelly Sakai, and Tyler Wigton explore the "time famine" among American workers-the continuing sense among employees of not having enough time to manage the multiple responsibilities of work and personal and family life. Noting that large shares of U.S. employees report feeling the need for greater workplace flexibility to enable them to take better care of family responsibilities, the authors examine a large-scale community-engagement initiative to increase workplace flexibility voluntarily. Using the 2008 National Study of the Changing Workforce as a primary source of data, the authors begin with an overview of the prevalence of flexibility in today's American workplace. They track which categories of employees have access to various flexibility options, as well as the extent to which employees with access to various types of flexibility use those options. Findings from the study indicate that the majority of employees want flexibility but that access to it varies, with more advantaged employees--those who are well educated, have high salaries, and work full time, for example--being doubly advantaged in having greater access to flexibility. A number of employers, say the authors, tend to be skeptical of the value of workplace flexibility and to fear that employees will abuse it if it is offered. But the study data reveal that most employees use flexibility quite conservatively. When the authors use their nationally representative data set to investigate correlations between access to workplace flexibility and a range of workplace outcomes especially valued by employers--employee engagement, job satisfaction, retention, and health--they find that employers as well as employees can benefit from flexibility. Finally, the authors discuss When Work Works, a large, national community-based initiative under way since 2003 to increase voluntary adoption of workplace flexibility. The authors detail the conceptual basis of the project's design, noting its

  5. A new approach to adaptive control of manipulators

    Science.gov (United States)

    Seraji, H.

    1987-01-01

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

  6. Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions

    Directory of Open Access Journals (Sweden)

    Esfandiar, H.

    2013-05-01

    Full Text Available In this paper, based on the VoigtKelvin constitutive model, nonlinear dynamic modelling and state space representation of a viscoelastic beam acting as a flexible robotic manipulator is investigated. Complete nonlinear dynamic modelling of a viscoelastic beam without premature linearisation of dynamic equations is developed. The adopted method is capable of reproducing nonlinear dynamic effects, such as beam stiffening due to centrifugal and Coriolis forces induced by rotation of the joints. Structural damping effects on the models dynamic behaviour are also shown. A reliable model for a viscoelastic beam is subsequently presented. The governing equations of motion are derived using Hamiltons principle, and using the finite difference method, nonlinear partial differential equations are reduced to ordinary differential equations. For the purpose of flexible manipulator control, the standard form of state space equations for the viscoelastic link and the actuator is obtained. Simulation results indicate substantial improvements in dynamic behaviour, and a parameter sensitivity study is carried out to investigate the effect of structural damping on the vibration amplitude.

  7. UNITY OF THE ORGANIZATIONAL FUNCTIONS FLEXIBILITY

    OpenAIRE

    George MOLDOVEANU; Cosmin DOBRIN

    2012-01-01

    The paper has the goal to analyse the correlation of the flexibility of all organizational functions. Based upon theoretical and practical studies, the decrease of flexibility into an "activity area" of organizations implies a diminution on a large scale of the flexibility of the processing system as a law expression of the decreasing outputs within economy. Therefore, at the level of each organizational function there are several major directions ensuring the flexibility of the "ensemble".

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

    Science.gov (United States)

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

    2018-04-01

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

  9. Research on Longitudinal Vibration Characteristic of the Six-Cable-Driven Parallel Manipulator in FAST

    Directory of Open Access Journals (Sweden)

    Zhihua Liu

    2013-01-01

    Full Text Available The first adjustable feed support system in FAST is a six-cable-driven parallel manipulator. Due to flexibility of the cables, the cable-driven parallel manipulator bears a concern of possible vibration caused by wind disturbance or internal force from the fine drive system. The purpose of this paper is to analyze vibration characteristic of the six-cable-driven parallel manipulator in FAST. The tension equilibrium equation of the six-cable-driven parallel manipulator is set up regarding the cables as catenaries. Then, vibration equation is established considering the longitudinal vibration of the cables. On this basis, the natural frequencies are depicted in figures since both analytical and numerical solutions are ineffective. Influence of the sags of the cables on the natural frequencies is discussed. It is shown that the sags of the cables will decrease the natural frequencies of the six-cable-driven parallel manipulator. Simplification to acquire the natural frequencies is proposed in this paper. The results justify effectiveness of the simplification to calculate the first-order natural frequencies. Distribution of the first-order natural frequencies in the required workspace is provided based on the simplification method. Finally, parameters optimization is implemented in terms of natural frequencies for building the six-cable-driven parallel manipulator in FAST.

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

    CERN Document Server

    From, Pal Johan; Pettersen, Kristin Ytterstad

    2014-01-01

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

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

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  12. Energy Flexibility in the Power System

    DEFF Research Database (Denmark)

    Billanes, Joy Dalmacio; Ma, Zheng; Jørgensen, Bo Nørregaard

    2017-01-01

    Energy flexibility can address the challenges of large scale integration of renewable energy resources and thereby increasing imbalance in the power system. Flexible power system can provide reliable supply, low electricity cost and sustainability. Various situations and factors influence...... the adoption of the flexibility solutions, such as flexible electricity generation, demand-response, and electricity storage. This paper tries to analyze the current energy flexibility solutions and the factors that can influence the energy flexibility adoption. This paper takes Philippines as case study...... to provide an overview of the current condition of the Philippines’ power system and discuss the energy flexibility in the Philippines’ power system. A further discussion and recommendation is conducted in the end of the paper....

  13. Rain forest nutrient cycling and productivity in response to large-scale litter manipulation.

    Science.gov (United States)

    Wood, Tana E; Lawrence, Deborah; Clark, Deborah A; Chazdon, Robin L

    2009-01-01

    Litter-induced pulses of nutrient availability could play an important role in the productivity and nutrient cycling of forested ecosystems, especially tropical forests. Tropical forests experience such pulses as a result of wet-dry seasonality and during major climatic events, such as strong El Niños. We hypothesized that (1) an increase in the quantity and quality of litter inputs would stimulate leaf litter production, woody growth, and leaf litter nutrient cycling, and (2) the timing and magnitude of this response would be influenced by soil fertility and forest age. To test these hypotheses in a Costa Rican wet tropical forest, we established a large-scale litter manipulation experiment in two secondary forest sites and four old-growth forest sites of differing soil fertility. In replicated plots at each site, leaves and twigs (forest floor. We analyzed leaf litter mass, [N] and [P], and N and P inputs for addition, removal, and control plots over a two-year period. We also evaluated basal area increment of trees in removal and addition plots. There was no response of forest productivity or nutrient cycling to litter removal; however, litter addition significantly increased leaf litter production and N and P inputs 4-5 months following litter application. Litter production increased as much as 92%, and P and N inputs as much as 85% and 156%, respectively. In contrast, litter manipulation had no significant effect on woody growth. The increase in leaf litter production and N and P inputs were significantly positively related to the total P that was applied in litter form. Neither litter treatment nor forest type influenced the temporal pattern of any of the variables measured. Thus, environmental factors such as rainfall drive temporal variability in litter and nutrient inputs, while nutrient release from decomposing litter influences the magnitude. Seasonal or annual variation in leaf litter mass, such as occurs in strong El Niño events, could positively

  14. Ultrahigh-rate supercapacitors with large capacitance based on edge oriented graphene coated carbonized cellulous paper as flexible freestanding electrodes

    Science.gov (United States)

    Ren, Guofeng; Li, Shiqi; Fan, Zhao-Xia; Hoque, Md Nadim Ferdous; Fan, Zhaoyang

    2016-09-01

    Large-capacitance and ultrahigh-rate electrochemical supercapacitors (UECs) with frequency response up to kilohertz (kHz) range are reported using light, thin, and flexible freestanding electrodes. The electrode is formed by perpendicularly edge oriented multilayer graphene/thin-graphite (EOG) sheets grown radially around individual fibers in carbonized cellulous paper (CCP), with cellulous carbonization and EOG deposition implemented in one step. The resulted ∼10 μm thick EOG/CCP electrode is light and flexible. The oriented porous structure of EOG with large surface area, in conjunction with high conductivity of the electrode, ensures ultrahigh-rate performance of the fabricated cells, with large areal capacitance of 0.59 mF cm-2 and 0.53 mF cm-2 and large phase angle of -83° and -80° at 120 Hz and 1 kHz, respectively. Particularly, the hierarchical EOG/CCP sheet structure allows multiple sheets stacked together for thick electrodes with almost linearly increased areal capacitance while maintaining the volumetric capacitance nearly no degradation, a critical merit for developing practical faraday-scale UECs. 3-layers of EOG/CCP electrode achieved an areal capacitance of 1.5 mF cm-2 and 1.4 mF cm-2 at 120 Hz and 1 kHz, respectively. This demonstration moves a step closer to the goal of bridging the frequency/capacitance gap between supercapacitors and electrolytic capacitors.

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

    International Nuclear Information System (INIS)

    Khosla, P.K.; Kanade, Takeo

    1996-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Khosla, P.K.; Kanade, Takeo

    1996-12-31

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

  17. Solution processed large area fabrication of Ag patterns as electrodes for flexible heaters, electrochromics and organic solar cells

    DEFF Research Database (Denmark)

    Gupta, Ritu; Walia, Sunil; Hösel, Markus

    2014-01-01

    , the process takes only a few minutes without any expensive instrumentation. The electrodes exhibited excellent adhesion and mechanical properties, important for flexible device application. Using Ag patterned electrodes, heaters operating at low voltages, pixelated electrochromic displays as well as organic...... solar cells have been demonstrated. The method is extendable to produce defect-free patterns over large areas as demonstrated by roll coating....

  18. Social manipulation in nonhuman primates: Cognitive and motivational determinants.

    Science.gov (United States)

    Völter, C J; Rossano, F; Call, J

    2017-11-01

    Social interactions are the result of individuals' cooperative and competitive tendencies expressed over an extended period of time. Although social manipulation, i.e., using another individual to achieve one's own goals, is a crucial aspect of social interactions, there has been no comprehensive attempt to differentiate its various types and to map its cognitive and motivational determinants. For this purpose, we survey in this article the experimental literature on social interactions in nonhuman primates. We take social manipulation, illustrated by a case study with orangutans (Pongo abelii), as our starting point and move in two directions. First, we will focus on a flexibility/sociality axis that includes technical problem solving, social tool-use and communication. Second, we will focus on a motivational/prosociality axis that includes exploitation, cooperation, and helping. Combined, the two axes offer a way to capture a broad range of social interactions performed by human and nonhuman primates. Copyright © 2016 Elsevier Ltd. All rights reserved.

  19. Dissimilar kinetic behavior of electrically manipulated single- and double-stranded DNA tethered to a gold surface.

    Science.gov (United States)

    Rant, Ulrich; Arinaga, Kenji; Tornow, Marc; Kim, Yong Woon; Netz, Roland R; Fujita, Shozo; Yokoyama, Naoki; Abstreiter, Gerhard

    2006-05-15

    We report on the electrical manipulation of single- and double-stranded oligodeoxynucleotides that are end tethered to gold surfaces in electrolyte solution. The response to alternating repulsive and attractive electric surface fields is studied by time-resolved fluorescence measurements, revealing markedly distinct dynamics for the flexible single-stranded and stiff double-stranded DNA, respectively. Hydrodynamic simulations rationalize this finding and disclose two different kinetic mechanisms: stiff polymers undergo rotation around the anchoring pivot point; flexible polymers, on the other hand, are pulled onto the attracting surface segment by segment.

  20. Pose Space Surface Manipulation

    Directory of Open Access Journals (Sweden)

    Yusuke Yoshiyasu

    2012-01-01

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

  1. Energy Flexibility from Large Prosumers to Support Distribution System Operation—A Technical and Legal Case Study on the Amsterdam ArenA Stadium

    Directory of Open Access Journals (Sweden)

    Dirk Kuiken

    2018-01-01

    Full Text Available To deal with the rising integration of stochastic renewables and energy intensive distributed energy resources (DER to the electricity network, alternatives to expensive network reinforcements are increasingly needed. An alternative solution often under consideration is integrating flexibility from the consumer side to system management. However, such a solution needs to be contemplated from different angles before it can be implemented in practice. To this end, this article considers a case study of the Amsterdam ArenA stadium and its surrounding network where flexibility is expected to be available to support the network in the future. The article studies the technical aspects of using this flexibility to determine to what extent, despite the different, orthogonal goals, the available flexibility can be used by various stakeholders in scenarios with a large load from electric vehicle charging points. Furthermore, a legal study is performed to determine the feasibility of the technical solutions proposed by analysing current European Union (EU and Dutch law and focusing on the current agreements existing between the parties involved. The article shows that flexibility in the network provided by Amsterdam ArenA is able to significantly increase the number of charging points the network can accommodate. Nonetheless, while several uses of flexibility are feasible under current law, the use of flexibility provided by electric vehicles specifically faces several legal challenges in current arrangements.

  2. Cellulose Nanofiber Composite Substrates for Flexible Electronics

    Science.gov (United States)

    Ronald Sabo; Jung-Hun Seo; Zhenqiang Ma

    2012-01-01

    Flexible electronics have a large number of potential applications including malleable displays and wearable computers. The current research into high-speed, flexible electronic substrates employs the use of plastics for the flexible substrate, but these plastics typically have drawbacks, such as high thermal expansion coefficients. Transparent films made from...

  3. Sporadic manipulation in money markets with central bank standing facilities

    OpenAIRE

    Ewerhart, Christian; Cassola, Nuno; Ejerskov, Steen; Valla, Natacha

    2004-01-01

    In certain market environments, a large investor may benefit from building up a futures position first and trading subsequently in the spot market (Kumar and Seppi, 1992). The present paper identifies a variation of this type of manipulation that might occur in money markets with an interest rate corridor. We show that manipulation involving the use of central bank facilities would be observable only sporadically. The probability of manipulation decreases when the central bank uses an active ...

  4. Optoelectronic Tweezers for Microparticle and Cell Manipulation

    Science.gov (United States)

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

    2014-01-01

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

  5. Adiabatic radio-frequency potentials for the coherent manipulation of matter waves

    DEFF Research Database (Denmark)

    Lesanovsky, Igor; Schumm, Thorsten; Hofferberth, S.

    2006-01-01

    Adiabatic dressed state potentials are created when magnetic substates of trapped atoms are coupled by a radio-frequency field. We discuss their theoretical foundations and point out fundamental advantages over potentials purely based on static fields. The enhanced flexibility enables one...... to implement numerous configurations, including double wells, Mach-Zehnder, and Sagnac interferometers which even allows for internal state-dependent atom manipulation. These can be realized using simple and highly integrated wire geometries on atom chips....

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

    Science.gov (United States)

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

    2012-07-10

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

  7. H infinity controller design to a rigid-flexible satellite with two vibration modes

    International Nuclear Information System (INIS)

    De Souza, A G; De Souza, L C G

    2015-01-01

    The satellite attitude control system (ACS) design becomes more complex when the satellite structure has components like, flexible solar panels, antennas and mechanical manipulators. These flexible structures can interact with the satellite rigid parts during translational and/or rotational manoeuvre damaging the ACS pointing accuracy. Although, a well-designed controller can suppress such disturbances quickly, the controller error pointing may be limited by the minimum time necessary to suppress such disturbances thus affecting the satellite attitude acquisition. This paper deals with the rigid-flexible satellite ACS design using the H infinity method. The rigid-flexible satellite is represented by a beam connected to a central rigid hub at one end and free at the other one. The equations of motions are obtained considering small flexible deformations and the Euler-Bernoulli hypothesis. The results of the simulations have shown that the H-infinity controller was able to control the rigid motion and suppress the vibrations. (paper)

  8. Model of rotary-actuated flexible beam with notch filter vibration suppression controller and torque feedforward load compensation controller

    International Nuclear Information System (INIS)

    Bills, K.C.; Kress, R.L.; Kwon, D.S.; Baker, C.P.

    1994-01-01

    This paper describes ORNL's development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratory's Flexible Beam Test Bed (PNL FBTB), which is a 1-Degree-of-Freedom, flexible arm with a hydraulic base actuator. ORNL transferred control algorithms developed for the PNL FBTB to controlling IGRIP models. A robust notch filter is running in IGRIP controlling a full dynamics model of the PNL test bed. Model results provide a reasonable match to the experimental results (quantitative results are being determined) and can run on ORNL's Onyx machine in approximately realtime. The flexible beam is modeled as six rigid sections with torsional springs between each segment. The spring constants were adjusted to match the physical response of the flexible beam model to the experimental results. The controller is able to improve performance on the model similar to the improvement seen on the experimental system. Some differences are apparent, most notably because the IGRIP model presently uses a different trajectory planner than the one used by ORNL on the PNL test bed. In the future, the trajectory planner will be modified so that the experiments and models are the same. The successful completion of this work provides the ability to link C code with IGRIP, thus allowing controllers to be developed, tested, and tuned in simulation and then ported directly to hardware systems using the C language

  9. Finite Element Analysis for Active-force Control on Vibration of a Flexible Single-link Manipulator

    Directory of Open Access Journals (Sweden)

    Abdul Kadir Muhammad

    2017-03-01

    Full Text Available The purposes of this research are to formulate theequations of motion of the system, to develop computationalcodes by a finite element analysis in order to perform dynamicssimulation with vibration control, to propose an effective controlscheme using active-force (AF control a flexible single-linkmanipulator. The system used in this paper consists of analuminum beam as a flexible link, a clamp-part, a servo motor torotate the link and a piezoelectric actuator to control vibration.Computational codes on time history responses, FFT (FastFourier Transform processing and eigenvalues-eigenvectorsanalysis were developed to calculate dynamic behavior of thelink. Furthermore, the AF control was designed to drive thepiezoelectric actuator. Calculated results have revealed that thevibration of the system can be suppressed effectively

  10. Aggregating and Disaggregating Flexibility Objects

    DEFF Research Database (Denmark)

    Siksnys, Laurynas; Valsomatzis, Emmanouil; Hose, Katja

    2015-01-01

    In many scientific and commercial domains we encounter flexibility objects, i.e., objects with explicit flexibilities in a time and an amount dimension (e.g., energy or product amount). Applications of flexibility objects require novel and efficient techniques capable of handling large amounts...... and aiming at energy balancing during aggregation. In more detail, this paper considers the complete life cycle of flex-objects: aggregation, disaggregation, associated requirements, efficient incremental computation, and balance aggregation techniques. Extensive experiments based on real-world data from...

  11. Reversibly Bistable Flexible Electronics

    KAUST Repository

    Alfaraj, Nasir

    2015-05-01

    Introducing the notion of transformational silicon electronics has paved the way for integrating various applications with silicon-based, modern, high-performance electronic circuits that are mechanically flexible and optically semitransparent. While maintaining large-scale production and prototyping rapidity, this flexible and translucent scheme demonstrates the potential to transform conventionally stiff electronic devices into thin and foldable ones without compromising long-term performance and reliability. In this work, we report on the fabrication and characterization of reversibly bistable flexible electronic switches that utilize flexible n-channel metal-oxide-semiconductor field-effect transistors. The transistors are fabricated initially on rigid (100) silicon substrates before they are peeled off. They can be used to control flexible batches of light-emitting diodes, demonstrating both the relative ease of scaling at minimum cost and maximum reliability and the feasibility of integration. The peeled-off silicon fabric is about 25 µm thick. The fabricated devices are transferred to a reversibly bistable flexible platform through which, for example, a flexible smartphone can be wrapped around a user’s wrist and can also be set back to its original mechanical position. Buckling and cyclic bending of such host platforms brings a completely new dimension to the development of flexible electronics, especially rollable displays.

  12. Female directors and real activities manipulation: Evidence from China

    Directory of Open Access Journals (Sweden)

    Jin-hui Luo

    2017-06-01

    Full Text Available Unlike previous studies that focus on accrual-based earnings management, this study analyzes real activities manipulation and investigates whether female directors on boards of directors (BoDs affect managers’ real activities manipulation. Using a large sample of 11,831 firm-year observations from Chinese listed companies from the 2000 to 2011 period, we find that higher female participation on BoDs is associated with lower levels of real activities manipulation, and that this negative relationship is stronger when female directors have higher ownership. These results hold for a battery of robustness checks. Overall, our findings indicate that board gender diversity may serve as a substitute mechanism for corporate governance to curb real activities manipulation and thus provide interested stakeholders with higher quality earnings reports.

  13. Evolution of Flexible Multibody Dynamics for Simulation Applications Supporting Human Spaceflight

    Science.gov (United States)

    Huynh, An; Brain, Thomas A.; MacLean, John R.; Quiocho, Leslie J.

    2016-01-01

    During the course of transition from the Space Shuttle and International Space Station programs to the Orion and Journey to Mars exploration programs, a generic flexible multibody dynamics formulation and associated software implementation has evolved to meet an ever changing set of requirements at the NASA Johnson Space Center (JSC). Challenging problems related to large transitional topologies and robotic free-flyer vehicle capture/ release, contact dynamics, and exploration missions concept evaluation through simulation (e.g., asteroid surface operations) have driven this continued development. Coupled with this need is the requirement to oftentimes support human spaceflight operations in real-time. Moreover, it has been desirable to allow even more rapid prototyping of on-orbit manipulator and spacecraft systems, to support less complex infrastructure software for massively integrated simulations, to yield further computational efficiencies, and to take advantage of recent advances and availability of multi-core computing platforms. Since engineering analysis, procedures development, and crew familiarity/training for human spaceflight is fundamental to JSC's charter, there is also a strong desire to share and reuse models in both the non-realtime and real-time domains, with the goal of retaining as much multibody dynamics fidelity as possible. Three specific enhancements are reviewed here: (1) linked list organization to address large transitional topologies, (2) body level model order reduction, and (3) parallel formulation/implementation. This paper provides a detailed overview of these primary updates to JSC's flexible multibody dynamics algorithms as well as a comparison of numerical results to previous formulations and associated software.

  14. Room-Temperature and Solution-Processable Cu-Doped Nickel Oxide Nanoparticles for Efficient Hole-Transport Layers of Flexible Large-Area Perovskite Solar Cells.

    Science.gov (United States)

    He, Qiqi; Yao, Kai; Wang, Xiaofeng; Xia, Xuefeng; Leng, Shifeng; Li, Fan

    2017-12-06

    Flexible perovskite solar cells (PSCs) using plastic substrates have become one of the most attractive points in the field of thin-film solar cells. Low-temperature and solution-processable nanoparticles (NPs) enable the fabrication of semiconductor thin films in a simple and low-cost approach to function as charge-selective layers in flexible PSCs. Here, we synthesized phase-pure p-type Cu-doped NiO x NPs with good electrical properties, which can be processed to smooth, pinhole-free, and efficient hole transport layers (HTLs) with large-area uniformity over a wide range of film thickness using a room-temperature solution-processing technique. Such a high-quality inorganic HTL allows for the fabrication of flexible PSCs with an active area >1 cm 2 , which have a power conversion efficiency over 15.01% without hysteresis. Moreover, the Cu/NiO x NP-based flexible devices also demonstrate excellent air stability and mechanical stability compared to their counterpart fabricated on the pristine NiO x films. This work will contribute to the evolution of upscaling flexible PSCs with a simple fabrication process and high device performances.

  15. Can flexibility help you float?

    Science.gov (United States)

    Burton, L. J.; Bush, J. W. M.

    2012-10-01

    We consider the role of flexibility in the weight-bearing characteristics of bodies floating at an interface. Specifically, we develop a theoretical model for a two-dimensional thin floating plate that yields the maximum stable plate load and optimal stiffness for weight support. Plates small relative to the capillary length are primarily supported by surface tension, and their weight-bearing potential does not benefit from flexibility. Above a critical size comparable to the capillary length, flexibility assists interfacial flotation. For plates on the order of and larger than the capillary length, deflection from an initially flat shape increases the force resulting from hydrostatic pressure, allowing the plate to support a greater load. In this large plate limit, the shape that bears the most weight is a semicircle, which displaces the most fluid above the plate for a fixed plate length. Exact results for maximum weight-bearing plate shapes are compared to analytic approximations made in the limits of large and small plate sizes. The value of flexibility for floating to a number of biological organisms is discussed in light of our study.

  16. Vertically building Zn2SnO4 nanowire arrays on stainless steel mesh toward fabrication of large-area, flexible dye-sensitized solar cells.

    Science.gov (United States)

    Li, Zhengdao; Zhou, Yong; Bao, Chunxiong; Xue, Guogang; Zhang, Jiyuan; Liu, Jianguo; Yu, Tao; Zou, Zhigang

    2012-06-07

    Zn(2)SnO(4) nanowire arrays were for the first time grown onto a stainless steel mesh (SSM) in a binary ethylenediamine (En)/water solvent system using a solvothermal route. The morphology evolution following this reaction was carefully followed to understand the formation mechanism. The SSM-supported Zn(2)SnO(4) nanowire was utilized as a photoanode for fabrication of large-area (10 cm × 5 cm size as a typical sample), flexible dye-sensitized solar cells (DSSCs). The synthesized Zn(2)SnO(4) nanowires exhibit great bendability and flexibility, proving potential advantage over other metal oxide nanowires such as TiO(2), ZnO, and SnO(2) for application in flexible solar cells. Relative to the analogous Zn(2)SnO(4) nanoparticle-based flexible DSSCs, the nanowire geometry proves to enhance solar energy conversion efficiency through enhancement of electron transport. The bendable nature of the DSSCs without obvious degradation of efficiency and facile scale up gives the as-made flexible solar cell device potential for practical application.

