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Sample records for males experimental manipulation

  1. Experimental removal and elevation of sexual selection: does sexual selection generate manipulative males and resistant females?

    Crudgington, Helen S; Beckerman, Andrew P; Brüstle, Lena; Green, Kathleen; Snook, Rhonda R

    2005-05-01

    Sexual conflict over reproduction can occur between males and females. In several naturally promiscuous insect species, experimental evolution studies that have enforced monogamy found evidence for sexual conflict. Here, we subjected the naturally promiscuous, sperm-heteromorphic fruit fly Drosophila pseudoobscura to enforced monogamy, standard levels of promiscuity, and elevated opportunities for promiscuity in four replicate lines. We examined the effect of male and female selection history and the proximate effect of variation in male density on female fitness parameters. We found that male density rather than male selection history explained a greater degree of female fecundity, egg hatching success, and productivity. Additionally, females selected under elevated promiscuity had greater fecundity and hatching success than did enforced monogamy females. Selection line males do not differ in their capacity to coerce females to remate, suggesting no divergence in precopulatory manipulative ability. However, these males did vary in their ability to suppress female remating, suggesting postcopulatory manipulation. These results indicate that sexual conflict can be manifested through both the proximate effects of male density and the historical levels of sexual selection and that the sexes respond differentially to these factors and further stress the multifarious channels of sexual communication that contribute to fitness.

  2. Grounding Vision through Experimental Manipulation

    Fitzpatrick, Paul; Metta, Giorgio

    2002-01-01

    Experimentation is crucial to human progress at all scales, from society as a whole to a young infant in its cradle/ It allows us to elicit learning episodes suited to our own needs and limitations...

  3. Price Manipulation in an Experimental Asset Market

    Veiga Helena; Vorsatz Marc

    2006-01-01

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

  4. Master-Slave synchronization of robot manipulators: experimental results

    Bondhus, A.K.; Pettersen, K.Y.; Nijmeijer, H.

    2005-01-01

    This paper presents experimental results for master-slave synchronization of two robot manipulators using a recently developed observer-controller scheme. The paper aims to investigate the value and the limitations of the theory. In particular, the theoretical result of uniform ultimate boundedness

  5. Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

    Seraji, Homayoun

    1989-01-01

    The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

  6. Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

    Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

    2018-03-01

    A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

  7. Whole-ecosystem experimental manipulations of tropical forests

    Fayle, Tom M; Turner, Edgar Clive; Basset, Yves; Ewers, Robert M; Reynolds, Glen; Novotny, Vojtech

    2015-01-01

    Tropical forests are highly diverse systems involving extraordinary numbers of interactions between species, with each species responding in a different way to the abiotic environment. Understanding how these systems function and predicting how they respond to anthropogenic global change is extremely challenging. We argue for the necessity of ‘whole-ecosystem’ experimental manipulations, in which the entire ecosystem is targeted, either to reveal the functioning of the...

  8. EXPERIMENTAL MODEL OF THE PRIMARY MALE HYPOGONADISM

    P. A. Kulikova

    2014-01-01

    Full Text Available Background: Development of the new methods of treatment of primary male hypogonadism is an urgent medical problem. Its solution requires a suitable experimental model of the disease. Aim: The creation of new experimental model of primary male hypogonadism. Materials and methods: The study was conducted on the male Wistar rats, hypogonadism was modeled by temporary ligation of the distal part of the spermatic cord. Results: It was shown that three-day ligation of the spermatic cord led to persistent disturbance of the testosterone-producing and reproductive functions. These manifestations were reversible at shorter duration of the exposure. Conclusion: The created model of primary male hypogonadism is characterized by the persistent testosterone-producing and reproductive functions disturbance, technical availability, non-toxicity to the other organs and systems. Availability of the model provides new opportunities for the development of approaches to treating diseases of the reproductive organs in men.

  9. Experimental characterization of a binary actuated parallel manipulator

    Giuseppe, Carbone

    2016-05-01

    This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

  10. BODY SIZE AND HAREM SIZE IN MALE RED-WINGED BLACKBIRDS: MANIPULATING SELECTION WITH SEX-SPECIFIC FEEDERS.

    Rohwer, Sievert; Langston, Nancy; Gori, Dave

    1996-10-01

    We experimentally manipulated the strength of selection in the field on red-winged blackbirds (Agelaius phoeniceus) to test hypotheses about contrasting selective forces that favor either large or small males in sexually size dimorphic birds. Selander (1972) argued that sexual selection favors larger males, while survival selection eventually stabilizes male size because larger males do not survive as well as smaller males during harsh winters. Searcy (1979a) proposed instead that sexual selection may be self limiting: male size might be stabilized not by overwinter mortality, but by breeding-season sexual selection that favors smaller males. Under conditions of energetic stress, smaller males should be able to display more and thus achieve higher reproductive success. Using feeders that provisioned males or females but not both, we produced conditions that mimicked the extremes of natural conditions. We found experimental support for the hypothesis that when food is abundant, sexual selection favors larger males. But even under conditions of severe energetic stress, smaller males did not gain larger harems, as the self-limiting hypothesis predicted. Larger males were more energetically stressed than smaller males, but in ways that affected their future reproductive output rather than their current reproductive performance. Stressed males that returned had smaller wings and tails than those that did not return; among returning stressed males, relative harem sizes were inversely related to wing and tail length. Thus, male body size may be stabilized not by survival costs during the non-breeding season, nor by energetic costs during the breeding season, but by costs of future reproduction that larger males pay for their increased breeding-season effort. © 1996 The Society for the Study of Evolution.

  11. Manipulation of pain catastrophizing: An experimental study of healthy participants

    Joel E Bialosky

    2008-11-01

    Full Text Available Joel E Bialosky1*, Adam T Hirsh2,3, Michael E Robinson2,3, Steven Z George1,3*1Department of Physical Therapy; 2Department of Clinical and Health Psychology; 3Center for Pain Research and Behavioral Health, University of Florida, Gainesville, Florida, USAAbstract: Pain catastrophizing is associated with the pain experience; however, causation has not been established. Studies which specifically manipulate catastrophizing are necessary to establish causation. The present study enrolled 100 healthy individuals. Participants were randomly assigned to repeat a positive, neutral, or one of three catastrophizing statements during a cold pressor task (CPT. Outcome measures of pain tolerance and pain intensity were recorded. No change was noted in catastrophizing immediately following the CPT (F(1,84 = 0.10, p = 0.75, partial η2 < 0.01 independent of group assignment (F(4,84 = 0.78, p = 0.54, partial η2 = 0.04. Pain tolerance (F(4 = 0.67, p = 0.62, partial η2 = 0.03 and pain intensity (F(4 = 0.73, p = 0.58, partial η2 = 0.03 did not differ by group. This study suggests catastrophizing may be difficult to manipulate through experimental pain procedures and repetition of specific catastrophizing statements was not sufficient to change levels of catastrophizing. Additionally, pain tolerance and pain intensity did not differ by group assignment. This study has implications for future studies attempting to experimentally manipulate pain catastrophizing.Keywords: pain, catastrophizing, experimental, cold pressor task, pain catastrophizing scale

  12. Experimental temperature manipulations alter songbird autumnal nocturnal migratory restlessness

    Berchtold Adrienne

    2017-02-01

    Full Text Available Migrating birds may respond to a variety of environmental cues in order to time migration. During the migration season nocturnally migrating songbirds may migrate or stop-over at their current location, and when migrating they may vary the rate or distance of migration on any given night. It has long been known that a variety of weather-related factors including wind speed and direction, and temperature, are correlated with migration in free-living birds, however these variables are often correlated with each other. In this study we experimentally manipulated temperature to determine if it would directly modulate nocturnal migratory restlessness in songbirds. We experimentally manipulated temperature between 4, 14, and 24°C and monitored nocturnal migratory restlessness during autumn in white-throated sparrows (Zonotrichia albicollis. White-throated sparrows are relatively shortdistance migrants with a prolonged autumnal migration, and we thus predicted they might be sensitive to weatherrelated cues when deciding whether to migrate or stopover. At warm temperatures (24°C none of the birds exhibited migratory restlessness. The probability of exhibiting migratory restlessness, and the intensity of this restlessness (number of infra-red beam breaks increased at cooler (14°C, 4°C temperatures. These data support the hypothesis that one of the many factors that birds use when making behavioural decisions during migration is temperature, and that birds can respond to temperature directly independently of other weather-related cues.

  13. Manipulator system for remote maintenance of fusion experimental reactor

    Shibanuma, Kiyoshi; Munakata, Tadashi; Murakami, Shin; Kondoh, Mitsunori.

    1991-01-01

    We have completed the conceptual design for a rail-mounted vehicle type remote maintenance system for the fusion experimental reactor (FER), which will be the first D-T burning reactor in Japan. We have fabricated a 1/5-scale model and confirmed the feasibility of the design. In this system, a rail is deployed into the vessel and supported at four horizontal ports. A vehicle then moves along the rail and handles in-vessel components with manipulators. The advantages of this concept are the high stiffness and high reliability of the rail, and the high mobility of the vehicle for efficient maintenance operations. In the FER, this concept is considered to be the first option for in-vessel maintenance. This paper describes the conceptual design of the system and the feasibility study using the 1/5-scale model. (author)

  14. Manipulators

    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.)

  15. Experimental manipulation reveals a trade-off between weapons and testes.

    Somjee, U; Miller, C W; Tatarnic, N J; Simmons, L W

    2018-01-01

    Theory predicts a trade-off between sexually selected weapons used to secure mates and post-copulatory traits used to maximize fertilization success. However, individuals that have a greater capacity to acquire resources from the environment may invest more in both pre- and post-copulatory traits, and trade-offs may not be readily apparent. Here, we manipulate the phenotype of developing individuals to examine allocation trade-offs between weapons and testes in Mictis profana (Hemiptera: Coreidae), a species where the hind legs are sexually selected weapons used in contests over access to females. We experimentally prevented males from developing weapons by inducing them to autotomize their hind legs before the final moult to adulthood. We compared trait expression in this group to males where autotomy was induced in the mid-legs, which are presumably not under sexual selection to the same extent. We found males without weapons invested proportionally more in testes mass than those with their mid-legs removed. Males that developed to adulthood without weapons did not differ from the mid-leg removal group in other traits potentially under precopulatory sexual selection, other post-copulatory traits or naturally selected traits. In addition, a sample of adult males from the same population in the wild revealed a positive correlation between investment in testes and weapons. Our study presents a critical contribution to a growing body of literature suggesting the allocation of resources to pre- and post-copulatory sexual traits is influenced by a resource allocation trade-off and that this trade-off may only be revealed with experimental manipulation. © 2017 European Society For Evolutionary Biology. Journal of Evolutionary Biology © 2017 European Society For Evolutionary Biology.

  16. Effects of manipulated aggressive 'interactions' on bystanding male fighting fish, Betta splendens

    Peake, Thomas More; Matos, Ricardo Jorge; McGregor, Peter Kenneth

    2006-01-01

    Aggressive interactions between animals often take place in a social environment. Third parties not involved in those interactions, bystanders, have the opportunity to extract information from such interactions and such information may direct their future behaviour towards the interactants. Studies...... occurring differences between observed interactants and have therefore lacked this degree of control. We allowed bystanding male fighting fish to observe two male conspecifics that appeared to be interacting, but in reality the two males were displaying to mirrors. The apparent interactions were manipulated...... so as to increase or decrease the aggression of one ‘interactant' while leaving that of the other male constant. When subsequently introduced to the ‘interactants' individually, bystanders responded more strongly to males whose opponents' aggression had been decreased and to the winners of control...

  17. Manipulators

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

    2005-01-01

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

  18. Sexual conflict over mating in red-sided garter snakes (Thamnophis sirtalis) as indicated by experimental manipulation of genitalia

    Friesen, Christopher R.; Uhrig, Emily J.; Squire, Mattie K.; Mason, Robert T.; Brennan, Patricia L. R.

    2014-01-01

    Sexual conflict over mating can result in sex-specific morphologies and behaviours that allow each sex to exert control over the outcome of reproduction. Genital traits, in particular, are often directly involved in conflict interactions. Via genital manipulation, we experimentally investigated whether genital traits in red-sided garter snakes influence copulation duration and formation of a copulatory plug. The hemipenes of male red-sided garter snakes have a large basal spine that inserts i...

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

    Jarmo Nurmi

    2017-05-01

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

  20. Impact of experimental habitat manipulation on northern bobwhite survival

    Peters, David C.; Brooke, Jarred M.; Tanner, Evan P.; Unger, Ashley M.; Keyser, Patrick D.; Harper, Craig A.; Clark, Joseph D.; Morgan, John J.

    2015-01-01

    Habitat management for northern bobwhite (Colinus virginianus) should affect vital rates, but direct linkages with survival are not well documented; therefore, we implemented an experiment to evaluate those responses. We conducted our experiment on a reclaimed surface mine, a novel landscape where conditions were considered sub-optimal because of the dominance of non-native vegetation, such as sericea lespedeza (Lespedeza cuneata), which has been reported to provide marginal habitat for northern bobwhite and may negatively affect survival. Nonetheless, these areas have great potential for contributing to bobwhite conservation because of the amount of early successional cover they provide. Our study site, a 3,330-ha reclaimed surface mine in western Kentucky, consisted of 2 tracts (Sinclair and Ken, 1,471 ha and 1,853 ha, respectively) that served as replicates with each randomly divided into a treatment (i.e., habitat manipulation through a combination of disking, burning, and herbicide application) and an undisturbed control (n = 4 experimental units). Habitat treatments were applied October 2009 to September 2013. We used radio telemetry to monitor northern bobwhite (n = 1,198) during summer (1 Apr–30 Sep) and winter (1 Oct–31 Mar), 2009–2013. We used the known-fate model in Program MARK to evaluate treatment effects on seasonal survival rates. We included biological, home-range, landscape, and microhabitat metrics as covariates to help improve model sensitivity and further elucidate experimental impacts. Survival varied annually, ranging from 0.139 (SE = 0.031) to 0.301 (SE = 0.032), and seasonally (summer, 0.148 [SE = 0.015]; winter, 0.281 [SE = 0.022]). We found a treatment effect (β = 0.256, 95% CI = 0.057–0.456) with a seasonal interaction (β  = −0.598, 95% CI = −0.898 to −0.298) with survival being higher in summer (0.179 [SE = 0.022] vs. 0.109 [SE = 0.019]) and lower in winter (0.233 [SE

  1. Design and experimental evaluation of flexible manipulator control algorithms

    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

  2. Comparison of dynamic analysis of a Schilling hydraulic manipulator with experimental results

    Baker, C.P.; Lew, J.Y.; Evans, M.S.; Magee, D.P.

    1993-07-01

    Two independent models of the dynamics of a Schilling Titan II hydraulic manipulator were developed and compared in order to obtain an accurate model of the manipulator dynamics. These models will be used in the development of feedback control laws and active damping algorithms. One of the model is an analytical model which was developed open-quotes by handclose quotes with the assistance of computer symbolic manipulation. The other is a numerical model developed using a commercially available dynamics code. The data from these models were then compared with experimental data from an actual Titan II manipulator

  3. An experimental test of condition-dependent male and female mate choice in zebra finches.

    Marie-Jeanne Holveck

    Full Text Available In mating systems with social monogamy and obligatory bi-parental care, such as found in many songbird species, male and female fitness depends on the combined parental investment. Hence, both sexes should gain from choosing mates in high rather than low condition. However, theory also predicts that an individual's phenotypic quality can constrain choice, if low condition individuals cannot afford prolonged search efforts and/or face higher risk of rejection. In systems with mutual mate choice, the interaction between male and female condition should thus be a better predictor of choice than either factor in isolation. To address this prediction experimentally, we manipulated male and female condition and subsequently tested male and female mating preferences in zebra finches Taeniopygia guttata, a songbird species with mutual mate choice and obligatory bi-parental care. We experimentally altered phenotypic quality by manipulating the brood size in which the birds were reared. Patterns of association for high- or low-condition individuals of the opposite sex differed for male and female focal birds when tested in an 8-way choice arena. Females showed repeatable condition-assortative preferences for males matching their own rearing background. Male preferences were also repeatable, but not predicted by their own or females' rearing background. In combination with a brief review of the literature on condition-dependent mate choice in the zebra finch we discuss whether the observed sex differences and between-studies differences arise because males and females differ in context sensitivity (e.g. male-male competition suppressing male mating preferences, sampling strategies or susceptibility to rearing conditions (e.g. sex-specific effect on physiology. While a picture emerges that juvenile and current state indeed affect preferences, the development and context-dependency of mutual state-dependent mate choice warrants further study.

  4. An experimental manipulation of social comparison in social anxiety.

    Mitchell, Melissa A; Schmidt, Norman B

    2014-01-01

    Negative self-appraisal is thought to maintain social anxiety particularly when comparing oneself to others. Work on social comparison suggests that gender may moderate the effects of social comparison in social anxiety. Self-appraisals of the desirability of one's personality may be more important to women, whereas self-appraisal of signs of anxiety may be more important to men. Within each gender, those with high social anxiety are expected to report more negative self-appraisal when comparing themselves to someone else described as high achieving. This study is the first we are aware of that examined gender-based interactive effects after a social comparison manipulation. Participants read a bogus profile of a fellow student's adjustment to college. They were randomly assigned to read a profile suggesting that the fellow student was "high achieving" or more normative in his/her achievements. When comparing to a "high achieving" individual, men with high social anxiety reported the most negative self-appraisals of their signs of anxiety. In addition, greater social anxiety was associated with a poorer self-appraisal of personality only among men. The implications of the findings for conceptualizing the role of social comparison in social anxiety are discussed.

  5. Experimental evaluation of the concept of supevisory manipulation

    Brooks, T. L.; Sheridan, T. B.

    1982-01-01

    A computer-controlled teleoperator system which is based on task-referenced sensor-aided control has been developed to study supervisory manipulation. This system, called SUPERMAN, is capable of performing complicated tasks in real-time by utilizing the operator for high-level functions related to the unpredictable portions of a task, while the subordinate machine performs the more well-defined subtasks under human supervison. To determine whether supervisory control schemes such as these offer any advantage over manual control under real-time conditions, a number of experiments involving both simple and complicated tasks were performed. Six representative tasks were chosen for the study: (1) obtaining a tool from a rack, (2) returning the tool to the rack, (3) removing a nut, (4) placing samples in a storage bin, (5) opening and closing a valve, and (6) digging with a shovel. The experiments were performed under simulated conditions using four forms of manual control (i.e., switch rate, joystick rate, master-slave position control, and master-slave with force feedback), as well as supervisory control. Through these experiments the effectiveness and quality of control were evaluated on the basis of the time required to complete each portion of the task and the type and number of errors which occurred.

  6. Sexually Antagonistic Male Signals Manipulate Germline and Soma of C. elegans Hermaphrodites.

    Aprison, Erin Z; Ruvinsky, Ilya

    2016-10-24

    Males and females pursue different reproductive strategies, which often bring them into conflict-many traits exist that benefit one sex at a cost to another [1]. Decreased female survival following mating dramatically demonstrates one aspect of this phenomenon [2-5]. Particularly intriguing is the evidence that secreted compounds can shorten lifespan of members of the opposite sex in Drosophila [6] and Caenorhabditid nematodes [7] even without copulation taking place. The purpose of such signals is not clear, however. While it is possible that they could limit subsequent mating with competitors or hasten post-reproductive demise, thus decreasing competition for resources, they are also likely to harm unmated individuals. Why would a system exist that reduces the vigor of potential mates prior to mating? Addressing this question could provide insights into mechanisms and evolution of sexual conflict and reveal sensory inputs that regulate aging. Here, we describe two distinct ways in which Caenorhabditis elegans males cause faster somatic aging of hermaphrodites but also manipulate different aspects of their reproductive physiology. The first, mediated by conserved ascaroside pheromones, delays the loss of germline progenitor cells. The second accelerates development, resulting in faster sexual maturation. These signals promote male reproductive strategy and the effects harmful to hermaphrodites appear to be collateral damage rather than the goal. Copyright © 2016 Elsevier Ltd. All rights reserved.

  7. Male resource defense mating system in primates? An experimental test in wild capuchin monkeys.

    Barbara Tiddi

    Full Text Available Ecological models of mating systems provide a theoretical framework to predict the effect of the defendability of both breeding resources and mating partners on mating patterns. In resource-based mating systems, male control over breeding resources is tightly linked to female mating preference. To date, few field studies have experimentally investigated the relationship between male resource control and female mating preference in mammals due to difficulties in manipulating ecological factors (e.g., food contestability. We tested the within-group male resource defense hypothesis experimentally in a wild population of black capuchin monkeys (Sapajus nigritus in Iguazú National Park, Argentina. Sapajus spp. represent an ideal study model as, in contrast to most primates, they have been previously argued to be characterized by female mate choice and a resource-based mating system in which within-group resource monopolization by high-ranking males drives female mating preference for those males. Here, we examined whether females (N = 12 showed a weaker preference for alpha males during mating seasons in which food distribution was experimentally manipulated to be less defendable relative to those in which it was highly defendable. Results did not support the within-group male resource defense hypothesis, as female sexual preferences for alpha males did not vary based on food defendability. We discuss possible reasons for our results, including the possibility of other direct and indirect benefits females receive in exercising mate choice, the potential lack of tolerance over food directed towards females by alpha males, and phylogenetic constraints.

  8. Sociosexual Investigation in Sexually Experienced, Hormonally Manipulated Male Leopard Geckos: Relation With Phosphorylated DARPP-32 in Dopaminergic Pathways

    HUANG, VICTORIA; HEMMINGS, HUGH C.; CREWS, DAVID

    2014-01-01

    Dopaminergic activity is both associated with sociosexual exposure and modulated by sexual experience and hormonal state across vertebrate taxa. Mature leopard geckos, a reptile with temperature-dependent sex determination, have dopaminoceptive nuclei that are influenced by their embryonic environment and sensitive to adult hormonal manipulation. In this study, we exposed hormonally manipulated male leopard geckos from different incubation temperatures to conspecifics and measured their socio...

  9. Social interactions predict genetic diversification: an experimental manipulation in shorebirds.

    Cunningham, Charles; Parra, Jorge E; Coals, Lucy; Beltrán, Marcela; Zefania, Sama; Székely, Tamás

    2018-01-01

    Mating strategy and social behavior influence gene flow and hence affect levels of genetic differentiation and potentially speciation. Previous genetic analyses of closely related plovers Charadrius spp. found strikingly different population genetic structure in Madagascar: Kittlitz's plovers are spatially homogenous whereas white-fronted plovers have well segregated and geographically distinct populations. Here, we test the hypotheses that Kittlitz's plovers are spatially interconnected and have extensive social interactions that facilitate gene flow, whereas white-fronted plovers are spatially discrete and have limited social interactions. By experimentally removing mates from breeding pairs and observing the movements of mate-searching plovers in both species, we compare the spatial behavior of Kittlitz's and white-fronted plovers within a breeding season. The behavior of experimental birds was largely consistent with expectations: Kittlitz's plovers travelled further, sought new mates in larger areas, and interacted with more individuals than white-fronted plovers, however there was no difference in breeding dispersal. These results suggest that mating strategies, through spatial behavior and social interactions, are predictors of gene flow and thus genetic differentiation and speciation. Our study highlights the importance of using social behavior to understand gene flow. However, further work is needed to investigate the relative importance of social structure, as well as intra- and inter-season dispersal, in influencing the genetic structures of populations.

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

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

    1991-01-01

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

  11. Parasitic spawning in sand gobies: an experimental assessment of nest-opening size, sneaker male cues, paternity, and filial cannibalism

    Ola Svensson; Charlotta Kvarnemo

    2007-01-01

    Sneaking is common in nest-building fish with paternal care, but the role of nest-opening size in protecting against entry by sneaker males has never been tested before. Using the sand goby (Pomatoschistus minutus), a fish with exclusive paternal care, experimental manipulations of nest openings provided no support for the hypothesis that nest openings serve as physical or visual defense or that sneaker males prefer to parasitize nests with wide openings. Female mating preference was also not...

  12. Power-Based Setpoint Control : Experimental Results on a Planar Manipulator

    Dirksz, D. A.; Scherpen, J. M. A.

    In the last years the power-based modeling framework, developed in the sixties to model nonlinear electrical RLC networks, has been extended for modeling and control of a larger class of physical systems. In this brief we apply power-based integral control to a planar manipulator experimental setup.

  13. Sexual conflict over mating in red-sided garter snakes (Thamnophis sirtalis) as indicated by experimental manipulation of genitalia.

    Friesen, Christopher R; Uhrig, Emily J; Squire, Mattie K; Mason, Robert T; Brennan, Patricia L R

    2014-01-07

    Sexual conflict over mating can result in sex-specific morphologies and behaviours that allow each sex to exert control over the outcome of reproduction. Genital traits, in particular, are often directly involved in conflict interactions. Via genital manipulation, we experimentally investigated whether genital traits in red-sided garter snakes influence copulation duration and formation of a copulatory plug. The hemipenes of male red-sided garter snakes have a large basal spine that inserts into the female cloaca during mating. We ablated the spine and found that males were still capable of copulation but copulation duration was much shorter and copulatory plugs were smaller than those produced by intact males. We also anaesthetized the female cloacal region and found that anaesthetized females copulated longer than control females, suggesting that female cloacal and vaginal contractions play a role in controlling copulation duration. Both results, combined with known aspects of the breeding biology of red-sided garter snakes, strongly support the idea that sexual conflict is involved in mating interactions in this species. Our results demonstrate the complex interactions among male and female traits generated by coevolutionary processes in a wild population. Such complexity highlights the importance of simultaneous examination of male and female traits.

  14. Reducing emotional reasoning: an experimental manipulation in individuals with fear of spiders.

    Lommen, Miriam J J; Engelhard, Iris M; van den Hout, Marcel A; Arntz, Arnoud

    2013-01-01

    Emotional reasoning involves the tendency to use subjective responses to make erroneous inferences about situations (e.g., "If I feel anxious, there must be danger") and has been implicated in various anxiety disorders. The aim of this study of individuals with fear of spiders was to test whether computerised experimental training, compared to control training, would decrease emotional reasoning, reduce fear-related danger beliefs, and increase approach behaviour towards a fear-relevant stimulus. Effects were assessed shortly after the experimental manipulation and one day later. Results showed that the manipulation significantly decreased emotional reasoning in the experimental condition, not in the control condition, and resulted in lower danger estimates of a spider, which was maintained up to one day later. No differences in approach behaviour towards the spider were found. Reducing emotional reasoning may ultimately help patients with anxiety disorders attend more to objective situational information to correct erroneous danger beliefs.

  15. Surgical manipulation compromises leukocyte mobilisation responses and inflammation after experimental cerebral ischaemia in mice

    Adam eDenes

    2014-01-01

    Full Text Available Acute brain injury results in peripheral inflammatory changes, although the impact of these processes on neuronal death and neuroinflammation is currently unclear. To facilitate the translation of experimental studies to clinical benefit, it is vital to characterize the mechanisms by which acute brain injury induces peripheral inflammatory changes, and how these are affected by surgical manipulation in experimental models. Here we show that in mice, even mild surgical manipulation of extracranial tissues induced marked granulocyte mobilisation (300% and systemic induction of cytokines. However, intracranial changes induced by craniotomy, or subsequent induction of focal cerebral ischaemia were required to induce egress of CXCR2-positive granulocytes from the bone marrow. CXCR2 blockade resulted in reduced mobilisation of granulocytes from the bone marrow, caused an unexpected increase in circulating granulocytes, but failed to effect brain injury induced by cerebral ischaemia. We also demonstrate that isoflurane anaesthesia interferes with circulating leukocyte responses, which could contribute to the reported vascular and neuroprotective effects of isoflurane. In addition, no immunosuppression develops in the bone marrow after experimental stroke. Thus, experimental models of cerebral ischaemia are compromised by surgery and anaesthesia in proportion to the severity of surgical stress and overall tissue injury. Understanding the inherent confounding effects of surgical manipulation and development of new models of cerebral ischaemia with minimal surgical intervention could facilitate better understanding of interactions between inflammation and brain injury.

  16. Entanglement of two-mode Gaussian states: characterization and experimental production and manipulation

    Laurat, Julien [Laboratoire Kastler Brossel, Case 74, Universite Pierre et Marie curie, 4 Place Jussieu, 75252 Paris cedex 05 (France); Keller, Gaelle [Laboratoire Kastler Brossel, Case 74, Universite Pierre et Marie curie, 4 Place Jussieu, 75252 Paris cedex 05 (France); Oliveira-Huguenin, Jose Augusto [Laboratoire Kastler Brossel, Case 74, Universite Pierre et Marie curie, 4 Place Jussieu, 75252 Paris cedex 05 (France); Fabre, Claude [Laboratoire Kastler Brossel, Case 74, Universite Pierre et Marie curie, 4 Place Jussieu, 75252 Paris cedex 05 (France); Coudreau, Thomas [Laboratoire Kastler Brossel, Case 74, Universite Pierre et Marie curie, 4 Place Jussieu, 75252 Paris cedex 05 (France); Laboratoire Materiaux et Phenomenes Quantiques, Case 7021, Universite Denis Diderot, 2 Place Jussieu, 75251 Paris cedex 05 (France); Serafini, Alessio [Dipartimento di Fisica ' E R Caianiello' , Universita di Salerno (Italy); CNR-Coherentia, Gruppo di Salerno (Italy); and INFN Sezione di Napoli-Gruppo Collegato di Salerno, Via S Allende, 84081 Baronissi (Saudi Arabia) (Italy); Department of Physics and Astronomy, University College London, Gower Street, London WC1E 6BT (United Kingdom); Adesso, Gerardo [Dipartimento di Fisica ' E R Caianiello' , Universita di Salerno (Italy); CNR-Coherentia, Gruppo di Salerno (Italy); and INFN Sezione di Napoli-Gruppo Collegato di Salerno, Via S Allende, 84081 Baronissi (Saudi Arabia) (Italy); Illuminati, Fabrizio [Dipartimento di Fisica ' E R Caianiello' , Universita di Salerno (Italy) and CNR-Coherentia, Gruppo di Salerno (Italy) and INFN Sezione di Napoli-Gruppo Collegato di Salerno, Via S Allende, 84081 Baronissi (SA) (Italy)

    2005-12-01

    A powerful theoretical structure has emerged in recent years on the characterization and quantification of entanglement in continuous-variable systems. After reviewing this framework, we will illustrate it with an original set-up based on a type-II OPO (optical parametric oscillator) with adjustable mode coupling. Experimental results allow a direct verification of many theoretical predictions and provide a sharp insight into the general properties of two-mode Gaussian states and entanglement resource manipulation.

  17. Entanglement of two-mode Gaussian states: characterization and experimental production and manipulation

    Laurat, Julien; Keller, Gaelle; Oliveira-Huguenin, Jose Augusto; Fabre, Claude; Coudreau, Thomas; Serafini, Alessio; Adesso, Gerardo; Illuminati, Fabrizio

    2005-01-01

    A powerful theoretical structure has emerged in recent years on the characterization and quantification of entanglement in continuous-variable systems. After reviewing this framework, we will illustrate it with an original set-up based on a type-II OPO (optical parametric oscillator) with adjustable mode coupling. Experimental results allow a direct verification of many theoretical predictions and provide a sharp insight into the general properties of two-mode Gaussian states and entanglement resource manipulation

  18. Reactions to psychological contract breaches and organizational citizenship behaviours: An experimental manipulation of severity.

    Atkinson, Theresa P; Matthews, Russell A; Henderson, Alexandra A; Spitzmueller, Christiane

    2018-01-30

    Grounded in affective events theory, we investigated the effects of experimentally manipulated psychological contract breaches on participants' feelings of violation, subsequent perceptions of psychological contract strength, and organizational citizenship behaviours in a sample of working adults. Results support previous findings that pre-existing relational psychological contract strength interacts with severity of unmet promises or expectations. Specifically, individuals with high relational contracts who experience low severity of unmet promises/expectations have the lowest breach perceptions, whereas individuals with high relational contracts who experience more severe levels unmet promises/expectations experience the highest level of breach perceptions. Results also support the concept of a breach spiral in that prior perceptions of breach led to an increased likelihood of subsequent perceptions of breach following the experimental manipulation. Furthermore, consistent with affective events theory, results support the argument that a psychological contract breach's effect on specific organizational citizenship behaviours is mediated by feelings of violation and the reassessment of relational contracts. These effects were present even after controlling for the direct effects of the manipulated severity of unmet promises/expectations. Copyright © 2018 John Wiley & Sons, Ltd.

  19. Sociosexual investigation in sexually experienced, hormonally manipulated male leopard geckos: relation with phosphorylated DARPP-32 in dopaminergic pathways.

    Huang, Victoria; Hemmings, Hugh C; Crews, David

    2014-12-01

    Dopaminergic activity is both associated with sociosexual exposure and modulated by sexual experience and hormonal state across vertebrate taxa. Mature leopard geckos, a reptile with temperature-dependent sex determination, have dopaminoceptive nuclei that are influenced by their embryonic environment and sensitive to adult hormonal manipulation. In this study, we exposed hormonally manipulated male leopard geckos from different incubation temperatures to conspecifics and measured their sociosexual investigation, as well as phosphorylated DARPP-32 at Threonine 34 (pDARPP-32) immunoreactivity as a marker for D1 dopamine receptor activity in the nucleus accumbens, striatum, and preoptic area. Social investigation time by males of different incubation temperatures was modulated in opposite directions by exogenous androgen treatment. Males exposed to novel stimuli spent a greater proportion of time investigating females of different incubation temperatures. The time spent investigating females was positively correlated to pDARPP-32 immunoreactivity in the preoptic area. This is the first study quantifying pDARPP-32 in a lizard species, and suggests the protein as a potential marker to measure differences in the dopaminergic pathway in a social setting with consideration of embryonic environment and hormonal state. © 2014 Wiley Periodicals, Inc.

  20. Panel manipulation in social stress testing: The Bath Experimental Stress Test for Children (BEST-C).

    Cheetham, Tara J; Turner-Cobb, Julie M

    2016-01-01

    Whilst acute stress paradigms in adults make use of adult panel members, similar paradigms modified for child participants have not manipulated the panel. Most work has utilised an audience of adult confederates, regardless of the age of the population being tested. The aim of this study was to trial a social stress test for children that provided a meaningful environment using age-matched child peers as panel actors. Thirty-three participants (7-11 years) underwent the Bath Experimental Stress Test for Children (BEST-C). Based on the Trier Social Stress Test (TSST), it comprises a shortened six-minute public speaking task and four-minute maths challenge. It differs from previous stress tests by using age-matched children on the panel, pre-recorded and presented as a live feed, and includes an expanded manipulation check of subjective experience. Salivary cortisol was assessed at four time points, pre-post stress testing; life events, daily hassles and coping strategies were measured through questionnaires. A simple numerical coding scheme was applied to post-test interview data. The BEST-C generated a typical stress and adaptation response in salivary cortisol (p=.032). Age and gender differences were observed during recovery. Cortisol responses mapped directly onto three distinct subjective response patterns: (i) expected response and recovery; (ii) expected response, no recovery; (iii) no response. The BEST-C, utilising child confederates of participant target age is a meaningful social stress test for children. This is the first social stress test developed specifically for children that manipulates panel characteristics by using child confederates and a pre-recorded sham panel. Greater cortisol responses to the test were also found to match subjective verbal accounts of the experience. It offers a meaningful acute stress paradigm with potential applications to other child and adolescent age groups. Furthermore, it leads the way in the use of panel manipulation

  1. Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators

    Marco H. Terra

    2013-04-01

    Full Text Available In this paper, two interlaced studies are presented. The first is directed to the design and construction of a dynamic 3D force/moment sensor. The device is applied to provide a feedback signal of forces and moments exerted by the robotic end-effector. This development has become an alternative solution to the existing multi-axis load cell based on static force and moment sensors. The second one shows an experimental investigation on the performance of four different adaptive nonlinear H∞ control methods applied to a constrained manipulator subject to uncertainties in the model and external disturbances. Coordinated position and force control is evaluated. Adaptive procedures are based on neural networks and fuzzy systems applied in two different modeling strategies. The first modeling strategy requires a well-known nominal model for the robot, so that the intelligent systems are applied only to estimate the effects of uncertainties, unmodeled dynamics and external disturbances. The second strategy considers that the robot model is completely unknown and, therefore, intelligent systems are used to estimate these dynamics. A comparative study is conducted based on experimental implementations performed with an actual planar manipulator and with the dynamic force sensor developed for this purpose.

  2. Manipulating waves with LEGO® bricks: A versatile experimental platform for metamaterial architectures

    Celli, Paolo; Gonella, Stefano

    2015-01-01

    In this letter, we discuss a versatile, fully reconfigurable experimental platform for the investigation of phononic phenomena in metamaterial architectures. The approach revolves around the use of 3D laser vibrometry to reconstruct global and local wavefield features in specimens obtained through simple arrangements of LEGO ® bricks on a thin baseplate. The agility by which it is possible to reconfigure the brick patterns into a nearly endless spectrum of topologies makes this an effective approach for rapid experimental proof of concept, as well as a powerful didactic tool, in the arena of phononic crystals and metamaterials engineering. We use our platform to provide a compelling visual illustration of important spatial wave manipulation effects (waveguiding and seismic isolation), and to elucidate fundamental dichotomies between Bragg-based and locally resonant bandgap mechanisms

  3. Manipulating waves with LEGO bricks: A versatile experimental platform for metamaterial architectures

    Celli, Paolo; Gonella, Stefano

    2015-08-01

    In this letter, we discuss a versatile, fully reconfigurable experimental platform for the investigation of phononic phenomena in metamaterial architectures. The approach revolves around the use of 3D laser vibrometry to reconstruct global and local wavefield features in specimens obtained through simple arrangements of LEGO® bricks on a thin baseplate. The agility by which it is possible to reconfigure the brick patterns into a nearly endless spectrum of topologies makes this an effective approach for rapid experimental proof of concept, as well as a powerful didactic tool, in the arena of phononic crystals and metamaterials engineering. We use our platform to provide a compelling visual illustration of important spatial wave manipulation effects (waveguiding and seismic isolation), and to elucidate fundamental dichotomies between Bragg-based and locally resonant bandgap mechanisms.

  4. Manipulating waves with LEGO{sup ®} bricks: A versatile experimental platform for metamaterial architectures

    Celli, Paolo, E-mail: pcelli@umn.edu; Gonella, Stefano, E-mail: sgonella@umn.edu [Department of Civil, Environmental, and Geo- Engineering, University of Minnesota, Minneapolis, Minnesota 55455 (United States)

    2015-08-24

    In this letter, we discuss a versatile, fully reconfigurable experimental platform for the investigation of phononic phenomena in metamaterial architectures. The approach revolves around the use of 3D laser vibrometry to reconstruct global and local wavefield features in specimens obtained through simple arrangements of LEGO{sup ®} bricks on a thin baseplate. The agility by which it is possible to reconfigure the brick patterns into a nearly endless spectrum of topologies makes this an effective approach for rapid experimental proof of concept, as well as a powerful didactic tool, in the arena of phononic crystals and metamaterials engineering. We use our platform to provide a compelling visual illustration of important spatial wave manipulation effects (waveguiding and seismic isolation), and to elucidate fundamental dichotomies between Bragg-based and locally resonant bandgap mechanisms.

  5. The effects of genetic manipulation, dieldrin treatment and irradiation on the mating competitiveness of male Anopheles arabiensis in field cages.

    Yamada, Hanano; Vreysen, Marc J B; Gilles, Jeremie R L; Munhenga, Givemore; Damiens, David D

    2014-08-13

    's fertility under the experimental field cage conditions, but further studies in the field will be needed to confirm the efficiency of sterile ANO IPCL1 males when competing against wild males for wild females.

  6. Experimental manipulation of melanism demonstrates the plasticity of preferred temperature in an agricultural pest (Phaulacridium vittatum).

    Harris, Rebecca M B; McQuillan, Peter; Hughes, Lesley

    2013-01-01

    Phenotypic plasticity is a key trait of successful pest species, and may increase the ability to cope with higher, more variable temperatures under climate change. We investigate the plasticity of preferred temperature in a widespread agricultural pest, the wingless grasshopper (Phaulacridium vittatum). Preferred temperature is a measure of thermoregulatory behaviour through habitat selection. It is influenced by melanism, which affects body temperature by determining the amount of radiation absorbed by the body. First we demonstrate that body temperature and preferred temperature in P. vittatum is influenced by melanism, by comparing the preferred temperature of the colour morphs in laboratory thermal gradients and field body temperatures in natural populations. We then test whether preferred temperature changes in response to changes in body temperature, by determining preferred temperature before and after manipulation of melanism by painting. When melanism was manipulated experimentally in live grasshoppers, preferred temperature changed to reflect the thermal qualities of the new colour. The preferred temperature of light grasshoppers increased after they were painted black, and decreased after being painted white. Similarly, dark individuals that were painted white behaved like a light individual, maintaining a lower body temperature. Preferred temperature in P.vittatum is a plastic thermoregulatory response to ambient temperature, mediated by the influence of melanism on body temperature.

  7. Trajectories of grassland ecosystem change in response to experimental manipulations of precipitation

    Knapp, Alan; Smith, Melinda; Collins, Scott; Blair, John; Briggs, John

    2010-05-01

    manipulated for only a single year. And when similar short-term experimental manipulations of precipitation variability were conducted in more arid grasslands, responses in ANPP were opposite those in mesic grassland. This suggests that grassland responses to alterations in precipitation inputs may vary dramatically depending on the long-term hydrologic regime.

  8. Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture manufacturing.

    Zhang, Yong-de; Jiang, Jin-gang; Liang, Ting; Hu, Wei-ping

    2011-12-01

    Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.

  9. Differences induced by incubation temperature, versus androgen manipulation, in male leopard geckos (Eublepharis macularius).

    Huang, Victoria; Crews, David

    2012-08-20

    A fundamental tenet of sexual selection is that in sexually dimorphic traits, there is variation within a sex. In leopard geckos (Eublepharis macularius), a species with temperature-dependent sex determination, embryonic temperature contributes both to sex determination and polymorphisms within each sex. In this study we report that males from different incubation temperatures, one hitherto untested, exhibit significant differences in behavior even when castrated. Further, treatment with dihydrotestosterone increases scent marking, a territorial behavior. This supports previous results indicating that temperature has a direct organizing action on brain and sociosexual behavior independent of gonadal hormones. Copyright © 2012 Elsevier Inc. All rights reserved.

  10. Reducing alcohol-related aggression: Effects of a self-awareness manipulation and locus of control in heavy drinking males.

    Purvis, Danielle M; Gallagher, Kathryn E; Parrott, Dominic J

    2016-07-01

    Alcohol Myopia Theory (AMT; Steele & Josephs, 1990) purports that alcohol facilitates aggression by narrowing attentional focus onto salient and instigatory cues common to conflict situations. However, few tests of its counterintuitive prediction - that alcohol may decrease aggression when inhibitory cues are most salient - have been conducted. The present study examined whether an AMT-inspired self-awareness intervention manipulation would reduce heavy drinking men's intoxicated aggression toward women and also examined whether a relevant individual variable, locus of control, would moderate this effect. Participants were 102 intoxicated male heavy drinkers who completed a self-report measure of locus of control and completed the Taylor Aggression Paradigm (Taylor, 1967). In this task, participants administered electric shocks to, and received electric shocks from, a fictitious female opponent while exposed to an environment saturated with or devoid of self-awareness cues. Results indicated that the self-awareness manipulation was associated with less alcohol-related aggression toward the female confederate for men who reported an internal, but not an external, locus of control. Findings support AMT as a theoretical framework to inform preventative interventions for alcohol-related aggression and highlight the importance of individual differences in receptivity to such interventions. Copyright © 2016 Elsevier Ltd. All rights reserved.

  11. The Effects of Experimentally Manipulated Social Status on Acute Eating Behavior: A Randomized, Crossover Pilot Study

    Cardel, MI; Johnson, SL; Beck, J; Dhurandhar, E; Keita, AD; Tomczik, AC; Pavela, G; Huo, T; Janicke, DM; Muller, K; Piff, PK; Peters, JC; Hill, JO; Allison, DB

    2016-01-01

    Both subjective and objectively measured social status has been associated with multiple health outcomes, including weight status, but the mechanism for this relationship remains unclear. Experimental studies may help identify the causal mechanisms underlying low social standing as a pathway for obesity. Our objective was to investigate the effects of experimentally manipulated social status on ad libitum acute dietary intakes and stress-related outcomes as potential mechanisms relating social status and weight. This was a pilot feasibility, randomized, crossover study in Hispanic young adults (n=9; age 19–25; 67% female; BMI ≥18.5 and ≤30 kg/m2). At visit 1, participants consumed a standardized breakfast and were randomized to a high social status position (HIGH) or low social status position (LOW) in a rigged game of Monopoly™. The rules for the game differed substantially in terms of degree of ‘privilege’ depending on randomization to HIGH or LOW. Following Monopoly™, participants were given an ad libitum buffet meal and energy intakes (kcal) were estimated by pre- and post-weighing foods consumed. Stress-related markers were measured at baseline, after the game of Monopoly™, and after lunch. Visit 2 used the same standardized protocol; however, participants were exposed to the opposite social status condition. When compared to HIGH, participants in LOW consumed 130 more calories (p=0.07) and a significantly higher proportion of their daily calorie needs in the ad libitum buffet meal (39% in LOW versus 31% in HIGH; p=0.04). In LOW, participants reported decreased feelings of pride and powerfulness following Monopoly™ (p=0.05) and after their lunch meal (p=0.08). Relative to HIGH, participants in LOW demonstrated higher heart rates following Monopoly™ (p=0.06), but this relationship was not significant once lunch was consumed (p=0.31). Our pilot data suggest a possible causal relationship between experimentally manipulated low social status

  12. The effects of experimentally manipulated social status on acute eating behavior: A randomized, crossover pilot study.