  17. Flexible magnetoimpedance sensor

    International Nuclear Information System (INIS)

    Li, Bodong; Kavaldzhiev, Mincho N.; Kosel, Jürgen

    2015-01-01

    Flexible magnetoimpedance (MI) sensors fabricated using a NiFe/Cu/NiFe tri-layer on Kapton substrate have been studied. A customized flexible microstrip transmission line was employed to investigate the MI sensors's magnetic field and frequency responses and their dependence on the sensors's deflection. For the first time, the impedance characteristic is obtained through reflection coefficient analysis over a wide range of frequencies from 0.1 MHz to 3 GHz and for deflections ranging from zero curvature to a radius of 7.2 cm. The sensor element maintains a high MI ratio of up to 90% and magnetic sensitivity of up to 9.2%/Oe over different bending curvatures. The relationship between the curvature and material composition is discussed based on the magnetostriction effect and stress simulations. The sensor's large frequency range, simple fabrication process and high sensitivity provide a great potential for flexible electronics and wireless applications. - Highlights: • A flexible magnetoimpedance (MI) sensor is developed. • Studies are carried out using a flexible microstrip transmission line. • An MI ratio of up to 90% is obtained. • The effect of magnetostriction is studied

  18. A random-access microarray for programmable droplet storage, retrieval and manipulation

    International Nuclear Information System (INIS)

    Tseng, Yi-Ming; Wang, Jhih-Jhe; Su, Yu-Chuan

    2012-01-01

    This article presents an integrated microfluidic system that is capable of programmably metering, entrapping, coalescing, addressably storing, retrieving and manipulating emulsion droplets. A multilayer, flexible PDMS chip with specially designed fluidic channels dynamically reconfigured by pneumatically actuated diaphragms is utilized to integrate a variety of droplet manipulation schemes. Once droplets are formed, their motions are coordinated by a 2D multiplexing scheme, which exploits the bidirectional movement of diaphragms to implement a random-access microarray. In the prototype demonstration, a PDMS molding and bonding process is used to fabricate the proposed microfluidic system. Emulsion droplets with desired volumes and compositions are produced, addressably stored, manipulated and retrieved from a 4 × 4 array, which employs just 4 (= 2 × log 2 4) control inputs for the operation. It has been demonstrated that (1) the integration of droplet manipulation and 2D multiplexing schemes can be achieved readily using bidirectional diaphragm valves, (2) multiplexing of an N × N array could be realized utilizing only 2 × log 2 N control inputs and (3) a multifunctional, random-access microarray can be accomplished employing a multilayer PDMS chip. As such, the demonstrated random-access microarray could potentially serve as a platform for continuous tracking and multistep processing of emulsion droplets, which is desired for various biological and chemical applications. (paper)

  19. Photovoltaic properties of conjugated polymer/fullerene composites on large area flexible substrates

    Directory of Open Access Journals (Sweden)

    Desta Gebeyehu

    2000-06-01

    Full Text Available In this paper we present measurements of the photovoltaic response of bulk donor-acceptor heterojunction between the conjugated polymer, poly(3-octylthiophene, P3OT, (as a donor, D and fullerene (methanofullerene, (as acceptor, A, deposited between indium tin oxide and aluminum electrodes. The innovation involves the substrate, which is a polymer foil instead of glass. These devices are based on ultrafast, reversible, metastable photoinduced electron transfer and charge separation. We also present the efficiency and stability studies on large area (6 cm x 6 cm flexible plastic solar cells with monochromatic energy conversion efficiency (e of about 1.5% and carrier collection efficiency of nearly 20%. Further more, we have investigated the surface network morphology of these films layers by atomic force microscope (AFM. The development of solar cells based on composites of organic conjugated semi-conducting polymers with fullerene derivatives can provide a new method in the exploitation of solar energy.

  20. Manipulators

    International Nuclear Information System (INIS)

    Wilcock, P.D.

    1984-01-01

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

  1. Novel Concept for Flexible and Resilient Large Power Transformers

    Energy Technology Data Exchange (ETDEWEB)

    Upadhyay, Parag [ABB Inc.; Englebretson, Steven [ABB Inc.; Ramanan, V. R. R [ABB Inc.

    2018-03-30

    This feasibility study investigates a flexible and adaptable LPT design solution which can facilitate long-term replacement in the event of both catastrophic failures as well as scheduled replacements, thereby increasing grid resilience. The scope of this project has been defined based on an initial system study and identification of the transformer requirements from an overall system load flow perspective.

  2. Effectiveness of elastic damping in the pivot joints of cargo boom of crane-manipulating installations at large gaps

    Directory of Open Access Journals (Sweden)

    Lagerev I.A.

    2016-03-01

    Full Text Available The article was the analysis of dynamic processes in the cylindrical hinges with large gaps in the cargo boom crane-manipulating installations of mobile machines in operation. Consider the design of damping device for articulated joints, which creates a braking force of elastic resistance to the displacement of the hinge pin within the large gap. The mechanism of action of the damping devices was considered. Analysis of the effectiveness of damping device for re-ducing the dynamic stress state in the elements of cargo boom metal structures depending on the gap size and the stiff-ness of the damping device was performed. Damping device with an elastic shock absorbing elements substantially reduces the additional impact load at the time of selection of the gap in the joint, slow the growth of clearance in the pivot joint, limit the size of the gap specified value, which must not be exceeded during the entire service life of swivel independently from the intensity of his load.

  3. Manipulating colloids with charges and electric fields

    Science.gov (United States)

    Leunissen, M. E.

    2007-02-01

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

  4. Swarm Manipulation of Large Surface Vessels

    National Research Council Canada - National Science Library

    Smith, Erik T

    2007-01-01

    The goal of this Trident project was to develop an independent control scheme to allow a team of autonomous tugboats to move a large disabled vessel, such as a barge, to a desired position and orientation...

  5. Interfering with the wake of cylinder by flexible filaments

    Science.gov (United States)

    Pinelli, Alfredo; Omidyeganeh, Mohammad

    2015-11-01

    This work is the very first attempt to understand and optimize the configuration of flexible filaments placed on the lee side of a bluff body to manipulate flow transitions and bifurcations. It is found that the presence of a sparse set of flexible filaments on the lee side of a cylinder can interfere with the 2D-3D transition process resulting in elongation of recirculation bubble, inhibition of higher order unstable modes, and narrowing the global energy content about a particular shedding frequency. Filaments become effective when spacing between them is smaller than the dominant unstable mode at each particular Reynolds number, i.e. A and B modes. In another study, by a particular arrangement the reconfigured filaments can reduce pressure fluctuations in the wake and drop lift flluctuations significantly (~= 80 %).

  6. Valuing physically and financially-induced flexibility in large-scale water resources systems

    Science.gov (United States)

    Tilmant, Amaury; Pina, Jasson; Côté, Pascal

    2017-04-01

    In a world characterized by rapid changes in terms of water demands and supplies, there is a growing and persistent need for institutional reforms that promote cross-sectoral, adaptive management processes and policies. Yet, in many regions throughout the world, the continued expansion of supply-side infrastructure is still perceived as the way to go despite the rising financial, social and environmental costs. This trend is further compounded by the risks posed by climate change; reservoir storage, for example, is still perceived as a key element of climate change adaptation strategies in many countries. There is a growing concern that such strategies may result in a rigidity trap whereby the physical and institutional infrastructure become inflexible and unable to adapt to changes because they are mutually reinforcing each other. However, several authors have recently advocated for adaptive, flexible, management techniques involving a more diversified portfolio of measures whose management is regularly updated as new information about supplies and demands becomes available. Despite being conceptually attractive, such a management approach presents several challenges to policy makers. One of them is the sheer amount of information that must be processed each time a management decision must be taken. To address this issue, we propose an optimization framework that can be used to determine the optimal management of a large portfolio of physical and financial assets using various hydro-climatic information. This optimization framework is illustrated with the management of a power system in Quebec involving various power stations, reservoirs, power and energy contracts as well as hydrologic and climatic data. The results can be used to assess the economic value of the flexibility induced by either the physical assets (power stations and reservoirs) or by the financial ones (contracts), an information we believe is important to highlight the benefits of adaptive

  7. The transport sectors potential contribution to the flexibility in the power sector required by large-scale wind power integration

    DEFF Research Database (Denmark)

    Nørgård, Per Bromand; Lund, H.; Mathiesen, B.V.

    2007-01-01

    -scale integration of renewable energy in the power system – in specific wind power. In the plan, 20 % of the road transport is based on electricity and 20 % on bio- fuels. This, together with other initiatives allows for up to 55-60 % wind power penetration in the power system. A fleet of 0.5 mio electrical...... vehicles in Denmark in 2030 connected to the grid 50 % of the time represents an aggregated flexible power capacity of 1- 1.5 GW and an energy capacity of 10-150 GWh.......In 2006, the Danish Society of Engineers developed a visionary plan for the Danish energy system in 2030. The paper presents and qualifies selected part of the analyses, illustrating the transport sectors potential to contribute to the flexibility in the power sector, necessary for large...

  8. Large electrical manipulation of permittivity in BaTiO3 and Pb(Zr,Ti)O3 bimorph heterostructure

    International Nuclear Information System (INIS)

    Ci, Penghong; Liu, Guoxi; Dong, Shuxiang; Zhang, Li

    2014-01-01

    We report a strain-mediated electric field manipulation of permittivity in BaTiO 3 (barium titanate, BT) ceramic by a Pb(Zr,Ti)O 3 (PZT) bimorph. This BT/PZT heterostructure exhibited a relatively large permittivity tunability of BT up to ±10% in a wide frequency range under an electric field of ±4 kV/cm applied to the PZT bimorph. The permittivity tunability is attributed to the strain in BT produced by the PZT bimorph. Calculations of the relationship between permittivity and applied electric field were developed, and corresponded well with measurements. The BT/PZT heterostructure has potential for applications in broadband field tunable smart electronic devices.

  9. Virtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robots.

    Science.gov (United States)

    Bengoa, Pablo; Zubizarreta, Asier; Cabanes, Itziar; Mancisidor, Aitziber; Pinto, Charles; Mata, Sara

    2017-08-23

    The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool Centre Point (TCP) position a challenging one. Authors have proposed different approaches to estimate this deformation and deduce the location of the TCP. However, most of these approaches require expensive measurement systems or the use of high computational cost integration methods. This work presents a novel approach based on a virtual sensor which can not only precisely estimate the deformation of the flexible links in control applications (less than 2% error), but also its derivatives (less than 6% error in velocity and 13% error in acceleration) according to simulation results. The validity of the proposed Virtual Sensor is tested in a Delta Robot, where the position of the TCP is estimated based on the Virtual Sensor measurements with less than a 0.03% of error in comparison with the flexible approach developed in ADAMS Multibody Software.

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

    Science.gov (United States)

    Martinet, Anthony; Casiez, Géry; Grisoni, Laurent

    2012-03-01

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

  11. Large-area compatible fabrication and encapsulation of inkjet-printed humidity sensors on flexible foils with integrated thermal compensation

    International Nuclear Information System (INIS)

    Molina-Lopez, F; Quintero, A Vásquez; Mattana, G; Briand, D; De Rooij, N F

    2013-01-01

    This work presents the simultaneous fabrication of ambient relative humidity (RH) and temperature sensors arrays, inkjet-printed on flexible substrates and subsequently encapsulated at foil level. These sensors are based on planar interdigitated capacitors with an inkjet-printed sensing layer and meander-shaped resistors. Their combination allows the compensation of the RH signals variations at different temperatures. The whole fabrication of the system is carried out at foil level and involves the utilization of additive methods such as inkjet-printing and electrodeposition. Electrodeposition of the printed lines resulted in an improvement of the thermoresistors. The sensors have been characterized and their performances analyzed. The encapsulation layer does not modify the performances of the sensors in terms of sensitivity or response time. This work demonstrates the potential of inkjet-printing in the large-area fabrication of light-weight and cost-efficient gas sensors on flexible substrates. (paper)

  12. Consumer Central Energy Flexibility in Office Buildings

    DEFF Research Database (Denmark)

    Billanes, Joy Dalmacio; Ma, Zheng; Jørgensen, Bo Nørregaard

    2017-01-01

    Energy flexibility in buildings will play an important role in the smart energy system. Office buildings have more potentials to provide energy flexibility to the grid compared to other types of buildings, due to the existing building management, control systems and large energy consumption....... Consumers in office buildings (building owners/managers and occupants) take a main role for adopting and engaging in building energy flexibility. In this paper provides a systematic review of consumer central energy flexibility in office buildings with the discussion of social, technical and business...... can boost energy flexibility in the office buildings....

  13. Flexible CIGS solar cells on large area polymer foils with in-line deposition methods and application of alternative back contacts - Final report

    Energy Technology Data Exchange (ETDEWEB)

    Tiwari, A. N.

    2009-08-15

    This illustrated report for the Swiss Federal Office of Energy (SFOE) summarises the work performed within this project and also reports on synergies with other projects that helped to make a significant contribution to the development of CIGS thin film solar cells on flexible substrates such as polymer foils. The project's aims were to learn more about up-scaling issues and to demonstrate the abilities required for the processing of layers on large area polyimide foils for flexible CIGS solar cells. Custom-built evaporators that were designed and constructed in-house are described. A CIGS system for in-line deposition was also modified for roll-to-roll deposition and alternative electrical back contacts to conventional ones were evaluated on flexible polyimide foils. The objectives of the project and the results obtained are looked at and commented on in detail.

  14. Constructing Flexible, Configurable, ETL Pipelines for the Analysis of "Big Data" with Apache OODT

    Science.gov (United States)

    Hart, A. F.; Mattmann, C. A.; Ramirez, P.; Verma, R.; Zimdars, P. A.; Park, S.; Estrada, A.; Sumarlidason, A.; Gil, Y.; Ratnakar, V.; Krum, D.; Phan, T.; Meena, A.

    2013-12-01

    A plethora of open source technologies for manipulating, transforming, querying, and visualizing 'big data' have blossomed and matured in the last few years, driven in large part by recognition of the tremendous value that can be derived by leveraging data mining and visualization techniques on large data sets. One facet of many of these tools is that input data must often be prepared into a particular format (e.g.: JSON, CSV), or loaded into a particular storage technology (e.g.: HDFS) before analysis can take place. This process, commonly known as Extract-Transform-Load, or ETL, often involves multiple well-defined steps that must be executed in a particular order, and the approach taken for a particular data set is generally sensitive to the quantity and quality of the input data, as well as the structure and complexity of the desired output. When working with very large, heterogeneous, unstructured or semi-structured data sets, automating the ETL process and monitoring its progress becomes increasingly important. Apache Object Oriented Data Technology (OODT) provides a suite of complementary data management components called the Process Control System (PCS) that can be connected together to form flexible ETL pipelines as well as browser-based user interfaces for monitoring and control of ongoing operations. The lightweight, metadata driven middleware layer can be wrapped around custom ETL workflow steps, which themselves can be implemented in any language. Once configured, it facilitates communication between workflow steps and supports execution of ETL pipelines across a distributed cluster of compute resources. As participants in a DARPA-funded effort to develop open source tools for large-scale data analysis, we utilized Apache OODT to rapidly construct custom ETL pipelines for a variety of very large data sets to prepare them for analysis and visualization applications. We feel that OODT, which is free and open source software available through the Apache

  15. Fast and anisotropic flexibility-rigidity index for protein flexibility and fluctuation analysis

    Energy Technology Data Exchange (ETDEWEB)

    Opron, Kristopher [Department of Biochemistry and Molecular Biology, Michigan State University, Michigan 48824 (United States); Xia, Kelin [Department of Mathematics, Michigan State University, Michigan 48824 (United States); Wei, Guo-Wei, E-mail: wei@math.msu.edu [Department of Biochemistry and Molecular Biology, Michigan State University, Michigan 48824 (United States); Department of Mathematics, Michigan State University, Michigan 48824 (United States); Department of Electrical and Computer Engineering, Michigan State University, Michigan 48824 (United States)

    2014-06-21

    Protein structural fluctuation, typically measured by Debye-Waller factors, or B-factors, is a manifestation of protein flexibility, which strongly correlates to protein function. The flexibility-rigidity index (FRI) is a newly proposed method for the construction of atomic rigidity functions required in the theory of continuum elasticity with atomic rigidity, which is a new multiscale formalism for describing excessively large biomolecular systems. The FRI method analyzes protein rigidity and flexibility and is capable of predicting protein B-factors without resorting to matrix diagonalization. A fundamental assumption used in the FRI is that protein structures are uniquely determined by various internal and external interactions, while the protein functions, such as stability and flexibility, are solely determined by the structure. As such, one can predict protein flexibility without resorting to the protein interaction Hamiltonian. Consequently, bypassing the matrix diagonalization, the original FRI has a computational complexity of O(N{sup 2}). This work introduces a fast FRI (fFRI) algorithm for the flexibility analysis of large macromolecules. The proposed fFRI further reduces the computational complexity to O(N). Additionally, we propose anisotropic FRI (aFRI) algorithms for the analysis of protein collective dynamics. The aFRI algorithms permit adaptive Hessian matrices, from a completely global 3N × 3N matrix to completely local 3 × 3 matrices. These 3 × 3 matrices, despite being calculated locally, also contain non-local correlation information. Eigenvectors obtained from the proposed aFRI algorithms are able to demonstrate collective motions. Moreover, we investigate the performance of FRI by employing four families of radial basis correlation functions. Both parameter optimized and parameter-free FRI methods are explored. Furthermore, we compare the accuracy and efficiency of FRI with some established approaches to flexibility analysis, namely

  16. Highly Integrated, Reconfigurable, Large-Area, Flexible Radar Antenna Arrays, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Highly-integrated, reconfigurable radar antenna arrays fabricated on flexible substrates offer high functionality in a portable package that can be rolled up and...

  17. 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...

  18. Model Manipulation for End-User Modelers

    DEFF Research Database (Denmark)

    Acretoaie, Vlad

    , and transformations using their modeling notation and editor of choice. The VM* languages are implemented via a single execution engine, the VM* Runtime, built on top of the Henshin graph-based transformation engine. This approach combines the benefits of flexibility, maturity, and formality. To simplify model editor......End-user modelers are domain experts who create and use models as part of their work. They are typically not Software Engineers, and have little or no programming and meta-modeling experience. However, using model manipulation languages developed in the context of Model-Driven Engineering often...... requires such experience. These languages are therefore only used by a small subset of the modelers that could, in theory, benefit from them. The goals of this thesis are to substantiate this observation, introduce the concepts and tools required to overcome it, and provide empirical evidence in support...

  19. Rosin-enabled ultraclean and damage-free transfer of graphene for large-area flexible organic light-emitting diodes

    Science.gov (United States)

    Zhang, Zhikun; Du, Jinhong; Zhang, Dingdong; Sun, Hengda; Yin, Lichang; Ma, Laipeng; Chen, Jiangshan; Ma, Dongge; Cheng, Hui-Ming; Ren, Wencai

    2017-02-01

    The large polymer particle residue generated during the transfer process of graphene grown by chemical vapour deposition is a critical issue that limits its use in large-area thin-film devices such as organic light-emitting diodes. The available lighting areas of the graphene-based organic light-emitting diodes reported so far are usually transfer method using rosin as a support layer, whose weak interaction with graphene, good solubility and sufficient strength enable ultraclean and damage-free transfer. The transferred graphene has a low surface roughness with an occasional maximum residue height of about 15 nm and a uniform sheet resistance of 560 Ω per square with about 1% deviation over a large area. Such clean, damage-free graphene has produced the four-inch monolithic flexible graphene-based organic light-emitting diode with a high brightness of about 10,000 cd m-2 that can already satisfy the requirements for lighting sources and displays.

  20. Review conclusions by Ernst and Canter regarding spinal manipulation refuted

    Directory of Open Access Journals (Sweden)

    Evans Roni

    2006-08-01

    Full Text Available Abstract In the April 2006 issue of the Journal of Royal Society of Medicine, Ernst and Canter authored a review of the most recent systematic reviews on the effectiveness of spinal manipulation for any condition. The authors concluded that, except for back pain, spinal manipulation is not an effective intervention for any condition and, because of potential side effects, cannot be recommended for use at all in clinical practice. Based on a critical appraisal of their review, the authors of this commentary seriously challenge the conclusions by Ernst and Canter, who did not adhere to standard systematic review methodology, thus threatening the validity of their conclusions. There was no systematic assessment of the literature pertaining to the hazards of manipulation, including comparison to other therapies. Hence, their claim that the risks of manipulation outweigh the benefits, and thus spinal manipulation cannot be recommended as treatment for any condition, was not supported by the data analyzed. Their conclusions are misleading and not based on evidence that allow discrediting of a large body of professionals using spinal manipulation.

  1. 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.

  2. Neural Correlates of Attentional Flexibility during Approach and Avoidance Motivation

    Science.gov (United States)

    Calcott, Rebecca D.; Berkman, Elliot T.

    2015-01-01

    Dynamic, momentary approach or avoidance motivational states have downstream effects on eventual goal success and overall well being, but there is still uncertainty about how those states affect the proximal neurocognitive processes (e.g., attention) that mediate the longer-term effects. Attentional flexibility, or the ability to switch between different attentional foci, is one such neurocognitive process that influences outcomes in the long run. The present study examined how approach and avoidance motivational states affect the neural processes involved in attentional flexibility using fMRI with the aim of determining whether flexibility operates via different neural mechanisms under these different states. Attentional flexibility was operationalized as subjects’ ability to switch between global and local stimulus features. In addition to subjects’ motivational state, the task context was manipulated by varying the ratio of global to local trials in a block in light of recent findings about the moderating role of context on motivation-related differences in attentional flexibility. The neural processes involved in attentional flexibility differ under approach versus avoidance states. First, differences in the preparatory activity in key brain regions suggested that subjects’ preparedness to switch was influenced by motivational state (anterior insula) and the interaction between motivation and context (superior temporal gyrus, inferior parietal lobule). Additionally, we observed motivation-related differences the anterior cingulate cortex during switching. These results provide initial evidence that motivation-induced behavioral changes may arise via different mechanisms in approach versus avoidance motivational states. PMID:26000735

  3. The role of the hippocampus in flexible cognition and social behavior

    Directory of Open Access Journals (Sweden)

    Rachael D Rubin

    2014-09-01

    Full Text Available Successful behavior requires actively acquiring and representing information about the environment and people, and manipulating and using those acquired representations flexibly to optimally act in and on the world. The frontal lobes have figured prominently in most accounts of flexible or goal-directed behavior, as evidenced by often-reported behavioral inflexibility in individuals with frontal lobe dysfunction. Here, we propose that the hippocampus also plays a critical role by forming and reconstructing relational memory representations that underlie flexible cognition and social behavior. There is mounting evidence that damage to the hippocampus can produce inflexible and maladaptive behavior when such behavior places high demands on the generation, recombination, and flexible use of information. This is seen in abilities as diverse as memory, navigation, exploration, imagination, creativity, decision-making, character judgments, establishing and maintaining social bonds, empathy, social discourse, and language use. Thus, the hippocampus, together with its extensive interconnections with other neural systems, supports the flexible use of information in general. Further, we suggest that this understanding has important clinical implications. Hippocampal abnormalities can produce profound deficits in real-world situations, which typically place high demands on the flexible use of information, but are not always obvious on diagnostic tools tuned to frontal lobe function. This review documents the role of the hippocampus in supporting flexible representations and aims to expand our understanding of the dynamic networks that operate as we move through and create meaning of our world.

  4. The role of the hippocampus in flexible cognition and social behavior.

    Science.gov (United States)

    Rubin, Rachael D; Watson, Patrick D; Duff, Melissa C; Cohen, Neal J

    2014-01-01

    Successful behavior requires actively acquiring and representing information about the environment and people, and manipulating and using those acquired representations flexibly to optimally act in and on the world. The frontal lobes have figured prominently in most accounts of flexible or goal-directed behavior, as evidenced by often-reported behavioral inflexibility in individuals with frontal lobe dysfunction. Here, we propose that the hippocampus also plays a critical role by forming and reconstructing relational memory representations that underlie flexible cognition and social behavior. There is mounting evidence that damage to the hippocampus can produce inflexible and maladaptive behavior when such behavior places high demands on the generation, recombination, and flexible use of information. This is seen in abilities as diverse as memory, navigation, exploration, imagination, creativity, decision-making, character judgments, establishing and maintaining social bonds, empathy, social discourse, and language use. Thus, the hippocampus, together with its extensive interconnections with other neural systems, supports the flexible use of information in general. Further, we suggest that this understanding has important clinical implications. Hippocampal abnormalities can produce profound deficits in real-world situations, which typically place high demands on the flexible use of information, but are not always obvious on diagnostic tools tuned to frontal lobe function. This review documents the role of the hippocampus in supporting flexible representations and aims to expand our understanding of the dynamic networks that operate as we move through and create meaning of our world.