    Cardel, M I; Johnson, S L; Beck, J; Dhurandhar, E; Keita, A D; Tomczik, A C; Pavela, G; Huo, T; Janicke, D M; Muller, K; Piff, P K; Peters, J C; Hill, J O; Allison, D B

    2016-08-01

    Both subjective and objectively measured social status has been associated with multiple health outcomes, including weight status, but the mechanism for this relationship remains unclear. Experimental studies may help identify the causal mechanisms underlying low social standing as a pathway for obesity. Our objective was to investigate the effects of experimentally manipulated social status on ad libitum acute dietary intakes and stress-related outcomes as potential mechanisms relating social status and weight. This was a pilot feasibility, randomized, crossover study in Hispanic young adults (n=9; age 19-25; 67% female; BMI ≥18.5 and ≤30kg/m(2)). At visit 1, participants consumed a standardized breakfast and were randomized to a high social status position (HIGH) or low social status position (LOW) in a rigged game of Monopoly™. The rules for the game differed substantially in terms of degree of 'privilege' depending on randomization to HIGH or LOW. Following Monopoly™, participants were given an ad libitum buffet meal and energy intakes (kcal) were estimated by pre- and post-weighing foods consumed. Stress-related markers were measured at baseline, after the game of Monopoly™, and after lunch. Visit 2 used the same standardized protocol; however, participants were exposed to the opposite social status condition. When compared to HIGH, participants in LOW consumed 130 more calories (p=0.07) and a significantly higher proportion of their daily calorie needs in the ad libitum buffet meal (39% in LOW versus 31% in HIGH; p=0.04). In LOW, participants reported decreased feelings of pride and powerfulness following Monopoly™ (p=0.05) and after their lunch meal (p=0.08). Relative to HIGH, participants in LOW demonstrated higher heart rates following Monopoly™ (p=0.06), but this relationship was not significant once lunch was consumed (p=0.31). Our pilot data suggest a possible causal relationship between experimentally manipulated low social status and

  13. Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator

    Yong-Lin Kuo

    2014-01-01

    Full Text Available This paper implements the model predictive control to fulfill the position control of a 3-DOF 3-RRR planar parallel manipulator. The research work covers experimental and numerical studies. First, an experimental hardware-in-the-loop system to control the manipulator is constructed. The manipulator is driven by three DC motors, and each motor has an encoder to measure the rotating angles of the motors. The entire system is designed as a semiclosed-loop control system. The controller receives the encoder signals as inputs to produce signals driving the motors. Secondly, the motor parameters are obtained by system identification, and the controllers are designed based on these parameters. Finally, the numerical simulations are performed by incorporating the manipulator kinematics and the motor dynamics; the results are compared with those from the experiments. Both results show that they are in good agreement at steady state. There are two main contributions in this paper. One is the application of the model predictive control to the planar parallel manipulator, and the other one is to overcome the effects of the uncertainties of the DC motors and the performance of the position control due to the dynamic behavior of the manipulator.

  14. Using an experimental manipulation to determine the effectiveness of a stock enhancement program

    Stewart, David R.; Long, James M.

    2015-01-01

    We used an experimental manipulation to determine the impact of stocking 178 mm channel catfish Ictalurus punctatus in six impoundments. The study design consisted of equal numbers (two) of control, ceased-stock, and stocked treatments that were sampled one year before and two years after stocking. Relative abundance, growth, size structure, and average weight significantly changed over time based on samples collected with hoop nets. Catch rates decreased at both ceased-stock lakes and increased for one stocked lake, while growth rates changed for at least one ceased-stock and stocked lake. The average weight of channel catfish in the ceased-stock treatment increased by 6% and 25%, whereas weight decreased by 28% and 78% in both stocked lakes. The variability in observed responses between lakes in both ceased-stock and stocked treatments indicates that a one-size-fits-all stocking agenda is impractical, suggesting lake specific and density-dependent mechanisms affect channel catfish population dynamics.

  15. Error modelling and experimental validation of a planar 3-PPR parallel manipulator with joint clearances

    Wu, Guanglei; Bai, Shaoping; Kepler, Jørgen Asbøl

    2012-01-01

    This paper deals with the error modelling and analysis of a 3-PPR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using...

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

    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

  17. Experimentally Manipulating Items Informs on the (Limited Construct and Criterion Validity of the Humor Styles Questionnaire

    Willibald Ruch

    2017-04-01

    Full Text Available How strongly does humor (i.e., the construct-relevant content in the Humor Styles Questionnaire (HSQ; Martin et al., 2003 determine the responses to this measure (i.e., construct validity? Also, how much does humor influence the relationships of the four HSQ scales, namely affiliative, self-enhancing, aggressive, and self-defeating, with personality traits and subjective well-being (i.e., criterion validity? The present paper answers these two questions by experimentally manipulating the 32 items of the HSQ to only (or mostly contain humor (i.e., construct-relevant content or to substitute the humor content with non-humorous alternatives (i.e., only assessing construct-irrelevant context. Study 1 (N = 187 showed that the HSQ affiliative scale was mainly determined by humor, self-enhancing and aggressive were determined by both humor and non-humorous context, and self-defeating was primarily determined by the context. This suggests that humor is not the primary source of the variance in three of the HQS scales, thereby limiting their construct validity. Study 2 (N = 261 showed that the relationships of the HSQ scales to the Big Five personality traits and subjective well-being (positive affect, negative affect, and life satisfaction were consistently reduced (personality or vanished (subjective well-being when the non-humorous contexts in the HSQ items were controlled for. For the HSQ self-defeating scale, the pattern of relationships to personality was also altered, supporting an positive rather than a negative view of the humor in this humor style. The present findings thus call for a reevaluation of the role that humor plays in the HSQ (construct validity and in the relationships to personality and well-being (criterion validity.

  18. Experimentally Manipulating Items Informs on the (Limited) Construct and Criterion Validity of the Humor Styles Questionnaire.

    Ruch, Willibald; Heintz, Sonja

    2017-01-01

    How strongly does humor (i.e., the construct-relevant content) in the Humor Styles Questionnaire (HSQ; Martin et al., 2003) determine the responses to this measure (i.e., construct validity)? Also, how much does humor influence the relationships of the four HSQ scales, namely affiliative, self-enhancing, aggressive, and self-defeating, with personality traits and subjective well-being (i.e., criterion validity)? The present paper answers these two questions by experimentally manipulating the 32 items of the HSQ to only (or mostly) contain humor (i.e., construct-relevant content) or to substitute the humor content with non-humorous alternatives (i.e., only assessing construct-irrelevant context). Study 1 ( N = 187) showed that the HSQ affiliative scale was mainly determined by humor, self-enhancing and aggressive were determined by both humor and non-humorous context, and self-defeating was primarily determined by the context. This suggests that humor is not the primary source of the variance in three of the HQS scales, thereby limiting their construct validity. Study 2 ( N = 261) showed that the relationships of the HSQ scales to the Big Five personality traits and subjective well-being (positive affect, negative affect, and life satisfaction) were consistently reduced (personality) or vanished (subjective well-being) when the non-humorous contexts in the HSQ items were controlled for. For the HSQ self-defeating scale, the pattern of relationships to personality was also altered, supporting an positive rather than a negative view of the humor in this humor style. The present findings thus call for a reevaluation of the role that humor plays in the HSQ (construct validity) and in the relationships to personality and well-being (criterion validity).

  19. No Gender Differences in Egocentric and Allocentric Environmental Transformation After Compensating for Male Advantage by Manipulating Familiarity

    Raffaella Nori

    2018-03-01

    Full Text Available The present study has two-fold aims: to investigate whether gender differences persist even when more time is given to acquire spatial information; to assess the gender effect when the retrieval phase requires recalling the pathway from the same or a different reference perspective (egocentric or allocentric. Specifically, we analyse the performance of men and women while learning a path from a map or by observing an experimenter in a real environment. We then asked them to reproduce the learned path using the same reference system (map learning vs. map retrieval or real environment learning vs. real environment retrieval or using a different reference system (map learning vs. real environment retrieval or vice versa. The results showed that gender differences were not present in the retrieval phase when women have the necessary time to acquire spatial information. Moreover, using the egocentric coordinates (both in the learning and retrieval phase proved easier than the other conditions, whereas learning through allocentric coordinates and then retrieving the environmental information using egocentric coordinates proved to be the most difficult. Results showed that by manipulating familiarity, gender differences disappear, or are attenuated in all conditions.

  20. Short-term testosterone manipulations modulate visual recognition memory and some aspects of emotional reactivity in male rhesus monkeys.

    Lacreuse, Agnès; Gore, Heather E; Chang, Jeemin; Kaplan, Emily R

    2012-05-15

    The role of testosterone (T) in modulating cognitive function and emotion in men remains unclear. The paucity of animal studies has likely contributed to the slow progress in this area. In particular, studies in nonhuman primates have been lacking. Our laboratory has begun to address this issue by pharmacologically manipulating T levels in intact male rhesus monkeys, using blind, placebo-controlled, crossover designs. We previously found that T-suppressed monkeys receiving supraphysiological T for 4 weeks had lower visual recognition memory for long delays and enhanced attention to videos of negative social stimuli (Lacreuse et al., 2009, 2010) compared to when treated with oil. To further delineate the conditions under which T affects cognition and emotion, the present study focused on the short-term effects of physiological T. Six intact males were treated with the gonadotropin-releasing hormone antagonist degarelix (3 mg/kg) for 7 days and received one injection of T enanthate (5 mg/kg) followed by one injection of oil vehicle 7 days later (n=3), or the reverse treatment (n=3). Performance on two computerized tasks, the Delayed-non-matching-to-sample (DNMS) with random delays and the object-Delayed Recognition Span test (object-DRST) and one task of emotional reactivity, an approach/avoidance task of negative, familiar and novel objects, was examined at baseline and 3-5 days after treatment. DNMS performance was significantly better when monkeys were treated with T compared to oil, independently of the delay duration or the nature (emotional or neutral) of the stimuli. Performance on the object-DRST was unaffected. Interestingly, subtle changes in emotional reactivity were also observed: T administration was associated with fewer object contacts, especially on negative objects, without overt changes in anxious behaviors. These results may reflect increased vigilance and alertness with high T. Altogether, the data suggest that changes in general arousal may

  1. Children?s Feedback Preferences in Response to an Experimentally Manipulated Peer Evaluation Outcome: The Role of Depressive Symptoms

    Reijntjes, Albert; Dekovic, Maja; Vermande, Marjolijn; Telch, Michael J.

    2007-01-01

    The present study examined the linkage between pre-adolescent children?s depressive symptoms and their preferences for receiving positive vs. negative feedback subsequent to being faced with an experimentally manipulated peer evaluation outcome in real time. Participants (n?=?142) ages 10 to 13, played a computer contest based on the television show Survivor and were randomized to either a peer rejection (i.e., receiving the lowest total ?likeability? score from a group of peer-judges), a pee...

  2. Human kinematics and event control: On-line movement registration as a means for experimental manipulation

    Oudejans, R.R.D.; Coolen, H.

    2003-01-01

    In human movement and sports science, manipulations of perception and action are common and often comprise the control of events, such as opening or closing liquid crystal goggles. Most of these events are externally controlled, independent of the actions of the participants. Less common, although

  3. The effect of spinal manipulation on deep experimental muscle pain in healthy volunteers

    O'Neill, Søren; Ødegaard-Olsen, Øystein; Søvde, Beate

    2015-01-01

    individuals. METHODS AND MATERIALS: Local, para-spinal muscle pain was induced by injection of 0.5 ml sterile, hyper-tonic saline on two separate occasions 1 week apart. Immediately following the injection, treatment was administered as either a) HVLA-manipulation or b) placebo treatment, in a randomized...

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

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

    2015-07-01

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

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

    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.

  6. Experimental validation of tip over stability of a tracked mobile manipulator

    Dube, C

    2013-09-01

    Full Text Available hanging wall (roof has to be inspected for loose rock that could potentially fall and cause injuries. This inspection is typically performed by a miner who is in constant danger while performing the task. The aim of the MSP project is to remove the miner... form danger by sending in a robot to perform the post-blast inspection. The platform will explore and create a map of the mine stope and it’s manipulator will then perform inspections of the hanging wall. An iRobot PackBot510 robot is currently being...

  7. Effect of experimental manipulation on survival and recruitment of feral pigs

    Hanson, L.B.; Mitchell, M.S.; Grand, J.B.; Jolley, D.B.; Sparklin, B.D.; Ditchkoff, S.S.

    2009-01-01

    Lethal removal is commonly used to reduce the density of invasive-species populations, presuming it reduces population growth rate; the actual effect of lethal removal on the vital rates contributing to population growth, however, is rarely tested. We implemented a manipulative experiment of feral pig (Sus scrofa) populations at Fort Benning, Georgia, USA, to assess the demographic effects of harvest intensity. Using markrecapture data, we estimated annual survival, recruitment, and population growth rates of populations in a moderately harvested area and a heavily harvested area for 200406. Population growth rates did not differ between the populations. The top-ranked model for survival included a harvest intensity effect; model-averaged survival was lower for the heavily harvested population than for the moderately harvested population. Increased immigration and reproduction likely compensated for the increased mortality in the heavily harvested population. We conclude that compensatory responses in feral pig recruitment can limit the success of lethal control efforts. ?? 2009 CSIRO.

  8. Short-term testosterone manipulations do not affect cognition or motor function but differentially modulate emotions in young and older male rhesus monkeys.

    Kelly, Brian; Maguire-Herring, Vanessa; Rose, Christian M; Gore, Heather E; Ferrigno, Stephen; Novak, Melinda A; Lacreuse, Agnès

    2014-11-01

    Human aging is characterized by declines in cognition and fine motor function as well as improved emotional regulation. In men, declining levels of testosterone (T) with age have been implicated in the development of these age-related changes. However, studies examining the effects of T replacement on cognition, emotion and fine motor function in older men have not provided consistent results. Rhesus monkeys (Macaca mulatta) are excellent models for human cognitive aging and may provide novel insights on this issue. We tested 10 aged intact male rhesus monkeys (mean age=19, range 15-25) on a battery of cognitive, motor and emotional tasks at baseline and under low or high T experimental conditions. Their performance was compared to that of 6 young males previously tested in the same paradigm (Lacreuse et al., 2009; Lacreuse et al., 2010). Following a 4-week baseline testing period, monkeys were treated with a gonadotropin releasing hormone agonist (Depot Lupron, 200 μg/kg) to suppress endogenous T and were tested on the task battery under a 4-week high T condition (injection of Lupron+T enanthate, 20 mg/kg, n=8) or 4-week low T condition (injection of Lupron+oil vehicle, n=8) before crossing over to the opposite treatment. The cognitive tasks consisted of the Delayed Non-Matching-to-Sample (DNMS), the Delayed Response (DR), and the Delayed Recognition Span Test (spatial-DRST). The emotional tasks included an object Approach-Avoidance task and a task in which monkeys were played videos of unfamiliar conspecifics in different emotional context (Social Playbacks). The fine motor task was the Lifesaver task that required monkeys to remove a Lifesaver candy from rods of different complexity. T manipulations did not significantly affect visual recognition memory, working memory, reference memory or fine motor function at any age. In the Approach-Avoidance task, older monkeys, but not younger monkeys, spent more time in proximity of novel objects in the high T condition

  9. The effects of goal involvement on moral behavior in an experimentally manipulated competitive setting.

    Sage, Luke; Kavussanu, Maria

    2007-04-01

    In this experiment we examined the effects of task and ego involvement on three measures of moral behavior--prosocial choice, observed prosocial behavior, and observed antisocial behavior--in a competitive setting. We also investigated sex differences in moral behavior. Male (n = 48) and female (n = 48) college students were randomly assigned to a task-involving, an ego-involving, or a control condition. Participants played two 10-min games of table soccer and completed measures of prosocial choice, goal involvement, goal orientation, and demographics. The two games were recorded, and frequencies of prosocial and antisocial behavior were coded. Players assigned to the task-involving condition were higher in prosocial choice than those in the ego-involving or control conditions. Individuals in the ego-involving condition displayed more antisocial behaviors than those in the task-involving or control conditions. Finally, females displayed more prosocial behaviors than males.

  10. Experimental manipulation of leaf litter colonization by aquatic invertebrates in a third order tropical stream.

    Uieda, V S; Carvalho, E M

    2015-05-01

    Through a manipulative experiment, the colonization of leaf litter by invertebrates was investigated in two sections of a tropical stream (spatial scale) that differed in function of the canopy cover, one with the presence (closed area) and another without riparian vegetation (open area), during one month of the dry and one of the wet season (temporal scale). The work aimed to verify differences related to four variables: season, canopy cover, leaf type and leaf condition. Litter bags containing arboreal and herbaceous leaves (leaf type variable), non-conditioned and preconditioned (leaf condition variable) were placed at the bottom of the stream in each area (canopy cover variable) and season (dry and wet), and removed after 13-day colonization. The analysis of the remaining litter dry mass per leaf bag emphasizes differences related mainly to seasonality, canopy cover and leaf type, although leaf condition was also important when combined with those three factors. Comparing the abundance of invertebrates per treatment, there was a tendency of high predominance of Chironomidae during the dry season and greater taxa diversity and evenness during the wet season, when the water flow increase could alter the availability of microhabitats for local fauna. Even though canopy cover alone was not a significant source of variation in the abundance of invertebrates, the results showed a tendency of a combined effect of canopy cover with seasonality and leaf condition.

  11. Children’s Feedback Preferences in Response to an Experimentally Manipulated Peer Evaluation Outcome: The Role of Depressive Symptoms

    Dekovic, Maja; Vermande, Marjolijn; Telch, Michael J.

    2007-01-01

    The present study examined the linkage between pre-adolescent children’s depressive symptoms and their preferences for receiving positive vs. negative feedback subsequent to being faced with an experimentally manipulated peer evaluation outcome in real time. Participants (n = 142) ages 10 to 13, played a computer contest based on the television show Survivor and were randomized to either a peer rejection (i.e., receiving the lowest total ‘likeability’ score from a group of peer-judges), a peer success (i.e., receiving the highest score), or a control peer evaluation condition. Children’s self-reported feedback preferences were then assessed. Results revealed that participants assigned to the negative evaluation outcome, relative to either the success or the control outcome, showed a significantly higher subsequent preference for negatively tuned feedback. Contrary to previous work and predictions derived from self-verification theory, children higher in depressive symptoms were only more likely to prefer negative feedback in response to the negative peer evaluation outcome. These effects for depression were not accounted for by either state mood at baseline or mood change in response to the feedback manipulation. PMID:17279340

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

    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

  13. Distinct responses of soil respiration to experimental litter manipulation in temperate woodland and tropical forest.

    Bréchet, Laëtitia M; Lopez-Sangil, Luis; George, Charles; Birkett, Ali J; Baxendale, Catherine; Castro Trujillo, Biancolini; Sayer, Emma J

    2018-04-01

    Global change is affecting primary productivity in forests worldwide, and this, in turn, will alter long-term carbon (C) sequestration in wooded ecosystems. On one hand, increased primary productivity, for example, in response to elevated atmospheric carbon dioxide (CO 2 ), can result in greater inputs of organic matter to the soil, which could increase C sequestration belowground. On other hand, many of the interactions between plants and microorganisms that determine soil C dynamics are poorly characterized, and additional inputs of plant material, such as leaf litter, can result in the mineralization of soil organic matter, and the release of soil C as CO 2 during so-called "priming effects". Until now, very few studies made direct comparison of changes in soil C dynamics in response to altered plant inputs in different wooded ecosystems. We addressed this with a cross-continental study with litter removal and addition treatments in a temperate woodland (Wytham Woods) and lowland tropical forest (Gigante forest) to compare the consequences of increased litterfall on soil respiration in two distinct wooded ecosystems. Mean soil respiration was almost twice as high at Gigante (5.0 μmol CO 2  m -2  s -1 ) than at Wytham (2.7 μmol CO 2  m -2  s -1 ) but surprisingly, litter manipulation treatments had a greater and more immediate effect on soil respiration at Wytham. We measured a 30% increase in soil respiration in response to litter addition treatments at Wytham, compared to a 10% increase at Gigante. Importantly, despite higher soil respiration rates at Gigante, priming effects were stronger and more consistent at Wytham. Our results suggest that in situ priming effects in wooded ecosystems track seasonality in litterfall and soil respiration but the amount of soil C released by priming is not proportional to rates of soil respiration. Instead, priming effects may be promoted by larger inputs of organic matter combined with slower turnover rates.

  14. The power within: The experimental manipulation of power interacts with trait BDD symptoms to predict interoceptive accuracy.

    Kunstman, Jonathan W; Clerkin, Elise M; Palmer, Kateyln; Peters, M Taylar; Dodd, Dorian R; Smith, April R

    2016-03-01

    This study tested whether relatively low levels of interoceptive accuracy (IAcc) are associated with body dysmorphic disorder (BDD) symptoms. Additionally, given research indicating that power attunes individuals to their internal states, we sought to determine if state interoceptive accuracy could be improved through an experimental manipulation of power.. Undergraduate women (N = 101) completed a baseline measure of interoceptive accuracy and then were randomized to a power or control condition. Participants were primed with power or a neutral control topic and then completed a post-manipulation measure of state IAcc. Trait BDD symptoms were assessed with a self-report measure. Controlling for baseline IAcc, within the control condition, there was a significant inverse relationship between trait BDD symptoms and interoceptive accuracy. Continuing to control for baseline IAcc, within the power condition, there was not a significant relationship between trait BDD symptoms and IAcc, suggesting that power may have attenuated this relationship. At high levels of BDD symptomology, there was also a significant simple effect of experimental condition, such that participants in the power (vs. control) condition had better interoceptive accuracy. These results provide initial evidence that power may positively impact interoceptive accuracy among those with high levels of BDD symptoms.. This cross-sectional study utilized a demographically homogenous sample of women that reflected a broad range of symptoms; thus, although there were a number of participants reporting elevated BDD symptoms, these findings might not generalize to other populations or clinical samples. This study provides the first direct test of the relationship between trait BDD symptoms and IAcc, and provides preliminary evidence that among those with severe BDD symptoms, power may help connect individuals with their internal states. Future research testing the mechanisms linking BDD symptoms with IAcc, as

  15. Sex-specific effects of altered competition on nestling growth and survival: an experimental manipulation of brood size and sex ratio.

    Nicolaus, Marion; Michler, Stephanie P M; Ubels, Richard; van der Velde, Marco; Komdeur, Jan; Both, Christiaan; Tinbergen, Joost M

    2009-03-01

    1. An increase of competition among adults or nestlings usually negatively affects breeding output. Yet little is known about the differential effects that competition has on the offspring sexes. This could be important because it may influence parental reproductive decisions. 2. In sexual size dimorphic species, two main contradictory mechanisms are proposed regarding sex-specific effects of competition on nestling performance assuming that parents do not feed their chicks differentially: (i) the larger sex requires more resources to grow and is more sensitive to a deterioration of the rearing conditions ('costly sex hypothesis'); (ii) the larger sex has a competitive advantage in intra-brood competition and performs better under adverse conditions ('competitive advantage hypothesis'). 3. In the present study, we manipulated the level of sex-specific sibling competition in a great tit population (Parus major) by altering simultaneously the brood size and the brood sex ratio on two levels: the nest (competition for food among nestlings) and the woodlot where the parents breed (competition for food among adults). We investigated whether altered competition during the nestling phase affected nestling growth traits and survival in the nest and whether the effects differed between males, the larger sex, and females. 4. We found a strong negative and sex-specific effect of experimental brood size on all the nestling traits. In enlarged broods, sexual size dimorphism was smaller which may have resulted from biased mortality towards the less competitive individuals i.e. females of low condition. No effect of brood sex ratio on nestling growth traits was found. 5. Negative brood size effects on nestling traits were stronger in natural high-density areas but we could not confirm this experimentally. 6. Our results did not support the 'costly sex hypothesis' because males did not suffer from higher mortality under harsh conditions. The 'competitive advantage hypothesis' was

  16. Nutrient Budgets Calculated in Floodwaters Using a Whole-Ecosystem Experimental Manipulation

    Talbot, C. J.; Paterson, M. J.; Xenopoulos, M. A.

    2017-12-01

    Flooding provides pathways for nutrients to move into surface waters and alter nutrient concentrations, therefore influencing downstream ecosystems and increasing events of eutrophication. Nutrient enrichment will likely affect water quality, primary production, and overall ecosystem function. Quantifying nutrient movement post-flood will help evaluate the risks or advantages that flooding will have on ecosystem processes. Here we constructed nutrient budgets using data collected as part of the Flooded Upland Dynamics Experiment (FLUDEX) at the Experimental Lakes Area (ELA) in northwestern Ontario. Three experimental reservoirs with varying amounts of stored carbon were created by flooding forested land from May through September annually from 1999 to 2003. Organic matter became a significant source of nutrients under flooded conditions and elevated reservoir total nitrogen (TN) and total phosphorus (TP) concentrations within one week of flooding. The highest TN (2.6 mg L-1) and TP (579 µg L-1) concentrations throughout the entire flooding experiment occurred in the medium carbon reservoir within the first two weeks of flooding in 1999. TN and TP fluxes were positive in all years of flooding. TP fluxes decreased after each flooding season therefore, TP production may be less problematic in floodplains subject to frequent repeated flooding. However, TN fluxes remained large even after repeated flooding. Therefore, flooding, whether naturally occurring or from anthropogenic flow alteration, may be responsible for producing significant amounts of nitrogen and phosphorus in aquatic ecosystems.

  17. Manipulation of the microbiota of mass-reared Mediterranean fruit flies Ceratitis capitata (Diptera: Tephritidae) improves sterile male sexual performance.

    Ben Ami, Eyal; Yuval, Boaz; Jurkevitch, Edouard

    2010-01-01

    The sterile insect technique (SIT) is a method of biological control whereby millions of factory reared sterile male insects are released into the field. This technique is commonly used to combat the Mediterranean fruit fly (Ceratitis capitata, Diptera: Tephritidae). Sterile medfly males are less competent in attracting and mating with wild females, a property commonly linked to the irradiation process responsible for the sterilization. As bacteria are important partners in the fly's life cycle, we used molecular analytical methods to study the community structure of the gut microbiota in irradiated male medflies. We find that the sterilizing irradiation procedure affects the gut bacterial community structure of the Mediterranean fruit fly. Although the Enterobacteriaceae family remains the dominant bacterial group present in the gut, the levels of Klebsiella species decreases significantly in the days after sterilization. In addition, we detected substantial differences in some bacterial species between the mass rearing strain Vienna 8 and the wild strain. Most notable among these are the increased levels of the potentially pathogenic species Pseudomonas in the industrial strain. Testing the hypothesis that regenerating the original microbiota community could result in enhanced competitiveness of the sterile flies, we found that the addition of the bacterial species Klebsiella oxytoca to the postirradiation diet enables colonization of these bacteria in the gut while resulting in decreased levels of the Pseudomonas sp. Feeding on diets containing bacteria significantly improved sterile male performance in copulatory tests. Further studies will determine the feasibility of bacterial amelioration in SIT operations.

  18. Effects of dietary lead exposure on vitamin levels in great tit nestlings – An experimental manipulation

    Ruiz, Sandra; Espín, Silvia; Rainio, Miia; Ruuskanen, Suvi; Salminen, Juha-Pekka; Lilley, Thomas M.; Eeva, Tapio

    2016-01-01

    Exposure to metal pollution negatively affects animal physiology, including nutrient metabolism, but in the wild an effect can seldom be attributed to a single metal. Moreover, little is known about how the metabolism of vitamins, essential micronutrients for developing juveniles, is affected by toxic metals. Therefore we experimentally investigated the effects of lead (Pb), a widespread toxic metal, on four fat-soluble vitamins A (total and retinol), D 3 , E (total and α-tocopherol) and K and carotenoids (lutein, zeaxanthin and unidentified) in great tit (Parus major) nestlings. In addition to a control group where no Pb was provided, two Pb-dosed groups were compared to a metal exposed group in the vicinity of a Ni–Cu smelter. We examined whether Pb treatment affects vitamin homeostasis and how the response of Pb-treated birds relates to that of a population under industrial exposure of Pb and other metals. For this purpose, vitamin and carotenoid levels were quantified with UPLC-MS from plasma of 7 days-old nestlings. All metal exposed groups showed increased vitamin A and retinol levels. However, vitamin levels were not directly associated with fecal Pb levels, with the exception of retinol, which was positively correlated with fecal Pb. Alpha-tocopherol, lutein and zeaxanthin levels were positively associated with body mass and wing growth rate. To conclude, Pb exposure increased plasma vitamin A and retinol levels while the levels of other vitamins and carotenoids rather reflected secondary pollution effects via differences in habitat and diet quality at the smelter site. Our findings suggest Pb exposed nestlings may allocate the vitamins needed for growth and development to fight the physiological stress thus compromising their fitness. - Highlights: • Pb effects on vitamins A, D 3 , E and K in wild great tit nestlings were investigated. • Four treatment groups were established: Control, Low-Pb, High-Pb and Smelter. • Pb concentrations measured in

  19. Experimental Manipulation of Grassland Plant Diversity Induces Complex Shifts in Aboveground Arthropod Diversity

    Hertzog, Lionel R.; Meyer, Sebastian T.; Weisser, Wolfgang W.; Ebeling, Anne

    2016-01-01

    Changes in producer diversity cause multiple changes in consumer communities through various mechanisms. However, past analyses investigating the relationship between plant diversity and arthropod consumers focused only on few aspects of arthropod diversity, e.g. species richness and abundance. Yet, shifts in understudied facets of arthropod diversity like relative abundances or species dominance may have strong effects on arthropod-mediated ecosystem functions. Here we analyze the relationship between plant species richness and arthropod diversity using four complementary diversity indices, namely: abundance, species richness, evenness (equitability of the abundance distribution) and dominance (relative abundance of the dominant species). Along an experimental gradient of plant species richness (1, 2, 4, 8, 16 and 60 plant species), we sampled herbivorous and carnivorous arthropods using pitfall traps and suction sampling during a whole vegetation period. We tested whether plant species richness affects consumer diversity directly (i), or indirectly through increased productivity (ii). Further, we tested the impact of plant community composition on arthropod diversity by testing for the effects of plant functional groups (iii). Abundance and species richness of both herbivores and carnivores increased with increasing plant species richness, but the underlying mechanisms differed between the two trophic groups. While higher species richness in herbivores was caused by an increase in resource diversity, carnivore richness was driven by plant productivity. Evenness of herbivore communities did not change along the gradient in plant species richness, whereas evenness of carnivores declined. The abundance of dominant herbivore species showed no response to changes in plant species richness, but the dominant carnivores were more abundant in species-rich plant communities. The functional composition of plant communities had small impacts on herbivore communities, whereas

  20. Experimental Manipulation of Grassland Plant Diversity Induces Complex Shifts in Aboveground Arthropod Diversity.

    Hertzog, Lionel R; Meyer, Sebastian T; Weisser, Wolfgang W; Ebeling, Anne

    2016-01-01

    Changes in producer diversity cause multiple changes in consumer communities through various mechanisms. However, past analyses investigating the relationship between plant diversity and arthropod consumers focused only on few aspects of arthropod diversity, e.g. species richness and abundance. Yet, shifts in understudied facets of arthropod diversity like relative abundances or species dominance may have strong effects on arthropod-mediated ecosystem functions. Here we analyze the relationship between plant species richness and arthropod diversity using four complementary diversity indices, namely: abundance, species richness, evenness (equitability of the abundance distribution) and dominance (relative abundance of the dominant species). Along an experimental gradient of plant species richness (1, 2, 4, 8, 16 and 60 plant species), we sampled herbivorous and carnivorous arthropods using pitfall traps and suction sampling during a whole vegetation period. We tested whether plant species richness affects consumer diversity directly (i), or indirectly through increased productivity (ii). Further, we tested the impact of plant community composition on arthropod diversity by testing for the effects of plant functional groups (iii). Abundance and species richness of both herbivores and carnivores increased with increasing plant species richness, but the underlying mechanisms differed between the two trophic groups. While higher species richness in herbivores was caused by an increase in resource diversity, carnivore richness was driven by plant productivity. Evenness of herbivore communities did not change along the gradient in plant species richness, whereas evenness of carnivores declined. The abundance of dominant herbivore species showed no response to changes in plant species richness, but the dominant carnivores were more abundant in species-rich plant communities. The functional composition of plant communities had small impacts on herbivore communities, whereas

  1. Experimental manipulation of TN:TP ratiossuppress cyanobacterial biovolume and microcystinconcentration in large-scale in situ mesocosms

    Harris, Theodore D.; Wilhelm, Frank M.; Graham, Jennifer L.; Loftin, Keith A.

    2014-01-01

    A global dataset was compiled to examine relations between the total nitrogen to total phosphorus ratio (TN:TP) and microcystin concentration in lakes and reservoirs. Microcystin concentration decreased as TN:TP ratios increased, suggesting that manipulation of the TN:TP ratio may reduce microcystin concentrations. This relationship was experimentally tested by adding ammonium nitrate to increase the TN:TP ratio in large-scale (70 m3), in situ mesocosms located in a eutrophic reservoir that routinely experiences toxic blooms of cyanobacteria. At a TN:TP ratio >75:1, chlorophytes dominated the phytoplankton community in the mesocosms, while cyanobacterial biovolume was significantly reduced and microcystin was not detected. In contrast, the unmanipulated reservoir was dominated by cyanobacteria, and microcystin was detected. Secchi depths were 1.1 to 1.8 times greater in the mesocosms relative to the reservoir. Cladoceran zooplankton had a larger body size (0.14 mm on average) in the mesocosms compared to conspecifics in the reservoir, which was likely related to the higher quality food. Combined, these empirical and experimental data indicate that although nutrient addition is counterintuitive to current cyanobacteria management practices, increasing the TN:TP ratio by adding nitrogen may be a potential short-term management strategy to reduce cyanobacteria and cyanotoxins when other alternatives (e.g., phosphorus reduction) are not possible. Additional experimental studies with careful controls are needed to define best management practices and identify any potential unintended consequences before nitrogen addition is implemented as a lake and reservoir management practice.

  2. Dietary Manipulations That Induce Ketosis Activate the HPA Axis in Male Rats and Mice: A Potential Role for Fibroblast Growth Factor-21.

    Ryan, Karen K; Packard, Amy E B; Larson, Karlton R; Stout, Jayna; Fourman, Sarah M; Thompson, Abigail M K; Ludwick, Kristen; Habegger, Kirk M; Stemmer, Kerstin; Itoh, Nobuyuki; Perez-Tilve, Diego; Tschöp, Matthias H; Seeley, Randy J; Ulrich-Lai, Yvonne M

    2018-01-01

    In response to an acute threat to homeostasis or well-being, the hypothalamic-pituitary-adrenocortical (HPA) axis is engaged. A major outcome of this HPA axis activation is the mobilization of stored energy, to fuel an appropriate behavioral and/or physiological response to the perceived threat. Importantly, the extent of HPA axis activity is thought to be modulated by an individual's nutritional environment. In this study, we report that nutritional manipulations signaling a relative depletion of dietary carbohydrates, thereby inducing nutritional ketosis, acutely and chronically activate the HPA axis. Male rats and mice maintained on a low-carbohydrate high-fat ketogenic diet (KD) exhibited canonical markers of chronic stress, including increased basal and stress-evoked plasma corticosterone, increased adrenal sensitivity to adrenocorticotropin hormone, increased stress-evoked c-Fos immunolabeling in the paraventricular nucleus of the hypothalamus, and thymic atrophy, an indicator of chronic glucocorticoid exposure. Moreover, acutely feeding medium-chain triglycerides (MCTs) to rapidly induce ketosis among chow-fed male rats and mice also acutely increased HPA axis activity. Lastly, and consistent with a growing literature that characterizes the hepatokine fibroblast growth factor-21 (FGF21) as both a marker of the ketotic state and as a key metabolic stress hormone, the HPA response to both KD and MCTs was significantly blunted among mice lacking FGF21. We conclude that dietary manipulations that induce ketosis lead to increased HPA axis tone, and that the hepatokine FGF21 may play an important role to facilitate this effect. Copyright © 2018 Endocrine Society.

  3. An Experimental Study on Operability of Master-Slave Manipulator System using Human–in–the-Loop Type Simulator

    Tashiro Yosuke

    2017-01-01

    Full Text Available Double arm Master-Slave (M-S manipulator has been attracted the attention of the robotics researchers today. The micro surgery is one of the big targets which M-S manipulator is expected to effectively perform. This paper describes about the human in the loop (HIL simulator consisted of the prototype master manipulator and the virtual simulator of slave manipulator. Today, we have a challenge injecting drugs to a chick embryo’s blood vessels that are enough cultured in an artificial eggshell. The M-S manipulator is expected to apply for such a work like a micro surgery, ex. catching a blood vessel and sticking a cylinder. The embryo is extremely sensitive so that M-S manipulator should have both high operability and high accuracy movement. To evaluate the M-S manipulator quantitatively, we develop the human in the loop (HIL simulator. The simulator is consisted with the prototype master manipulator and the virtual slave manipulator.

  4. Splenectomy reduces infarct volume and neuroinflammation in male but not female mice in experimental stroke

    Dotson, Abby L.; Wang, Jianming; Saugstad, Julie; Murphy, Stephanie J.; Offner, Halina

    2014-01-01

    The peripheral immune response contributes to neurodegeneration after stroke yet little is known about how this process differs between males and females. The current study demonstrates that splenectomy prior to experimental stroke eliminates sex differences in infarct volume and activated brain monocytes/microglia. In the periphery of both sexes, activated T cells correlate directly with stroke outcome while monocytes are reduced by splenectomy only in males. This study provides new information about the sex specific mechanisms of the peripheral immune response in neurodegeneration after stroke and demonstrates the need for representation of both sexes in basic and clinical stroke research. PMID:25434281

  5. Changing how I feel about the food: experimentally manipulated affective associations with fruits change fruit choice behaviors.

    Walsh, Erin M; Kiviniemi, Marc T

    2014-04-01

    Fewer than half of Americans meet current recommendations for fruit and vegetable intake. The behavioral affective associations model posits that feelings and emotions associated with a behavior are a proximal influence on decision making. Cross-sectional evidence supports the model and suggests that affective associations predict fruit and vegetable consumption. The purpose of this study was to test whether a causal relation exists between affective associations about fruits and future fruit consumption behavior, as measured by a snack selection task. Following a baseline assessment of cognitive and affective variables, participants' (N = 161) affective associations about fruits were experimentally manipulated with an implicit priming paradigm. Images of fruits were repeatedly paired with positive, negative, or neutral affective stimuli. The key outcome measure was a behavioral choice task in which participants chose between fruit and a granola bar. Participants in the positive prime condition were three times more likely than those in the negative condition to select a piece of fruit over the granola bar alternative in the snack selection task. They were also twice as likely as those in the neutral condition to select fruit. There were no changes in self-reported affective associations or cognitive beliefs. These findings provide further evidence of the implicit and direct influence of affective associations on behavior, suggesting the need to both incorporate the role of affect in health decision making models, as well as the potential utility of intervention strategies targeting affective associations with health-related behaviors.

  6. Neuropsychiatric Symptom Modeling in Male and Female C57BL/6J Mice after Experimental Traumatic Brain Injury

    Tucker, Laura B.; Burke, John F.; Fu, Amanda H.

    2017-01-01

    Abstract Psychiatric symptoms such as anxiety and depression are frequent and persistent complaints following traumatic brain injury (TBI). Modeling these symptoms in animal models of TBI affords the opportunity to determine mechanisms underlying behavioral pathologies and to test potential therapeutic agents. However, testing these symptoms in animal models of TBI has yielded inconsistent results. The goal of the current study was to employ a battery of tests to measure multiple anxiety- and depressive-like symptoms following TBI in C57BL/6J mice, and to determine if male and female mice are differentially affected by the injury. Following controlled cortical impact (CCI) at a parietal location, neither male nor female mice showed depressive-like symptoms as measured by the Porsolt forced-swim test and sucrose preference test. Conclusions regarding anxiety-like behaviors were dependent upon the assay employed; CCI-induced thigmotaxis in the open field suggested an anxiogenic effect of the injury; however, results from the elevated zero maze, light-dark box, and marble-burying tests indicated that CCI reduced anxiety-like behaviors. Fewer anxiety-like behaviors were also associated with the female sex. Increased levels of activity were also measured in female mice and injured mice in these tests, and conclusions regarding anxiety should be taken with caution when experimental manipulations induce changes in baseline activity. These results underscore the irreconcilability of results from studies attempting to model TBI-induced neuropsychiatric symptoms. Changes in injury models or better attempts to replicate the clinical syndrome may improve the translational applicability of rodent models of TBI-induced anxiety and depression. PMID:27149139

  7. Nest ornamentation by female spotless starlings in response to a male display: an experimental study.

    Polo, Vicente; Veiga, José P

    2006-07-01

    1. The use of behavioural traits by females in signalling condition has been practically ignored in evolutionary theory. However, females may also exhibit ornaments and behavioural displays, although less elaborated than those of males. 2. In this study we suggest that the carrying of feathers by spotless starlings Sturnus unicolor Temminck females to decorate the nest represents an elaborated and costly behaviour that is displayed in response to a courtship male behaviour: the carrying of nest green plants. 3. By experimentally increasing the amount of green plants in the nests, to give the appearance that highly attractive males defended them, we induced females to increase their feather carrying rates. 4. The amount of feathers carried to the nest was correlated to female reproductive experience and laying date, two variables correlated with female body condition. These results suggests that this behaviour may work as an honest indicator of female quality. 5. We conclude that male carrying plants and female carrying feathers can be viewed as two sex-specific functionally related signalling behaviours involved in mutual courtship or status signalling.

  8. THE INFLUENCE OF EXPERIMENTAL PROGRAM OF PHYSICAL EDUCATION ON MORPHOLOGICAL CHARACTERISTICS OF MALE PUPILS

    Nevenka Zrnzević

    2008-08-01

    Full Text Available The research purpose was to determine the effects of the experimental program of physical education on morphological characteristics of male pupils from the first-grade of primary school. The experimental program was carried out on the sample of 50 male pupils of the primary schools in Leposavic and Zvecan, age of 7 years ± 6 months. Morphological characteristics were estimated according to 13 variables (body height, total arm length, leg length, biacromial diameter, biiliocristal diameter, wrist width, chest circum ference, upper arm circum ference, upper leg circum ference, triceps skin fold, subscapular skin fold, abdomen skin fold and body mass. The results of the research were processed through standard procedures and basic descriptive parameters were calculated, and variations were determined using multi-variable analysis of variance (MAN′s and uni-variable analysis of variance (AN′s. Multivariable analysis of variance showed a significant statistic difference in morphological characteristics showed at initial and final measuring. On the basis of the results and discussion, it can be concluded that the experimental program has statistically significant effects on the changes of some morphological characteristics.

  9. Manipulating the Shape of Electronic Non-Dispersive Wave-Packets in the Hydrogen Atom: Numerical Tests in Realistic Experimental Conditions

    Delande, D.; Sacha, K.; Zakrzewski, J.

    2002-01-01

    We show that combination of a linearly polarized resonant microwave field and a parallel static electric field may be used to create a non-dispersive electronic wave packet in Rydberg atoms. The static electric field allows for manipulation of the shape of the elliptical trajectory the wave packet is propagating on. Exact quantum numerical calculations for realistic experimental parameters show that the wave packet evolving on a linear orbit can be very easily prepared in a laboratory either by a direct optical excitation or by preparing an atom in an extremal Stark state and then slowly switching on the micro wave field. The latter scheme seems to be very resistant to experimental imperfections. Once the wave packet on the linear orbit is excited, the static field may be used to manipulate the shape of the orbit. (author)

  10. Growth control of the cranial base. A study with experimentally bipedal male rats

    Smit-Vis, J.H.

    1981-01-01

    In a cross-sectional study the postnatal development of the skull, particularly that of the cranial base, was studied in experimentally bipedal male rats, up to the age of 46 weeks. A total of 81 bipedal rats and a control group of 90 animals were studied. It was found that, as compared with control rats, the bipedal rats had a definitely more spherical skull. This was the result of an increased height and a stronger dorsal flexion of the anterior cranial base. As to the chondrocranial elements, the basi-occipital bone reached, on the average, the same length in bipedal rats as in controls. However, the basisphenoid bone was significantly shorter. Arguments are given to relate the latter phenomenon to the altered shape of the neurocranium. The conclusion is drawn that, in this experimental approach, chondrocranial growth at the intersphenoidal synchondrosis is controlled not only by intrinsic genetic factors but also by local epigenetic and/or environmental factors.