  5. Printable nanostructured silicon solar cells for high-performance, large-area flexible photovoltaics.

    Science.gov (United States)

    Lee, Sung-Min; Biswas, Roshni; Li, Weigu; Kang, Dongseok; Chan, Lesley; Yoon, Jongseung

    2014-10-28

    Nanostructured forms of crystalline silicon represent an attractive materials building block for photovoltaics due to their potential benefits to significantly reduce the consumption of active materials, relax the requirement of materials purity for high performance, and hence achieve greatly improved levelized cost of energy. Despite successful demonstrations for their concepts over the past decade, however, the practical application of nanostructured silicon solar cells for large-scale implementation has been hampered by many existing challenges associated with the consumption of the entire wafer or expensive source materials, difficulties to precisely control materials properties and doping characteristics, or restrictions on substrate materials and scalability. Here we present a highly integrable materials platform of nanostructured silicon solar cells that can overcome these limitations. Ultrathin silicon solar microcells integrated with engineered photonic nanostructures are fabricated directly from wafer-based source materials in configurations that can lower the materials cost and can be compatible with deterministic assembly procedures to allow programmable, large-scale distribution, unlimited choices of module substrates, as well as lightweight, mechanically compliant constructions. Systematic studies on optical and electrical properties, photovoltaic performance in experiments, as well as numerical modeling elucidate important design rules for nanoscale photon management with ultrathin, nanostructured silicon solar cells and their interconnected, mechanically flexible modules, where we demonstrate 12.4% solar-to-electric energy conversion efficiency for printed ultrathin (∼ 8 μm) nanostructured silicon solar cells when configured with near-optimal designs of rear-surface nanoposts, antireflection coating, and back-surface reflector.

  6. Dexterous Manipulation: Making Remote Manipulators Easy to Use

    International Nuclear Information System (INIS)

    HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

    2001-01-01

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

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

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  8. Strategic Management of Large Projects

    Institute of Scientific and Technical Information of China (English)

    WangYingluo; LiuYi; LiYuan

    2004-01-01

    The strategic management of large projects is both theoretically and practically important. Some scholars have advanced flexible strategy theory in China. The difference of strategic flexibility and flexible strategy is pointed out. The supporting system and characteristics of flexible strategy are analyzed. The changes of flexible strategy and integration of strategic management are discussed.

  9. Directional rolling of positively charged nanoparticles along a flexibility gradient on long DNA molecules.

    Science.gov (United States)

    Park, Suehyun; Joo, Heesun; Kim, Jun Soo

    2018-01-31

    Directing the motion of molecules/colloids in any specific direction is of great interest in many applications of chemistry, physics, and biological sciences, where regulated positioning or transportation of materials is highly desired. Using Brownian dynamics simulations of coarse-grained models of a long, double-stranded DNA molecule and positively charged nanoparticles, we observed that the motion of a single nanoparticle bound to and wrapped by the DNA molecule can be directed along a gradient of DNA local flexibility. The flexibility gradient is constructed along a 0.8 kilobase-pair DNA molecule such that local persistence length decreases gradually from 50 nm to 40 nm, mimicking a gradual change in sequence-dependent flexibility. Nanoparticles roll over a long DNA molecule from less flexible regions towards more flexible ones as a result of the decreasing energetic cost of DNA bending and wrapping. In addition, the rolling becomes slightly accelerated as the positive charge of nanoparticles decreases due to a lower free energy barrier of DNA detachment from charged nanoparticle for processive rolling. This study suggests that the variation in DNA local flexibility can be utilized in constructing and manipulating supramolecular assemblies of DNA molecules and nanoparticles in structural DNA nanotechnology.

  10. A manipulator

    International Nuclear Information System (INIS)

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

    1984-01-01

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

  11. Laser Direct Write micro-fabrication of large area electronics on flexible substrates

    International Nuclear Information System (INIS)

    Zacharatos, F.; Makrygianni, M.; Geremia, R.; Biver, E.; Karnakis, D.; Leyder, S.; Puerto, D.; Delaporte, P.; Zergioti, I.

    2016-01-01

    Highlights: • Laser Direct Writing of metallic patterns with a minimum feature size of 1 μm. • Selective Laser Ablation of 50 nm thick metal films on flexible substrates. • Selective Laser sintering resulting in an electrical resistivity of 9 μΩ cm. • Laser fabrication of interdigitated electrodes for sensor applications. - Abstract: To date, Laser Direct Write (LDW) techniques, such as Laser Induced Forward Transfer (LIFT), selective laser ablation and selective laser sintering of metal nanoparticle (NP) ink layers are receiving growing attention for the printing of uniform and well-defined conductive patterns with resolution down to 10 μm. For flexible substrates in particular, selective laser sintering of such NP patterns has been widely applied, as a low temperature and high resolution process compatible with large area electronics. In this work, LDW of silver NP inks has been carried out on polyethylene-terephthalate (PET), polyethylene-naphthalate (PEN) and polyimide (PI) substrates to achieve low electrical resistivity electrodes. In more detail, high speed short pulsed (picosecond and nanosecond) lasers with repetition rates up to 1 MHz were used to print (LIFT) metal NP inks. We thus achieved uniform and continuous patterns with a minimum feature size of 1 μm and a total footprint larger than 1 cm"2. Next, the printed patterns were laser sintered with ns pulses at 532 nm over a wide laser fluence window, resulting in an electrical resistivity of 10 μΩ cm. We carried out spatial beam shaping experiments to achieve a top-hat laser intensity profile and employed selective laser ablation of thin films (thickness on the order of 100 nm) to produce silver micro-electrodes with a resolution on the order of 10 μm and a low line edge roughness. Laser sintering was combined with laser ablation to constitute a fully autonomous micro-patterning technique of metallic micro-features, with a 10 μm resolution and geometrical characteristics tuned for

  12. Laser Direct Write micro-fabrication of large area electronics on flexible substrates

    Energy Technology Data Exchange (ETDEWEB)

    Zacharatos, F.; Makrygianni, M. [National Technical University of Athens, Physics Department, Zografou Campus, 15780 (Greece); Geremia, R.; Biver, E.; Karnakis, D. [Oxford Lasers Ltd, Unit 8 Moorbrook Park, Oxfordshire OX11 7HP (United Kingdom); Leyder, S.; Puerto, D.; Delaporte, P. [Aix-Marseille University, CNRS, LP3 – UMR 7341, 13288 Marseille Cedex 9 (France); Zergioti, I., E-mail: zergioti@central.ntua.gr [National Technical University of Athens, Physics Department, Zografou Campus, 15780 (Greece)

    2016-06-30

    Highlights: • Laser Direct Writing of metallic patterns with a minimum feature size of 1 μm. • Selective Laser Ablation of 50 nm thick metal films on flexible substrates. • Selective Laser sintering resulting in an electrical resistivity of 9 μΩ cm. • Laser fabrication of interdigitated electrodes for sensor applications. - Abstract: To date, Laser Direct Write (LDW) techniques, such as Laser Induced Forward Transfer (LIFT), selective laser ablation and selective laser sintering of metal nanoparticle (NP) ink layers are receiving growing attention for the printing of uniform and well-defined conductive patterns with resolution down to 10 μm. For flexible substrates in particular, selective laser sintering of such NP patterns has been widely applied, as a low temperature and high resolution process compatible with large area electronics. In this work, LDW of silver NP inks has been carried out on polyethylene-terephthalate (PET), polyethylene-naphthalate (PEN) and polyimide (PI) substrates to achieve low electrical resistivity electrodes. In more detail, high speed short pulsed (picosecond and nanosecond) lasers with repetition rates up to 1 MHz were used to print (LIFT) metal NP inks. We thus achieved uniform and continuous patterns with a minimum feature size of 1 μm and a total footprint larger than 1 cm{sup 2}. Next, the printed patterns were laser sintered with ns pulses at 532 nm over a wide laser fluence window, resulting in an electrical resistivity of 10 μΩ cm. We carried out spatial beam shaping experiments to achieve a top-hat laser intensity profile and employed selective laser ablation of thin films (thickness on the order of 100 nm) to produce silver micro-electrodes with a resolution on the order of 10 μm and a low line edge roughness. Laser sintering was combined with laser ablation to constitute a fully autonomous micro-patterning technique of metallic micro-features, with a 10 μm resolution and geometrical characteristics tuned for

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

    International Nuclear Information System (INIS)

    Whyley, S.R.

    1985-01-01

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

  14. Flexible magnetoimpedance sensor

    KAUST Repository

    Li, Bodong

    2015-03-01

    Flexible magnetoimpedance (MI) sensors fabricated using a NiFe/Cu/NiFe tri-layer on Kapton substrate have been studied. A customized flexible microstrip transmission line was employed to investigate the MI sensors\\'s magnetic field and frequency responses and their dependence on the sensors\\'s deflection. For the first time, the impedance characteristic is obtained through reflection coefficient analysis over a wide range of frequencies from 0.1 MHz to 3 GHz and for deflections ranging from zero curvature to a radius of 7.2 cm. The sensor element maintains a high MI ratio of up to 90% and magnetic sensitivity of up to 9.2%/Oe over different bending curvatures. The relationship between the curvature and material composition is discussed based on the magnetostriction effect and stress simulations. The sensor\\'s large frequency range, simple fabrication process and high sensitivity provide a great potential for flexible electronics and wireless applications.

  15. Flexibility to contingency changes distinguishes habitual and goal-directed strategies in humans.

    Science.gov (United States)

    Lee, Julie J; Keramati, Mehdi

    2017-09-01

    Decision-making in the real world presents the challenge of requiring flexible yet prompt behavior, a balance that has been characterized in terms of a trade-off between a slower, prospective goal-directed model-based (MB) strategy and a fast, retrospective habitual model-free (MF) strategy. Theory predicts that flexibility to changes in both reward values and transition contingencies can determine the relative influence of the two systems in reinforcement learning, but few studies have manipulated the latter. Therefore, we developed a novel two-level contingency change task in which transition contingencies between states change every few trials; MB and MF control predict different responses following these contingency changes, allowing their relative influence to be inferred. Additionally, we manipulated the rate of contingency changes in order to determine whether contingency change volatility would play a role in shifting subjects between a MB and MF strategy. We found that human subjects employed a hybrid MB/MF strategy on the task, corroborating the parallel contribution of MB and MF systems in reinforcement learning. Further, subjects did not remain at one level of MB/MF behaviour but rather displayed a shift towards more MB behavior over the first two blocks that was not attributable to the rate of contingency changes but rather to the extent of training. We demonstrate that flexibility to contingency changes can distinguish MB and MF strategies, with human subjects utilizing a hybrid strategy that shifts towards more MB behavior over blocks, consequently corresponding to a higher payoff.

  16. Flexibility to contingency changes distinguishes habitual and goal-directed strategies in humans.

    Directory of Open Access Journals (Sweden)

    Julie J Lee

    2017-09-01

    Full Text Available Decision-making in the real world presents the challenge of requiring flexible yet prompt behavior, a balance that has been characterized in terms of a trade-off between a slower, prospective goal-directed model-based (MB strategy and a fast, retrospective habitual model-free (MF strategy. Theory predicts that flexibility to changes in both reward values and transition contingencies can determine the relative influence of the two systems in reinforcement learning, but few studies have manipulated the latter. Therefore, we developed a novel two-level contingency change task in which transition contingencies between states change every few trials; MB and MF control predict different responses following these contingency changes, allowing their relative influence to be inferred. Additionally, we manipulated the rate of contingency changes in order to determine whether contingency change volatility would play a role in shifting subjects between a MB and MF strategy. We found that human subjects employed a hybrid MB/MF strategy on the task, corroborating the parallel contribution of MB and MF systems in reinforcement learning. Further, subjects did not remain at one level of MB/MF behaviour but rather displayed a shift towards more MB behavior over the first two blocks that was not attributable to the rate of contingency changes but rather to the extent of training. We demonstrate that flexibility to contingency changes can distinguish MB and MF strategies, with human subjects utilizing a hybrid strategy that shifts towards more MB behavior over blocks, consequently corresponding to a higher payoff.

  17. A discrete-time adaptive control scheme for robot manipulators

    Science.gov (United States)

    Tarokh, M.

    1990-01-01

    A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

  18. Dry-boxes for manipulation of high-energy β emitters

    International Nuclear Information System (INIS)

    Boclet, K.; Laurent, H.

    1958-01-01

    Because of the thinners of latex or neoprene gloves and the high intensity of Bremsstrahlung radiation, manipulation of pure high-energy β - emitters is impossible in ordinary dry-boxes. There are many types of box equipped with heavy lead or steel protection, but their use for radioelements such as 32 P, 90 Sr, 90 Y is not justified. We have devised units known as 'tong boxes' which, while retaining much of the flexibility of operation found in dry-boxes, provide adequate protection. 1 curie of 32 P placed in the centre of the enclosure gives about 15 mR/ 8 h. at the part of the wall closest to the source. (author) [fr

  19. Limited access: gender, occupational composition, and flexible work scheduling.

    Science.gov (United States)

    Glauber, Rebecca

    2011-01-01

    The current study draws on national data to explore differences in access to flexible work scheduling by the gender composition of women's and men's occupations. Results show that those who work in integrated occupations are more likely to have access to flexible scheduling. Women and men do not take jobs with lower pay in return for greater access to flexibility. Instead, jobs with higher pay offer greater flexibility. Integrated occupations tend to offer the greatest access to flexible scheduling because of their structural locations. Part-time work is negatively associated with men's access to flexible scheduling but positively associated with women's access. Women have greater flexibility when they work for large establishments, whereas men have greater flexibility when they work for small establishments.

  20. Dealing with a large installation of SRF cavities: Characterizing limitations and exploiting operational flexibility

    International Nuclear Information System (INIS)

    C. Reece; B. Madre; L. Doolittle; J. Delayen

    1999-01-01

    Linacs using a large number of SRF cavities can have an awkwardly large number of degrees of freedom for operational setup. The cost and robustness of operation as a function of operating gradient is a particular characteristic of each cavity system and the intended beamloading. A systematic characterization of these limitations has been developed which yields a valuable guide for development resource allocation. In addition, a software tool has been developed which enables the CEBAF machine operator to conveniently exploit the flexibility that results from the many degrees of freedom in response to changing programmatic needs. The two CEBAF SRF linacs each have about 160 independently-controlled SRF cavities. The software utility (LEM++) establishes the operationally optimum gradient in each cavity in response to the operator providing only three of the following four parameters: linac voltage, anticipated beam current, rf cryoheat load, and net rf trip rate. The utility is now fully operational at CEBAF. The methods employed and particular features useful for operations will be presented. The interactive process that has brought the software to its current form will also be discussed. The analysis scheme used to characterize the limitations of the ensemble of cavities will be presented as well

  1. Chapter 2.3 Cellulose Nanofibril Composite Substrates for Flexible Electronics

    Science.gov (United States)

    Ronald Sabo; Jung-Hun Seo; Zhenqiang Ma

    2013-01-01

    Flexible electronics have a large number of potential applications, including malleable displays and wearable computers. Current research into high-speed, flexible electronic substrates uses plastics for the flexible substrate, but these plastics typically have drawbacks, such as high thermal expansion coefficients. Transparent films made from cellulose...

  2. Characteristics of manipulative in mathematics laboratory

    Science.gov (United States)

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

    2017-12-01

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

  3. Integration and Assessment of Multiple Mobile Manipulators in a Real-World Industrial Production Facility

    DEFF Research Database (Denmark)

    Bøgh, Simon; Schou, Casper; Rühr, Thomas

    2014-01-01

    This paper presents a large-scale research experiment carried out within the TAPAS project, where multiple mobile manipulators were integrated and assessed in an industrial context. We consider an industrial scenario in which mobile manipulators naturally extend automation of logistic tasks towar...

  4. Dry-boxes for manipulation of high-energy {beta} emitters; Bottes pour manipulation d'emetteurs {beta} energiques

    Energy Technology Data Exchange (ETDEWEB)

    Boclet, K; Laurent, H [Commissariat a l' Energie Atomique, Saclay (France). Centre d' Etudes Nucleaires

    1958-07-01

    Because of the thinners of latex or neoprene gloves and the high intensity of Bremsstrahlung radiation, manipulation of pure high-energy {beta}{sup -} emitters is impossible in ordinary dry-boxes. There are many types of box equipped with heavy lead or steel protection, but their use for radioelements such as {sup 32}P, {sup 90}Sr, {sup 90}Y is not justified. We have devised units known as 'tong boxes' which, while retaining much of the flexibility of operation found in dry-boxes, provide adequate protection. 1 curie of {sup 32}P placed in the centre of the enclosure gives about 15 mR/ 8 h. at the part of the wall closest to the source. (author) [French] La faible epaisseur des gants de latex ou de neoprene et l'importance du rayonnement de freinage rendent impossible la manipulation des emetteurs {beta}{sup -} purs energiques dans des boites a gants normales. Il existe de nombreux types d'enceintes dotees d'une forte protection de plomb ou d'acier dont l'emploi n'est pas justifie pour des radioelements tels que {sup 32}P, {sup 90}Sr, {sup 90}Y. Nous avons realise des ensembles appeles 'Boites a Pinces', qui tout en conservant une grande partie de la souplesse d'utilisation des boites a gants sont dotees d'une protection suffisante. 1 curie de {sup 32}P place au centre de l'enceinte donne environ 15 mR/ 8 h au contact de la paroi la plus rapprochee de la source. (auteur)

  5. Printable Transparent Conductive Films for Flexible Electronics.

    Science.gov (United States)

    Li, Dongdong; Lai, Wen-Yong; Zhang, Yi-Zhou; Huang, Wei

    2018-03-01

    Printed electronics are an important enabling technology for the development of low-cost, large-area, and flexible optoelectronic devices. Transparent conductive films (TCFs) made from solution-processable transparent conductive materials, such as metal nanoparticles/nanowires, carbon nanotubes, graphene, and conductive polymers, can simultaneously exhibit high mechanical flexibility, low cost, and better photoelectric properties compared to the commonly used sputtered indium-tin-oxide-based TCFs, and are thus receiving great attention. This Review summarizes recent advances of large-area flexible TCFs enabled by several roll-to-roll-compatible printed techniques including inkjet printing, screen printing, offset printing, and gravure printing using the emerging transparent conductive materials. The preparation of TCFs including ink formulation, substrate treatment, patterning, and postprocessing, and their potential applications in solar cells, organic light-emitting diodes, and touch panels are discussed in detail. The rational combination of a variety of printed techniques with emerging transparent conductive materials is believed to extend the opportunities for the development of printed electronics within the realm of flexible electronics and beyond. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  6. Metal oxide semiconductor thin-film transistors for flexible electronics

    Energy Technology Data Exchange (ETDEWEB)

    Petti, Luisa; Vogt, Christian; Büthe, Lars; Cantarella, Giuseppe; Tröster, Gerhard [Electronics Laboratory, Swiss Federal Institute of Technology, Zürich (Switzerland); Münzenrieder, Niko [Electronics Laboratory, Swiss Federal Institute of Technology, Zürich (Switzerland); Sensor Technology Research Centre, University of Sussex, Falmer (United Kingdom); Faber, Hendrik; Bottacchi, Francesca; Anthopoulos, Thomas D. [Department of Physics and Centre for Plastic Electronics, Imperial College London, London (United Kingdom)

    2016-06-15

    The field of flexible electronics has rapidly expanded over the last decades, pioneering novel applications, such as wearable and textile integrated devices, seamless and embedded patch-like systems, soft electronic skins, as well as imperceptible and transient implants. The possibility to revolutionize our daily life with such disruptive appliances has fueled the quest for electronic devices which yield good electrical and mechanical performance and are at the same time light-weight, transparent, conformable, stretchable, and even biodegradable. Flexible metal oxide semiconductor thin-film transistors (TFTs) can fulfill all these requirements and are therefore considered the most promising technology for tomorrow's electronics. This review reflects the establishment of flexible metal oxide semiconductor TFTs, from the development of single devices, large-area circuits, up to entirely integrated systems. First, an introduction on metal oxide semiconductor TFTs is given, where the history of the field is revisited, the TFT configurations and operating principles are presented, and the main issues and technological challenges faced in the area are analyzed. Then, the recent advances achieved for flexible n-type metal oxide semiconductor TFTs manufactured by physical vapor deposition methods and solution-processing techniques are summarized. In particular, the ability of flexible metal oxide semiconductor TFTs to combine low temperature fabrication, high carrier mobility, large frequency operation, extreme mechanical bendability, together with transparency, conformability, stretchability, and water dissolubility is shown. Afterward, a detailed analysis of the most promising metal oxide semiconducting materials developed to realize the state-of-the-art flexible p-type TFTs is given. Next, the recent progresses obtained for flexible metal oxide semiconductor-based electronic circuits, realized with both unipolar and complementary technology, are reported. In

  7. Manipulators for production and research

    International Nuclear Information System (INIS)

    Munro, Ian

    1987-01-01

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

  8. SETS, Boolean Manipulation for Network Analysis and Fault Tree Analysis

    International Nuclear Information System (INIS)

    Worrell, R.B.

    1985-01-01

    Description of problem or function - SETS is used for symbolic manipulation of set (or Boolean) equations, particularly the reduction of set equations by the application of set identities. It is a flexible and efficient tool for performing probabilistic risk analysis (PRA), vital area analysis, and common cause analysis. The equation manipulation capabilities of SETS can also be used to analyze non-coherent fault trees and determine prime implicants of Boolean functions, to verify circuit design implementation, to determine minimum cost fire protection requirements for nuclear reactor plants, to obtain solutions to combinatorial optimization problems with Boolean constraints, and to determine the susceptibility of a facility to unauthorized access through nullification of sensors in its protection system. 4. Method of solution - The SETS program is used to read, interpret, and execute the statements of a SETS user program which is an algorithm that specifies the particular manipulations to be performed and the order in which they are to occur. 5. Restrictions on the complexity of the problem - Any properly formed set equation involving the set operations of union, intersection, and complement is acceptable for processing by the SETS program. Restrictions on the size of a set equation that can be processed are not absolute but rather are related to the number of terms in the disjunctive normal form of the equation, the number of literals in the equation, etc. Nevertheless, set equations involving thousands and even hundreds of thousands of terms can be processed successfully

  9. Empowering Variable Renewables - Options for Flexible Electricity Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chandler, Hugo [Renewable Energy Unit, International Energy Agency, Paris (France)

    2008-07-01

    A flexible electricity system is one that can respond reliably, and rapidly, to large fluctuations in supply and demand. Flexibility is already present in all power systems, in order to manage fluctuations in demand, and it is crucial for high performance and economic and reliable operation. This paper looks at measures to increase flexibility. but careful cost/benefit analysis is essential, and specific national and regional circumstances will influence the choice of option(s).

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

    NARCIS (Netherlands)

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

    2005-01-01

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

  11. Gust load alleviation wind tunnel tests of a large-aspect-ratio flexible wing with piezoelectric control

    Directory of Open Access Journals (Sweden)

    Ying Bi

    2017-02-01

    Full Text Available An active control technique utilizing piezoelectric actuators to alleviate gust-response loads of a large-aspect-ratio flexible wing is investigated. Piezoelectric materials have been extensively used for active vibration control of engineering structures. In this paper, piezoelectric materials further attempt to suppress the vibration of the aeroelastic wing caused by gust. The motion equation of the flexible wing with piezoelectric patches is obtained by Hamilton’s principle with the modal approach, and then numerical gust responses are analyzed, based on which a gust load alleviation (GLA control system is proposed. The gust load alleviation system employs classic proportional-integral-derivative (PID controllers which treat piezoelectric patches as control actuators and acceleration as the feedback signal. By a numerical method, the control mechanism that piezoelectric actuators can be used to alleviate gust-response loads is also analyzed qualitatively. Furthermore, through low-speed wind tunnel tests, the effectiveness of the gust load alleviation active control technology is validated. The test results agree well with the numerical results. Test results show that at a certain frequency range, the control scheme can effectively alleviate the z and x wingtip accelerations and the root bending moment of the wing to a certain extent. The control system gives satisfying gust load alleviation efficacy with the reduction rate being generally over 20%.

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

    Directory of Open Access Journals (Sweden)

    Ryan M. Robinson

    2014-04-01

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

  13. Design of Large Area PLEDs on Flexible Substrates: Highly Efficient Flexible Devices Using a Statistical Copolymer of Oxadiazole-Containing PPV

    National Research Council Canada - National Science Library

    Christian, Hermona Y; Vaidyanathan, Subbu; Ko, Changhee; Galvin, Mary E; Beyer, Rick

    2004-01-01

    With polymers as the active layer on a plastic substrate, construction of flexible devices is possible, although the use of calcium cathodes places stringent requirements on the encapsulation of the device...

  14. Conjugate-Gradient Algorithms For Dynamics Of Manipulators

    Science.gov (United States)

    Fijany, Amir; Scheid, Robert E.

    1993-01-01

    Algorithms for serial and parallel computation of forward dynamics of multiple-link robotic manipulators by conjugate-gradient method developed. Parallel algorithms have potential for speedup of computations on multiple linked, specialized processors implemented in very-large-scale integrated circuits. Such processors used to stimulate dynamics, possibly faster than in real time, for purposes of planning and control.

  15. Endoscopic Ultrasound Guided Rendezvous Drainage of Biliary Obstruction Using a New Flexible 19-Gauge Fine Needle Aspiration Needle.

    Science.gov (United States)

    Tang, Zhouwen; Igbinomwanhia, Efehi; Elhanafi, Sherif; Othman, Mohamed O

    2016-01-01

    Background and Aim. A successful endoscopic ultrasound guided rendezvous (EUS-RV) biliary drainage is dependent on accurate puncture of the bile duct and precise guide wire manipulation across the ampulla of Vater. We aim to study the feasibility of using a flexible 19-gauge fine aspiration needle in the performance of EUS-RV biliary drainage. Method. This is a retrospective case series of EUS-RV biliary drainage procedures at a single center. Patients who failed ERCP during the same session for benign or malignant biliary obstruction underwent EUS-RV using a flexible, nitinol covered, 19-gauge needle for biliary access and guide wire manipulation. Result. 24 patients underwent EUS-RV biliary drainage via extrahepatic access while 1 attempt was via intrahepatic access. The technical success rate was 80%, including 83.3% of cases via extrahepatic access. There was no significant difference in success rate of inpatient and outpatient procedures, benign or malignant indications, or type of guide wire used. Adverse events included mild pancreatitis (3 patients) and cholangitis (1 patient). Conclusion. A flexible 19-gauge needle for biliary access can be safe and effective when used to perform EUS-RV biliary drainage. Direct comparison between the nitinol needle and conventional metal needles in the performance of EUS guided biliary drainage is needed.