  11. Vertical jump in female and male basketball players--a review of observational and experimental studies.

    Ziv, Gal; Lidor, Ronnie

    2010-05-01

    The main purpose of this article was to review a series of studies (n=26; 15 observational and 11 experimental) examining vertical jump (VJ) performances in female and male basketball players. Information on the tests used in these studies and their specific protocols, and the training programs conducted to improve VJ ability in elite basketball players, was assessed. It was found that vertical jump values varied greatly, from 22 to 48 cm in female players and from 40 to 75 cm in male players. These large variations can be explained mostly by the differences in testing protocols (each VJ protocol examined different physiological pathways) and skill level of players. The variations in VJ values among studies were greatly reduced when they used the same protocol. In addition, short plyometric training sessions as part of the strength and conditioning program were found to enhance VJ performances in basketball players. Based on the reviewed studies, five limitations associated with the testing protocols and the strength and conditioning programs used in the studies were outlined, among them the use of multiple testing protocols and lack of experimental studies. Three recommendations for basketball and strength and conditioning coaches were suggested, for one of which was including plyometric training in the annual training program. 2009 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

  12. Experimental gastritis leads to anxiety- and depression-like behaviors in female but not male rats

    2013-01-01

    Human and animals studies support the idea that there is a gender-related co-morbidity of pain-related and inflammatory gastrointestinal (GI) diseases with psychological disorders. This co-morbidity is the evidence for the existence of GI-brain axis which consists of immune (cytokines), neural (vagus nerve) and neuroendocrine (HPA axis) pathways. Psychological stress causes disturbances in GI physiology, such as altered GI barrier function, changes in motility and secretion, development of visceral hypersensitivity, and dysfunction of inflammatory responses. Whether GI inflammation would exert impact on psychological behavior is not well established. We examined the effect of experimental gastritis on anxiety- and depression-like behaviors in male and female Sprague–Dawley rats, and evaluated potential mechanisms of action. Gastritis was induced by adding 0.1% (w/v) iodoacetamide (IAA) to the sterile drinking water for 7 days. Sucrose preference test assessed the depression-like behavior, open field test and elevated plus maze evaluated the anxiety-like behavior. IAA treatment induced gastric inflammation in rats of either gender. No behavioral abnormality or dysfunction of GI-brain axis was observed in male rats with IAA-induced gastritis. Anxiety- and depression-like behaviors were apparent and the HPA axis was hyperactive in female rats with IAA-induced gastritis. Our results show that gastric inflammation leads to anxiety- and depression-like behaviors in female but not male rats via the neuroendocrine (HPA axis) pathway, suggesting that the GI inflammation can impair normal brain function and induce changes in psychological behavior in a gender-related manner through the GI-to-brain signaling. PMID:24345032

  13. Panel manipulation in social stress testing:The Bath experimental stress test for children (BEST-C)

    Cheetham, Tara J.; Turner-Cobb, Julie M.

    2016-01-01

    BackgroundWhilst acute stress paradigms in adults make use of adult panel members, similar paradigms modified for child participants have not manipulated the panel. Most work has utilised an audience of adult confederates, regardless of the age of the population being tested. The aim of this study was to trial a social stress test for children that provided a meaningful environment using age-matched child peers as panel actors.MethodsThirty-three participants (7-11 years) underwent the Bath E...

  14. Peer Passenger Norms and Pressure: Experimental Effects on Simulated Driving Among Teenage Males.

    Bingham, C Raymond; Simons-Morton, Bruce G; Pradhan, Anuj K; Li, Kaigang; Almani, Farideh; Falk, Emily B; Shope, Jean T; Buckley, Lisa; Ouimet, Marie Claude; Albert, Paul S

    2016-08-01

    Serious crashes are more likely when teenage drivers have teenage passengers. One likely source of this increased risk is social influences on driving performance. This driving simulator study experimentally tested the effects of peer influence (i.e., risk-accepting compared to risk-averse peer norms reinforced by pressure) on the driving risk behavior (i.e., risky driving behavior and inattention to hazards) of male teenagers. It was hypothesized that peer presence would result in greater driving risk behavior (i.e., increased driving risk and reduced latent hazard anticipation), and that the effect would be greater when the peer was risk-accepting. Fifty-three 16- and 17-year-old male participants holding a provisional U.S., State of Michigan driver license were randomized to either a risk-accepting or risk-averse condition. Each participant operated a driving simulator while alone and separately with a confederate peer passenger. The simulator world included scenarios designed to elicit variation in driving risk behavior with a teen passenger present in the vehicle. Significant interactions of passenger presence (passenger present vs. alone) by risk condition (risk-accepting vs. risk-averse) were observed for variables measuring: failure to stop at yellow light intersections (Incident Rate Ratio (IRR)=2.16; 95% Confidence Interval [95CI]=1.06, 4.43); higher probability of overtaking (IRR=10.17; 95CI=1.43, 73.35); shorter left turn latency (IRR=0.43; 95CI=0.31,0.60); and, failure to stop at an intersection with an occluded stop sign (IRR=7.90; 95CI=2.06,30.35). In all cases, greater risky driving by participants was more likely with a risk-accepting passenger versus a risk-averse passenger present and a risk-accepting passenger present versus driving alone. Exposure of male teenagers to a risk-accepting confederate peer passenger who applied peer influence increased simulated risky driving behavior compared with exposure to a risk-averse confederate peer

  15. Partitioning of soil CO2 efflux in un-manipulated and experimentally flooded plots of a temperate fen

    Wunderlich, S.; Borken, W.

    2012-08-01

    Peatlands store large amounts of organic carbon, but the carbon stock is sensitive to changes in precipitation or water table manipulations. Restoration of drained peatlands by drain blocking and flooding is a common measure to conserve and augment the carbon stock of peatland soils. Here, we report to what extent flooding affected the contribution of heterotrophic and rhizosphere respiration to soil CO2 efflux in a grass-dominated mountain fen in Germany. Soil CO2 efflux was measured in three un-manipulated control plots and three flooded plots in two consecutive years. Flooding was achieved by permanent irrigation during the growing seasons. Radiocarbon signatures of CO2 from different sources including soil CO2 efflux, incubated peat cores and live grass roots were repeatedly analyzed for partitioning of soil CO2 efflux. Additionally, heterotrophic respiration and its radiocarbon signature were determined by eliminating rhizosphere respiration in trenched subplots (only control). In the control plots, rhizosphere respiration determined by 14C signatures contributed between 47 and 61% during the growing season, but was small (4 ± 8%) immediately before budding. Trenching revealed a smaller rhizosphere contribution of 33 ± 8% (2009) and 22 ± 9% (2010) during growing seasons. Flooding reduced annual soil CO2 efflux of the fen by 42% in 2009 and by 30% in 2010. The reduction was smaller in 2010 mainly through naturally elevated water level in the control plots. A one-week interruption of irrigation caused a strong short-lived increase in soil CO2 efflux, demonstrating the sensitivity of the fen to water table drawdown near the peat surface. The reduction in soil CO2 efflux in the flooded plots diminished the relative proportion of rhizosphere respiration from 56 to 46%, suggesting that rhizosphere respiration was slightly more sensitive to flooding than heterotrophic respiration.

  16. Consistent individual differences and population plasticity in network-derived sociality: An experimental manipulation of density in a gregarious ungulate

    O’Brien, Paul P.; Vander Wal, Eric

    2018-01-01

    In many taxa, individual social traits appear to be consistent across time and context, thus meeting the criteria for animal personality. How these differences are maintained in response to changes in population density is unknown, particularly in large mammals, such as ungulates. Using a behavioral reaction norm (BRN) framework, we examined how among- and within-individual variation in social connectedness, measured using social network analyses, change as a function of population density. We studied a captive herd of elk (Cervus canadensis) separated into a group of male elk and a group of female elk. Males and females were exposed to three different density treatments and we recorded social associations between individuals with proximity-detecting radio-collars fitted to elk. We constructed social networks using dyadic association data and calculated three social network metrics reflective of social connectedness: eigenvector centrality, graph strength, and degree. Elk exhibited consistent individual differences in social connectedness across densities; however, they showed little individual variation in their response to changes in density, i.e., individuals oftentimes responded plastically, but in the same manner to changes in density. Female elk had highest connectedness at an intermediate density. In contrast, male elk increased connectedness with increasing density. Whereas this may suggest that the benefits of social connectedness outweigh the costs of increased competition at higher density for males, females appear to exhibit a threshold in social benefits (e.g. predator detection and forage information). Our study illustrates the importance of viewing social connectedness as a density-dependent trait, particularly in the context of plasticity. Moreover, we highlight the need to revisit our understanding of density dependence as a population-level phenomenon by accounting for consistent individual differences not only in social connectedness, but likely

  17. A manipulator

    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.)

  18. Long-term effect of altered nutrition induced by litter size manipulation and cross-fostering in suckling male rats on development of obesity risk and health complications.

    Mozeš, Stefan; Sefčíková, Zuzana; Raček, L'ubomír

    2014-08-01

    We investigated the long-term effect of pre-weaning nutrition on positive and/or adverse regulation of obesity risk and health complications in male Sprague-Dawley rats. Two experimental models were used in the present work: (1) To induce postnatal over- or normal nutrition, the litter size was adjusted to 4 (small litters-SL) and to 10 pups (normal litters-NL) in the nest, (2) in suckling pups at day 10, we used cross-fostering to identify the effect of altered dietary environment on their future body fat regulation, food intake, blood pressure, and the duodenal and jejunal alkaline phosphatase activity. After weaning, these control (NL, SL) and cross-fostered (NL-SL, SL-NL) groups were exposed to standard laboratory diet. On day 50, the SL in comparison with NL rats became heavier and displayed enhanced adiposity accompanied by significantly increased systolic blood pressure (19%) and duodenal (16%) and jejunal (21%) alkaline phosphatase (AP) activity. The impact of pre-weaning over-nutrition of NL-SL pups was associated with long-lasting positive effect on obesity. In contrast, SL-NL rats submitted until weaning to the opposite normalized feeding condition on day 50 showed significantly decreased fat deposition (21%), systolic blood pressure (20%), and AP activity in duodenum and jejunum (14%). These results contribute to a better understanding of how early-acquired dietary habits determine the attenuation or prevention of obesity development in later life and can provide some benefit for optimizing the future dietary strategies in young and adult obese individuals.

  19. Neonatal maternal separation increases susceptibility to experimental colitis and acute stress exposure in male mice

    Isabella M. Fuentes

    2016-12-01

    Full Text Available Experiencing early life stress can result in maladjusted stress response via dysregulation of the hypothalamic-pituitary-adrenal axis and serves as a risk factor for developing chronic pelvic pain disorders. We investigated whether neonatal maternal separation (NMS would increase susceptibility to experimental colitis or exposure to acute or chronic stress. Male mice underwent NMS from postnatal day 1–21 and as adults were assessed for open field behavior, hindpaw sensitivity, and visceromotor response (VMR to colorectal distension (CRD. VMR was also measured before and after treatment with intracolonic trinitrobenzene sulfonic acid (TNBS or exposure to acute or chronic water avoidance stress (WAS. Myeloperoxidase (MPO activity, proinflammatory gene and corticotropin-releasing factor (CRF receptor expression were measured in distal colon. Baseline VMR was not affected by NMS, but undergoing CRD increased anxiety-like behaviors and mechanical hindpaw sensitivity of NMS mice. Treatment with TNBS dose-dependently decreased body weight and survival only in NMS mice. Following TNBS treatment, IL-6 and artemin mRNA levels were decreased in the distal colon of NMS mice, despite increased MPO activity. A single WAS exposure increased VMR during CRD in NMS mice and increased IL-6 mRNA and CRF2 protein levels in the distal colon of naïve mice, whereas CRF2 protein levels were heightened in NMS colon both at baseline and post-WAS exposure. Taken together, these results suggest that NMS in mice disrupts inflammatory- and stress-induced gene expression in the colon, potentially contributing towards an exaggerated response to specific stressors later in life.

  20. Experimental manipulation of dietary arsenic levels in great tit nestlings: Accumulation pattern and effects on growth, survival and plasma biochemistry.

    Sánchez-Virosta, Pablo; Espín, Silvia; Ruiz, Sandra; Salminen, Juha-Pekka; García-Fernández, Antonio J; Eeva, Tapio

    2018-02-01

    Arsenic (As) is a ubiquitous metalloid classified as one of the most hazardous substances, but information about its exposure and effects in free-living passerines is lacking. The aim of this study is to elucidate the effect of an As manipulation experiment on survival, growth and physiology of great tits (Parus major). Wild P. major nestlings inhabiting an unpolluted area were dosed with water, 0.2 or 1 μg g -1  d -1 of sodium arsenite (Control, Low and High As groups), whereas those living in a metal-polluted area were dosed with water (Smelter group). Birds accumulated As in tissues (liver, bone and feathers) in a dose-dependent way. Nestlings exposed to 1 μg g -1  d -1 of sodium arsenite showed reduced number of fledglings per successful nest, and those exposed to 0.2 μg g -1  d -1 had reduced wing growth, which could have post-fledging consequences such as increased predation risk. These results suggest that the LOAEL for effects on nestling survival and development in great tits is likely equal to or below 1 μg g -1  d -1 . However, limited effects on the biochemical parameters evaluated were found. It has been shown that As may produce oxidative stress and tissue damage, so further research exploring this issue will be carried out in a future study. Copyright © 2017 Elsevier Ltd. All rights reserved.

  1. Hypolipidemic and Hypocholesterolemic Effect of Roselle (Hibiscus sabdariffa L.) Seeds Oil in Experimental Male Rats.

    Ali, Rehab F M; El-Anany, Ayman M

    2017-01-01

    The current investigation aimed to evaluate the influence of roselle seeds oil (RSO), coconut oil (CNO) and binary mixture of them on serum lipids of experimental rats. Fatty acid composition of native and blended oils was determined. Thirty five male Albino rats (145- 160 g) were used throughout this study. The rats were fed AIN-93G diet containing 10% fat from CNO, RSO, B1 (25%RSO+ 75 %CNO), B2 (50 %RSO+ 50 %CNO or B3 (75 %RSO+ 25 % CNO) for eight weeks. Blood samples were collected at the beginning, every two weeks during the experiment, and at the end of the experiment. At the time of sacrifice, organs weights in relation to their body weights were immediately recorded. Substitution of 25, 50 and 75 % of CNO with equal amounts of RSO reduced saturated fatty acids by 16.04, 32.58 and 48.77 %, respectively in blended oils. The content of linoleic (C18:2) increased from not detected level in CNO to 9.81, 19.67 and 29.48 % in CNO blended with 25, 50 and 75 % of RSO, respectively. The relative liver weights of rats fed CNO was significantly higher than that of those fed RSO and blended oils. Mixing CNO with various levels of RSO attenuates the adverse effect in the relative liver weights which caused by CNO administration. At the end of the experiment, blinding coconut oil with 25, 50 and 75 % of roselle oil inhibited the elevation in total cholesterol by 9.69, 28.16 and 36.16 %, respectively compared to CNO rats. Rats fed diet containing CNO for 8 weeks had significantly the highest content (126.49 mg/dl) of low-density lipoprotein cholesterol, while those fed 100 % RSO (as a source of lipids) had the lowest concentration of LDL-C (64.32 mg/dL). Atherogenic index (AI) values of rats submitted B1, B2 and B3 were about 1.12, 1.23 and 1.28 times as low as those of rats fed CNO diet, respectively. The results of this study indicate that roselle seeds oil (RSO) reduces hyperlipidemia and hypercholesterolemia in rats fed diet rich in saturated fatty acids.

  2. Epigenetics and sex-specific fitness: an experimental test using male-limited evolution in Drosophila melanogaster.

    Abbott, Jessica K; Innocenti, Paolo; Chippindale, Adam K; Morrow, Edward H

    2013-01-01

    When males and females have different fitness optima for the same trait but share loci, intralocus sexual conflict is likely to occur. Epigenetic mechanisms such as genomic imprinting (in which expression is altered according to parent-of-origin) and sex-specific maternal effects have been suggested as ways by which this conflict can be resolved. However these ideas have not yet been empirically tested. We designed an experimental evolution protocol in Drosophila melanogaster that enabled us to look for epigenetic effects on the X-chromosome-a hotspot for sexually antagonistic loci. We used special compound-X females to enforce father-to-son transmission of the X-chromosome for many generations, and compared fitness and gene expression levels between Control males, males with a Control X-chromosome that had undergone one generation of father-son transmission, and males with an X-chromosome that had undergone many generations of father-son transmission. Fitness differences were dramatic, with experimentally-evolved males approximately 20% greater than controls, and with males inheriting a non-evolved X from their father about 20% lower than controls. These data are consistent with both strong intralocus sexual conflict and misimprinting of the X-chromosome under paternal inheritance. However, expression differences suggested that reduced fitness under paternal X inheritance was largely due to deleterious maternal effects. Our data confirm the sexually-antagonistic nature of Drosophila's X-chromosome and suggest that the response to male-limited X-chromosome evolution entails compensatory evolution for maternal effects, and perhaps modification of other epigenetic effects via coevolution of the sex chromosomes.

  3. The Experimental Lakes Area: Over 45 Years of Whole Ecosystem Monitoring and Manipulation Experiments and a Focus on the Future

    Emmerton, C. A.

    2015-12-01

    The IISD Experimental Lakes Area is a unique facility which has existed since 1968 and consists of 58 lakes and their watersheds set aside for research purposes. The IISD-ELA also boasts an on-site water chemistry lab, accommodations and facilities for up to 60 personnel. Since its inception in 1968 over 50 whole ecosystem experiments have been conducted at the ELA including eutrophication, acidification of lakes, environmental mercury fates, hydro-electric reservoir impacts and much more. The recent partnership between IISD and ELA has allowed ELA to refocus on freshwater research and policy development in a time where the preservation of the earth's most precious resource is of the utmost concern. In addition to water quality monitoring, the ELA is also focused on autotrophic ecology, zooplankton community structures, fish population and behaviour and food-web interactions. Monitoring all of these disciplines and their inter-relationships gives the research facility a unique perspective and along with the long term dataset stretching back to 1968 the ELA can look at historical records to monitor long term changes in the environment.

  4. Manipulatives Work!

    Moch, Peggy L.

    2001-01-01

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

  5. Hydraulic manipulator research at ORNL

    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

  6. Hydraulic manipulator research at ORNL

    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.

  7. Creating Cycling-Friendly Environments for Children: Which Micro-Scale Factors Are Most Important? An Experimental Study Using Manipulated Photographs

    Ghekiere, Ariane; Deforche, Benedicte; Mertens, Lieze; De Bourdeaudhuij, Ilse; Clarys, Peter; de Geus, Bas; Cardon, Greet; Nasar, Jack; Salmon, Jo; Van Cauwenberg, Jelle

    2015-01-01

    Background Increasing participation in transportation cycling represents a useful strategy for increasing children’s physical activity levels. Knowledge on how to design environments to encourage adoption and maintenance of transportation cycling is limited and relies mainly on observational studies. The current study experimentally investigates the relative importance of micro-scale environmental factors for children’s transportation cycling, as these micro-scale factors are easier to change within an existing neighborhood compared to macro-scale environmental factors (i.e. connectivity, land-use mix, …). Methods Researchers recruited children and their parents (n = 1232) via 45 randomly selected schools across Flanders and completed an online questionnaire which consisted of 1) demographic questions; and 2) a choice-based conjoint (CBC) task. During this task, participants chose between two photographs which we had experimentally manipulated in seven micro-scale environmental factors: type of cycle path; evenness of cycle path; traffic speed; traffic density; presence of speed bumps; environmental maintenance; and vegetation. Participants indicated which route they preferred to (let their child) cycle along. To find the relative importance of these micro-scale environmental factors, we conducted Hierarchical Bayes analyses. Results Type of cycle path emerged as the most important factor by far among both children and their parents, followed by traffic density and maintenance, and evenness of the cycle path among children. Among parents, speed limits and maintenance emerged as second most important, followed by evenness of the cycle path, and traffic density. Conclusion Findings indicate that improvements in micro-scale environmental factors might be effective for increasing children’s transportation cycling, since they increase the perceived supportiveness of the physical environment for transportation cycling. Investments in creating a clearly designated

  8. [Experimental study on fas expression of spermatogenic cell in male rats induced by fluorine].

    Xu, Rui; Shang, Weichao; Liu, Jianmin; Cheng, Xuemin; Ba, Yue; Huang, Hui; Cui, Liuxin

    2010-05-01

    To research the effect of fluorine on the expression of Fas protein, then study the mechanism of male reproductive toxicity induced by fluoride on molecular level. Thirty Wistar male rats were divided into control group, low-dose group and high-dose group. The NaF dosage for every group were 0,2 and 4g/L. The content of NaF in testis was measured by using fluorine selective electrode. Changes of testosterone and Fas protein were observed using the methods of radioimmunoassay, in situ hybridization. In addition, we observed the quality of spermatozoa. The testis fluoride content of two fluorine treatment groups were higher than that of control group (P Fluorin could reduce the level of serum testosterone, then activated the Fas/FasL system, which caused damage to the reprodutive system.

  9. Papain-induced experimental pulmonary emphysema in male and female mice.

    Machado, Mariana Nascimento; Figueirôa, Silviane Fernandes da Silva; Mazzoli-Rocha, Flavia; Valença, Samuel dos Santos; Zin, Walter Araújo

    2014-08-15

    In papain-induced models of emphysema, despite the existing extensive description of the cellular and molecular aspects therein involved, sexual hormones may play a complex and still not fully understood role. Hence, we aimed at exploring the putative gender-related differences in lung mechanics, histology and oxidative stress in papain-exposed mice. Thirty adult BALB/c mice received intratracheally either saline (50 μL) or papain (10 U/50 μL saline) once a week for 2 weeks. In males papain increased lung resistive and viscoelastic/inhomogeneous pressures, static elastance, and viscoelastic component of elastance, while females showed higher static elastance and resistive pressure only. Both genders presented similar higher parenchymal cellularity and mean alveolar diameter, and less collagen-elastic fiber content and body weight gain than their respective controls. Increased functional residual capacity was more prominent in males. Female papain-treated mice were more susceptible to oxidative stress. Thus, male and female papain-exposed mice respond differently, which should be carefully considered to avoid confounding results. Copyright © 2014 Elsevier B.V. All rights reserved.

  10. Experimental gonococcal infection in male volunteers: Cumulative experience with Neisseria gonorrhoeae strains FA1090 and MS11mkC

    Marcia Metzgar Hobbs

    2011-05-01

    Full Text Available Experimental infection of male volunteers with Neisseria gonorrhoeae is safe and reproduces the clinical features of naturally acquired gonococcal urethritis. Human inoculation studies have helped define the natural history of experimental infection with two well-characterized strains of N. gonorrhoeae, FA1090 and MS11mkC. The human model has proved useful for testing the importance of putative gonococcal virulence factors for urethral infection in men. Studies with isogenic mutants have improved our understanding of the requirements for gonococcal LOS structures, pili, opacity proteins, IgA1 protease and the ability of infecting organisms to obtain iron from human transferrin and lactoferrin during uncomplicated urethritis. The model also presents opportunities to examine innate host immune responses that may be exploited or improved in development and testing of gonococcal vaccines. Here we review results to date with human experimental gonorrhea.