  16. Cold plasma decontamination using flexible jet arrays

    Science.gov (United States)

    Konesky, Gregory

    2010-04-01

    Arrays of atmospheric discharge cold plasma jets have been used to decontaminate surfaces of a wide range of microorganisms quickly, yet not damage that surface. Its effectiveness in decomposing simulated chemical warfare agents has also been demonstrated, and may also find use in assisting in the cleanup of radiological weapons. Large area jet arrays, with short dwell times, are necessary for practical applications. Realistic situations will also require jet arrays that are flexible to adapt to contoured or irregular surfaces. Various large area jet array prototypes, both planar and flexible, are described, as is the application to atmospheric decontamination.

  17. The ethics of germ line gene manipulation--a five dimensional debate.

    Science.gov (United States)

    Carter, Lucy

    2002-10-01

    Contributors to the debate surrounding the ethics of germ line gene manipulation have by and large concentrated their efforts on discussions of the potential risks that are associated with the use of this technology. Many international advisory committees have ruled out the acceptability of germ line gene manipulation at least for the time being. The purpose of this work is to generate much needed discussion on the many other ethical issues concerning the implementation of not only germ line gene manipulation but also other related biotechnologies. In this paper I systematically investigate and analyse the most salient issues put forward by proponents and opponents alike. I argue that if germ line manipulation proves to be a safe and effective procedure, then the principle of beneficence imposes on the medical profession a moral duty to pursue the technology.

  18. How to deal with negative power price spikes?-Flexible voluntary curtailment agreements for large-scale integration of wind

    International Nuclear Information System (INIS)

    Brandstaett, Christine; Brunekreeft, Gert; Jahnke, Katy

    2011-01-01

    For the large-scale integration of electricity from renewable energy sources (RES-E), the German system seems to reach its limits. In 2009, the electricity wholesale market experienced serious negative prices at times of high wind and low demand. The feed-in system in Germany consists of a fixed feed-in price, a take-off obligation and a RES priority rule, and in practice only very restrictive use of RES-E curtailment. Exactly the latter is the problem. We argue that the overall performance of the system would improve seriously by lifting the restrictions on the use of voluntary curtailment agreements, while retaining the priority rule as such. Since generators of RES-E can only improve under this system reform, investment conditions improve, leading to higher installed RES-E capacity. This in turn implies that reduced wind output due to curtailment can actually be offset by higher wind output in all periods in which there is no problem. - Highlights: → We examine the large-scale integration of electricity from renewable sources (RES-E) into the German energy market. → Seriously negative prices at the wholesale market suggest that market design could be improved. → We argue that allowing flexible use of voluntary curtailment agreements (VCA), while keeping the priority feed-in rule, would increase the total system's efficiency. → Improved investment conditions due to flexible use of VCAs leading to higher installed RES-E capacity could offset the reduced wind output and would not impede climate policy goals.

  19. MANIPULATIVE COOPERATION POLITICS OF MLM COMPANIES IN SURABAYA CITY

    Directory of Open Access Journals (Sweden)

    Retno Andriati

    2016-01-01

    Full Text Available Many studies on multi-level marketing business from law, management, marketing economic and anthropology perspectives have been focused on its legality which is victims of MLM companies/fake MLM companies. Studies on market phenomenon and entrepreneurship of MLM large industry fromeconomy anthropology perspective are still rare especially in Indonesia. The study is intended to identify the underlying cooperation policy as well as manipulative conduct of MLM business in Surabaya.The study employs qualitative and ethnographic approaches. Qualitative data wereanalyzed using ethnographic approaches. The result of research suggests that MLM businesses have undertaken manipulative cooperation politics by establishing both international level direct selling association (WFDSA and national association (APLI in response to the MLM business controversy. APLI exploits andmanipulates non-member of APLI. Exploiting and manipulating MLM members through ideology doctrine and marketing plan of MLM business/corporate culture

  20. Low-cost and large-scale flexible SERS-cotton fabric as a wipe substrate for surface trace analysis

    Science.gov (United States)

    Chen, Yanmin; Ge, Fengyan; Guang, Shanyi; Cai, Zaisheng

    2018-04-01

    The large-scale surface enhanced Raman scattering (SERS) cotton fabrics were fabricated based on traditional woven ones using a dyeing-like method of vat dyes, where silver nanoparticles (Ag NPs) were in-situ synthesized by 'dipping-reducing-drying' process. By controlling the concentration of AgNO3 solution, the optimal SERS cotton fabric was obtained, which had a homogeneous close packing of Ag NPs. The SERS cotton fabric was employed to detect p-Aminothiophenol (PATP). It was found that the new fabric possessed excellent reproducibility (about 20%), long-term stability (about 57 days) and high SERS sensitivity with a detected concentration as low as 10-12 M. Furthermore, owing to the excellent mechanical flexibility and good absorption ability, the SERS cotton fabric was employed to detect carbaryl on the surface of an apple by simply swabbing, which showed great potential in fast trace analysis. More importantly, this study may realize large-scale production with low cost by a traditional cotton fabric.

  1. IEA EBC Annex 67 Energy Flexible Buildings

    DEFF Research Database (Denmark)

    Marszal, Anna Joanna; Jensen, Søren Østergaard

    2016-01-01

    know ledge on and demonstration of the Energy Flexibility Buildings can provide for the energy grids as well of to identify critical aspects and possible solutions to manage this Energy Flexibility. The paper discusses the background, the aims and the work plan of IEA (International Energy Agency) EBC......The foreseen large deployment of renewable energy sources may seriously affect the stability of energy grids. It will be necessary to control energy consumption to match instantaneous energy production. The built-in Energy Flexibility in buildings may be utilized for stabilizing the energy grids......, allowing for a larger roll out of renewable technologies. The Energy Flexibility of a building is the ability to manage its energy demand and generation according to local climate conditions, user needs and grid requirements. Energy Flexibility of buildings will thus allow for demand side management...

  2. “Little Helper” — An Autonomous Industrial Mobile Manipulator Concept

    Directory of Open Access Journals (Sweden)

    Mads Hvilshøj

    2011-06-01

    Full Text Available This paper presents the concept “autonomous industrial mobile manipulation” (AIMM based on the mobile manipulator “Little Helper” – an ongoing research project at Aalborg University, Denmark, concerning the development of an autonomous and flexible manufacturing assistant. The paper focuses on the contextual aspects and the working principles of AIMM. Furthermore, the paper deals with the design principles and overall hardware and software architectures of “Little Helper” from a functional and modular mechatronics point of view, in order to create a generic AIMM platform. The design challenges faced in the project is to integrate commercial off-the-shelf (COTS and dedicated highly integrated systems into an autonomous mobile manipulator system with the ability to perform diverse tasks in industrial environments. We propose an action based domain specific communication language for AIMM for routine and task definition, in order to lower the entry barriers for the users of the technology. To demonstrate the “Little Helper” concept a full-scale prototype has been built and different application examples carried out. Experiences and knowledge gained from this show promising results regarding industrial integration, exploitation and maturation of the AIMM technology.

  3. Spatial Manipulation and Assembly of Nanoparticles by Atomic Force Microscopy Tip-Induced Dielectrophoresis.

    Science.gov (United States)

    Zhou, Peilin; Yu, Haibo; Yang, Wenguang; Wen, Yangdong; Wang, Zhidong; Li, Wen Jung; Liu, Lianqing

    2017-05-17

    In this article, we present a novel method of spatial manipulation and assembly of nanoparticles via atomic force microscopy tip-induced dielectrophoresis (AFM-DEP). This method combines the high-accuracy positioning of AFM with the parallel manipulation of DEP. A spatially nonuniform electric field is induced by applying an alternating current (AC) voltage between the conductive AFM probe and an indium tin oxide glass substrate. The AFM probe acted as a movable DEP tweezer for nanomanipulation and assembly of nanoparticles. The mechanism of AFM-DEP was analyzed by numerical simulation. The effects of solution depth, gap distance, AC voltage, solution concentration, and duration time were experimentally studied and optimized. Arrays of 200 nm polystyrene nanoparticles were assembled into various nanostructures, including lines, ellipsoids, and arrays of dots. The sizes and shapes of the assembled structures were controllable. It was thus demonstrated that AFM-DEP is a flexible and powerful tool for nanomanipulation.

  4. Polymer electronics a flexible technology

    CERN Document Server

    Technology, Rapra

    2009-01-01

    The worldwide market for polymer electronic products has been estimated to be worth up to £15 billion by 2015 and the opportunity for new markets could be as high as £125 billion by 2025.'The rapid development of polymer electronics has revealed the possibility for transforming the electronics market by offering lighter, flexible and more cost effective alternatives to conventional materials and products. With applications ranging from printed, flexible conductors and novel semiconductor components to intelligent labels and large area displays and solar panels, products that were previously un

  5. Graphics and control of the guide tube assembly reinforcement manipulators at Sizewell 'A'

    International Nuclear Information System (INIS)

    Burden, C.

    1996-01-01

    A method was devised to reinforce the lower lug welds of the Guide Tube Assemblies (GTA's) at Sizewell 'A'. A six degree of freedom manipulator was designed to place a clamp around the lugs and tighten it. The manipulator was fitted with the three fixed cameras but required another surveillance manipulator positioned in an adjacent standpipe to provide additional views. The need to prepare two standpipes limited the rate at which reinforcements could be made. Therefore an articulated two arm camera manipulator, which could be used on the existing manipulator mast was designed and built. The two manipulators were driven from separate desks and were controlled by the same supervisory computer linked to online graphics. The camera arm joints were driven on preplanned routes using a single joystick because of the complex moves and tight spaces involved. A large number of GTA sites have now been reinforced including a dropped GTA which had to be raised to carry out clamping. (Author)

  6. Preparation, Single-Molecule Manipulation, and Energy Transfer Investigation of a Polyfluorene-graft-DNA polymer.

    Science.gov (United States)

    Madsen, Mikael; Christensen, Rasmus S; Krissanaprasit, Abhichart; Bakke, Mette R; Riber, Camilla F; Nielsen, Karina S; Zelikin, Alexander N; Gothelf, Kurt V

    2017-08-04

    Conjugated polymers have been intensively studied due to their unique optical and electronic properties combined with their physical flexibility and scalable bottom up synthesis. Although the bulk qualities of conjugated polymers have been extensively utilized in research and industry, the ability to handle and manipulate conjugated polymers at the nanoscale lacks significantly behind. Here, the toolbox for controlled manipulation of conjugated polymers was expanded through the synthesis of a polyfluorene-DNA graft-type polymer (poly(F-DNA)). The polymer possesses the characteristics associated with the conjugated polyfluorene backbone, but the protruding single-stranded DNA provides the material with an exceptional addressability. This study demonstrates controlled single-molecule patterning of poly(F-DNA), as well as energy transfer between two different polymer-DNA conjugates. Finally, highly efficient DNA-directed quenching of polyfluorene fluorescence was shown. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  7. Nonlinear modeling, strength-based design, and testing of flexible piezoelectric energy harvesters under large dynamic loads for rotorcraft applications

    Science.gov (United States)

    Leadenham, Stephen; Erturk, Alper

    2014-04-01

    There has been growing interest in enabling wireless health and usage monitoring for rotorcraft applications, such as helicopter rotor systems. Large dynamic loads and acceleration fluctuations available in these environments make the implementation of vibration-based piezoelectric energy harvesters a very promising choice. However, such extreme loads transmitted to the harvester can also be detrimental to piezoelectric laminates and overall system reliability. Particularly flexible resonant cantilever configurations tuned to match the dominant excitation frequency can be subject to very large deformations and failure of brittle piezoelectric laminates due to excessive bending stresses at the root of the harvester. Design of resonant piezoelectric energy harvesters for use in these environments require nonlinear electroelastic dynamic modeling and strength-based analysis to maximize the power output while ensuring that the harvester is still functional. This paper presents a mathematical framework to design and analyze the dynamics of nonlinear flexible piezoelectric energy harvesters under large base acceleration levels. A strength-based limit is imposed to design the piezoelectric energy harvester with a proof mass while accounting for material, geometric, and dissipative nonlinearities, with a focus on two demonstrative case studies having the same linear fundamental resonance frequency but different overhang length and proof mass values. Experiments are conducted at different excitation levels for validation of the nonlinear design approach proposed in this work. The case studies in this work reveal that harvesters exhibiting similar behavior and power generation performance at low excitation levels (e.g. less than 0.1g) can have totally different strength-imposed performance limitations under high excitations (e.g. above 1g). Nonlinear modeling and strength-based design is necessary for such excitation levels especially when using resonant cantilevers with no

  8. Large area and flexible electronics

    CERN Document Server

    Caironi, Mario

    2015-01-01

    From materials to applications, this ready reference covers the entire value chain from fundamentals via processing right up to devices, presenting different approaches to large-area electronics, thus enabling readers to compare materials, properties and performance.Divided into two parts, the first focuses on the materials used for the electronic functionality, covering organic and inorganic semiconductors, including vacuum and solution-processed metal-oxide semiconductors, nanomembranes and nanocrystals, as well as conductors and insulators. The second part reviews the devices and applicatio

  9. Flexible packaging for PV modules

    Science.gov (United States)

    Dhere, Neelkanth G.

    2008-08-01

    Economic, flexible packages that provide needed level of protection to organic and some other PV cells over >25-years have not yet been developed. However, flexible packaging is essential in niche large-scale applications. Typical configuration used in flexible photovoltaic (PV) module packaging is transparent frontsheet/encapsulant/PV cells/flexible substrate. Besides flexibility of various components, the solder bonds should also be flexible and resistant to fatigue due to cyclic loading. Flexible front sheets should provide optical transparency, mechanical protection, scratch resistance, dielectric isolation, water resistance, UV stability and adhesion to encapsulant. Examples are Tefzel, Tedlar and Silicone. Dirt can get embedded in soft layers such as silicone and obscure light. Water vapor transmittance rate (WVTR) of polymer films used in the food packaging industry as moisture barriers are ~0.05 g/(m2.day) under ambient conditions. In comparison, light emitting diodes employ packaging components that have WVTR of ~10-6 g/(m2.day). WVTR of polymer sheets can be improved by coating them with dense inorganic/organic multilayers. Ethylene vinyl acetate, an amorphous copolymer used predominantly by the PV industry has very high O2 and H2O diffusivity. Quaternary carbon chains (such as acetate) in a polymer lead to cleavage and loss of adhesional strength at relatively low exposures. Reactivity of PV module components increases in presence of O2 and H2O. Adhesional strength degrades due to the breakdown of structure of polymer by reactive, free radicals formed by high-energy radiation. Free radical formation in polymers is reduced when the aromatic rings are attached at regular intervals. This paper will review flexible packaging for PV modules.

  10. Nanofabrication and Nanopatterning of Carbon Nanomaterials for Flexible Electronics

    Science.gov (United States)

    Ding, Junjun

    Stretchable electrodes have increasingly drawn attention as a vital component for flexible electronic devices. Carbon nanomaterials such as graphene and carbon nanotubes (CNTs) exhibit properties such as high mechanical flexibility and strength, optical transparency, and electrical conductivity which are naturally required for stretchable electrodes. Graphene growth, nanopatterning, and transfer processes are important steps to use graphene as flexible electrodes. However, advances in the large-area nanofabrication and nanopatterning of carbon nanomaterials such as graphene are necessary to realize the full potential of this technology. In particular, laser interference lithography (LIL), a fast and low cost large-area nanoscale patterning technique, shows tremendous promise for the patterning of graphene and other nanostructures for numerous applications. First, it was demonstrated that large-area nanopatterning and the transfer of chemical vapor deposition (CVD) grown graphene via LIL and plasma etching provide a reliable method to provide large area nanoengineered graphene on various target substrates. Then, to improve the electrode performance under large strain (naturally CVD grown graphene sheet will crack at tensile strains larger than 1%), a corrugated graphene structure on PDMS was designed, fabricated, and tested, with experimental results indicating that this approach successfully allows the graphene sheets to withstand cyclic tensile strains up to 15%. Lastly, to further enhance the performance of carbon-based stretchable electrodes, an approach was developed which coupled graphene and vertically aligned CNT (VACNT) on a flexible PDMS substrate. Characterization of the graphene-VACNT hybrid shows high electrical conductivity and durability through 50 cycles of loading up to 100% tensile strain. While flexible electronics promise tremendous advances in important technological areas such as healthcare, sensing, energy, and wearable electronics, continued

  11. 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,...

  12. In situ TEM visualization of superior nanomechanical flexibility of shear-exfoliated phosphorene.

    Science.gov (United States)

    Xu, Feng; Ma, Hongyu; Lei, Shuangying; Sun, Jun; Chen, Jing; Ge, Binghui; Zhu, Yimei; Sun, Litao

    2016-07-14

    Recently discovered atomically thin black phosphorus (called phosphorene) holds great promise for applications in flexible nanoelectronic devices. Experimentally identifying and characterizing nanomechanical properties of phosphorene are challenging, but also potentially rewarding. This work combines for the first time in situ transmission electron microscopy (TEM) imaging and an in situ micro-manipulation system to directly visualize the nanomechanical behaviour of individual phosphorene nanoflakes. We demonstrate that the phosphorene nanoflakes can be easily bent, scrolled, and stretched, showing remarkable mechanical flexibility rather than fracturing. An out-of-plane plate-like bending mechanism and in-plane tensile strain of up to 34% were observed. Moreover, a facile liquid-phase shear exfoliation route has been developed to produce such mono-layer and few-layer phosphorene nanoflakes in organic solvents using only a household kitchen blender. The effects of surface tensions of the applied solvents on the ratio of average length and thickness (L/T) of the nanoflakes were studied systematically. The results reported here will pave the way for potential industrial-scale applications of flexible phosphorene nanoelectronic devices.

  13. Development and verification test on remote plasma cutting of large metallic waste

    International Nuclear Information System (INIS)

    Ozawa, Tamotsu; Yamada, Kunitaka; Abe, Tadashi

    1979-01-01

    Plasma cutting is the cutting method to melt and scatter cut objects by generating arc between an electrode in a nozzle and the cut objects and making working gas fed to surround it into high temperature, high speed plasma jet. In case of remote plasma cutting, a torch for the plasma cutting is operated remotely with a manipulator from the outside of a cell. At the time of planning the method of breaking up solid wastes, the type of cutting machines and the method of remote operation of the cutting machines and cut objects were examined. It was decided to adopt plasma cutting machines, because their cutting capability such as materials, thickness and cutting speed is excellent, and the construction and handling are simple. The form of the solid wastes to be cut is not uniform, accordingly the method of manipulator operation was adopted to respond to various forms flexibly. Cut objects are placed on a turntable to change the position successively. In case of remote plasma cutting, the controls of torch speed and gap must be made with a manipulator. The use of light-shielding glasses reduces largely the watchability of cut objects and becomes hindrance in the operation. As for the safety aspect, the suitable gas for cutting, which does not contain hydrogen, must be selected. The tests carried out for two years since November, 1977, are reported in this paper, and most of the problems have been solved. (Kako, I.)

  14. Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments.

    Science.gov (United States)

    Song, Shuang; Zhang, Changchun; Liu, Li; Meng, Max Q-H

    2018-02-01

    Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation. We use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved. Using the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is [Formula: see text] mm, while the maximum error is 3.2 mm. The proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method.

  15. Flexible spin-orbit torque devices

    Energy Technology Data Exchange (ETDEWEB)

    Lee, OukJae; You, Long; Jang, Jaewon; Subramanian, Vivek [Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, California 94720 (United States); Salahuddin, Sayeef [Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, California 94720 (United States); Materials Sciences Division, Lawrence Berkeley National Laboratory, Berkeley, California 94720 (United States)

    2015-12-21

    We report on state-of-the-art spintronic devices synthesized and fabricated directly on a flexible organic substrate. Large perpendicular magnetic anisotropy was achieved in ultrathin ferromagnetic heterostructures of Pt/Co/MgO sputtered on a non-rigid plastic substrate at room temperature. Subsequently, a full magnetic reversal of the Co was observed by exploiting the spin orbit coupling in Pt that leads to a spin accumulation at the Pt/Co interface when an in-plane current is applied. Quasi-static measurements show the potential for operating these devices at nano-second speeds. Importantly, the behavior of the devices remained unchanged under varying bending conditions (up to a bending radius of ≈ ±20–30 mm). Furthermore, the devices showed robust operation even after application of 10{sup 6} successive pulses, which is likely sufficient for many flexible applications. Thus, this work demonstrates the potential for integrating high performance spintronic devices on flexible substrates, which could lead to many applications ranging from flexible non-volatile magnetic memory to local magnetic resonance imaging.

  16. Flexible spin-orbit torque devices

    International Nuclear Information System (INIS)

    Lee, OukJae; You, Long; Jang, Jaewon; Subramanian, Vivek; Salahuddin, Sayeef

    2015-01-01

    We report on state-of-the-art spintronic devices synthesized and fabricated directly on a flexible organic substrate. Large perpendicular magnetic anisotropy was achieved in ultrathin ferromagnetic heterostructures of Pt/Co/MgO sputtered on a non-rigid plastic substrate at room temperature. Subsequently, a full magnetic reversal of the Co was observed by exploiting the spin orbit coupling in Pt that leads to a spin accumulation at the Pt/Co interface when an in-plane current is applied. Quasi-static measurements show the potential for operating these devices at nano-second speeds. Importantly, the behavior of the devices remained unchanged under varying bending conditions (up to a bending radius of ≈ ±20–30 mm). Furthermore, the devices showed robust operation even after application of 10 6 successive pulses, which is likely sufficient for many flexible applications. Thus, this work demonstrates the potential for integrating high performance spintronic devices on flexible substrates, which could lead to many applications ranging from flexible non-volatile magnetic memory to local magnetic resonance imaging

  17. Flexible Multi-Bit Feedback Design for HARQ Operation of Large-Size Data Packets in 5G

    DEFF Research Database (Denmark)

    Khosravirad, Saeed; Mudolo, Luke; Pedersen, Klaus I.

    2017-01-01

    large-size data packet thanks to which the transmitter node can reduce the retransmission size to only include the initially failed segments of the packet. We study the effect of feedback size on retransmission efficiency through extensive link-level simulations over realistic channel models. Numerical......A reliable feedback channel is vital to report decoding acknowledgments in retransmission mechanisms such as the hybrid automatic repeat request (HARQ). While the feedback bits are known to be costly for the wireless link, a feedback message more informative than the conventional single......-bit feedback can increase resource utilization efficiency. Considering the practical limitations for increasing feedback message size, this paper proposes a framework for the design of flexible-content multi-bit feedback. The proposed design is capable of efficiently indicating the faulty segments of a failed...

  18. CAST: a new program package for the accurate characterization of large and flexible molecular systems.

    Science.gov (United States)

    Grebner, Christoph; Becker, Johannes; Weber, Daniel; Bellinger, Daniel; Tafipolski, Maxim; Brückner, Charlotte; Engels, Bernd

    2014-09-15

    The presented program package, Conformational Analysis and Search Tool (CAST) allows the accurate treatment of large and flexible (macro) molecular systems. For the determination of thermally accessible minima CAST offers the newly developed TabuSearch algorithm, but algorithms such as Monte Carlo (MC), MC with minimization, and molecular dynamics are implemented as well. For the determination of reaction paths, CAST provides the PathOpt, the Nudge Elastic band, and the umbrella sampling approach. Access to free energies is possible through the free energy perturbation approach. Along with a number of standard force fields, a newly developed symmetry-adapted perturbation theory-based force field is included. Semiempirical computations are possible through DFTB+ and MOPAC interfaces. For calculations based on density functional theory, a Message Passing Interface (MPI) interface to the Graphics Processing Unit (GPU)-accelerated TeraChem program is available. The program is available on request. Copyright © 2014 Wiley Periodicals, Inc.