  11. Currency Manipulation

    Weithing Zhang; Thomas Mertens; Tarek Hassan

    2014-01-01

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

  12. Hydraulic manipulator

    Sinha, A.K.; Srikrishnamurty, G.

    1990-01-01

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

  13. On-Chip Magnetic Bead Manipulation and Detection Using a Magnetoresistive Sensor-Based Micro-Chip: Design Considerations and Experimental Characterization

    Gooneratne, Chinthaka Pasan; Kodzius, Rimantas; Li, Fuquan; Foulds, Ian G.; Kosel, Jü rgen

    2016-01-01

    The remarkable advantages micro-chip platforms offer over cumbersome, time-consuming equipment currently in use for bio-analysis are well documented. In this research, a micro-chip that includes a unique magnetic actuator (MA) for the manipulation of superparamagnetic beads (SPBs), and a magnetoresistive sensor for the detection of SPBs is presented. A design methodology, which takes into account the magnetic volume of SPBs, diffusion and heat transfer phenomena, is presented with the aid of numerical analysis to optimize the parameters of the MA. The MA was employed as a magnetic flux generator and experimental analysis with commercially available COMPEL™ and Dynabeads® demonstrated the ability of the MA to precisely transport a small number of SPBs over long distances and concentrate SPBs to a sensing site for detection. Moreover, the velocities of COMPEL™ and Dynabead® SPBs were correlated to their magnetic volumes and were in good agreement with numerical model predictions. We found that 2.8 μm Dynabeads® travel faster, and can be attracted to a magnetic source from a longer distance, than 6.2 μm COMPEL™ beads at magnetic flux magnitudes of less than 10 mT. The micro-chip system could easily be integrated with electronic circuitry and microfluidic functions, paving the way for an on-chip biomolecule quantification device

  14. On-Chip Magnetic Bead Manipulation and Detection Using a Magnetoresistive Sensor-Based Micro-Chip: Design Considerations and Experimental Characterization

    Gooneratne, Chinthaka Pasan

    2016-08-26

    The remarkable advantages micro-chip platforms offer over cumbersome, time-consuming equipment currently in use for bio-analysis are well documented. In this research, a micro-chip that includes a unique magnetic actuator (MA) for the manipulation of superparamagnetic beads (SPBs), and a magnetoresistive sensor for the detection of SPBs is presented. A design methodology, which takes into account the magnetic volume of SPBs, diffusion and heat transfer phenomena, is presented with the aid of numerical analysis to optimize the parameters of the MA. The MA was employed as a magnetic flux generator and experimental analysis with commercially available COMPEL™ and Dynabeads® demonstrated the ability of the MA to precisely transport a small number of SPBs over long distances and concentrate SPBs to a sensing site for detection. Moreover, the velocities of COMPEL™ and Dynabead® SPBs were correlated to their magnetic volumes and were in good agreement with numerical model predictions. We found that 2.8 μm Dynabeads® travel faster, and can be attracted to a magnetic source from a longer distance, than 6.2 μm COMPEL™ beads at magnetic flux magnitudes of less than 10 mT. The micro-chip system could easily be integrated with electronic circuitry and microfluidic functions, paving the way for an on-chip biomolecule quantification device

  15. On-Chip Magnetic Bead Manipulation and Detection Using a Magnetoresistive Sensor-Based Micro-Chip: Design Considerations and Experimental Characterization

    Chinthaka P. Gooneratne

    2016-08-01

    Full Text Available The remarkable advantages micro-chip platforms offer over cumbersome, time-consuming equipment currently in use for bio-analysis are well documented. In this research, a micro-chip that includes a unique magnetic actuator (MA for the manipulation of superparamagnetic beads (SPBs, and a magnetoresistive sensor for the detection of SPBs is presented. A design methodology, which takes into account the magnetic volume of SPBs, diffusion and heat transfer phenomena, is presented with the aid of numerical analysis to optimize the parameters of the MA. The MA was employed as a magnetic flux generator and experimental analysis with commercially available COMPEL™ and Dynabeads® demonstrated the ability of the MA to precisely transport a small number of SPBs over long distances and concentrate SPBs to a sensing site for detection. Moreover, the velocities of COMPEL™ and Dynabead® SPBs were correlated to their magnetic volumes and were in good agreement with numerical model predictions. We found that 2.8 μm Dynabeads® travel faster, and can be attracted to a magnetic source from a longer distance, than 6.2 μm COMPEL™ beads at magnetic flux magnitudes of less than 10 mT. The micro-chip system could easily be integrated with electronic circuitry and microfluidic functions, paving the way for an on-chip biomolecule quantification device.

  16. Stimuli eliciting sexual arousal in males who offend adult women: an experimental study.

    Kolárský, A; Madlafousek, J; Novotná, V

    1978-03-01

    The sexually arousing effects of short film scenes showing a naked actress's seductive behavior were phalloplethysmographically measured in 14 sexual deviates. These were males who had offended adult women, predominantly exhibitionists. Controls were 14 normal men. Deviates responded positively to the scenes and differentiated strong and weak seduction scenes similarly to normals. Consequently, the question arises of why deviates avoid their victim's erotic cooperation and why they do not offend their regular sexual partners. Post hoc analysis of five scenes which elicited a strikingly higher response in deviates than in normals suggested that these scenes contained reduced seductive behavior but unrestrained presentation of the genitals. This finding further encourages the laboratory study of stimulus conditions for abnormal sexual arousal which occurs during the sexual offense.

  17. Is there a role for Serratia marcescens in male infertility: An experimental study?

    Rana, Kalpana; Thaper, Deepali; Prabha, Vijay

    2017-04-01

    Establishment of a male BALB/c mouse model to study the role of sperm impairing S. marcescens on mouse reproductive potential. The current study can add to use of reliable animal models to provide a noteworthy evidence for the microbial cause of infertility. The mice in the test groups II, III, IV were intraperitoneally administered with different doses (10 4 , 10 6 or 10 8  cfu) of S. marcescens whereas, group I serving as control, received PBS, for 10 consecutive days. The groups were evaluated for any change in body weight, tissue somatic index (%), seminal parameters and histology. Confirmation of S. marcescens from reproductive organs was done by reisolating the same by cultural characteristics and biochemical tests. The results showed that weight gain was evident only in mice receiving PBS (group I), whereas a decrease was recorded in the test groups (group II, III and IV). Only testes of test groups showed significant changes in TSI values whereas, no change in TSI was observed in any reproductive organ of any test group. Seminal parameters viz. sperm count, motility and viability were found to decrease in test groups II, III and IV as compared to control group I. Interestingly, the number of pus cells and percent decapitation was more prominent in test groups which received higher doses (i.e. group III and group IV). The histopathological examination revealed mild to dense inflammation in vas deferens and caudal epididymis in all test groups except hypospermatogenesis which was observed only in test group III and IV. However, in group I, neither adverse changes nor any sign of inflammation were observed. Intraperitoneal inoculation of S. marcescens could lead to alteration of semen parameters, induction of decapitation in spermatozoa and histopathological changes, thereby decreasing the reproductive potential of male mice. Copyright © 2017 Elsevier Ltd. All rights reserved.

  18. Experimental defoliation affects male but not female reproductive performance of the tropical monoecious plant Croton suberosus (Euphorbiaceae).

    Narbona, Eduardo; Dirzo, Rodolfo

    2010-08-01

    Monoecious plants have the capacity to allocate resources separately to male and female functions more easily than hermaphrodites. This can be advantageous against environmental stresses such as leaf herbivory. However, studies showing effects of herbivory on male and female functions and on the interaction with the plant's pollinators are limited, particularly in tropical plants. Here, the effects of experimental defoliation were examined in the monoecious shrub Croton suberosus (Euphorbiaceae), a wasp-pollinated species from a Mexican tropical dry forest. Three defoliation treatments were applied: 0 % (control), 25 % (low) or 75 % (high) of plant leaf area removed. Vegetative (production of new leaves) and reproductive (pistillate and staminate flower production, pollen viability, nectar production, fruit set, and seed set) performance variables, and the abundance and activity of floral visitors were examined. Defoliated plants overcompensated for tissue loss by producing more new leaves than control plants. Production of staminate flowers gradually decreased with increasing defoliation and the floral sex ratio (staminate : pistillate flowers) was drastically reduced in high-defoliation plants. In contrast, female reproductive performance (pistillate flower production, fruit set and seed set) and pollinator visitation and abundance were not impacted by defoliation. The asymmetrical effects of defoliation on male and female traits of C. suberosus may be due to the temporal and spatial flexibility in the allocation of resources deployed by monoecious plants. We posit that this helps to maintain the plant's pollination success in the face of leaf herbivory stress.

  19. Experimentally induced hyperthyroidism influences oxidant and antioxidant status and impairs male gonadal functions in adult rats.

    Asker, M E; Hassan, W A; El-Kashlan, A M

    2015-08-01

    The objective of the present experiment was to study the effect of hyperthyroidism on male gonadal functions and oxidant/antioxidant biomarkers in testis of adult rats. Induction of hyperthyroidism by L-thyroxine (L-T4, 300 μg kg(-1) body weight) treatment once daily for 3 or 8 weeks caused a decrease in body weight gain as well as in absolute genital sex organs weight. The epididymal sperm counts and their motility were significantly decreased in a time-dependent manner following L-T4 treatment. Significant decline in serum levels of luteinising hormone, follicle stimulating hormone and testosterone along with significant increase in serum estradiol level was observed in hyperthyroid rats compared with euthyroid ones. Significant increase in malondialdehyde and nitric oxide concentration associated with significant decrease in superoxide dismutase and catalase activity was also noticed following hyperthyroidism induction. Both reduced glutathione content and glutathione peroxidase activity were increased in hyperthyroid rats compared with control rats. Marked histopathological alterations were observed in testicular section of hyperthyroid rats. These results provide evidence that hypermetabolic state induced by excess level of thyroid hormones may be a causative factor for the impairment of testicular physiology as a consequence of oxidative stress. © 2014 Blackwell Verlag GmbH.

  20. The TFTR maintenance manipulator

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

    1989-01-01

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

  1. An experimental trial exploring the impact of continuous transdermal alcohol monitoring upon alcohol consumption in a cohort of male students.

    Neville, Fergus G; Williams, Damien J; Goodall, Christine A; Murer, Jeffrey S; Donnelly, Peter D

    2013-01-01

    To examine the impact of continuous transdermal alcohol monitoring upon alcohol consumption in male students at a Scottish university. Using a within-subject mixed-methods design, 60 male university students were randomly allocated into three experimental conditions using AUDIT score stratified sampling. Participants in Conditions A and B were asked not to consume alcohol for a 14-day period, with those in Condition A additionally being required to wear a continuous transdermal alcohol monitoring anklet. Condition C participants wore an anklet and were asked to continue consuming alcohol as normal. Alcohol consumption was measured through alcohol timeline follow-back, and using data collected from the anklets where available. Diaries and focus groups explored participants' experiences of the trial. Alcohol consumption during the 14-day trial decreased significantly for participants in Conditions A and B, but not in C. There was no significant relative difference in units of alcohol consumed between Conditions A and B, but significantly fewer participants in Condition A drank alcohol than in Condition B. Possible reasons for this difference identified from the focus groups and diaries included the anklet acting as a reminder of commitment to the study (and the agreement to sobriety), participants feeling under surveillance, and the use of the anklet as a tool to resist social pressure to consume alcohol. The study provided experience in using continuous transdermal alcohol monitors in an experimental context, and demonstrated ways in which the technology may be supportive in facilitating sobriety. Results from the study have been used to design a research project using continuous transdermal alcohol monitors with ex-offenders who recognise a link between their alcohol consumption and offending behaviour.

  2. Female offspring desertion and male-only care increase with natural and experimental increase in food abundance.

    Eldegard, Katrine; Sonerud, Geir A

    2009-05-07

    In species with biparental care, one parent may escape the costs of parental care by deserting and leaving the partner to care for the offspring alone. A number of theoretical papers have suggested a link between uniparental offspring desertion and ecological factors, but empirical evidence is scarce. We investigated the relationship between uniparental desertion and food abundance in a natural population of Tengmalm's owl Aegolius funereus, both by means of a 5-year observational study and a 1-year experimental study. Parents and offspring were fitted with radio-transmitters in order to reveal the parental care strategy (i.e. care or desert) of individual parents, and to keep track of the broods post-fledging. We found that 70 per cent of the females from non-experimental nests deserted, while their partner continued to care for their joint offspring alone. Desertion rate was positively related to natural prey population densities and body reserves of the male partner. In response to food supplementation, a larger proportion of the females deserted, and females deserted the offspring at an earlier age. Offspring survival during the post-fledging period tended to be lower in deserted than in non-deserted broods. We argue that the most important benefit of deserting may be remating (sequential polyandry).

  3. Host-seeking behaviors of mosquitoes experimentally infected with sympatric field isolates of the human malaria parasite Plasmodium falciparum: no evidence for host manipulation

    Amélie eVantaux

    2015-08-01

    Full Text Available Previous studies have shown that Plasmodium parasites can manipulate mosquito feeding behaviours such as motivation and avidity to feed on vertebrate hosts, in ways that increase the probability of parasite transmission. These studies, however, have been mainly carried out on non-natural and/or laboratory based model systems and hence may not reflect what occurs in the field. We now need to move closer to the natural setting, if we are to fully capture the ecological and evolutionary consequences of these parasite-induced behavioral changes. As part of this effort, we conducted a series of experiments to investigate the long and short-range behavioural responses to human stimuli in the mosquito Anopheles coluzzii during different stages of infection with sympatric field isolates of the human malaria parasite Plasmodium falciparum in Burkina Faso. First, we used a dual-port olfactometer designed to take advantage of the whole body odor to gauge mosquito long-range host-seeking behaviors. Second, we used a locomotor activity monitor system to assess mosquito short-range behaviors. Compared to control uninfected mosquitoes, P. falciparum infection had no significant effect neither on long-range nor on short-range behaviors both at the immature and mature stages. This study, using a natural mosquito-malaria parasite association, indicates that manipulation of vector behavior may not be a general phenomenon. We speculate that the observed contrasting phenotypes with model systems might result from coevolution of the human parasite and its natural vector. Future experiments, using other sympatric malaria mosquito populations or species are required to test this hypothesis. In conclusion, our results highlight the importance of following up discoveries in laboratory model systems with studies on natural parasite–mosquito interactions to accurately predict the epidemiological, ecological and evolutionary consequences of parasite manipulation of vector

  4. Experimental studies on the sterile male technique of Spodoptera litura (F.) by the gamma radiation from 137Cs, 4

    Tsukuda, Ritsuko; Kiyoku, Masao

    1975-01-01

    Present studies have been carried out to examine two phenomena by the mating experiment under laboratory conditions. One was the influence of age of adult males or females on the mating behaviour, the number of eggs laid by females and the percentage of egg hatching. The other was the mating capacity of males when a male was confined with three or five females in a mating cage during fixed periods. Younger and middle ages have no influence on the mating. The influence of old age on females was greater than on males. When one day old females were mated with more than eight day old males, the mating was delayed slightly, both the number of eggs laid by females and percentage of egg hatching were decreased, respectively. When one day old males were combined with more than seven day old females, however, the mating was hindered and no viable eggs were laid. One adult male was confined with three adult females in a mating cage. At each mating experiment, one male was able to mate with one from three females during one night, or with two or three females during three nights. One spermatophore was always observed in a female mated already. When one adult male was confined with five adult females, he mated with one female during one night, with two females during three nights, or with three or four females during five nights. (author)

  5. Manipulating a stated choice experiment

    Fosgerau, Mogens; Borjesson, Maria

    2015-01-01

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

  6. Experimentally nonylphenol-polluted diet induces the expression of silent genes VTG and ER{alpha} in the liver of male lizard Podarcis sicula

    Verderame, Mariailaria; Prisco, Marina; Andreuccetti, Piero [Department of Biological Sciences, Evolutionary and Comparative Biology Division, University Federico II of Naples, Via Mezzocannone 8, 80134 Naples (Italy); Aniello, Francesco [Department of Biological Sciences, Genetic and Molecular Biology Division, University Federico II of Naples, Via Mezzocannone 8, 80134 Naples (Italy); Limatola, Ermelinda, E-mail: limatola@unina.it [Department of Biological Sciences, Evolutionary and Comparative Biology Division, University Federico II of Naples, Via Mezzocannone 8, 80134 Naples (Italy)

    2011-05-15

    Endocrine Disruptor Chemicals (EDCs) with estrogen-like properties i.e nonylphenol (NP) induce vitellogenin (VTG) synthesis in males of aquatic and semi-aquatic specie. In the oviparous species VTG is a female-specific oestrogen dependent protein. Males are unable to synthesize VTG except after E{sub 2} treatment. This study aimed to verify if NP, administered via food and water, is able to induce the expression of VTG even in males of vertebrates with a terrestrial habitat such as the lizard Podarcis. By means of ICC, ISH, W/B and ELISA we demonstrated that NP induces the presence of VTG in the plasma and its expression in the liver. VTG, undetectable in untreated males, reaches the value of 4.34 {mu}g/{mu}l in the experimental ones. Expression analysis and ISH in the liver showed that an NP-polluted diet also elicits the expression of ER{alpha} in the liver which is known to be related to VTG synthesis in Podarcis. - Highlights: > Nonylphenol (NP) polluted diet induces VTG synthesis in a terrestrial vertebrate. > VTG and ER{alpha} genes are unexpressed in the liver of untreated male lizards Podarcis. > In the liver cells of NP-treated males the expression of both VTG and ER{alpha} occurs. > In treated males VTG synthesis is coupled with ER{alpha} expression as in breeding females. - NP-polluted diet induces the expression of ER{alpha} and VTG in the liver.

  7. Experimentally nonylphenol-polluted diet induces the expression of silent genes VTG and ERα in the liver of male lizard Podarcis sicula

    Verderame, Mariailaria; Prisco, Marina; Andreuccetti, Piero; Aniello, Francesco; Limatola, Ermelinda

    2011-01-01

    Endocrine Disruptor Chemicals (EDCs) with estrogen-like properties i.e nonylphenol (NP) induce vitellogenin (VTG) synthesis in males of aquatic and semi-aquatic specie. In the oviparous species VTG is a female-specific oestrogen dependent protein. Males are unable to synthesize VTG except after E 2 treatment. This study aimed to verify if NP, administered via food and water, is able to induce the expression of VTG even in males of vertebrates with a terrestrial habitat such as the lizard Podarcis. By means of ICC, ISH, W/B and ELISA we demonstrated that NP induces the presence of VTG in the plasma and its expression in the liver. VTG, undetectable in untreated males, reaches the value of 4.34 μg/μl in the experimental ones. Expression analysis and ISH in the liver showed that an NP-polluted diet also elicits the expression of ERα in the liver which is known to be related to VTG synthesis in Podarcis. - Highlights: → Nonylphenol (NP) polluted diet induces VTG synthesis in a terrestrial vertebrate. → VTG and ERα genes are unexpressed in the liver of untreated male lizards Podarcis. → In the liver cells of NP-treated males the expression of both VTG and ERα occurs. → In treated males VTG synthesis is coupled with ERα expression as in breeding females. - NP-polluted diet induces the expression of ERα and VTG in the liver.

  8. Contrasting response of coexisting plant’s water-use patterns to experimental precipitation manipulation in an alpine grassland community of Qinghai Lake watershed, China

    Li, Xiao-Yan; He, Bin; Liu, Jinzhao; Jiang, Zhiyun; Zhang, Cicheng

    2018-01-01

    Understanding species-specific changes in water-use patterns under recent climate scenarios is necessary to predict accurately the responses of seasonally dry ecosystems to future climate. In this study, we conducted a precipitation manipulation experiment to investigate the changes in water-use patterns of two coexisting species (Achnatherum splendens and Allium tanguticum) to alterations in soil water content (SWC) resulting from increased and decreased rainfall treatments. The results showed that the leaf water potential (Ψ) of A. splendens and A. tanguticum responded to changes in shallow and middle SWC at both the control and treatment plots. However, A. splendens proportionally extracted water from the shallow soil layer (0–10cm) when it was available but shifted to absorbing deep soil water (30–60 cm) during drought. By contrast, the A. tanguticum did not differ significantly in uptake depth between treatment and control plots but entirely depended on water from shallow soil layers. The flexible water-use patterns of A.splendens may be a key factor facilitating its dominance and it better acclimates the recent climate change in the alpine grassland community around Qinghai Lake. PMID:29677195

  9. Collision Detection for Underwater ROV Manipulator Systems

    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.

  10. Currency Manipulation versus Current Account Manipulation

    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...

  11. ‘It’s up to you’: Experimentally manipulated autonomy support for prosocial behavior improves well-being in two cultures over six weeks

    Nelson, SK; Della Porta, MD; Jacobs Bao, K; Lee, HC; Choi, I; Lyubomirsky, S

    2014-01-01

    © 2014 Taylor & Francis. Previous research has demonstrated a strong link between prosocial behavior – particularly autonomous prosocial behavior – and well-being. Little is known, however, about whether and how autonomy might be boosted in the context of everyday kindnesses. We tested the effect of supporting students’ autonomy on well-being gains from practicing acts of kindness in a six-week randomized experimental study in the United States and South Korea. As predicted, performing kind...

  12. Sexy faces in a male paper wasp.

    de Souza, André Rodrigues; Alberto Mourão Júnior, Carlos; do Nascimento, Fabio Santos; Lino-Neto, José

    2014-01-01

    Sexually selected signals are common in many animals, though little reported in social insects. We investigated the occurrence of male visual signals mediating the dominance relationships among males and female choice of sexual partner in the paper wasp Polistes simillimus. Males have three conspicuous, variable and sexually dimorphic traits: black pigmentation on the head, a pair of yellow abdominal spots and body size differences. By conducting behavioral assays, we found that none of the three visual traits are associated with male-male dominance relationship. However, males with higher proportion of black facial pigmentation and bigger yellow abdominal spots are more likely chosen as sexual partners. Also, after experimentally manipulating the proportion of black pigment on males' face, we found that females may evaluate male facial coloration during the choice of a sexual partner. Thus, the black pigmentation on P. simillimus male's head appears to play a role as a sexually selected visual signal. We suggest that sexual selection is a common force in Polistes and we highlight the importance of this group as a model for the study of visual communication in insects.