  19. Compliant Aerial Manipulators

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  20. Cell manipulation tool with combined microwell array and optical tweezers for cell isolation and deposition

    International Nuclear Information System (INIS)

    Wang, Xiaolin; Gou, Xue; Chen, Shuxun; Yan, Xiao; Sun, Dong

    2013-01-01

    Isolation from rare cells and deposition of sorted cells with high accuracy for further study are critical to a wide range of biomedical applications. In the current paper, we report an automated cell manipulation tool with combined optical tweezers and a uniquely designed microwell array, which functions for recognition, isolation, assembly, transportation and deposition of the interesting cells. The microwell array allows the passive hydrodynamic docking of cells, while offering the opportunity to inspect the interesting cell phenotypes with high spatio-temporal resolution based on the flexible image processing technique. In addition, dynamic and parallel cell manipulation in three dimensions can realize the target cell levitation from microwell and pattern assembly with multiple optical traps. Integrated with the programmed motorized stage, the optically levitated and assembled cells can be transported and deposited to the predefined microenvironment, so the tool can facilitate the integration of other on-chip functionalities for further study without removing these isolated cells from the chip. Experiments on human embryonic stem cells and yeast cells are performed to demonstrate the effectiveness of the proposed cell manipulation tool. Besides the application to cell isolation and deposition, three other biological applications with this tool are also presented. (paper)

  1. Reinforced carbon nanotubes as electrically conducting and flexible films for space applications.

    Science.gov (United States)

    Atar, Nurit; Grossman, Eitan; Gouzman, Irina; Bolker, Asaf; Hanein, Yael

    2014-11-26

    Chemical vapor deposition (CVD)-grown entangled carbon nanotube (CNT) sheets are characterized by high electrical conductivity and durability to bending and folding. However, since freestanding CNT sheets are mechanically weak, they cannot be used as stand-alone flexible films. In this work, polyimide (PI) infiltration into entangled cup-stacked CNT (CSCNT) sheets was studied to form electrically conducting, robust, and flexible films for space applications. The infiltration process preserved CNTs' advantageous properties (i.e., conductivity and flexibility), prevented CNT agglomeration, and enabled CNT patterning. In particular, the CNT-PI films exhibited ohmic electrical conductance in both the lateral and vertical directions, with a sheet resistivity as low as 122 Ω/□, similar to that of as-grown CNT sheets, with minimal effect of the insulating matrix. Moreover, this high conductivity was preserved under mechanical and thermal manipulations. These properties make the reported CNT-PI films excellent candidates for applications where flexibility, thermal stability, and electrical conductivity are required. Particularly, the developed CNT-PI films were found to be durable in space environment hazards such as high vacuum, thermal cycling, and ionizing radiation, and hence they are suggested as an alternative for the electrostatic discharge (ESD) protection layer in spacecraft thermal blankets.

  2. Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

    Science.gov (United States)

    Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

    2017-01-01

    Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

  3. Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

    Science.gov (United States)

    Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

    2017-01-01

    Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

  4. Are building users prepared for energy flexible buildings?—A large-scale survey in the Netherlands

    NARCIS (Netherlands)

    Li, Rongling; Dane, G.Z.; Finck, C.J.; Zeiler, W.

    2017-01-01

    Building energy flexibility might play a crucial role in demand side management for integrating intermittent renewables into smart grids. The potential of building energy flexibility depends not only on the physical characteristics of a building but also on occupant behaviour in the building.

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

    Science.gov (United States)

    Brown, Abigail

    2013-01-01

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

  6. An evolutionary resolution of manipulation conflict.

    Science.gov (United States)

    González-Forero, Mauricio

    2014-07-01

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

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

    International Nuclear Information System (INIS)

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

    1994-08-01

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

  8. Implementation of a robotic flexible assembly system

    Science.gov (United States)

    Benton, Ronald C.

    1987-01-01

    As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.

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

    Directory of Open Access Journals (Sweden)

    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.

  10. Sensor-based automated docking of large waste canisters

    International Nuclear Information System (INIS)

    Drotning, W.D.

    1990-01-01

    Sensor-based programmable robots have the potential to speed up remote manipulation operations while protecting operators from exposure to radiation. Conventional master/slave manipulators have proven to be very slow in performing precision remote operations. In addition, inadvertent collisions of remotely manipulated objects with their environment increase the hazards associated with remote handling. This paper describes the development of a robotic system for the sensor-based automated remote manipulation and precision docking of large payloads. Computer vision and proximity sensing are used to control the precision docking of a large object with a passive target cavity. Specifically, a container of nuclear spent fuel on a transport vehicle is mated with an emplacement door on a vertical storage borehole at a waste repository

  11. Higher order coupling between rigid-body and elastic motion in flexible mechanisms

    International Nuclear Information System (INIS)

    Esat, I.I.; Ianakiev, A.

    1995-01-01

    The paper presents an investigation of the influence of the higher order coupling terms between the rigid-body and elastic motion into flexible mechanism dynamics. The configuration of the mechanical system is obtained by using the so called hybrid coordinates. The kinematic description of the mechanism was obtained using the D-H 4 x 4 transformation matrices. The elastic deformation of each point of the mechanism is described by the finite element modeling (FEM) type interpolation scheme. The dynamic model of the flexible mechanism consists due to the hybrid coordinates of two groups of differential equations. The first group describes the manipulator transport motion and the second group describes the vibration. In this paper the authors evaluated the contribution of the coupling terms between the two groups of differential equations and selected only those with high contribution

  12. Wearable and flexible electronics for continuous molecular monitoring.

    Science.gov (United States)

    Yang, Yiran; Gao, Wei

    2018-04-03

    Wearable biosensors have received tremendous attention over the past decade owing to their great potential in predictive analytics and treatment toward personalized medicine. Flexible electronics could serve as an ideal platform for personalized wearable devices because of their unique properties such as light weight, low cost, high flexibility and great conformability. Unlike most reported flexible sensors that mainly track physical activities and vital signs, the new generation of wearable and flexible chemical sensors enables real-time, continuous and fast detection of accessible biomarkers from the human body, and allows for the collection of large-scale information about the individual's dynamic health status at the molecular level. In this article, we review and highlight recent advances in wearable and flexible sensors toward continuous and non-invasive molecular analysis in sweat, tears, saliva, interstitial fluid, blood, wound exudate as well as exhaled breath. The flexible platforms, sensing mechanisms, and device and system configurations employed for continuous monitoring are summarized. We also discuss the key challenges and opportunities of the wearable and flexible chemical sensors that lie ahead.

  13. Flexibility.

    Science.gov (United States)

    Humphrey, L. Dennis

    1981-01-01

    Flexibility is an important aspect of all sports and recreational activities. Flexibility can be developed and maintained by stretching exercises. Exercises designed to develop flexibility in ankle joints, knees, hips, and the lower back are presented. (JN)

  14. Manipulation, salience, and nudges.

    Science.gov (United States)

    Noggle, Robert

    2018-03-01

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

  15. Cell manipulation in microfluidics

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  16. Manipulator comparative testing program

    International Nuclear Information System (INIS)

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

    1986-01-01

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

  17. Semiconductor-based, large-area, flexible, electronic devices on {110} oriented substrates

    Science.gov (United States)

    Goyal, Amit

    2014-08-05

    Novel articles and methods to fabricate the same resulting in flexible, oriented, semiconductor-based, electronic devices on {110} textured substrates are disclosed. Potential applications of resulting articles are in areas of photovoltaic devices, flat-panel displays, thermophotovoltaic devices, ferroelectric devices, light emitting diode devices, computer hard disc drive devices, magnetoresistance based devices, photoluminescence based devices, non-volatile memory devices, dielectric devices, thermoelectric devices and quantum dot laser devices.

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

    Directory of Open Access Journals (Sweden)

    Pascal Carrivain

    2014-02-01

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

  19. Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

    Science.gov (United States)

    Lee, J.; Kim, K.

    1991-01-01

    A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

  20. Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

    Science.gov (United States)

    Lee, J.; Kim, K.

    A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

  1. CircleBoard-Pro: Concrete manipulative-based learning cycle unit for learning geometry

    Science.gov (United States)

    Jamhari, Wongkia, Wararat

    2018-01-01

    Currently, a manipulative is commonly used in mathematics education as a supported tool for teaching and learning. With engaging natural interaction of a concrete manipulative and advantages of a learning cycle approach, we proposed the concrete manipulative-based learning cycle unit to promote mathematics learning. Our main objectives are to observe possibilities on the use of a concrete manipulative in learning geometry, and to assess students' understanding of a specific topic, angle properties in a circle, of secondary level students. To meet the first objective, the concrete manipulative, called CricleBoard-Pro, was designed. CircleBoard-Pro is built for easy to writing on or deleting from, accurate angle measurement, and flexible movement. Besides, learning activities and worksheets were created for helping students to learn angle properties in a circle. Twenty eighth graders on a lower secondary school in Indonesia were voluntarily involved to learn mathematics using CircleBoard-Pro with the designed learning activities and worksheets. We informally observed students' performance by focusing on criteria of using manipulative tools in learning mathematics while the learning activities were also observed in terms of whether they work and which step of activities need to be improved. The results of this part showed that CircleBoard-Pro complied the criteria of the use of the manipulative in learning mathematics. Nevertheless, parts of learning activities and worksheets need to be improved. Based on the results of the observation, CircleBoard-Pro, learning activities, and worksheets were merged together and became the CircleBoardPro embedded on 5E (Engage - Explore - Explain - Elaborate - Evaluate) learning cycle unit. Then, students understanding were assessed to reach the second objective. Six ninth graders from an Indonesian school in Thailand were recruited to participate in this study. Conceptual tests for both pre-and post-test, and semi

  2. Flexible Multibody Systems Models Using Composite Materials Components

    International Nuclear Information System (INIS)

    Neto, Maria Augusta; Ambr'osio, Jorge A. C.; Leal, Rog'erio Pereira

    2004-01-01

    The use of a multibody methodology to describe the large motion of complex systems that experience structural deformations enables to represent the complete system motion, the relative kinematics between the components involved, the deformation of the structural members and the inertia coupling between the large rigid body motion and the system elastodynamics. In this work, the flexible multibody dynamics formulations of complex models are extended to include elastic components made of composite materials, which may be laminated and anisotropic. The deformation of any structural member must be elastic and linear, when described in a coordinate frame fixed to one or more material points of its domain, regardless of the complexity of its geometry. To achieve the proposed flexible multibody formulation, a finite element model for each flexible body is used. For the beam composite material elements, the sections properties are found using an asymptotic procedure that involves a two-dimensional finite element analysis of their cross-section. The equations of motion of the flexible multibody system are solved using an augmented Lagrangian formulation and the accelerations and velocities are integrated in time using a multi-step multi-order integration algorithm based on the Gear method

  3. Electrical manipulation of oligonucleotides grafted to charged surfaces.

    Science.gov (United States)

    Rant, Ulrich; Arinaga, Kenji; Fujita, Shozo; Yokoyama, Naoki; Abstreiter, Gerhard; Tornow, Marc

    2006-09-21

    The electrical manipulation of short DNA molecules on surfaces offers novel functionalities with fascinating possibilities in the field of bio-interfaces. Here we present systematic investigations of the electrical interactions which govern the structure of oligonucleotides on charged gold surfaces. Successively, we address influences of the applied field strength, the role of DC electrode potentials, in particular for polycrystalline surfaces, as well as screening effects of the surrounding electrolyte solution. Data obtained for single and double stranded DNA exhibit differences which can be attributed to the dissimilar flexibility of the different molecular conformations. A comparison of the experimental results with a basic model shows how the alignment of the molecules adjusts according to a balance between electrically induced ordering and stochastic thermal motions. The presented conclusions are expected to be of general relevance for the behaviour of polyelectrolytes exposed to localized electric fields at interfaces.

  4. Master-slave manipulator

    International Nuclear Information System (INIS)

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

    1981-01-01

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

  5. Leadership Manipulation and Ethics in Storytelling

    OpenAIRE

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

    2013-01-01

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

  6. [Effects of large bio-manipulation fish pen on community structure of crustacean zooplankton in Meiliang Bay of Taihu Lake].

    Science.gov (United States)

    Ke, Zhi-Xin; Xie, Ping; Guo, Long-Gen; Xu, Jun; Zhou, Qiong

    2012-08-01

    In 2005, a large bio-manipulation pen with the stock of silver carp and bighead carp was built to control the cyanobacterial bloom in Meiliang Bay of Taihu Lake. This paper investigated the seasonal variation of the community structure of crustacean zooplankton and the water quality within and outside the pen. There were no significant differences in the environmental parameters and phytoplankton biomass within and outside the pen. The species composition and seasonal dynamics of crustacean zooplankton within and outside the pen were similar, but the biomass of crustacean zooplankton was greatly suppressed by silver carp and bighead carp. The total crustacean zooplankton biomass and cladocerans biomass were significantly lower in the pen (P < 0.05). In general, silver carp and bighead carp exerted more pressure on cladoceran species than on copepod species. A distinct seasonal succession of crustacean zooplankton was observed in the Bay. Many crustacean species were only dominated in given seasons. Large-sized crustacean (mainly Daphnia sp. and Cyclops vicnus) dominated in winter and spring, while small-sized species (mainly Bosmina sp., Ceriodaphnia cornuta, and Limnoithona sinensis) dominated in summer and autumn. Canonical correspondence analysis showed that water transparency, temperature, and phytoplankton biomass were the most important factors affecting the seasonal succession of the crustacean.

  7. Design of micro, flexible light-emitting diode arrays and fabrication of flexible electrodes

    International Nuclear Information System (INIS)

    Gao, Dan; Wang, Weibiao; Liang, Zhongzhu; Liang, Jingqiu; Qin, Yuxin; Lv, Jinguang

    2016-01-01

    In this study, we design micro, flexible light-emitting diode (LED) array devices. Using theoretical calculations and finite element simulations, we analyze the deformation of the conventional single electrode bar. Through structure optimization, we obtain a three-dimensional (3D), chain-shaped electrode structure, which has a greater bending degree. The optimized electrodes not only have a bigger bend but can also be made to spin. When the supporting body is made of polydimethylsiloxane (PDMS), the maximum bending degree of the micro, flexible LED arrays (4  ×  1 arrays) was approximately 230 µ m; this was obtained using the finite element method. The device (4  ×  1 arrays) can stretch to 15%. This paper describes the fabrication of micro, flexible LED arrays using microelectromechancial (MEMS) technology combined with electroplating technology. Specifically, the isolated grooves are made by dry etching which can isolate and protect the light-emitting units. A combination of MEMS technology and wet etching is used to fabricate the large size spacing. (paper)

  8. Chemically modified graphene based supercapacitors for flexible and miniature devices

    Science.gov (United States)

    Ghosh, Debasis; Kim, Sang Ouk

    2015-09-01

    Rapid progress in the portable and flexible electronic devises has stimulated supercapacitor research towards the design and fabrication of high performance flexible devices. Recent research efforts for flexible supercapacitor electrode materials are highly focusing on graphene and chemically modified graphene owing to the unique properties, including large surface area, high electrical and thermal conductivity, excellent mechanical flexibility, and outstanding chemical stability. This invited review article highlights current status of the flexible electrode material research based on chemically modified graphene for supercapacitor application. A variety of electrode architectures prepared from chemically modified graphene are summarized in terms of their structural dimensions. Novel prototypes for the supercapacitor aiming at flexible miniature devices, i.e. microsupercapacitor with high energy and power density are highlighted. Future challenges relevant to graphene-based flexible supercapacitors are also suggested. [Figure not available: see fulltext.

  9. MATHEMATICAL MODEL MANIPULATOR ROBOTS

    Directory of Open Access Journals (Sweden)

    O. N. Krakhmalev

    2015-12-01

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

  10. Thin Flexible IMM Solar Array, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Thin, flexible, and highly efficient solar arrays are needed that package compactly for launch and deploy into large, structurally stable high power generators....

  11. HPOTP low-speed flexible rotor balancing, phase 1

    Science.gov (United States)

    Giordano, J.; Zorzi, E.

    1985-01-01

    A method was developed that shows promise in overcoming many balancing limitations. This method establishes one or more windows for low speed, out-of-housing balancing of flexible rotors. These windows are regions of speed and support flexibility where two conditions are simultaneously fulfilled. First, the rotor system behaves flexibly; therefore, there is separation among balance planes. Second, the response due to balance weights is large enough to reliably measure. The analytic formulation of the low-speed flexible rotor balancing method is described. The results of proof-of-principle tests conducted under the program are presented. Based on this effort, it is concluded that low speed flexible rotor balancing is a viable technology. In particular, the method can be used to balance a rotor bearing system at low speed which results in smooth operation above more than one bending critical speed. Furthermore, this balancing methodology is applicable to SSME turbopump rotors.

  12. Manipulating the magnetic anisotropy and magnetization dynamics by stress: Numerical calculation and experiment

    Science.gov (United States)

    Correa, M. A.; Bohn, F.

    2018-05-01

    We perform a theoretical and experimental investigation of the magnetic properties and magnetization dynamics of a ferromagnetic magnetostrictive multilayer grown onto a flexible substrate and submitted to external stress. We calculate the magnetic behavior and magnetoimpedance effect for a trilayered system from an approach that considers a magnetic permeability model for planar geometry and a magnetic free energy density which takes into account induced uniaxial and magnetoelastic anisotropy contributions. We verify remarkable modifications of the magnetic anisotropy with external stress, as well as we show that the dynamic magnetic response is strongly affected by these changes. We discuss the magnetic features that lead to modifications of the frequency limits where distinct mechanisms are responsible by the magnetoimpedance variations, enabling us to manipulate the resonance fields. To test the robustness of the approach, we directly compare theoretical results with experimental data. Thus, we provide experimental evidence to confirm the validity of the theoretical approach, as well as to manipulate the resonance fields to tune the MI response according to real applications in devices.

  13. Flexibility of representational states in working memory

    Directory of Open Access Journals (Sweden)

    Nahid eZokaei

    2014-11-01

    Full Text Available The relationship between working memory (WM and attention is a highly interdependent one, with evidence that attention determines the state in which items in WM are retained. Through focusing of attention, an item might be held in a more prioritized state, commonly termed as the focus of attention (FOA. The remaining items, although still retrievable, are considered to be in a different representational state. One means to bring an item into the FOA is to use retrospective cues (‘retro-cues’ which direct attention to one of the objects retained in WM. Alternatively, an item can enter a privileged state once attention is directed towards it through bottom-up influences (e.g. recency effect or by performing an action on one of the retained items (‘incidental’ cueing. In all these cases, the item in the FOA is recalled with better accuracy compared to the other items in WM. Far less is known about the nature of the other items in WM and whether they can be flexibly manipulated in and out of the FOA. We present data from three types of experiments as well as transcranial magnetic stimulation to early visual cortex to manipulate the item inside FOA. Taken together, our results suggest that the context in which items are retained in WM matters. When an item remains behaviourally relevant, despite not being inside the FOA, re-focusing attention upon it can increase its recall precision. This suggests that a non-FOA item can be held in a state in which it can be later retrieved. However, if an item is rendered behaviourally unimportant because it is very unlikely to be probed, it cannot be brought back into the FOA, nor recalled with high precision. Under such conditions, some information appears to be irretrievably lost from WM. These findings, obtained from several different methods, demonstrate quite considerable flexibility with which items in WM can be represented depending upon context. They have important consequences for emerging state

  14. Adaptive control of robotic manipulators

    Science.gov (United States)

    Seraji, H.

    1987-01-01

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

  15. Piezoresistive effect observed in flexible amorphous carbon films

    Science.gov (United States)

    Wang, B.; Jiang, Y. C.; Zhao, R.; Liu, G. Z.; He, A. P.; Gao, J.

    2018-05-01

    Amorphous carbon (a-C) films, deposited on Si substrates at 500 °C, were transferred onto flexible polyethylene (PE) substrates by a lift-off method, which overcomes the limit of deposition temperature. After transferring, a-C films exhibited a large piezoresistive effect. Such flexible samples could detect the change of bending angle by attaching them onto Cu foils. The ratio of the bending and non-bending resistances reaches as large as ~27.8, which indicates a potential application as a pressure sensor. Also, the a-C/PE sample revealed an enhanced sensitivity to gas pressure compared with the a-C/Si one. By controlling the bending angle, the sensitivity range can be tuned to shift to a low- or high-pressure region. The fatigue test shows a less than 1% change in resistance after 10 000 bending cycles. Our work provides a route to prepare the flexible and piezoresistive carbon-based devices with high sensitivity, controllable pressure-sensing and high stability.

  16. Developing a mixture design specification for flexible base construction.

    Science.gov (United States)

    2012-06-01

    In the Texas Department of Transportation (TxDOT), flexible base producers typically generate large stockpiles of material exclusively for TxDOT projects. This large state-only inventory often maintained by producers, along with time requiremen...

  17. Using Manipulatives in Math Instruction.

    Science.gov (United States)

    Marzola, Eileen S.

    1987-01-01

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

  18. Low-voltage, large-strain soft electrothermal actuators based on laser-reduced graphene oxide/Ag particle composites

    Science.gov (United States)

    Wang, Qian; Li, Yu-Tao; Zhang, Tian-Yu; Wang, Dan-Yang; Tian, Ye; Yan, Jun-Chao; Tian, He; Yang, Yi; Yang, Fan; Ren, Tian-Ling

    2018-03-01

    In this paper, low-voltage, large-strain flexible electrothermal actuators (ETAs) based on laser-reduced graphene oxide (LRGO)/Ag particle composites were fabricated in a simple and cost-efficient process. By adding Ag particles to the LRGO, the sheet resistance decreased effectively. Under a driving voltage of 28 V, the actuator obtained a bending angle of 192° within 6 s. Besides, the bending deformation could be precisely controlled by the driving voltage ranging from 10° to 192°. Finally, a gripper composed of two actuators was demonstrated to manipulate a piece of polydimethylsiloxane block. With the advantages of low-voltage, fast-response, and easy-to-manufacture, the graphene based ETAs have a promising application in soft robotics and soft machines.

  19. Controlled motion in an elastic world. Research project: Manipulation strategies for massive space payloads

    Science.gov (United States)

    Book, Wayne J.

    1992-01-01

    The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.

  20. Balanced articulated manipulator

    International Nuclear Information System (INIS)

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

    1976-01-01

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

  1. Semi-flexible polymers near interfaces : equilibrium aspects and adsorption kinetics

    NARCIS (Netherlands)

    Eijk, van M.

    1998-01-01

    The first chapter is about semi-flexible polymers at a liquid-liquid interface: self-consistent-field calculations. The adsorption of semi-flexible polymers at a liquid-liquid interface largely differs from that at a solid surface. The width of the interface is an additional length scale in

  2. Control Suite and Teleoperator Interface for Whole-Body Mobile Manipulators, Phase I

    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...

  3. Direct Manipulation in Virtual Reality

    Science.gov (United States)

    Bryson, Steve

    2003-01-01

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

  4. Subwavelength image manipulation through oblique and herringbone layered acoustic systems

    International Nuclear Information System (INIS)

    Li, Chunhui; Jia, Han; Ke, Manzhu; Li, Yixiang; Liu, Zhengyou

    2014-01-01

    In this paper, an oblique and a herringbone layered acoustic structure are experimentally and theoretically demonstrated to manipulate acoustic subwavelength images. An imaging resolution of less than one tenth of a wavelength is achieved with both optimized systems, and lateral image shift has been realized by an oblique layered system. The thicknesses of both the oblique and the herringbone layered acoustic systems are largely reduced through utilizing the oblique or herringbone wave propagation path instead of the vertical wave propagation path in the rectangular layered planar acoustic system. With smaller size and subwavelength image manipulation, the acoustic systems are more favourable for practical application. (paper)

  5. Flexible Bronchoscopy.

    Science.gov (United States)

    Miller, Russell J; Casal, Roberto F; Lazarus, Donald R; Ost, David E; Eapen, George A

    2018-03-01

    Flexible bronchoscopy has changed the course of pulmonary medicine. As technology advances, the role of the flexible bronchoscope for both diagnostic and therapeutic indications is continually expanding. This article reviews the historical development of the flexible bronchoscopy, fundamental uses of the flexible bronchoscope as a tool to examine the central airways and obtain diagnostic tissue, and the indications, complications, and contraindications to flexible bronchoscopy. Copyright © 2017 Elsevier Inc. All rights reserved.

  6. MANIPULATION, PROFESSIONAL PRACTICES AND DEONTOLOGY IN INFORMATIONAL PHOTOGRAPHY: IDENTIFYING NEW PARAMETERS

    Directory of Open Access Journals (Sweden)

    Paulo Munhoz

    2014-06-01

    Full Text Available This paper investigates impacts of digital technologies on photographic post-production and image manipulation in information photography. An attempt is made to assess the extent to which ethical codes and conventions are being modified concerning the digital treatment of photographic images. We sought to assess whether one can identify, in the rules of photographic competitions, an embryonic process of establishment of new boundaries as to what constitutes content manipulation and what is acceptable as technical adjustments.  We observed that, in a large proportion of cases, competition rules consist of very generic guidelines regarding the acceptable procedures for photo editing, without clear distinctions between technical adjustment and manipulation. Despite such limitations, we conclude that the analysis of photographic competitions can lead to identification of observable regularities that may act as ethical standards in relation to post-production images.

  7. Manipulation, professional practices and deontology in informational photography: identifying new parameters

    Directory of Open Access Journals (Sweden)

    Paulo Munhoz

    2014-06-01

    Full Text Available This paper investigates impacts of digital technologies on photographic post-production and image manipulation in information photography. An attempt is made to assess the extent to which ethical codes and conventions are being modified concerning the digital treatment of photographic images. We sought to assess whether one can identify, in the rules of photographic competitions, an embryonic process of establishment of new boundaries as to what constitutes content manipulation and what is acceptable as technical adjustments.  We observed that, in a large proportion of cases, competition rules consist of very generic guidelines regarding the acceptable procedures for photo editing, without clear distinctions between technical adjustment and manipulation. Despite such limitations, we conclude that the analysis of photographic competitions can lead to identification of observable regularities that may act as ethical standards in relation to post-production images.

  8. Flexible and tunable silicon photonic circuits on plastic substrates

    Science.gov (United States)

    Chen, Yu; Li, Huan; Li, Mo

    2012-09-01

    Flexible microelectronics has shown tremendous promise in a broad spectrum of applications, especially those that cannot be addressed by conventional microelectronics in rigid materials and constructions. These unconventional yet important applications range from flexible consumer electronics to conformal sensor arrays and biomedical devices. A recent paradigm shift in implementing flexible electronics is to physically transfer highly integrated devices made in high-quality, crystalline semiconductors on to plastic substrates. Here we demonstrate a flexible form of silicon photonics using the transfer-and-bond fabrication method. Photonic circuits including interferometers and resonators have been transferred onto flexible plastic substrates with preserved functionalities and performance. By mechanically deforming, the optical characteristics of the devices can be tuned reversibly over a remarkably large range. The demonstration of the new flexible photonic systems based on the silicon-on-plastic (SOP) platform could open the door to many future applications, including tunable photonics, optomechanical sensors and biomechanical and bio-photonic probes.