  13. Sexy faces in a male paper wasp.

    André Rodrigues de Souza

    Full Text Available Sexually selected signals are common in many animals, though little reported in social insects. We investigated the occurrence of male visual signals mediating the dominance relationships among males and female choice of sexual partner in the paper wasp Polistes simillimus. Males have three conspicuous, variable and sexually dimorphic traits: black pigmentation on the head, a pair of yellow abdominal spots and body size differences. By conducting behavioral assays, we found that none of the three visual traits are associated with male-male dominance relationship. However, males with higher proportion of black facial pigmentation and bigger yellow abdominal spots are more likely chosen as sexual partners. Also, after experimentally manipulating the proportion of black pigment on males' face, we found that females may evaluate male facial coloration during the choice of a sexual partner. Thus, the black pigmentation on P. simillimus male's head appears to play a role as a sexually selected visual signal. We suggest that sexual selection is a common force in Polistes and we highlight the importance of this group as a model for the study of visual communication in insects.

  14. Increased Male-Male Mounting Behaviour in Desert Locusts during Infection with an Entomopathogenic Fungus.

    Clancy, Lisa M; Cooper, Amy L; Griffith, Gareth W; Santer, Roger D

    2017-07-18

    Same-sex sexual behaviour occurs across diverse animal taxa, but adaptive explanations can be difficult to determine. Here we investigate male-male mounting (MMM) behaviour in female-deprived desert locust males infected with the entomopathogenic fungus Metarhizium acridum. Over a four-week period, infected locusts performed more MMM behaviours than healthy controls. Among infected locusts, the probability of MMM, and the duration of time spent MMM, significantly increased with the mounting locust's proximity to death. In experimental trials, infected locusts were also significantly more likely than controls to attempt to mount healthy males. Therefore, we demonstrate that MMM is more frequent among infected than healthy male locusts, and propose that this may be explained by terminal reproductive effort and a lowered mate acceptance threshold in infected males. However, during experimental trials mounting attempts were more likely to be successful if the mounted locusts were experimentally manipulated to have a reduced capacity to escape. Thus, reduced escape capability resulting from infection may also contribute to the higher frequency of MMM among infected male locusts. Our data demonstrate that pathogen infection can affect same-sex sexual behaviour, and suggest that the impact of such behaviours on host and pathogen fitness will be a novel focus for future research.

  15. Promoting Pollinating Insects in Intensive Agricultural Matrices: Field-Scale Experimental Manipulation of Hay-Meadow Mowing Regimes and Its Effects on Bees

    Buri, Pierrick; Humbert, Jean-Yves; Arlettaz, Raphaël

    2014-01-01

    Bees are a key component of biodiversity as they ensure a crucial ecosystem service: pollination. This ecosystem service is nowadays threatened, because bees suffer from agricultural intensification. Yet, bees rarely benefit from the measures established to promote biodiversity in farmland, such as agri-environment schemes (AES). We experimentally tested if the spatio-temporal modification of mowing regimes within extensively managed hay meadows, a widespread AES, can promote bees. We applied a randomized block design, replicated 12 times across the Swiss lowlands, that consisted of three different mowing treatments: 1) first cut not before 15 June (conventional regime for meadows within Swiss AES); 2) first cut not before 15 June, as treatment 1 but with 15% of area left uncut serving as a refuge; 3) first cut not before 15 July. Bees were collected with pan traps, twice during the vegetation season (before and after mowing). Wild bee abundance and species richness significantly increased in meadows where uncut refuges were left, in comparison to meadows without refuges: there was both an immediate (within year) and cumulative (from one year to the following) positive effect of the uncut refuge treatment. An immediate positive effect of delayed mowing was also evidenced in both wild bees and honey bees. Conventional AES could easily accommodate such a simple management prescription that promotes farmland biodiversity and is likely to enhance pollination services. PMID:24416434

  16. Promoting pollinating insects in intensive agricultural matrices: field-scale experimental manipulation of hay-meadow mowing regimes and its effects on bees.

    Buri, Pierrick; Humbert, Jean-Yves; Arlettaz, Raphaël

    2014-01-01

    Bees are a key component of biodiversity as they ensure a crucial ecosystem service: pollination. This ecosystem service is nowadays threatened, because bees suffer from agricultural intensification. Yet, bees rarely benefit from the measures established to promote biodiversity in farmland, such as agri-environment schemes (AES). We experimentally tested if the spatio-temporal modification of mowing regimes within extensively managed hay meadows, a widespread AES, can promote bees. We applied a randomized block design, replicated 12 times across the Swiss lowlands, that consisted of three different mowing treatments: 1) first cut not before 15 June (conventional regime for meadows within Swiss AES); 2) first cut not before 15 June, as treatment 1 but with 15% of area left uncut serving as a refuge; 3) first cut not before 15 July. Bees were collected with pan traps, twice during the vegetation season (before and after mowing). Wild bee abundance and species richness significantly increased in meadows where uncut refuges were left, in comparison to meadows without refuges: there was both an immediate (within year) and cumulative (from one year to the following) positive effect of the uncut refuge treatment. An immediate positive effect of delayed mowing was also evidenced in both wild bees and honey bees. Conventional AES could easily accommodate such a simple management prescription that promotes farmland biodiversity and is likely to enhance pollination services.

  17. Promoting pollinating insects in intensive agricultural matrices: field-scale experimental manipulation of hay-meadow mowing regimes and its effects on bees.

    Pierrick Buri

    Full Text Available Bees are a key component of biodiversity as they ensure a crucial ecosystem service: pollination. This ecosystem service is nowadays threatened, because bees suffer from agricultural intensification. Yet, bees rarely benefit from the measures established to promote biodiversity in farmland, such as agri-environment schemes (AES. We experimentally tested if the spatio-temporal modification of mowing regimes within extensively managed hay meadows, a widespread AES, can promote bees. We applied a randomized block design, replicated 12 times across the Swiss lowlands, that consisted of three different mowing treatments: 1 first cut not before 15 June (conventional regime for meadows within Swiss AES; 2 first cut not before 15 June, as treatment 1 but with 15% of area left uncut serving as a refuge; 3 first cut not before 15 July. Bees were collected with pan traps, twice during the vegetation season (before and after mowing. Wild bee abundance and species richness significantly increased in meadows where uncut refuges were left, in comparison to meadows without refuges: there was both an immediate (within year and cumulative (from one year to the following positive effect of the uncut refuge treatment. An immediate positive effect of delayed mowing was also evidenced in both wild bees and honey bees. Conventional AES could easily accommodate such a simple management prescription that promotes farmland biodiversity and is likely to enhance pollination services.

  18. Getting Manipulative about Math.

    Scheer, Janet K.; And Others

    1984-01-01

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

  19. Manipulators in teleoperation

    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

  20. Peroxisome Proliferator-Activated Receptors as Mediators of Phthalate-Induced Effects in the Male and Female Reproductive Tract: Epidemiological and Experimental Evidence

    Giuseppe Latini

    2008-01-01

    Full Text Available There is growing evidence that male as well as female reproductive function has been declining in human and wildlife populations over the last 40 years. Several factors such as lifestyle or environmental xenobiotics other than genetic factors may play a role in determining adverse effects on reproductive health. Among the environmental xenobiotics phthalates, a family of man-made pollutants are suspected to interfere with the function of the endocrine system and therefore to be endocrine disruptors. The definition of endocrine disruption is today extended to broader endocrine regulations, and includes activation of metabolic sensors, such as the peroxisome proliferator-activated receptors (PPARs. Toxicological studies have shown that phthalates can activate a subset of PPARs. Here, we analyze the epidemiological and experimental evidence linking phthalate exposure to both PPAR activation and adverse effects on male and female reproductive health.

  1. Master-slave manipulator

    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.)

  2. In Praise of Manipulation

    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

  3. Cell manipulation in microfluidics

    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)

  4. Manipulator comparative testing program

    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

  5. Tree manipulation experiment

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

    2012-12-01

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

  6. Health Status of Male Adult Wistar Rats from Two Experimental Animal Houses of UFMG: Leukocyte Counts, Feces and Lung Histological Exams

    Andrade Bruno Horta

    2002-01-01

    Full Text Available A study was conducted to compare health status of male adult Wistar rats from two Experimental Animal Houses of UFMG with literature data of SPF (free from specific pathogens and conventional rats. The animals were divided into two groups: Group I (n=10, rats from the experimental animal houses of FAFICH and Group II (n=10 from ICB and following aspects were studied: a evident clinical signs (behavior modification, hair loss (alopecia, b leukocyte counts, c feces exam and d histological study of the lungs. The rats did not show clinical signs. However, when compared with SPF and conventional rats, both the groups showed a significant increase (p<0,05 of leukocyte count. On feces exam we detected some parasites and on lung histological exam we observed fungus (Group I and bacteria (Group II. These results showed that the health status of the rats was not satisfactory and required improvements in the conditions of the animal houses.

  7. Microbial manipulation of host sex determination

    Beukeboom, Leo W.

    A recent study in the lepidopteran Ostrinia scapulalis shows that endosymbionts can actively manipulate the sex determination mechanism of their host. Wolbachia bacteria alter the sex-specific splicing of the doublesex master switch gene. In ZZ males of this female heterogametic system, the female

  8. Activity of the Hypothalamic-Pituitary-Adrenal System in Prenatally Stressed Male Rats on the Experimental Model of Post-Traumatic Stress Disorder.

    Pivina, S G; Rakitskaya, V V; Akulova, V K; Ordyan, N E

    2016-03-01

    Using the experimental model of post-traumatic stress disorder (stress-restress paradigm), we studied the dynamics of activity of the hypothalamic-pituitary-adrenal system (HPAS) in adult male rats, whose mothers were daily subjected to restraint stress on days 15-19 of pregnancy. Prenatally stressed males that were subjected to combined stress and subsequent restress exhibited not only increased sensitivity of HPAS to negative feedback signals (manifested under restress conditions), but also enhanced stress system reactivity. These changes persisted to the 30th day after restress. Under basal conditions, the number of cells in the hypothalamic paraventricular nucleus of these animals expressing corticotropin-releasing hormone and vasopressin was shown to decrease progressively on days 1-30. By contrast, combined stress and restress in control animals were followed by an increase in the count of CRH-immunopositive cells in the magnocellular and parvocellular parts of the paraventricular nucleus and number of vasopressin-immunopositive cells in the magnocellular part of the nucleus (to the 10th day after restress). Our results indicate a peculiar level of functional activity of HPAS in prenatally stressed males in the stress-restress paradigm: decreased activity under basal conditions and enhanced reactivity during stress.

  9. Manipulation, salience, and nudges.

    Noggle, Robert

    2018-03-01

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

  10. Gastroprotective and mucosa homeostatic activities of coconut milk and water on experimentally induced gastropathies in male wistar rats.

    Ajeigbe, K O; Owonikoko, W M; Egbe, V; Iquere, I; Adeleye, G

    2017-10-01

    In this biphasic study, 45 male wistar rats were divided into 9 groups. In Phase 1, Group 1 was treated with normal saline and served as the overall control, group 2 was treated with 95% Ethanol and represents the ulcer control, groups 3 and 4 received coconut water (CW; 4ml/100g BWt) and milk (CM; 4ml/100g BWt) for 4weeks while group 5 received Omeprazole (Omep; 20mg/kg BWt) during terminal week. 95% Ethanol-induced ulceration followed the treatments in all except group 1. In the second phase, Group 1 was the overall control, group 2 served as ulcer control by receiving acetic acid only, group 3 received coconut milk, and group 4 received omep. CM and omep were administered post-ulcer induction for 3 and 6days twice daily. Blood collection after 1hour was through cardiac puncture for haemocytometry, and gastric tissues harvested for histopathological investigations. Results showed significantly reduced ulcer score and gastric lesion index in Omep, CW and CM groups compared to ulcer control. WBC, neutrophil, lymphocyte counts in Omep, CW and CM groups were significantly reduced compared to ulcer and overall control groups. C-reactive protein was significantly reduced in CM compared to control. Neutrophil Infiltration score reduced while mucus cell density increased significantly in Omep; CM compared to control. EGFR and CD 31 assessment revealed significantly higher expressions in coconut-milk group compared to the ulcer control. We conclude that the protective effects of coconut (water and milk) is expressed by inflammation suppression, upregulation of mucus cell population and catalyses mucosa homeostasis via angiogenesis and mucosal cell proliferation following mucosa. erosion. Copyright © 2017 Elsevier Ltd. All rights reserved.

  11. Manipulators for production and research

    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)

  12. Powered manipulator control arm

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

    1975-01-01

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

  13. Simulation of robot manipulators

    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

  14. The direct manipulation shell

    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)

  15. Experimental manipulation of succession in heathland ecosystems.

    Berendse, F.; Schmitz, M.; Visser, de W.

    1994-01-01

    An experiment was carried out in two heathland ecosystems, one dominated by Calluna vulgaris and the other by Molinia caerulea, to analyse the effects of soil organic matter accumulation and nutrient mineralization on plant species dynamics during succession. The experiment included one treatment

  16. Geometric control of manipulators

    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)

  17. MATHEMATICAL MODEL MANIPULATOR ROBOTS

    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.

  18. Compliant Aerial Manipulators

    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...

  19. Manipulating Strings in Python

    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.

  20. Manipulating early pig embryos.

    Niemann, H; Reichelt, B

    1993-01-01

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

  1. Atomic and molecular manipulation

    Mayne, Andrew J

    2011-01-01

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

  2. Balanced articulated manipulator

    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

  3. Stainless steel decontamination manipulators

    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)

  4. Data manipulation with R

    Abedin, Jaynal

    2014-01-01

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

  5. Manipulating quantum states with aspheric lenses

    Wang Zhiwei; Ren Xifeng; Huang Yunfeng; Zhang Yongsheng; Guo Guangcan

    2005-01-01

    We present an experimental demonstration to manipulate the width and position of the down-converted beam waist. Our results can be used to engineer the two-photon orbital angular momentum (OAM) entangled states (such as concentrating OAM entangled states) and generate Hermite-Gaussian (HG) modes entangled states

  6. MANIPULATING CONSUMERS THROUGH ADVERTISING

    Nicoleta -Andreea Neacşu

    2012-12-01

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

  7. Manipulating the Gradient

    Gaze, Eric C.

    2005-01-01

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

  8. Microrobots to Manipulate Cells

    Glückstad, Jesper

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

  9. Automated visual attention manipulation

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

    2009-01-01

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

  10. Data manipulation with R

    Abedin, Jaynal

    2015-01-01

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

  11. Manipulating Combinatorial Structures.

    Labelle, Gilbert

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

  12. Determinants of anger and physical aggression based on sexual orientation: an experimental examination of hypermasculinity and exposure to male gender role violations.

    Parrott, Dominic J; Zeichner, Amos

    2008-12-01

    The present study examined the effects of hypermasculinity and exposure to male gender role violations on antigay anger and aggression. Participants were 148 heterosexual men who were randomly assigned to view either a male-male or a male-female erotic video. Participants completed a measure of hypermasculinity and anger was assessed before and after viewing the erotic video. A laboratory paradigm was then used to measure physical aggression toward a gay or heterosexual man. Hypermasculinity predicted greater increases in anger among men who viewed male-male erotica relative to men who viewed male-female erotica. Hypermasculinity also predicted higher levels of physical aggression toward a gay, relative to a heterosexual, man, but only after viewing male-male erotica. Findings were discussed within the context of the General Aggression Model.

  13. Encoding Effects on First-Graders' Use of Manipulatives

    Osana, Helena P.; Przednowek, Katarzyna; Cooperman, Allyson; Adrien, Emmanuelle

    2018-01-01

    The effects of prior encodings of manipulatives (red and blue plastic chips) on children's ability to use them as representations of quantity were tested. First graders (N = 73) were assigned to four conditions in which the encoding of plastic chips was experimentally manipulated. All children then participated in an addition activity that relied…

  14. Impact of experimental hypothyroidism on monoamines level in discrete brain regions and other peripheral tissues of young and adult male rats.

    Hassan, Wafaa A; Aly, Mona S; Rahman, Taghride Abdel; Shahat, Asmaa S

    2013-06-01

    The levels of dopamine (DA), norepinephrine (NE) and serotonin (5-HT) in different brain regions as well as in blood plasma, cardiac muscle and adrenal gland of young and adult male albino rats were measured following experimentally induced hypothyroidism. Hypothyroidism induced by daily oral administration of propylthiouracil (PTU, 5mg/kg body wt) caused a significant reduction in DA levels in most of the tissues examined of both young and adult rats after 21 and 28 days, in NE levels after all the time intervals studied in young rats, and after 21 and 28 days in adult rats. 5-HT exhibited a significant reduction in the selected brain regions and blood plasma after 21 and 28 days and in cardiac muscle after all the time intervals in the two age groups of animals. It may be suggested that the changes in monoamine levels induced by hypothyroidism may be due to disturbance in the synthesis and release of these amines through the neurons impairment or may be due to an alteration pattern of their synthesizing and/or degradative enzymes. Copyright © 2013 ISDN. Published by Elsevier Ltd. All rights reserved.

  15. Alterations in monoamines level in discrete brain regions and other peripheral tissues in young and adult male rats during experimental hyperthyroidism.

    Hassan, Wafaa A; Rahman, Taghride Abdel; Aly, Mona S; Shahat, Asmaa S

    2013-08-01

    The present study was conducted to investigate the effect of experimentally-induced hyperthyroidism on dopamine (DA), norepinephrine (NE) and serotonin (5-HT) levels in different brain regions as well as in blood plasma, cardiac muscle and adrenal gland of young and adult male albino rats (60 rats of each age). Hyperthyroidism was induced by daily s.c. injection of L-thyroxine (L-T4, 500 μg/kg body wt.) for 21 consecutive days. Induction of hyperthyroidism caused a significant elevation in DA and 5-HT levels in most of the tissues studied of both young and adult animals after 7, 14, and 21 days. NE content significantly decreased after 21 days in most of the brain regions examined and after 14 and 21 days in blood plasma of young rats following hyperthyroidism. In adult rats, NE content decreased after 14 and 21 days in cardiac muscle and after 21 days only in adrenal gland. It may be suggested that the changes in monoamines level induced by hyperthyroidism may be due to disturbance in the synthesis, turnover and release of these amines through the neurons impairment or may attributed to an alteration pattern of their synthesis and/or degradative enzymes or changes in the sensitivity of their receptors. Copyright © 2013 ISDN. Published by Elsevier Ltd. All rights reserved.

  16. A universal microscope manipulator

    Peter S. Boyadzhiev

    2012-03-01

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

  17. Microradiographic microsphere manipulator

    Singleton, R.M.

    1980-01-01

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

  18. Manipulation of quantum evolution

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

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

  19. Manipulating atoms with photons

    Cohen-Tannoudji, C.N.

    1998-01-01

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

  20. The Effects on Students' Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives within a Physical Manipulatives-Oriented Curriculum

    Zacharia, Zacharias C.; de Jong, Ton

    2014-01-01

    This study investigates whether Virtual Manipulatives (VM) within a Physical Manipulatives (PM)-oriented curriculum affect conceptual understanding of electric circuits and related experimentation processes. A pre-post comparison study randomly assigned 194 undergraduates in an introductory physics course to one of five conditions: three…

  1. Protozoa manipulation by ultrasound

    Yancy Milena Porras Rodríguez

    2004-01-01

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

  2. Pose Space Surface Manipulation

    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.

  3. Particle manipulation techniques in AEgIS

    Canali, C., E-mail: canali@ge.infn.it; Carraro, C.; Di Noto, L.; Krasnicky, D.; Lagomarsino, V.; Testera, G.; Zavatarelli, S. [Istituto Nazionale Fisica Nucleare Sez. Genova (Italy)

    2011-07-15

    The AEgIS experiment (http://aegis.web.cern.chhttp://aegis.web.cern.ch) will measure the gravitational acceleration g of antihydrogen. Once performed this could be the first direct test of the gravitational interaction between matter and antimatter. In the AEgIS experiment a beam of antihydrogen will travel horizontally along a path of about 1 m trough a moire deflectometer followed by a position sensitive detector. The g value will be obtained measuring the vertical displacement of the annihilation patterns. Before producing the beam, several tasks have to be performed mainly involving positron and electron plasma manipulation and particles cooling in Malmberg-Penning traps. The AEgIS experiment is currently under construction at CERN, meanwhile several tests involving particle manipulation and particle cooling are in progress. In this report some experimental results involving diocotron manipulation of plasma will be presented.

  4. Experimental Study of Gender Effects on Language Use in College Students' Email to Faculty

    Thomas-Tate, Shurita; Daugherty, Timothy K.; Bartkoski, Timothy J.

    2017-01-01

    Anecdotal reports have arisen regarding gender bias in electronic communication on college campuses. In an experiment designed to test language use in different gender contexts, participants were asked to compose an email to a professor whose gender had been experimentally manipulated. Female students, but not male students, displayed lower…

  5. Using Manipulatives in Math Instruction.

    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.…

  6. Control of master-slave manipulator using virtual force

    Kosuge, Kazuhiro; Fukuda, Toshio; Itoh, Tomotaka; Sakamoto, Keizoh; Noma, Yasuo.

    1994-01-01

    We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system. (author)

  7. The Effect of Honey on Plasma Malondialdehyde (MDA Level onAlloxan-Induced hyperglycemic Rats An Experimental studies in rats Galur Wistar White Males

    Bela Risqiyani Fajrilah

    2013-12-01

    Full Text Available Malondialdehyde (MDA is the end product of lipid peroxidation and a marker of free radicals. Honey is a safe sweetener proven to lower blood glucose level and contains flavonoids, vitamin A, C, E as a source of antioxidant that can capture free radicals. This study aims to determine the effect of honey on plasma MDA level ionalloxan-induced hyperglycemicrats. This was an experimental study with post-test only control group design conducted for 25 days using 18 white male Wistar rats divided into 3 groups randomly. A negative control group, group B were given honey orally at the dose of 0.54 ml/mice/day, and group C were given honey orally at the of dose 0.9 ml/head/day. Each group consisted of 6 rats. Blood plasma MDA was evaluated by Thiobarbituric Acid Reactive Substance (TBARS test assay. One way ANOVA analysis test followed post hoc were applied for data analysis. The results showed that mean levels of MDA in group A, B, and C were 6.02 mmol/l ± 0.36, 4.37 mmol/± 0.30, and 1.12 mmol/l ± 0.11 respectively. Bivariate analysis One way ANOVA test showed a significant difference (p<0,05. Post hoc tests showed a significant differences between the study groups (p<0,05. It can be concluded that honey had an effect on the levels of malondialdehyde (MDA in the blood plasma of alloxan-induced hyperglycemic rats.

  8. Optimization of phase feeding of starter, grower, and finisher diets for male broilers by mixture experimental design: forty-eight-day production period.