  9. Nonlinear Parametric Excitation Effect Induces Stability Transitions in Swimming Direction of Flexible Superparamagnetic Microswimmers.

    Science.gov (United States)

    Harduf, Yuval; Jin, Dongdong; Or, Yizhar; Zhang, Li

    2018-04-05

    Microscopic artificial swimmers have recently become highly attractive due to their promising potential for biomedical microrobotic applications. Previous pioneering work has demonstrated the motion of a robotic microswimmer with a flexible chain of superparamagnetic beads, which is actuated by applying an oscillating external magnetic field. Interestingly, they have shown that the microswimmer's orientation undergoes a 90°-transition when the magnetic field's oscillation amplitude is increased above a critical value. This unexpected transition can cause severe problems in steering and manipulation of flexible magnetic microrobotic swimmers. Thus, theoretical understanding and analysis of the physical origins of this effect are of crucial importance. In this work, we investigate this transition both theoretically and experimentally by using numerical simulations and presenting a novel flexible microswimmer with an anisotropic superparamagnetic head. We prove that this effect depends on both frequency and amplitude of the oscillating magnetic field, and demonstrate existence of an optimal amplitude achieving maximal swimming speed. Asymptotic analysis of a minimal two-link model reveals that the changes in the swimmer's direction represent stability transitions, which are induced by a nonlinear parametric excitation.

  10. Geometric control of manipulators

    International Nuclear Information System (INIS)

    Thiruarooran, C.

    1996-01-01

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

  11. A simple and flexible route to large-area conductive transparent graphene thin-films

    NARCIS (Netherlands)

    Arapov, K.; Goryachev, A.; With, de G.; Friedrich, H.

    2015-01-01

    Solution-processed conductive, flexible and transparent graphene thin films continue drawing attention from science and technology due to their potential for many electrical applications. Here, an up-scalable method for the solution processing of graphite to graphene and further to self-assembled

  12. Regulatory Barriers for Flexible Coupling of the Nordic Power and District Heating Markets

    DEFF Research Database (Denmark)

    Skytte, Klaus; Olsen, Ole Jess

    2016-01-01

    that the choice of technologies for heat generation is mainly driven by outdated policies and tax conditions that create barriers for additional flexibility in the overall energy system. However, the balancing markets may be a main driver for introducing more electric boilers into DH and thereby increase its......Large share of variable renewable energy sources (VRE) is being deployed in the Nordic countries, especially wind power. This calls for additional flexibility of the power market. With the right coupling to the underlying national and local district heating (DH) markets, large shares of flexibility...

  13. Aggregation of flexible polyelectrolytes: Phase diagram and dynamics.

    Science.gov (United States)

    Tom, Anvy Moly; Rajesh, R; Vemparala, Satyavani

    2017-10-14

    Similarly charged polymers in solution, known as polyelectrolytes, are known to form aggregated structures in the presence of oppositely charged counterions. Understanding the dependence of the equilibrium phases and the dynamics of the process of aggregation on parameters such as backbone flexibility and charge density of such polymers is crucial for insights into various biological processes which involve biological polyelectrolytes such as protein, DNA, etc. Here, we use large-scale coarse-grained molecular dynamics simulations to obtain the phase diagram of the aggregated structures of flexible charged polymers and characterize the morphology of the aggregates as well as the aggregation dynamics, in the presence of trivalent counterions. Three different phases are observed depending on the charge density: no aggregation, a finite bundle phase where multiple small aggregates coexist with a large aggregate and a fully phase separated phase. We show that the flexibility of the polymer backbone causes strong entanglement between charged polymers leading to additional time scales in the aggregation process. Such slowing down of the aggregation dynamics results in the exponent, characterizing the power law decay of the number of aggregates with time, to be dependent on the charge density of the polymers. These results are contrary to those obtained for rigid polyelectrolytes, emphasizing the role of backbone flexibility.

  14. Flexible biochips for detection of biomolecules

    NARCIS (Netherlands)

    Peter, M.; Schüler, T.; Furthner, F.; Rensing, P.A.; Heck, G.T. van; Schoo, H.F.M.; Möllier, R.; Fritzsche, W.; Breemen, A.J.J.M. van; Meinders, E.R.

    2009-01-01

    Miniaturization of biosensors is envisaged by the development of biochips consisting of parallel microarray patterns of binding sites on rigid substrates, such as glass or silicon. Thin plastic substrates are promising flexible alternatives because of the possibility for large-area roll-to-roll

  15. Advances in flexible optrode hardware for use in cybernetic insects

    Science.gov (United States)

    Register, Joseph; Callahan, Dennis M.; Segura, Carlos; LeBlanc, John; Lissandrello, Charles; Kumar, Parshant; Salthouse, Christopher; Wheeler, Jesse

    2017-08-01

    Optogenetic manipulation is widely used to selectively excite and silence neurons in laboratory experiments. Recent efforts to miniaturize the components of optogenetic systems have enabled experiments on freely moving animals, but further miniaturization is required for freely flying insects. In particular, miniaturization of high channel-count optical waveguides are needed for high-resolution interfaces. Thin flexible waveguide arrays are needed to bend light around tight turns to access small anatomical targets. We present the design of lightweight miniaturized optogentic hardware and supporting electronics for the untethered steering of dragonfly flight. The system is designed to enable autonomous flight and includes processing, guidance sensors, solar power, and light stimulators. The system will weigh less than 200mg and be worn by the dragonfly as a backpack. The flexible implant has been designed to provide stimuli around nerves through micron scale apertures of adjacent neural tissue without the use of heavy hardware. We address the challenges of lightweight optogenetics and the development of high contrast polymer waveguides for this purpose.

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

    CSIR Research Space (South Africa)

    Dube, C

    2011-11-01

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

  17. Silver nanowire/polymer composite soft conductive film fabricated by large-area compatible coating for flexible pressure sensor array

    Science.gov (United States)

    Chen, Sujie; Li, Siying; Peng, Sai; Huang, Yukun; Zhao, Jiaqing; Tang, Wei; Guo, Xiaojun

    2018-01-01

    Soft conductive films composed of a silver nanowire (AgNW) network, a neutral-pH PEDOT:PSS over-coating layer and a polydimethylsiloxane (PDMS) elastomer substrate are fabricated by large area compatible coating processes. The neutral-pH PEDOT:PSS layer is shown to be able to significantly improve the conductivity, stretchability and air stability of the conductive films. The soft conductive films are patterned using a simple maskless patterning approach to fabricate an 8 × 8 flexible pressure sensor array. It is shown that such soft conductive films can help to improve the sensitivity and reduce the signal crosstalk over the pressure sensor array. Project supported by the Science and Technology Commission of Shanghai Municipality (No. 16JC1400603).

  18. TensorPack: a Maple-based software package for the manipulation of algebraic expressions of tensors in general relativity

    International Nuclear Information System (INIS)

    Huf, P A; Carminati, J

    2015-01-01

    In this paper we: (1) introduce TensorPack, a software package for the algebraic manipulation of tensors in covariant index format in Maple; (2) briefly demonstrate the use of the package with an orthonormal tensor proof of the shearfree conjecture for dust. TensorPack is based on the Riemann and Canon tensor software packages and uses their functions to express tensors in an indexed covariant format. TensorPack uses a string representation as input and provides functions for output in index form. It extends the functionality to basic algebra of tensors, substitution, covariant differentiation, contraction, raising/lowering indices, symmetry functions and other accessory functions. The output can be merged with text in the Maple environment to create a full working document with embedded dynamic functionality. The package offers potential for manipulation of indexed algebraic tensor expressions in a flexible software environment. (paper)

  19. Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

    Science.gov (United States)

    Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

    2008-08-01

    In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

  20. Extremely flexible nanoscale ultrathin body silicon integrated circuits on plastic.

    Science.gov (United States)

    Shahrjerdi, Davood; Bedell, Stephen W

    2013-01-09

    In recent years, flexible devices based on nanoscale materials and structures have begun to emerge, exploiting semiconductor nanowires, graphene, and carbon nanotubes. This is primarily to circumvent the existing shortcomings of the conventional flexible electronics based on organic and amorphous semiconductors. The aim of this new class of flexible nanoelectronics is to attain high-performance devices with increased packing density. However, highly integrated flexible circuits with nanoscale transistors have not yet been demonstrated. Here, we show nanoscale flexible circuits on 60 Å thick silicon, including functional ring oscillators and memory cells. The 100-stage ring oscillators exhibit the stage delay of ~16 ps at a power supply voltage of 0.9 V, the best reported for any flexible circuits to date. The mechanical flexibility is achieved by employing the controlled spalling technology, enabling the large-area transfer of the ultrathin body silicon devices to a plastic substrate at room temperature. These results provide a simple and cost-effective pathway to enable ultralight flexible nanoelectronics with unprecedented level of system complexity based on mainstream silicon technology.

  1. Ultrasonic Spray-Coating of Large-Scale TiO2 Compact Layer for Efficient Flexible Perovskite Solar Cells

    Directory of Open Access Journals (Sweden)

    Peng Zhou

    2017-02-01

    Full Text Available Flexible electronics have attracted great interest in applications for the wearable devices. Flexible solar cells can be integrated into the flexible electronics as the power source for the wearable devices. In this work, an ultrasonic spray-coating method was employed to deposit TiO2 nanoparticles on polymer substrates for the fabrication of flexible perovskite solar cells (PSCs. Pre-synthesized TiO2 nanoparticles were first dispersed in ethanol to prepare the precursor solutions with different concentrations (0.5 mg/mL, 1.0 mg/mL, 2.0 mg/mL and then sprayed onto the conductive substrates to produce compact TiO2 films with different thicknesses (from 30 nm to 150 nm. The effect of the different drying processes on the quality of the compact TiO2 film was studied. In order to further improve the film quality, titanium diisopropoxide bis(acetylacetonate (TAA was added into the TiO2-ethanol solution at a mole ratio of 1.0 mol % with respect to the TiO2 content. The final prepared PSC devices showed a power conversion efficiency (PCE of 14.32% based on the indium doped tin oxide coated glass (ITO-glass substrate and 10.87% on the indium doped tin oxide coated polyethylene naphthalate (ITO-PEN flexible substrate.

  2. Propulsion via flexible flapping in granular media

    Science.gov (United States)

    Peng, Zhiwei; Ding, Yang; Pietrzyk, Kyle; Elfring, Gwynn; Pak, On Shun

    2017-11-01

    Biological locomotion in nature is often achieved by the interaction between a flexible body and its surrounding medium. The interaction of a flexible body with granular media is less understood compared with viscous fluids partially due to its complex rheological properties. In this work, we explore the effect of flexibility on granular propulsion by considering a simple mechanical model in which a rigid rod is connected to a torsional spring that is under a displacement actuation using a granular resistive force theory. Through a combined numerical and asymptotic investigation, we characterize the propulsive dynamics of such a flexible flapper in relation to the actuation amplitude and spring stiffness, and we compare these dynamics with those observed in a viscous fluid. In addition, we demonstrate that the maximum possible propulsive force can be obtained in the steady propulsion limit with a finite spring stiffness and large actuation amplitude. These results may apply to the development of synthetic locomotive systems that exploit flexibility to move through complex terrestrial media. Funding for Z.P. and Y.D. was partially provided by NSFC 394 Grant No. 11672029 and NSAF-NSFC Grant No. U1530401.

  3. Wind-Induced Reconfigurations in Flexible Branched Trees

    Science.gov (United States)

    Ojo, Oluwafemi; Shoele, Kourosh

    2017-11-01

    Wind induced stresses are the major mechanical cause of failure in trees. We know that the branching mechanism has an important effect on the stress distribution and stability of a tree in the wind. Eloy in PRL 2011, showed that Leonardo da Vinci's original observation which states the total cross section of branches is conserved across branching nodes is the best configuration for resisting wind-induced fracture in rigid trees. However, prediction of the fracture risk and pattern of a tree is also a function of their reconfiguration capabilities and how they mitigate large wind-induced stresses. In this studies through developing an efficient numerical simulation of flexible branched trees, we explore the role of the tree flexibility on the optimal branching. Our results show that the probability of a tree breaking at any point depends on both the cross-section changes in the branching nodes and the level of tree flexibility. It is found that the branching mechanism based on Leonardo da Vinci's original observation leads to a uniform stress distribution over a wide range of flexibilities but the pattern changes for more flexible systems.

  4. Flexible Polydimethylsiloxane Foams Decorated with Multiwalled Carbon Nanotubes Enable Unprecedented Detection of Ultralow Strain and Pressure Coupled with a Large Working Range.

    Science.gov (United States)

    Iglio, Rossella; Mariani, Stefano; Robbiano, Valentina; Strambini, Lucanos; Barillaro, Giuseppe

    2018-04-25

    Low-cost piezoresistive strain/pressure sensors with large working range, at the same time able to reliably detect ultralow strain (≤0.1%) and pressure (≤1 Pa), are one of the challenges that have still to be overcome for flexible piezoresistive materials toward personalized health-monitoring applications. In this work, we report on unprecedented, simultaneous detection of ultrasmall strain (0.1%, i.e., 10 μm displacement over 10 mm) and subtle pressure (20 Pa, i.e., a force of only 2 mN over an area of 1 cm 2 ) in compression mode, coupled with a large working range (i.e., up to 60% for strain-6 mm in displacement-and 50 kPa for pressure) using piezoresistive, flexible three-dimensional (3D) macroporous polydimethylsiloxane (pPDMS) foams decorated with pristine multiwalled carbon nanotubes (CNTs). pPDMS/CNT foams with pore size up to 500 μm (i.e., twice the size of those of commonly used foams, at least) and porosity of 77%, decorated with a nanostructured surface network of CNTs at densities ranging from 7.5 to 37 mg/cm 3 are prepared using a low-cost and scalable process, through replica molding of sacrificial sugar templates and subsequent drop-casting of CNT ink. A thorough characterization shows that piezoresistive properties of the foams can be finely tuned by controlling the CNT density and reach an optimum at a CNT density of 25 mg/cm 3 , for which a maximum change of the material resistivity (e.g., ρ 0 /ρ 50 = 4 at 50% strain) is achieved under compression. Further static and dynamic characterization of the pPDMS/CNT foams with 25 mg/cm 3 of CNTs highlights that detection limits for strain and pressure are 0.03% (3 μm displacement over 10 mm) and 6 Pa (0.6 mN over an area of 1 cm 2 ), respectively; moreover, good stability and limited hysteresis are apparent by cycling the foams with 255 compression-release cycles over the strain range of 0-60%, at different strain rates up to 10 mm/min. Our results on piezoresistive, flexible pPDMS/CNT foams

  5. 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

  6. Manipulation of Nanoparticles Using Dark-Field-Illumination Optical Tweezers with Compensating Spherical Aberration

    International Nuclear Information System (INIS)

    Jin-Hua, Zhou; Run-Zhe, Tao; Zhi-Bin, Hu; Min-Cheng, Zhong; Zi-Qiang, Wang; Yin-Mei, Li; Jun, Cai

    2009-01-01

    Based on our previous investigation of optical tweezers with dark field illumination [Chin. Phys. Lett. 25(2008)329], nanoparticles at large trap depth are better viewed in wide field and real time for a long time, but with poor forces. Here we present the mismatched tube length to compensate for spherical aberration of an oil-immersion objective in a glass-water interface in an optical tweezers system for manipulating nanoparticles. In this way, the critical power of stable trapping particles is measured at different trap depths. It is found that trap depth is enlarged for trapping nanoparticles and trapping forces are enhanced at large trap depth. According to the measurement, 70-nm particles are manipulated in three dimensions and observed clearly at large appropriate depth. This will expand applications of optical tweezers in a nanometre-scale colloidal system. (cross-disciplinary physics and related areas of science and technology)

  7. Powered manipulator control arm

    International Nuclear Information System (INIS)

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

    1975-01-01

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

  8. The direct manipulation shell

    International Nuclear Information System (INIS)

    Allen, M.E.; Christiansen, M.

    1992-01-01

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

  9. Image manipulation as research misconduct.

    Science.gov (United States)

    Parrish, Debra; Noonan, Bridget

    2009-06-01

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

  10. Long-reach manipulators for decommissioning

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  11. 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.

  12. Hierarchical control system of advanced robot manipulator

    International Nuclear Information System (INIS)

    Oomichi, Takeo; Okino, Akihisa; Nishihara, Masatoshi; Sakamoto, Taizou; Matsuda, Koichi; Ohnishi, Ken

    1990-01-01

    We introduce a double arm with 4-finger's manipulator system which process the large volume of information at high speed. This is under research/development many type of works in the harsh condition. Namely, hierarchization of instruction unit in which motion control system as real time processing unit, and task planning unit as non-real time processing unit, interface with operation through the task planning unit has been made. Also, high speed processing of large volume information has been realized by decentralizing the motion control unit by function, hierarchizing the high speed processing unit, and developing high speed transmission, IC which does not depend on computer OS to avoid the delay in transmission. (author)

  13. Experiments study on attitude coupling control method for flexible spacecraft

    Science.gov (United States)

    Wang, Jie; Li, Dongxu

    2018-06-01

    High pointing accuracy and stabilization are significant for spacecrafts to carry out Earth observing, laser communication and space exploration missions. However, when a spacecraft undergoes large angle maneuver, the excited elastic oscillation of flexible appendages, for instance, solar wing and onboard antenna, would downgrade the performance of the spacecraft platform. This paper proposes a coupling control method, which synthesizes the adaptive sliding mode controller and the positive position feedback (PPF) controller, to control the attitude and suppress the elastic vibration simultaneously. Because of its prominent performance for attitude tracking and stabilization, the proposed method is capable of slewing the flexible spacecraft with a large angle. Also, the method is robust to parametric uncertainties of the spacecraft model. Numerical simulations are carried out with a hub-plate system which undergoes a single-axis attitude maneuver. An attitude control testbed for the flexible spacecraft is established and experiments are conducted to validate the coupling control method. Both numerical and experimental results demonstrate that the method discussed above can effectively decrease the stabilization time and improve the attitude accuracy of the flexible spacecraft.

  14. Are building users prepared for energy flexible buildings—A large-scale survey in the Netherlands

    DEFF Research Database (Denmark)

    Li, Rongling; Dane, Gamze; Finck, Christian

    2017-01-01

    Building energy flexibility might play a crucial role in demand side management for integrating intermittent renewables into smart grids. The potential of building energy flexibility depends not only on the physical characteristics of a building but also on occupant behaviour in the building. Bui...... incentives such as financial rewards....... never heard of smart grids. However, unfamiliarity with smart grids increased with age, and half of the respondents aged 20–29 years old were aware of the concept. Monetary incentives were identified as the biggest motivating factor for adoption of smart grid technologies. It was also found that people...

  15. COMT Val158Met polymorphism, cognitive stability and cognitive flexibility: an experimental examination

    Directory of Open Access Journals (Sweden)

    Rosa Elise C

    2010-09-01

    Full Text Available Abstract Background Dopamine in prefrontal cortex (PFC modulates core cognitive processes, notably working memory and executive control. Dopamine regulating genes and polymorphisms affecting PFC - including Catechol-O-Methyltransferase (COMT Val158Met - are crucial to understanding the molecular genetics of cognitive function and dysfunction. A mechanistic account of the COMT Val158Met effect associates the Met allele with increased tonic dopamine transmission underlying maintenance of relevant information, and the Val allele with increased phasic dopamine transmission underlying the flexibility of updating new information. Thus, consistent with some earlier work, we predicted that Val carriers would display poorer performance when the maintenance component was taxed, while Met carriers would be less efficient when rapid updating was required. Methods Using a Stroop task that manipulated level of required cognitive stability and flexibility, we examined reaction time performance of patients with schizophrenia (n = 67 and healthy controls (n = 186 genotyped for the Val/Met variation. Results In both groups we found a Met advantage for tasks requiring cognitive stability, but no COMT effect when a moderate level of cognitive flexibility was required, or when a conflict cost measure was calculated. Conclusions Our results do not support a simple stability/flexibility model of dopamine COMT Val/Met effects and suggest a somewhat different conceptualization and experimental operationalization of these cognitive components.

  16. Design of a flexible tactile sensor for classification of rigid and deformable objects

    DEFF Research Database (Denmark)

    Drimus, Alin; Kootstra, Gert; Bilberg, Arne

    2014-01-01

    of the sensor in an active object-classification system. A robotic gripper with two sensors mounted on its fingers performs a palpation procedure on a set of objects. By squeezing an object, the robot actively explores the material properties, and the system acquires tactile information corresponding......For both humans and robots, tactile sensing is important for interaction with the environment: it is the core sensing used for exploration and manipulation of objects. In this paper, we present a novel tactile-array sensor based on flexible piezoresistive rubber.We describe the design of the sensor...... and data acquisition system.We evaluate the sensitivity and robustness of the sensor, and show that it is consistent over time with little relaxation. Furthermore, the sensor has the benefit of being flexible, having a high resolution, it is easy to mount, and simple to manufacture. We demonstrate the use...

  17. Pneumatic artificial muscle actuators for compliant robotic manipulators

    Science.gov (United States)

    Robinson, Ryan Michael

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

  18. CLIMAN - a mobile manipulator concept

    International Nuclear Information System (INIS)

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

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

  19. Printed electronic on flexible and glass substrates

    Science.gov (United States)

    Futera, Konrad; Jakubowska, Małgorzata; Kozioł, Grażyna

    2010-09-01

    Organic electronics is a platform technology that enables multiple applications based on organic electronics but varied in specifications. Organic electronics is based on the combination of new materials and cost-effective, large area production processes that provide new fields of application. Organic electronic by its size, weight, flexibility and environmental friendliness electronics enables low cost production of numerous electrical components and provides for such promising fields of application as: intelligent packaging, low cost RFID, flexible solar cells, disposable diagnostic devices or games, and printed batteries [1]. The paper presents results of inkjetted electronics elements on flexible and glass substrates. The investigations was target on characterizing shape, surface and geometry of printed structures. Variety of substrates were investigated, within some, low cost, non specialized substrate, design for other purposes than organic electronic.

  20. 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...

  1. Flight Dynamics Simulation Modeling and Control of a Large Flexible Tiltrotor Aircraft

    Science.gov (United States)

    2014-09-01

    analyses as it retains a momentum theory type rotor system. Later, CAMRAD, a comprehensive aeromechanics and dynamics model capa- ble of multi-rotor and...isotropic, linearly elastic material. 8. All blades are identical. 9. Euler- Bernoulli beam theory is used, implying plane cross sections remain plane and...aircraft could be improved to achieve a higher fidelity structural response. Currently, flexible wings are modeled as Bernoulli beams. Actual aircraft

  2. Interpersonal relationship manipulation at a personal level

    Directory of Open Access Journals (Sweden)

    Andreja Hribernik

    2010-12-01

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

  3. A paper-based electrode using a graphene dot/PEDOT:PSS composite for flexible solar cells

    KAUST Repository

    Lee, Chuan-Pei

    2017-04-22

    We have synthesized a metal-free composite ink that contains graphene dots (GDs) and poly(3,4-ethylenedioxythiophene):polystyrene sulfonate (PEDOT:PSS) that can be used on paper to serve as the counter electrode in a flexible dye-sensitized solar cell (DSSC). This paper-based GD/PEDOT:PSS electrode is low-cost, light-weight, flexible, environmentally friendly, and easy to cut and process for device fabrication. We determined the GD/PEDOT:PSS composite effectively fills the dense micro-pores in the paper substrate, which leads to improved carrier transport in the electrode and a 3-fold enhanced cell efficiency as compared to the paper electrode made with sputtered Pt. Moreover, the DSSC with the paper electrode featuring the GD/PEDOT:PSS composite did not fail in photovoltaic tests even after bending the electrode 150 times, whereas the device made with the Pt-based paper electrode decreased in efficiency by 45% after such manipulation. These exceptional properties make the metal-free GD/PEDOT:PSS composite ink a promising electrode material for a wide variety of flexible electronic applications.

  4. Unemployment and External and Internal Labor Market Flexibility: A Comparative View of Europe, Japan, and the United States

    OpenAIRE

    David Kucera

    1998-01-01

    This paper examines the relationship between unemployment and labor market flexibility. The latter is considered in the broadest sense - as it relates to labor markets at large (external flexibility) and to practices within firms (internal flexibility). The first part of the paper addresses the argument that differences in employment performance among the advanced economies result largely from differences in labor market flexibility. Empirical evidence is considered on nominal and real wage f...

  5. Spin Injection, Manipulation, and Detection, in InAs Nanodevices

    Science.gov (United States)

    Jones, G. M.; Jonker, B. T.; Bennett, B. R.; Meyer, J. R.; Twigg, M. E.; Reinecke, T. L.; Park, D.; Pereverzev, S. V.; Badescu, C. S.; Li, C. H.; Hanbicki, A. T.; van'terve, O.; Vurgaftman, I.

    2008-03-01

    In this talk the authors will discuss their progress using InAs heterostructures to produce spin-polarized injection and detection, as well as manipulation of coherent spin-polarized electrons for a spin-based FET (SpinFET). High-quality n-type InAs heterostructures demonstrate many favorable characteristics necessary to the study of spin dynamics, including 2DEG's with small effective mass (m* = 0.023) and large g-factor (g = -15). Previously, high-mobility InAs heterostructures have been demonstrated in which electrons pass ballistically over hundreds of nanometers up to room temperature. Our devices seek to exploit the strong Spin-Orbit effect present in InAs to manipulate coherent spin-polarized electrons during transport, by producing perpendicular electric field using isolated top-gates fabricated over the electron transport region.

  6. MEMS-based clamp with a passive hold function for precision position retaining of micro manipulators

    International Nuclear Information System (INIS)

    Brouwer, D M; Van Dijk, J; Soemers, H M J R; De Jong, B R; De Boer, M J; Jansen, H V; Krijnen, G J M

    2009-01-01

    In this paper the design, modeling and fabrication of a precision MEMS-based clamp with a relatively large clamping force are presented. The purpose of the clamp is to mechanically fix a six-degree-of-freedom (DOF) MEMS-based sample manipulator (Brouwer et al J. Int. Soc. Precis. Eng. Nanotechnol. submitted) once the sample has been positioned in all DOFs. The clamping force is generated by a rotational electrostatic comb-drive actuator and can be latched passively by a parallel plate type electrostatically driven locking device. The clamp design is based on the principles of exact constraint design, resulting in a high actuation compliance (flexibility) combined with a high suspension stiffness. Therefore, a relatively large blocking force of 1.4 mN in relation to the used area of 1.8 mm 2 is obtained. The fabrication is based on silicon bulk micromachining technology and combines a high-aspect-ratio deep reactive ion etching (DRIE), conformal deposition of low-pressure chemical vapor deposition (LPCVD) silicon nitride and an anisotropic potassium hydroxide (KOH) backside etching technology. Special attention is given to void reduction of Si x N y trench isolation and reduction of heating phenomena during front-side release etching. Guidelines are given for the applied process. Measurements showed that the clamp was able to fix, hold and release a test actuator. The dynamic behavior was in good agreement with the modal analysis

  7. 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

  8. Human-robot skills transfer interfaces for a flexible surgical robot.

    Science.gov (United States)

    Calinon, Sylvain; Bruno, Danilo; Malekzadeh, Milad S; Nanayakkara, Thrishantha; Caldwell, Darwin G

    2014-09-01

    In minimally invasive surgery, tools go through narrow openings and manipulate soft organs to perform surgical tasks. There are limitations in current robot-assisted surgical systems due to the rigidity of robot tools. The aim of the STIFF-FLOP European project is to develop a soft robotic arm to perform surgical tasks. The flexibility of the robot allows the surgeon to move within organs to reach remote areas inside the body and perform challenging procedures in laparoscopy. This article addresses the problem of designing learning interfaces enabling the transfer of skills from human demonstration. Robot programming by demonstration encompasses a wide range of learning strategies, from simple mimicking of the demonstrator's actions to the higher level imitation of the underlying intent extracted from the demonstrations. By focusing on this last form, we study the problem of extracting an objective function explaining the demonstrations from an over-specified set of candidate reward functions, and using this information for self-refinement of the skill. In contrast to inverse reinforcement learning strategies that attempt to explain the observations with reward functions defined for the entire task (or a set of pre-defined reward profiles active for different parts of the task), the proposed approach is based on context-dependent reward-weighted learning, where the robot can learn the relevance of candidate objective functions with respect to the current phase of the task or encountered situation. The robot then exploits this information for skills refinement in the policy parameters space. The proposed approach is tested in simulation with a cutting task performed by the STIFF-FLOP flexible robot, using kinesthetic demonstrations from a Barrett WAM manipulator. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

  9. Recent advances in flexible low power cholesteric LCDs

    Science.gov (United States)

    Khan, Asad; Shiyanovskaya, Irina; Montbach, Erica; Schneider, Tod; Nicholson, Forrest; Miller, Nick; Marhefka, Duane; Ernst, Todd; Doane, J. W.

    2006-05-01

    Bistable reflective cholesteric displays are a liquid crystal display technology developed to fill a market need for very low power displays. Their unique look, high reflectivity, bistability, and simple structure make them an ideal flat panel display choice for handheld or other portable devices where small lightweight batteries with long lifetimes are important. Applications ranging from low resolution large signs to ultra high resolution electronic books can utilize cholesteric displays to not only benefit from the numerous features, but also create enabling features that other flat panel display technologies cannot. Flexible displays are the focus of attention of numerous research groups and corporations worldwide. Cholesteric displays have been demonstrated to be highly amenable to flexible substrates. This paper will review recent advances in flexible cholesteric displays including both phase separation and emulsification approaches to encapsulation. Both approaches provide unique benefits to various aspects of manufacturability, processes, flexibility, and conformability.

  10. Inspection and monitoring techniques for un-bonded flexible risers and pipelines

    OpenAIRE

    Simonsen, Anders

    2014-01-01

    Master's thesis in Offshore technology Un-bonded flexible pipelines and risers are an alternative to conventional rigid steel pipes. The use of flexible pipes has enabled development of several offshore fields that seemed unfeasible with the use of rigid pipes due to extensive seabed preparation and large dynamic motions. The lack of knowledge and integrity management tools for flexible pipes is a limiting factor and cause pipelines and risers to be replaced before their service life has ...

  11. A control method for manipulators with redundancy

    International Nuclear Information System (INIS)

    Furusho, Junji; Usui, Hiroyuki

    1989-01-01

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

  12. Computer control of a multi-link manipulator

    International Nuclear Information System (INIS)

    Holt, J.E.; Thiruarooran, C.

    1988-01-01

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

  13. Dynamics and control of robotic spacecrafts for the transportation of flexible elements

    International Nuclear Information System (INIS)

    Wen, Hao; Chen, Ti; Yu, Bensong; Jin, Dongping

    2016-01-01

    The technology of robotic spacecrafts has been identified as one of the most appealing solutions to the on-orbit construction of large space structures in future space missions. As a prerequisite of a successful on-orbit construction, it is needed to use small autonomous spacecrafts for the transportation of flexible elements. To this end, the paper presents an energy-based scheme to control a couple of robotic spacecrafts carrying a flexible slender structure to its desired position. The flexible structure is modelled as a long beam based on the formulation of absolute nodal coordinates to account for the geometrical nonlinearity due to large displacement. Meanwhile, the robotic spacecrafts are actuated on their rigid-body degrees of freedom and modelled as two rigid bodies attached to the flexible beam. The energy-based controller is designed using the technique of energy shaping and damping injection such that translational and rotational maneuvers can be achieved with the suppression of the flexible vibrations of the beam. Finally, numerical case studies are performed to demonstrate the proposed schemes. (paper)

  14. Docking to flexible nicotinic acetylcholine receptors

    DEFF Research Database (Denmark)

    Sander, Tommy; Bruun, Anne T; Balle, Thomas

    2010-01-01

    Computational docking to nicotinic acetylcholine receptors (nAChRs) and other members of the Cys-loop receptor family is complicated by the flexibility of the so-called C-loop. As observed in the large number of published crystal structures of the acetylcholine binding protein (AChBP), a structural...

  15. 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.

  16. Weather and Climate Manipulation as an Optimal Control for Adaptive Dynamical Systems

    Directory of Open Access Journals (Sweden)

    Sergei A. Soldatenko

    2017-01-01

    Full Text Available The weather and climate manipulation is examined as an optimal control problem for the earth climate system, which is considered as a complex adaptive dynamical system. Weather and climate manipulations are actually amorphous operations. Since their objectives are usually formulated vaguely, the expected results are fairly unpredictable and uncertain. However, weather and climate modification is a purposeful process and, therefore, we can formulate operations to manipulate weather and climate as the optimization problem within the framework of the optimal control theory. The complexity of the earth’s climate system is discussed and illustrated using the simplified low-order coupled chaotic dynamical system. The necessary conditions of optimality are derived for the large-scale atmospheric dynamics. This confirms that even a relatively simplified control problem for the atmospheric dynamics requires significant efforts to obtain the solution.

  17. When Flexibility Helps: Another Look at the Availability of Flexible Work Arrangements and Work-Family Conflict

    Science.gov (United States)

    Shockley, Kristen M.; Allen, Tammy D.

    2007-01-01

    Despite the positive press given to flexible work arrangements (FWA), empirical research investigating the link between the availability of these policies and work-family conflict is largely equivocal. The purpose of the present study was to begin to reconcile these mixed results through more precise measurement and the examination of moderators.…

  18. Influence of hinge point on flexible flap aerodynamic performance

    International Nuclear Information System (INIS)

    Zhao, H Y; Ye, Z; Wu, P; Li, C

    2013-01-01

    Large scale wind turbines lead to increasing blade lengths and weights, which presents new challenges for blade design. This paper selects NREL S809 airfoil, uses the parameterized technology to realize the flexible trailing edge deformation, researches the static aerodynamic characteristics of wind turbine blade airfoil with flexible deformation, and the dynamic aerodynamic characteristics in the process of continuous deformation, analyses the influence of hinge point position on flexible flap aerodynamic performance, in order to further realize the flexible wind turbine blade design and provides some references for the active control scheme. The results show that compared with the original airfoil, proper trailing edge deformation can improve the lift coefficient, reduce the drag coefficient, and thereby more efficiently realize flow field active control. With hinge point moving forward, total aerodynamic performance of flexible flap improves. Positive swing angle can push the transition point backward, thus postpones the occurrence of the transition phenomenon

  19. Flexible, High-Speed CdSe Nanocrystal Integrated Circuits.

    Science.gov (United States)

    Stinner, F Scott; Lai, Yuming; Straus, Daniel B; Diroll, Benjamin T; Kim, David K; Murray, Christopher B; Kagan, Cherie R

    2015-10-14

    We report large-area, flexible, high-speed analog and digital colloidal CdSe nanocrystal integrated circuits operating at low voltages. Using photolithography and a newly developed process to fabricate vertical interconnect access holes, we scale down device dimensions, reducing parasitic capacitances and increasing the frequency of circuit operation, and scale up device fabrication over 4 in. flexible substrates. We demonstrate amplifiers with ∼7 kHz bandwidth, ring oscillators with <10 μs stage delays, and NAND and NOR logic gates.

  20. Flexible riser global analysis for very shallow water

    OpenAIRE

    Karegar, Sadjad

    2013-01-01

    Master's thesis in Offshore technology Flexible risers are widely used for a range of water depths and can accommodate large floater motions when using a buoyant system. A wide range of buoyancy solutions have been developed for very shallow water (e.g. 30-50 m), shallow water (e.g. 90-110 m) and semi-deep water (e.g. 300-400 m) and in the ranges between these depths. Flexible risers can have different configurations. These different solutions have different characteristics which influe...

  1. 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…

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

    Science.gov (United States)

    Hannan, Michael W.; Walker, Ian D.

    2003-01-01

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

  3. Graphene-Based Flexible and Transparent Tunable Capacitors.

    Science.gov (United States)

    Man, Baoyuan; Xu, Shicai; Jiang, Shouzheng; Liu, Aihua; Gao, Shoubao; Zhang, Chao; Qiu, Hengwei; Li, Zhen

    2015-12-01

    We report a kind of electric field tunable transparent and flexible capacitor with the structure of graphene-Bi1.5MgNb1.5O7 (BMN)-graphene. The graphene films with low sheet resistance were grown by chemical vapor deposition. The BMN thin films were fabricated on graphene by using laser molecular beam epitaxy technology. Compared to BMN films grown on Au, the samples on graphene substrates show better quality in terms of crystallinity, surface morphology, leakage current, and loss tangent. By transferring another graphene layer, we fabricated flexible and transparent capacitors with the structure of graphene-BMN-graphene. The capacitors show a large dielectric constant of 113 with high dielectric tunability of ~40.7 % at a bias field of 1.0 MV/cm. Also, the capacitor can work stably in the high bending condition with curvature radii as low as 10 mm. This flexible film capacitor has a high optical transparency of ~90 % in the visible light region, demonstrating their potential application for a wide range of flexible electronic devices.

  4. On flexibility

    OpenAIRE

    Weiss, Christoph R.; Briglauer, Wolfgang

    2000-01-01

    By building on theoretical work by Mills and Schumann (1985) and Ungern-Sternberg (1990) this paper provides evidence on the determinants of two dimensions of flexibility, the flexibility in adjusting aggregate output over time (tactical flexibility) as well as the ability to switch quickly between products (operational flexibility). Econometric analysis of a sample of 40.000 farms in Upper-Austria for the period 1980 to 1990 suggests that larger full-time farms operated by younger, better ed...

  5. High precision redundant robotic manipulator

    International Nuclear Information System (INIS)

    Young, K.K.D.

    1998-01-01

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

  6. Bioprinting Living Biofilms through Optogenetic Manipulation.

    Science.gov (United States)

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

    2018-04-18

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

  7. Which standards’ characteristics increase system flexibility? Comparing ICT and Batch Processing Infrastructures

    NARCIS (Netherlands)

    Egyedi, T.M.; Verwater-Lukszo, Z.

    2005-01-01

    Most large Information and Communication Technology (ICT) systems develop in a piece-meal fashion. Their complexity and evolution is difficult to manage. They lack flexibility. This contrasts sharply with system design in the batch-wise processing industry, where flexibility has always had a high

  8. Experimental Research on Fluid Coupling Flexible Actuator

    Directory of Open Access Journals (Sweden)

    Xiangli Zeng

    2018-02-01

    Full Text Available In the field of micromechanics, piezoelectric actuator has attracted great attention for its high-frequency response, high displacement resolution, and high output force. However, its prospect of practical application has been largely limited by the displacement of micrometer. A fluid coupling flexible actuator was proposed, which utilizes resonance to enlarge the output displacement. The actuator uses a piezoelectric oscillator as an excitation source, fluid as the transmission medium and a flexible diaphragm for the displacement output. On the condition that the fluid is inviscid and incompressible, mathematical formulation of the membrane vibration theory has been analyzed. Then, the prototype is made. The displacement is amplified 21 times to 1.106 mm when driving frequency is 127 Hz. The flexible diaphragm appears the largest displacement output when driving frequency is close to one of the system’s natural frequency. Then, the points with zero amplitude form a circle on the surface of flexible diaphragm and the movement direction of the flexible diaphragm is opposite on different sides of the circle. In fact, rather than vibrates at the first resonance frequency, the membrane in the essay is vibrating at a certain higher-order resonance frequency. The experimental results are mainly consistent with the theoretical analysis.

  9. Balance and flexibility.

    Science.gov (United States)

    2003-12-01

    The 'work-life balance' and flexible working are currently key buzz terms in the NHS. Those looking for more information on these topics should visit Flexibility at www.flexibility.co.uk for a host of resources designed to support new ways of working, including information on flexible workers and flexible rostering, the legal balancing act for work-life balance and home working.

  10. Applications of custom scripting in digital micrograph: general image manipulation and utilities

    International Nuclear Information System (INIS)

    Mitchell, D.R.G.

    2002-01-01

    Full text: The Gatan Imaging Filter (GIF) uses a charge coupled device (CCD) camera to capture images and spectra. Image capture and manipulation is achieved through Gatan's Digital Micrograph software. This has many capabilities built-in, and can be further extended through installation of custom scripts. These are typically short programs written in a powerful scripting language, which permits many aspects of image acquisition and subsequent manipulation to be controlled by the user. Custom scripts can be added to the normal pull down menus, producing a very flexible and easy to use environment. The scripts described here demonstrate how custom scripting can enhance the functionality of a modem analytical TEM equipped with, in this instance, a GIF. However, scripting will enhance any TEM using a CCD camera controlled through Digital Micrograph. The examples shown here include: a) a script to rotationally average a selected area diffraction pattern and produce a calibrated radial intensity profile, b) a utility script which monitors and graphically displays the CCD temperature as a function of time and c) a simple script to propagate image spatial calibrations to uncalibrated images, such as EFTEM images. Other scripts by the author along with some scripting resources are also discussed. Copyright (2002) Australian Society for Electron Microscopy Inc

  11. Optically active Babinet planar metamaterial film for terahertz polarization manipulation

    DEFF Research Database (Denmark)

    Zalkovskij, Maksim; Malureanu, Radu; Kremers, C.

    2013-01-01

    A planar Babinet-inverted dimer metamaterial possessing strong optical activity is proposed and characterized. An original fabrication method to produce large area (up to several cm2) freely suspended flexible metallic membranes is implemented to fabricate the metamaterial. Its optical properties...

  12. ERP evidence for flexible adjustment of retrieval orientation and its influence on familiarity.

    Science.gov (United States)

    Ecker, Ullrich K H; Zimmer, Hubert D

    2009-10-01

    The assumption was tested that familiarity memory as indexed by a mid-frontal ERP old-new effect is modulated by retrieval orientation. A randomly cued category-based versus exemplar-specific recognition memory test, requiring flexible adjustment of retrieval orientation, was conducted. Results show that the mid-frontal ERP old-new effect is sensitive to the manipulation of study-test congruency-that is, whether the same object is repeated identically or a different category exemplar is presented at test. Importantly, the effect pattern depends on subjects' retrieval orientation. With a specific orientation, only same items elicited an early old-new effect (same > different = new), whereas in the general condition, the old-new effect was graded (same > different > new). This supports the view that both perceptual and conceptual processes can contribute to familiarity memory and demonstrates that the rather automatic process of familiarity is not only data driven but influenced by top-down retrieval orientation, which subjects are able to adjust on a flexible basis.

  13. Using Manipulatives to Teach Elementary Mathematics

    Science.gov (United States)

    Boggan, Matthew; Harper, Sallie; Whitmire, Anna

    2010-01-01

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

  14. 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.

  15. Free form CMOS electronics: Physically flexible and stretchable

    KAUST Repository

    Hussain, Muhammad Mustafa

    2015-12-07

    Free form (physically flexible and stretchable) electronics can be used for applications which are unexplored today due to the rigid and brittle nature of the state-of-the-art electronics. Therefore, we show integration strategy to rationally design materials, processes and devices to transform advanced complementary metal oxide semiconductor (CMOS) electronics into flexible and stretchable one while retaining their high performance, energy efficiency, ultra-large-scale-integration (ULSI) density, reliability and performance over cost benefit to expand its applications for wearable, implantable and Internet-of-Everything electronics.

  16. Laser Direct Write micro-fabrication of large area electronics on flexible substrates

    Science.gov (United States)

    Zacharatos, F.; Makrygianni, M.; Geremia, R.; Biver, E.; Karnakis, D.; Leyder, S.; Puerto, D.; Delaporte, P.; Zergioti, I.

    2016-06-01

    To date, Laser Direct Write (LDW) techniques, such as Laser Induced Forward Transfer (LIFT), selective laser ablation and selective laser sintering of metal nanoparticle (NP) ink layers are receiving growing attention for the printing of uniform and well-defined conductive patterns with resolution down to 10 μm. For flexible substrates in particular, selective laser sintering of such NP patterns has been widely applied, as a low temperature and high resolution process compatible with large area electronics. In this work, LDW of silver NP inks has been carried out on polyethylene-terephthalate (PET), polyethylene-naphthalate (PEN) and polyimide (PI) substrates to achieve low electrical resistivity electrodes. In more detail, high speed short pulsed (picosecond and nanosecond) lasers with repetition rates up to 1 MHz were used to print (LIFT) metal NP inks. We thus achieved uniform and continuous patterns with a minimum feature size of 1 μm and a total footprint larger than 1 cm2. Next, the printed patterns were laser sintered with ns pulses at 532 nm over a wide laser fluence window, resulting in an electrical resistivity of 10 μΩ cm. We carried out spatial beam shaping experiments to achieve a top-hat laser intensity profile and employed selective laser ablation of thin films (thickness on the order of 100 nm) to produce silver micro-electrodes with a resolution on the order of 10 μm and a low line edge roughness. Laser sintering was combined with laser ablation to constitute a fully autonomous micro-patterning technique of metallic micro-features, with a 10 μm resolution and geometrical characteristics tuned for interdigitated electrodes for sensor applications.

  17. A poly(dimethylsiloxane)-coated flexible mold for nanoimprint lithography

    International Nuclear Information System (INIS)

    Lee, Nae Yoon; Kim, Youn Sang

    2007-01-01

    In this paper, we introduce an anti-adhesion poly(dimethylsiloxane) (PDMS)-coated flexible mold and its applications for room-temperature imprint lithography. The flexible mold is fabricated using an ultraviolet-curable prepolymer on a flexible substrate, and its surface is passivated with a thin layer of PDMS to impart an anti-adhesion property. The highly flexible mold enables conformal contact with a substrate on which a low-viscosity polymer resist is spin-cast in a thin layer. Large-area imprinting is then realized at room temperature under significantly reduced pressure. The mold was durable even after repetitive imprinting of over 200 times. Also, we show a double imprinting on the substrate with a PDMS-coated replica polymeric mold having 500 nm line patterns. This enables the formation of matrix patterns with varying feature heights in less than 7 min

  18. A world first. Industrial operation of computer-aided master-slave manipulator at the La Hague recycling plant

    International Nuclear Information System (INIS)

    Brueziere, Jerome; Thro, Jean Francois; Brudieu, Marie-Anne; Piolain, Gerard; Geffard, Franck; Garrec, Philippe; Measson, Yvan; Coudray, Alain; Lelann, Eric

    2011-01-01

    Since the beginning of industrial nuclear plants like recycling, mechanical master-slave manipulators have been widely used for operation and maintenance in hot cells, in conjunction with shielding windows. In the La Hague plant for instance, all hot cells where maintenance is or could be required are fitted with shielding windows and through-wall telescopic master-slave manipulators. This well mastered solution, if used by highly skilled workers, has demonstrated its capability to perform all the maintenance tasks required, as long as equipment and tools inside the cell were designed accordingly. However, this technology has also shown significant limitations in terms of capacity, flexibility, efficiency and reliability. In order to improve those characteristics, AREVA and CEA have developed together a new technology: computer-aided master-slave manipulators. By replacing the traditional mechanical link, between the 'slave arm' in the cell and the 'master arm', with motors, sensors and electronics, this new tool improves load capacity and provides added flexibility and efficiency, while protecting the slave arm from overload and therefore improving reliability. In addition, this new device was developed to be fully compatible with current La Hague configuration. After developing and testing this solution in realistic but inactive environment, by performing all kinds of operation and maintenance activities with trained workers, the first generation tool was improved by incorporating feed-back and suggestions from operators. Second generation system was then developed, and first introduced in 2010 in an active cell of the La Hague plant, namely a vitrification cell. After a few months in operation, feedback from manufacturing staff was so positive that implementation of several new arms was decided for 2011. This paper will describe how this development benefited from the existing know-how and component library jointly developed by AREVA and CEA, as well as the main

  19. Cognitive flexibility and clinical severity in eating disorders.

    Directory of Open Access Journals (Sweden)

    Kate Tchanturia

    Full Text Available OBJECTIVES: The aim of this study was to explore cognitive flexibility in a large dataset of people with Eating Disorders and Healthy Controls (HC and to see how patient characteristics (body mass index [BMI] and length of illness are related to this thinking style. METHODS: A dataset was constructed from our previous studies using a conceptual shift test--the Brixton Spatial Anticipation Test. 601 participants were included, 215 patients with Anorexia Nervosa (AN (96 inpatients; 119 outpatients, 69 patients with Bulimia Nervosa (BN, 29 Eating Disorder Not Otherwise Specified (EDNOS, 72 in long-term recovery from AN (Rec AN and a comparison group of 216 HC. RESULTS: The AN and EDNOS groups had significantly more errors than the other groups on the Brixton Test. In comparison to the HC group, the effect size decrement was large for AN patients receiving inpatient treatment and moderate for AN outpatients. CONCLUSIONS: These findings confirm that patients with AN have poor cognitive flexibility. Severity of illness measured by length of illness does not fully explain the lack of flexibility and supports the trait nature of inflexibility in people with AN.

  20. Cognitive Flexibility and Clinical Severity in Eating Disorders

    Science.gov (United States)

    Tchanturia, Kate; Harrison, Amy; Davies, Helen; Roberts, Marion; Oldershaw, Anna; Nakazato, Michiko; Stahl, Daniel; Morris, Robin

    2011-01-01

    Objectives The aim of this study was to explore cognitive flexibility in a large dataset of people with Eating Disorders and Healthy Controls (HC) and to see how patient characteristics (body mass index [BMI] and length of illness) are related to this thinking style. Methods A dataset was constructed from our previous studies using a conceptual shift test - the Brixton Spatial Anticipation Test. 601 participants were included, 215 patients with Anorexia Nervosa (AN) (96 inpatients; 119 outpatients), 69 patients with Bulimia Nervosa (BN), 29 Eating Disorder Not Otherwise Specified (EDNOS), 72 in long-term recovery from AN (Rec AN) and a comparison group of 216 HC. Results The AN and EDNOS groups had significantly more errors than the other groups on the Brixton Test. In comparison to the HC group, the effect size decrement was large for AN patients receiving inpatient treatment and moderate for AN outpatients. Conclusions These findings confirm that patients with AN have poor cognitive flexibility. Severity of illness measured by length of illness does not fully explain the lack of flexibility and supports the trait nature of inflexibility in people with AN. PMID:21698277

  1. Intrinsic flexibility of B-DNA: the experimental TRX scale.

    Science.gov (United States)

    Heddi, Brahim; Oguey, Christophe; Lavelle, Christophe; Foloppe, Nicolas; Hartmann, Brigitte

    2010-01-01

    B-DNA flexibility, crucial for DNA-protein recognition, is sequence dependent. Free DNA in solution would in principle be the best reference state to uncover the relation between base sequences and their intrinsic flexibility; however, this has long been hampered by a lack of suitable experimental data. We investigated this relationship by compiling and analyzing a large dataset of NMR (31)P chemical shifts in solution. These measurements reflect the BI BII equilibrium in DNA, intimately correlated to helicoidal descriptors of the curvature, winding and groove dimensions. Comparing the ten complementary DNA dinucleotide steps indicates that some steps are much more flexible than others. This malleability is primarily controlled at the dinucleotide level, modulated by the tetranucleotide environment. Our analyses provide an experimental scale called TRX that quantifies the intrinsic flexibility of the ten dinucleotide steps in terms of Twist, Roll, and X-disp (base pair displacement). Applying the TRX scale to DNA sequences optimized for nucleosome formation reveals a 10 base-pair periodic alternation of stiff and flexible regions. Thus, DNA flexibility captured by the TRX scale is relevant to nucleosome formation, suggesting that this scale may be of general interest to better understand protein-DNA recognition.

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

    Science.gov (United States)

    Solomon, Robert W

    2009-06-01

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

  3. Nano-manipulation of single DNA molecules

    International Nuclear Information System (INIS)

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

    2004-01-01

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

  4. [Flexibility and safety in hospitals].

    Science.gov (United States)

    Fara, G M; Barni, M

    2011-01-01

    The paper explains the reasons according to which the newly-planned hospitals must adopt the concept of advanced flexibility (structural, technological, organizational, diagnostic and therapeutic), in order to avoid the risk of being already obsolete at the moment of their opening, and this due to the fact that too much time elapses in this Country between the moment of planning a new hospital and the moment of the start of its activity. Flexibility is needed at different levels: at low or medium levels for what concerns administrative spaces and also patient rooms (except, in this latter case, when differential intensity of care is adopted); at advanced levelfor what concerns diagnostic and therapeutic areas, which must be rapidly adaptable to new solutions offered by advances in technology and organization. From a different standpoint, flexibility applies also to the fact that hospital must increasingly become a node of a large net including territorial health services: the latter devoted to take care of chronicity, while hospitals should concentrate on acute pathology. Of course the territory surrounding the hospital, through its outpatient service and consultories, is in charge also for first level diagnosy and therapy, leaving the hospital to more sophisticated activities.

  5. Biomass and biogas : potentials, efficiencies and flexibility

    NARCIS (Netherlands)

    Hofstede, Gert; Wouterse, Brian; Faber, Folkert; Nap, Jan Peter

    2012-01-01

    In the field of ‘renewable energy resources’ formation of biogas Biomass and biogas: potentials, efficiencies and flexibility is an important option. Biogas can be produced from biomass in a multistep process called anaerobic digestion (AD) and is usually performed in large digesters. Anaerobic

  6. A two-degrees-of-freedom miniature manipulator actuated by antagonistic shape memory alloys

    International Nuclear Information System (INIS)

    Lai, Chih-Ming; Chu, Cheng-Yu; Lan, Chao-Chieh

    2013-01-01

    This paper presents a miniature manipulator that can provide rotations around two perpendicularly intersecting axes. Each axis is actuated by a pair of shape memory alloy (SMA) wires. SMA wire actuators are known for their large energy density and ease of actuation. These advantages make them ideal for applications that have stringent size and weight constraints. SMA actuators can be temperature-controlled to contract and relax like muscles. When correctly designed, antagonistic SMA actuators have a faster response and larger range of motion than bias-type SMA actuators. This paper proposes an antagonistic actuation model to determine the manipulator parameters that are required to generate sufficient workspace. Effects of SMA prestrain and spring stiffness on the manipulator are investigated. Taking advantage of proper prestrain, the actuator size can be made much smaller while maintaining the same motion. The use of springs in series with SMA can effectively reduce actuator stress. A controller and an anti-slack algorithm are developed to ensure fast and accurate motion. Speed, stress, and loading experiments are conducted to demonstrate the performance of the manipulator. (paper)

  7. Task based synthesis of serial manipulators

    Directory of Open Access Journals (Sweden)

    Sarosh Patel

    2015-05-01

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

  8. Flexible pressure sensors for smart protective clothing against impact loading

    International Nuclear Information System (INIS)

    Wang, Fei; Zhu, Bo; Shu, Lin; Tao, Xiaoming

    2014-01-01

    The development of smart protective clothing will facilitate the quick detection of injuries from contact sports, traffic collisions and other accidents. To obtain real-time information like spatial and temporal pressure distributions on the clothing, flexible pressure sensor arrays are required. Based on a resistive fabric strain sensor we demonstrate all flexible, resistive pressure sensors with a large workable pressure range (0–8 MPa), a high sensitivity (1 MPa −1 ) and an excellent repeatability (lowest non-repeatability ±2.4% from 0.8 to 8 MPa) that can be inexpensively fabricated using fabric strain sensors and biocompatible polydimethylsiloxane (PDMS). The pressure sensitivity is tunable by using elastomers with different elasticities or by the pre-strain control of fabric strain sensors. Finite element simulation further confirms the sensor design. The simple structure, large workable pressure range, high sensitivity, high flexibility, facile fabrication and low cost of these pressure sensors make them promising candidates for smart protective clothing against impact loading. (paper)

  9. Free-Suspension Residual Flexibility Testing of Space Station Pathfinder: Comparison to Fixed-Base Results

    Science.gov (United States)

    Tinker, Michael L.

    1998-01-01

    Application of the free-suspension residual flexibility modal test method to the International Space Station Pathfinder structure is described. The Pathfinder, a large structure of the general size and weight of Space Station module elements, was also tested in a large fixed-base fixture to simulate Shuttle Orbiter payload constraints. After correlation of the Pathfinder finite element model to residual flexibility test data, the model was coupled to a fixture model, and constrained modes and frequencies were compared to fixed-base test. modes. The residual flexibility model compared very favorably to results of the fixed-base test. This is the first known direct comparison of free-suspension residual flexibility and fixed-base test results for a large structure. The model correlation approach used by the author for residual flexibility data is presented. Frequency response functions (FRF) for the regions of the structure that interface with the environment (a test fixture or another structure) are shown to be the primary tools for model correlation that distinguish or characterize the residual flexibility approach. A number of critical issues related to use of the structure interface FRF for correlating the model are then identified and discussed, including (1) the requirement of prominent stiffness lines, (2) overcoming problems with measurement noise which makes the antiresonances or minima in the functions difficult to identify, and (3) the use of interface stiffness and lumped mass perturbations to bring the analytical responses into agreement with test data. It is shown that good comparison of analytical-to-experimental FRF is the key to obtaining good agreement of the residual flexibility values.

  10. Out-of-plane structural flexibility of phosphorene.

    Science.gov (United States)

    Wang, Gaoxue; Loh, G C; Pandey, Ravindra; Karna, Shashi P

    2016-02-05

    Phosphorene has been rediscovered recently, establishing itself as one of the most promising two-dimensional group-V elemental monolayers with direct band gap, high carrier mobility, and anisotropic electronic properties. In this paper, surface buckling and its effect on its electronic properties are investigated by using molecular dynamics simulations together with density functional theory calculations. We find that phosphorene shows superior structural flexibility along the armchair direction allowing it to have large curvatures. The semiconducting and direct band gap nature are retained with buckling along the armchair direction; the band gap decreases and transforms to an indirect band gap with buckling along the zigzag direction. The structural flexibility and electronic robustness along the armchair direction facilitate the fabrication of devices with complex shapes, such as folded phosphorene and phosphorene nano-scrolls, thereby offering new possibilities for the application of phosphorene in flexible electronics and optoelectronics.

  11. Collision Detection for Underwater ROV Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Satja Sivčev

    2018-04-01

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

  12. OCCAM: a flexible, multi-purpose and extendable HPC cluster

    Science.gov (United States)

    Aldinucci, M.; Bagnasco, S.; Lusso, S.; Pasteris, P.; Rabellino, S.; Vallero, S.

    2017-10-01

    The Open Computing Cluster for Advanced data Manipulation (OCCAM) is a multipurpose flexible HPC cluster designed and operated by a collaboration between the University of Torino and the Sezione di Torino of the Istituto Nazionale di Fisica Nucleare. It is aimed at providing a flexible, reconfigurable and extendable infrastructure to cater to a wide range of different scientific computing use cases, including ones from solid-state chemistry, high-energy physics, computer science, big data analytics, computational biology, genomics and many others. Furthermore, it will serve as a platform for R&D activities on computational technologies themselves, with topics ranging from GPU acceleration to Cloud Computing technologies. A heterogeneous and reconfigurable system like this poses a number of challenges related to the frequency at which heterogeneous hardware resources might change their availability and shareability status, which in turn affect methods and means to allocate, manage, optimize, bill, monitor VMs, containers, virtual farms, jobs, interactive bare-metal sessions, etc. This work describes some of the use cases that prompted the design and construction of the HPC cluster, its architecture and resource provisioning model, along with a first characterization of its performance by some synthetic benchmark tools and a few realistic use-case tests.

  13. Stable and variable affordances are both automatic and flexible

    Directory of Open Access Journals (Sweden)

    Anna M Borghi

    2015-06-01

    Full Text Available The mere observation of pictures or words referring to manipulable objects is sufficient to evoke their affordances since objects and their nouns elicit components of appropriate motor programs associated with object interaction. While nobody doubts that objects actually evoke motor information, the degree of automaticity of this activation has been recently disputed. Recent evidence has indeed revealed that affordances activation is flexibly modulated by the task and by the physical and social context. It is therefore crucial to understand whether these results challenge previous evidence showing that motor information is activated independently from the task. The context and the task can indeed act as an early or late filter. We will review recent data consistent with the notion that objects automatically elicit multiple affordances and that top-down processes select among them probably inhibiting motor information that is not consistent with behaviour goals. We will therefore argue that automaticity and flexibility of affordances are not in conflict. We will also discuss how language can incorporate affordances showing similarities, but also differences, between the motor information elicited by vision and language. Finally we will show how the distinction between stable and variable affordances can accommodate all these effects.

  14. On-chip particle trapping and manipulation

    Science.gov (United States)

    Leake, Kaelyn Danielle

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

  15. Microstructure formation via roll-to-roll UV embossing using a flexible mould made from a laminated polymer–copper film

    International Nuclear Information System (INIS)

    Zhong, Z W; Shan, X C

    2012-01-01

    Roll-to-roll large format UV embossing processes aim to revolutionize the manufacturing of functional films, with the ability to process a large area at one time, resulting in high throughput and cost reduction. In this paper, we present the experimental results obtained during the process development for roll-to-roll large format UV embossing. Flexible moulds were fabricated from a hybrid film substrate made of a liquid crystal polymer with clad copper foils laminated on both sides of it. The effective pattern area of the fabricated flexible mould was 400 mm × 300 mm with a minimal feature size of 50 µm. The results show that the roll-to-roll embossing processes are capable of producing micro-scale structures and functional devices over a large area at one time. Large-area roll-to-roll embossing was demonstrated by using the hybrid flexible mould, and micro-features and structures such as micro-channels and dot arrays were replicated on thermoplastic substrates. In addition to its ease and low cost in fabrication, the hybrid flexible moulds demonstrated to have acceptable fidelity and durability. The hybrid flexible mould is a novel solution for large-area embossing. (paper)

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

    Science.gov (United States)

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

    2018-03-01

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

  17. High performance high-κ/metal gate complementary metal oxide semiconductor circuit element on flexible silicon

    KAUST Repository

    Sevilla, Galo T.

    2016-02-29

    Thinned silicon based complementary metal oxide semiconductor(CMOS)electronics can be physically flexible. To overcome challenges of limited thinning and damaging of devices originated from back grinding process, we show sequential reactive ion etching of silicon with the assistance from soft polymeric materials to efficiently achieve thinned (40 μm) and flexible (1.5 cm bending radius) silicon based functional CMOSinverters with high-κ/metal gate transistors. Notable advances through this study shows large area of silicon thinning with pre-fabricated high performance elements with ultra-large-scale-integration density (using 90 nm node technology) and then dicing of such large and thinned (seemingly fragile) pieces into smaller pieces using excimer laser. The impact of various mechanical bending and bending cycles show undeterred high performance of flexible siliconCMOSinverters. Future work will include transfer of diced silicon chips to destination site, interconnects, and packaging to obtain fully flexible electronic systems in CMOS compatible way.

  18. Multiconformation, Density Functional Theory-Based pKa Prediction in Application to Large, Flexible Organic Molecules with Diverse Functional Groups.

    Science.gov (United States)

    Bochevarov, Art D; Watson, Mark A; Greenwood, Jeremy R; Philipp, Dean M

    2016-12-13

    We consider the conformational flexibility of molecules and its implications for micro- and macro-pK a . The corresponding formulas are derived and discussed against the background of a comprehensive scientific and algorithmic description of the latest version of our computer program Jaguar pK a , a density functional theory-based pK a predictor, which is now capable of acting on multiple conformations explicitly. Jaguar pK a is essentially a complex computational workflow incorporating research and technologies from the fields of cheminformatics, molecular mechanics, quantum mechanics, and implicit solvation models. The workflow also makes use of automatically applied empirical corrections which account for the systematic errors resulting from the neglect of explicit solvent interactions in the algorithm's implicit solvent model. Applications of our program to large, flexible organic molecules representing several classes of functional groups are shown, with a particular emphasis in illustrations laid on drug-like molecules. It is demonstrated that a combination of aggressive conformational search and an explicit consideration of multiple conformations nearly eliminates the dependence of results on the initially chosen conformation. In certain cases this leads to unprecedented accuracy, which is sufficient for distinguishing stereoisomers that have slightly different pK a values. An application of Jaguar pK a to proton sponges, the pK a of which are strongly influenced by steric effects, showcases the advantages that pK a predictors based on quantum mechanical calculations have over similar empirical programs.

  19. Supercapacitors based on flexible graphene/polyaniline nanofiber composite films.

    Science.gov (United States)

    Wu, Qiong; Xu, Yuxi; Yao, Zhiyi; Liu, Anran; Shi, Gaoquan

    2010-04-27

    Composite films of chemically converted graphene (CCG) and polyaniline nanofibers (PANI-NFs) were prepared by vacuum filtration the mixed dispersions of both components. The composite film has a layered structure, and PANI-NFs are sandwiched between CCG layers. Furthermore, it is mechanically stable and has a high flexibility; thus, it can be bent into large angles or be shaped into various desired structures. The conductivity of the composite film containing 44% CCG (5.5 x 10(2) S m(-1)) is about 10 times that of a PANI-NF film. Supercapacitor devices based on this conductive flexible composite film showed large electrochemical capacitance (210 F g(-1)) at a discharge rate of 0.3 A g(-1). They also exhibited greatly improved electrochemical stability and rate performances.

  20. Hydroelastic analysis of a very large floating plate with large deflections in stochastic seaway

    DEFF Research Database (Denmark)

    Chen, Xu-jun; Jensen, Jørgen Juncher; Cui, Wei-cheng

    2004-01-01

    The hydroelasticity of a very large floating plate with large deflections in multidirectional irregular waves is discussed. After a brief introduction on wave loads on a flexible structure, the paper derives the generalised fluid force acting on a floating structure in multidirectional irregular ...

  1. Soft control of scanning probe microscope with high flexibility.

    Science.gov (United States)

    Liu, Zhenghui; Guo, Yuzheng; Zhang, Zhaohui; Zhu, Xing

    2007-01-01

    Most commercial scanning probe microscopes have multiple embedded digital microprocessors and utilize complex software for system control, which is not easily obtained or modified by researchers wishing to perform novel and special applications. In this paper, we present a simple and flexible control solution that just depends on software running on a single-processor personal computer with real-time Linux operating system to carry out all the control tasks including negative feedback, tip moving, data processing and user interface. In this way, we fully exploit the potential of a personal computer in calculating and programming, enabling us to manipulate the scanning probe as required without any special digital control circuits and related technical know-how. This solution has been successfully applied to a homemade ultrahigh vacuum scanning tunneling microscope and a multiprobe scanning tunneling microscope.

  2. Optical response of large-area aluminum-coated nano-bucket arrays on flexible PET substrates

    Science.gov (United States)

    Hohertz, Donna; Chuo, Yindar; Omrane, Badr; Landrock, Clint; Kavanagh, Karen L.

    2014-09-01

    The high-cost of fabrication of nanohole arrays for extraordinary optical transmission, surface-plasmon-resonance-based sensors, inhibits their widespread commercial adoption. Production typically involves the application of small-area patterning techniques, such as focused-ion-beam milling, and electron-beam lithography onto high-cost gold-coated substrates. Moving to lower-cost manufacturing is a critical step for applications such as the detection of environmental oil-leaks, or water quality assurance. In these applications, the sensitivity requirements are relatively low, and a bio-compatible inert surface, such as gold, is unnecessary. We report on the optical response of aluminum-coated nano-bucket arrays fabricated on flexible polyethylene terephthalate substrates. The arrays are fabricated using an economical roll-to-roll UV-casting process from large sheets of nickel templates generated from master quartz stamps. The nano-featured surface is subsequently coated with 50 nm of thermally-evaporated aluminum. The roll-to-roll production process has a 97% yield over a 600 m roll producing nano-buckets with 240 nm diameters, 300 nm deep, with a 70° taper. When exposed to a series of refractive index standards (glucose solutions), changes in the locations of the resonance transmission peaks result in optical sensitivities as high as 390 ± 20 nm/RIU. The peak transmission is approximately 5% of illumination, well within the sensitivity requirements of most common low-cost detectors.

  3. Theoretical modelling of tip effects in the pushing manipulation of C60 on the Si(001) surface

    International Nuclear Information System (INIS)

    Martsinovich, N; Kantorovich, L

    2008-01-01

    We present the results of our theoretical studies on the repulsive (pushing) manipulation of a C 60 molecule on the Si(001) surface with several scanning tunnelling microscopy tips. We show that, for silicon tips, tip-C 60 bonds are formed even with tips that do not initially have dangling bonds, and this tip-C 60 interaction drives the manipulation of the molecule. The details of the atomic structure of the tip and its position relative to the molecule do not have a significant effect on the mechanism and the sequence of adsorption configurations during the pushing manipulation of C 60 along the trough, where the trough itself provides a guiding effect. The pushing manipulation is thus a very robust process that occurs largely independently of the tip structure. On the other hand, the pushing manipulation across an Si-Si dimer row into the neighbouring trough proceeds in a more complex way, with tip deformation and detachment more likely to occur. We demonstrate the role of tip deformation and tip-molecule bond rearrangement in the continuous manipulation of the molecule. Finally, we calculate and analyse the forces acting on the tip during manipulation and identify characteristic patterns

  4. 3D Laser Scanner for Underwater Manipulation.

    Science.gov (United States)

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

    2018-04-04

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

  5. Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods

    Directory of Open Access Journals (Sweden)

    Yingzhong Tian

    2016-01-01

    Full Text Available This paper presents the kinematic analysis of a continuum bionic robot with three flexible actuation rods. Since the motion of the end-effector is actuated by the deformation of the rods, the robot structure is with high elasticity and good compliance and the kinematic analysis of the robot requires special treatment. We propose a kinematic model based on the geometry with constant curvature. The analysis consists of two independent mappings: a general mapping for the kinematics of all robots and a specific mapping for this kind of robots. Both of those mappings are developed for the single section and for the multisections. We aim at providing a guide for kinematic analysis of the similar manipulators through this paper.

  6. 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.

  7. System Integration for Real-time Mobile Manipulation

    OpenAIRE

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

    2014-01-01

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

  8. Chattering-Free Neuro-Sliding Mode Control of 2-DOF Planar Parallel Manipulators

    Directory of Open Access Journals (Sweden)

    Tien Dung Le

    2013-01-01

    Full Text Available This paper proposes a novel chattering free neuro-sliding mode controller for the trajectory tracking control of two degrees of freedom (DOF parallel manipulators which have a complicated dynamic model, including modelling uncertainties, frictional uncertainties and external disturbances. A feedforward neural network (NN is combined with an error estimator to completely compensate the large nonlinear uncertainties and external disturbances of the parallel manipulators. The online weight tuning algorithms of the NN and the structure of the error estimator are derived with the strict theoretical stability proof of the Lyapunov theorem. The upper bound of uncertainties and the upper bound of the approximation errors are not required to be known in advance in order to guarantee the stability of the closed-loop system. The example simulation results show the effectiveness of the proposed control strategy for the tracking control of a 2-DOF parallel manipulator. It results in its being chattering-free, very small tracking errors and its robustness against uncertainties and external disturbances.

  9. Office flexible cystoscopy.

    Science.gov (United States)

    Kavoussi, L R; Clayman, R V

    1988-11-01

    Since the development of the first purpose-built flexible cystoscope in 1984, flexible cystoscopy has become an accepted diagnostic and therapeutic modality. Indeed, it is estimated that more than 10 per cent of practicing urologists are already familiar with this technology. The flexible cystoscope has markedly extended the urologist's ability to examine the bladder, and it has become a valuable adjunct to the rigid cystoscope. Although the operation of this instrument is vastly different from that of its rigid counterpart, with practice, the technique can be learned. After experience is obtained with diagnostic flexible cystoscopy, the urologist will likely prefer this new instrument for bladder inspection, as it provides for a more thorough yet less morbid and less expensive examination. In the future, the development of improved and smaller instrumentation will further extend the therapeutic indications for flexible cystoscopy. Indeed, advances in laser technology are already providing the urologist with 300- to 600-micron (0.9 to 1.8F) flexible probes capable of incision (KTP laser), fulguration (Nd:YAG laser), and stone disintegration (tunable dye laser). Lastly, the skills obtained in using the flexible cystoscope are all readily applicable to the development of dexterity with the already available flexible nephroscope and the more recently developed flexible ureteroscope.

  10. Modeling manipulation in medical education.

    Science.gov (United States)

    Dailey, Jason I

    2010-05-01

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

  11. Technology and control for hydraulic manipulators

    International Nuclear Information System (INIS)

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

    2003-01-01

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

  12. Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

    Science.gov (United States)

    Fu, Zhongtao; Yang, Wenyu; Yang, Zhen

    2013-08-01

    In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

  13. Optimal arm posture control and tendon traction forces of a coupled tendon-driven manipulator

    International Nuclear Information System (INIS)

    Ma, Shugen

    1997-01-01

    In this study, the optimum arm posture of a coupled tendon-driven multijoint manipulator arm (or CT Arm) at maximum payload output was derived and the corresponding tendon traction forces were also analyzed, during management of a heavy payload by the manipulator in a gravity environment. The CT Arm is special tendon traction transmission mechanism in which a pair of tendons used to drive a joint is pulled from base actuators via pulleys mounted on the base-side joints. This mechanism enables optimal utilization of the coupled drive function of tendon traction forces and thus enables the lightweight manipulator to exhibit large payload capability. The properties of the CT Arm mechanism are elucidated by the proposed optimal posture control scheme. Computer simulation was also executed to verify the validity of the proposed control scheme. (author)

  14. Professional responsibility in relation to cervical spine manipulation.

    Science.gov (United States)

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

    2002-01-01

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

  15. Enhancing light emission in flexible AC electroluminescent devices by tetrapod-like zinc oxide whiskers.

    Science.gov (United States)

    Wen, Li; Liu, Nishuang; Wang, Siliang; Zhang, Hui; Zhao, Wanqiu; Yang, Zhichun; Wang, Yumei; Su, Jun; Li, Luying; Long, Fei; Zou, Zhengguang; Gao, Yihua

    2016-10-03

    Flexible alternating current electroluminescent devices (ACEL) are more and more popular and widely used in liquid-crystal display back-lighting, large-scale architectural and decorative lighting due to their uniform light emission, low power consumption and high resolution. However, presently how to acquire high brightness under a certain voltage are confronted with challenges. Here, we demonstrate an electroluminescence (EL) enhancing strategy that tetrapod-like ZnO whiskers (T-ZnOw) are added into the bottom electrode of carbon nanotubes (CNTs) instead of phosphor layer in flexible ACEL devices emitting blue, green and orange lights, and the brightness is greatly enhanced due to the coupling between the T-ZnOw and ZnS phosphor dispersed in the flexible polydimethylsiloxane (PDMS) layer. This strategy provides a new routine for the development of high performance, flexible and large-area ACEL devices.

  16. {100} or 45.degree.-rotated {100}, semiconductor-based, large-area, flexible, electronic devices

    Science.gov (United States)

    Goyal, Amit [Knoxville, TN

    2012-05-15

    Novel articles and methods to fabricate the same resulting in flexible, {100} or 45.degree.-rotated {100} oriented, semiconductor-based, electronic devices are disclosed. Potential applications of resulting articles are in areas of photovoltaic devices, flat-panel displays, thermophotovoltaic devices, ferroelectric devices, light emitting diode devices, computer hard disc drive devices, magnetoresistance based devices, photoluminescence based devices, non-volatile memory devices, dielectric devices, thermoelectric devices and quantum dot laser devices.

  17. An Analysis of Manipulation Strategies in Stock Markets

    OpenAIRE

    Rasim Ozcan

    2012-01-01

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

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

    OpenAIRE

    Boyer-Thurgood, Jennifer M.

    2017-01-01

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

  19. Probabilistic approach to manipulator kinematics and dynamics

    International Nuclear Information System (INIS)

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

    2001-01-01

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

  20. 3D Laser Scanner for Underwater Manipulation

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2018-04-01

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