    Roush, W B; Boykin, D; Branton, S L

    2004-08-01

    A mixture experiment, a variant of response surface methodology, was designed to determine the proportion of time to feed broiler starter (23% protein), grower (20% protein), and finisher (18% protein) diets to optimize production and processing variables based on a total production time of 48 d. Mixture designs are useful for proportion problems where the components of the experiment (i.e., length of time the diets were fed) add up to a unity (48 d). The experiment was conducted with day-old male Ross x Ross broiler chicks. The birds were placed 50 birds per pen in each of 60 pens. The experimental design was a 10-point augmented simplex-centroid (ASC) design with 6 replicates of each point. Each design point represented the portion(s) of the 48 d that each of the diets was fed. Formulation of the diets was based on NRC standards. At 49 d, each pen of birds was evaluated for production data including BW, feed conversion, and cost of feed consumed. Then, 6 birds were randomly selected from each pen for processing data. Processing variables included live weight, hot carcass weight, dressing percentage, fat pad percentage, and breast yield (pectoralis major and pectoralis minor weights). Production and processing data were fit to simplex regression models. Model terms determined not to be significant (P > 0.05) were removed. The models were found to be statistically adequate for analysis of the response surfaces. A compromise solution was calculated based on optimal constraints designated for the production and processing data. The results indicated that broilers fed a starter and finisher diet for 30 and 18 d, respectively, would meet the production and processing constraints. Trace plots showed that the production and processing variables were not very sensitive to the grower diet.

  9. Burkholderia thailandensis: Genetic Manipulation.

    Garcia, Erin C

    2017-05-16

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

  10. Spatial manipulation with microfluidics

    Benjamin eLin

    2015-04-01

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

  11. Remote control manipulator

    Sugawara, T

    1970-02-28

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

  12. Planning Robotic Manipulation Strategies for Sliding Objects

    Peshkin, Michael A.

    Automated planning of grasping or manipulation requires an understanding of both the physics and the geometry of manipulation, and a representation of that knowledge which facilitates the search for successful strategies. We consider manipulation on a level conveyor belt or tabletop, on which a part may slide when touched by a robot. Manipulation plans for a given part must succeed in the face of two types of uncertainty: that of the details of surfaces in contact, and that of the initial configuration of the part. In general the points of contact between the part and the surface it slides on will be unknown, so the motion of the part in response to a push cannot be predicted exactly. Using a simple variational principle (which is derived), we find the set of possible motions of a part for a given push, for all collections of points of contact. The answer emerges as a locus of centers of rotation (CORs). Manipulation plans made using this locus will succeed despite unknown details of contact. Results of experimental tests of the COR loci are presented. Uncertainty in the initial configuration of a part is usually also present. To plan in the presence of uncertainty, configuration maps are defined, which map all configurations of a part before an elementary operation to all possible outcomes, thus encapsulating the physics and geometry of the operation. The configuration map for an operation sequence is a product of configuration maps of elementary operations. Using COR loci we compute configuration maps for elementary sliding operations. Appropriate search techniques are applied to find operation sequences which succeed in the presence of uncertainty in the initial configuration and unknown details of contact. Such operation sequences may be used as parts feeder designs or as manipulation or grasping strategies for robots. As an example we demonstrate the automated design of a class of passive parts feeders consisting of multiple sequential fences across a conveyor

  13. [Language Manipulation, Surrogacy, Altruism].

    Serrano Ruiz-Calderón, José Miguel

    2017-01-01

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

  14. Media and manipulation

    Kovačević Braco

    2013-01-01

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

  15. Interactive protein manipulation

    SNCrivelli@lbl.gov

    2003-07-01

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

  16. Interactive protein manipulation

    2003-01-01

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

  17. Characteristics of manipulative in mathematics laboratory

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

    2017-12-01

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

  18. Male crickets adjust ejaculate quality with both risk and intensity of sperm competition.

    Simmons, Leigh W; Denholm, Amy; Jackson, Chantelle; Levy, Esther; Madon, Ewa

    2007-10-22

    Sperm competition theory predicts that males should increase their expenditure on the ejaculate with increasing risk of sperm competition, but decrease their expenditure with increasing intensity. There is accumulating evidence for sperm competition theory, based on examinations of testes size and/or the numbers of sperm ejaculated. However, recent studies suggest that ejaculate quality can also be subject to selection by sperm competition. We used experimental manipulations of the risk and intensity of sperm competition in the cricket, Teleogryllus oceanicus. We found that males produced ejaculates with a greater percentage of live sperm when they had encountered a rival male prior to mating. However, when mating with a female that presented a high intensity of sperm competition, males did not respond to risk, but produced ejaculates with a reduced percentage of live sperm. Our data suggest that males exhibit a fine-tuned hierarchy of responses to these cues of sperm competition.

  19. Adaptive control of robotic manipulators

    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.

  20. An experimental test of the role of structural blue and melanin-based chestnut coloration in aggressive contests in male eastern bluebirds

    Austin eMercadante

    2014-06-01

    Full Text Available Male eastern bluebirds (Sialia sialis have feathers with either structurally based blue coloration or melanin-based chestnut coloration, and they hold territories during the breeding season that they defend vigorously. We tested whether the melanin pigmentation or structural coloration of feathers serve as signals during intrasexual aggressive encounters by placing color-modified stuffed bluebirds in male territories. We recorded the time to attack and the intensity of attacks on each model, and we then compared the response to color-enhanced versus color-reduced models. Male bluebirds attacked models with brighter and more chromatic blue coloration significantly more often than they attacked models with darker and less chromatic blue coloration. In contrast, the darkness of the chestnut breast coloration did not have a significant effect on the rate at which models were attacked. We conclude that territorial male bluebirds perceive intruding males with brighter blue coloration as a greater threat than males with drabber blue coloration, presumably because blue coloration is a signal of fighting ability. In contrast, the chestnut coloration of breast feathers appears to be a signal of gender and sexual maturity and not a graded signal of social status.

  1. Studies on the ecology of insects sterilized artificially (gamma radiation), 8. Experimental analysis of the sexual competitiveness between normal males of the oriental fruit fly and males sterilized by the /sup 137/Cs gamma radiation

    Kiyoku, M; Tsukuda, R [Okayama Univ. (Japan). Faculty of Agriculture

    1974-09-01

    Gamma-ray irradiation of 7 KR from /sup 137/Cs on the oriental fruit fly pupae two days before emerging did not significantly reduce the percentage of emergence and longevity of adult flies. However, highly sterile adults (more than 98.9%) were found in those combinations, S..gamma.. x N/sup -/, N..gamma.. x S/sup -/ and S..gamma.. x S/sup -/. The result of observation of sperm activity in spermathecae of females mated with sterilized males showed that the sterility is caused by dominant lethalities. The sexual competitiveness between S..gamma.. and N..gamma.. has been examined in experiments of S..gamma.. x N..gamma.. x N/sup -/. (1) The data suggest that the sterility percentage concerning with egg hatchability is proportional to the rate of sterilized males replaced for normal males when that is expressed with a multiple of the ratio of normal males to normal females. Seven such straight lines thus obtained made us possible to find the theoretical expectation of sterility percentage. (2) Relationship between the percent egg hatch observed (y), or that estimated theoretically (Y), and logarithm of ratio, S..gamma../N..gamma.. (x) was showed to be two straight regression equations, y=18.413-11.952 (x - 1.295) and Y=11.890-15.462 (x - 1.295). Ratio of regression coefficients of the equations was 0.772. (3) Correlations between the sterility percentage and ratio, S..gamma../N..gamma.., showed in three convex curves under three degrees of competitiveness (0.265, 0.576 and 1.001). When both the values of S..gamma../N..gamma.. in the mating experiments and the sterility percentages are given, it is possible to obtain degrees of competitiveness using the curves.

  2. Image manipulation as research misconduct.

    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.

  3. The Manipulative Discourse of Gandalf

    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.

  4. The effects of perceived mating opportunities on patterns of reproductive investment by male guppies.

    Luke T Barrett

    Full Text Available Males pay considerable reproductive costs in acquiring mates (precopulatory sexual selection and in producing ejaculates that are effective at fertilising eggs in the presence of competing ejaculates (postcopulatory sexual selection. Given these costs, males must balance their reproductive investment in a given mating to optimise their future reproductive potential. Males are therefore expected to invest in reproduction prudently according to the likelihood of obtaining future matings. In this study we tested this prediction by determining whether male reproductive investment varies with expected future mating opportunities, which were experimentally manipulated by visually exposing male guppies (Poecilia reticulata to high or low numbers of females in the absence of competing males. Our experiment did not reveal consistent effects of perceived future mating opportunity on either precopulatory (male mate choice and mating behaviour or postcopulatory (sperm quality and quantity investment. However, we did find that male size and female availability interacted to influence mating behaviour; large males visually deprived of females during the treatment phase became more choosy and showed greater interest in their preferred female than those given continuous visual access to females. Overall, our results suggest males tailor pre- rather than postcopulatory traits according to local female availability, but critically, these effects depend on male size.

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

    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)

  6. Dielectric nanoresonators for light manipulation

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

    2017-07-01

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

  7. Stereoscopically Observing Manipulative Actions.

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

    2016-08-01

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

  8. ADVERTISING AND LANGUAGE MANIPULATION

    Cristina-Maria PRELIPCEANU

    2013-11-01

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

  9. Stud manipulating device

    Bunyan, T.W.

    1980-01-01

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

  10. Manipulation Robustness of Collaborative Filtering

    Benjamin Van Roy; Xiang Yan

    2010-01-01

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

  11. A Geometry Deformation Model for Braided Continuum Manipulators

    S. M. Hadi Sadati

    2017-06-01

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

  12. Regulation of gene expression by manipulating transcriptional repressor activity using a novel CoSRI technology.

    Xu, Yue; Li, Song Feng; Parish, Roger W

    2017-07-01

    Targeted gene manipulation is a central strategy for studying gene function and identifying related biological processes. However, a methodology for manipulating the regulatory motifs of transcription factors is lacking as these factors commonly possess multiple motifs (e.g. repression and activation motifs) which collaborate with each other to regulate multiple biological processes. We describe a novel approach designated conserved sequence-guided repressor inhibition (CoSRI) that can specifically reduce or abolish the repressive activities of transcription factors in vivo. The technology was evaluated using the chimeric MYB80-EAR transcription factor and subsequently the endogenous WUS transcription factor. The technology was employed to develop a reversible male sterility system applicable to hybrid seed production. In order to determine the capacity of the technology to regulate the activity of endogenous transcription factors, the WUS repressor was chosen. The WUS repression motif could be inhibited in vivo and the transformed plants exhibited the wus-1 phenotype. Consequently, the technology can be used to manipulate the activities of transcriptional repressor motifs regulating beneficial traits in crop plants and other eukaryotic organisms. © 2016 The Authors. Plant Biotechnology Journal published by Society for Experimental Biology and The Association of Applied Biologists and John Wiley & Sons Ltd.

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

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

    2014-01-01

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

  14. CLIMAN - a mobile manipulator concept

    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)

  15. Acoustic Resonator Optimisation for Airborne Particle Manipulation

    Devendran, Citsabehsan; Billson, Duncan R.; Hutchins, David A.; Alan, Tuncay; Neild, Adrian

    Advances in micro-electromechanical systems (MEMS) technology and biomedical research necessitate micro-machined manipulators to capture, handle and position delicate micron-sized particles. To this end, a parallel plate acoustic resonator system has been investigated for the purposes of manipulation and entrapment of micron sized particles in air. Numerical and finite element modelling was performed to optimise the design of the layered acoustic resonator. To obtain an optimised resonator design, careful considerations of the effect of thickness and material properties are required. Furthermore, the effect of acoustic attenuation which is dependent on frequency is also considered within this study, leading to an optimum operational frequency range. Finally, experimental results demonstrated good particle levitation and capture of various particle properties and sizes ranging to as small as 14.8 μm.

  16. Manipulating Quantum Coherence in Solid State Systems

    Flatté, Michael E; The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems"

    2007-01-01

    The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems", in Cluj-Napoca, Romania, August 29-September 9, 2005, presented a fundamental introduction to solid-state approaches to achieving quantum computation. This proceedings volume describes the properties of quantum coherence in semiconductor spin-based systems and the behavior of quantum coherence in superconducting systems. Semiconductor spin-based approaches to quantum computation have made tremendous advances in the past several years. Coherent populations of spins can be oriented, manipulated and detected experimentally. Rapid progress has been made towards performing the same tasks on individual spins (nuclear, ionic, or electronic) with all-electrical means. Superconducting approaches to quantum computation have demonstrated single qubits based on charge eigenstates as well as flux eigenstates. These topics have been presented in a pedagogical fashion by leading researchers in the fields of semiconductor-spin-based qu...

  17. Single-photon manipulation in Nanophotonic Circuits

    Hansen, Sofie Lindskov

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

  18. Matrix Manipulation Program

    Guttormsen, M.

    1994-03-01

    The computer program MAMA is an analyzing tool for experimental nuclear data. The data is represented in the form of one and two dimensional spectra (matrices). Totally, there exist about 80 commands which allow the user to read/write spectra, apply arithmetic operations on spectra, peak fit routines, smoothing procedures and (un)folding with the detector response functions. 10 figs

  19. Critiquing the Manipulations of Female Representation in Cinema: A ...

    From Hollywood to Bollywood and to Nollywood's cinematic productions, there has been a trend of filmic manipulations of the woman's identity, which is crafted through male subjugation of women and gender stereotype in which there is a systematic assigning of denigrating roles and routines to female characters in cinema ...

  20. Dexterous Manipulation: Making Remote Manipulators Easy to Use

    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

  1. Phenotypic plasticity drives a depth gradient in male conspicuousness in threespine stickleback, Gasterosteus aculeatus.

    Brock, Chad D; Cummings, Molly E; Bolnick, Daniel I

    2017-08-01

    Signal evolution is thought to depend on both a signal's detectability or conspicuousness (signal design) as well as any extractable information it may convey to a potential receiver (signal content). While theoretical and empirical work in sexual selection has largely focused on signal content, there has been a steady accrual of evidence that signal design is also important for trait evolution. Despite this, relatively little attention has been paid to spatial variation in the conspicuousness of a given signal, especially over small spatial scales (relative to an organism's dispersal distance). Here, we show that visual signals of male threespine stickleback vary in conspicuousness, depending on a male's nest depth within a given lake. Deeper nesting males were typically more chromatically conspicuous than shallow nesting males. This trend is partly because all male stickleback are more conspicuous in deep optical environments. However, deep males are even more conspicuous than environmentally driven null expectations, while shallow males tend to be disproportionally cryptic. Experimental manipulation of male nesting depth induced plastic changes in nuptial color that replicated the natural gradients in conspicuousness. We discuss a number of potential mechanisms that could produce depth gradients in conspicuousness in male stickleback, including concomitant depth gradients in diet, predation pressure, male/female density, female preference, and opportunity for sexual selection. © 2017 The Author(s). Evolution © 2017 The Society for the Study of Evolution.

  2. Direct Manipulation in Virtual Reality

    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.

  3. Interspecific aggression, not interspecific mating, drives character displacement in the wing coloration of male rubyspot damselflies (Hetaerina)

    Drury, J. P.; Grether, G. F.

    2014-01-01

    Traits that mediate intraspecific social interactions may overlap in closely related sympatric species, resulting in costly between-species interactions. Such interactions have principally interested investigators studying the evolution of reproductive isolation via reproductive character displacement (RCD) or reinforcement, yet in addition to reproductive interference, interspecific trait overlap can lead to costly between-species aggression. Previous research on rubyspot damselflies (Hetaerina spp.) demonstrated that sympatric shifts in male wing colour patterns and competitor recognition reduce interspecific aggression, supporting the hypothesis that agonistic character displacement (ACD) drove trait shifts. However, a recent theoretical model shows that RCD overshadows ACD if the same male trait is used for both female mate recognition and male competitor recognition. To determine whether female mate recognition is based on male wing coloration in Hetaerina, we conducted a phenotype manipulation experiment. Compared to control males, male H. americana with wings manipulated to resemble a sympatric congener (H. titia) suffered no reduction in mating success. Thus, female mate recognition is not based on species differences in male wing coloration. Experimental males did, however, experience higher interspecific fighting rates and reduced survival compared to controls. These results greatly strengthen the case for ACD and highlight the mechanistic distinction between ACD and RCD. PMID:25339724

  4. Kinematic sensitivity of robot manipulators

    Vuskovic, Marko I.

    1989-01-01

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

  5. Modeling manipulation in medical education.

    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.

  6. Comprehending emergent systems phenomena through direct-manipulation animation

    Aguirre, Priscilla Abel

    This study seeks to understand the type of interaction mode that best supports learning and comprehension of emergent systems phenomena. Given that the literature has established that students hold robust misconceptions of such phenomena, this study investigates the influence of using three types of interaction; speed-manipulation animation (SMN), post-manipulation animation (PMA) and direct-manipulation animation (DMA) for increasing comprehension and testing transfer of the phenomena, by looking at the effect of simultaneous interaction of haptic and visual channels on long term and working memories when seeking to comprehend emergent phenomena. The questions asked were: (1) Does the teaching of emergent phenomena, with the aid of a dynamic interactive modeling tool (i.e., SMA, PMA or DMA), improve students' mental model construction of systems, thus increasing comprehension of this scientific concept? And (2) does the teaching of emergent phenomena, with the aid of a dynamic interactive modeling tool, give the students the necessary complex cognitive skill which can then be applied to similar (near transfer) and/or novel, but different, (far transfer) scenarios? In an empirical study undergraduate and graduate students were asked to participate in one of three experimental conditions: SMA, PMA, or DMA. The results of the study found that it was the participants of the SMA treatment condition that had the most improvement in post-test scores. Students' understanding of the phenomena increased most when they used a dynamic model with few interactive elements (i.e., start, stop, and speed) that allowed for real time visualization of one's interaction on the phenomena. Furthermore, no indication was found that the learning of emergent phenomena, with the aid of a dynamic interactive modeling tool, gave the students the necessary complex cognitive skill which could then be applied to similar (near transfer) and/or novel, but different, (far transfer) scenarios

  7. From sneaker to parental male: change of reproductive traits in the black goby, Gobius niger (Teleostei, Gobiidae).

    Immler, Simone; Mazzoldi, Carlotta; Rasotto, Maria Berica

    2004-02-01

    This study focuses on the consequences of the switch of tactic from parasitic to parental male in the black goby, Gobius niger (Teleostei: Gobiidae), a species showing two alternative male mating tactics. Older and larger males defend nests, court, and perform parental care on eggs, while younger and smaller ones behave as parasites, sneaking into nests while spawning occurs. Males adopting different tactics are known to present differences in primary and secondary sex traits. The social context of sneaker males was manipulated to induce a tactic switch. Sneakers were kept under two different experimental treatments with or without a female, and under exclusion of male-male competition. Males changed tactics, courting females, spawning, and performing parental care. All males showed substantial changes in primary sexual traits, such as a reduction in gonadal development and an increase in the investment in accessory structures. The experimental groups differed in the functionality of gonads and accessory organs and in the development of the secondary sex traits. These results demonstrate that the moment of switching is not genetically fixed in the black goby. Sneaker males are able to quickly reallocate energy in primary and secondary sex traits, in accordance with the adopted tactic. Several aspects of this flexible reproductive pattern resemble the socially controlled sex change found in sequential hermaphrodites. Copyright 2004 Wiley-Liss, Inc.

  8. Modeling of Flexible Beams for Robotic Manipulators

    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

  9. Male Infertility

    ... hypothalamus, pituitary, thyroid and adrenal glands. Low testosterone (male hypogonadism) and other hormonal problems have a number of possible underlying causes. Defects of tubules that transport sperm. Many ... syndrome — in which a male is born with two X chromosomes and one ...

  10. Early life manipulations of vasopressin-family peptides alter vocal learning.

    Baran, Nicole M; Peck, Samantha C; Kim, Tabitha H; Goldstein, Michael H; Adkins-Regan, Elizabeth

    2017-07-26

    Vocal learning from social partners is crucial for the successful development of communication in a wide range of species. Social interactions organize attention and enhance motivation to learn species-typical behaviour. However, the neurobiological mechanisms connecting social motivation and vocal learning are unknown. Using zebra finches ( Taeniopygia guttata ), a ubiquitous model for vocal learning, we show that manipulations of nonapeptide hormones in the vasopressin family (arginine vasotocin, AVT) early in development can promote or disrupt both song and social motivation. Young male zebra finches, like human infants, are socially gregarious and require interactive feedback from adult tutors to learn mature vocal forms. To investigate the role of social motivational mechanisms in song learning, in two studies, we injected hatchling males with AVT or Manning compound (MC, a nonapeptide receptor antagonist) on days 2-8 post-hatching and recorded song at maturity. In both studies, MC males produced a worse match to tutor song than controls. In study 2, which experimentally controlled for tutor and genetic factors, AVT males also learned song significantly better compared with controls. Furthermore, song similarity correlated with several measures of social motivation throughout development. These findings provide the first evidence that nonapeptides are critical to the development of vocal learning. © 2017 The Author(s).

  11. Computational simulator of robotic manipulators

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

    1995-01-01

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

  12. Can earnings manipulation create value?

    Anton Miglo

    2008-01-01

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

  13. Control Automation in Undersea Search and Manipulation

    Weltman, Gershon; Freedy, Amos

    1974-01-01

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

  14. Stereotypic information about drinkers and students' observed alcohol intake: an experimental study on prototype-behavior relations in males and females in a naturalistic drinking context

    Teunissen, H.A.; Spijkerman, R.; Larsen, H.; Kremer, K.A.; Kuntsche, E.; Gibbons, F.X.; Scholte, R.H.J.; Engels, R.C.M.E.

    2012-01-01

    Background: Cross-sectional and longitudinal research has shown that favorable drinker prototypes (i.e., perceptions about the typical drinker) are related to higher levels of alcohol consumption in adolescents and college students. So far, few studies have experimentally tested the causality of

  15. Short-term combined effects of thoracic spine thrust manipulation and cervical spine nonthrust manipulation in individuals with mechanical neck pain: a randomized clinical trial.

    Masaracchio, Michael; Cleland, Joshua A; Hellman, Madeleine; Hagins, Marshall

    2013-03-01

    Randomized clinical trial. To investigate the short-term effects of thoracic spine thrust manipulation combined with cervical spine nonthrust manipulation (experimental group) versus cervical spine nonthrust manipulation alone (comparison group) in individuals with mechanical neck pain. Research has demonstrated improved outcomes with both nonthrust manipulation directed at the cervical spine and thrust manipulation directed at the thoracic spine in patients with neck pain. Previous studies have not determined if thoracic spine thrust manipulation may increase benefits beyond those provided by cervical nonthrust manipulation alone. Sixty-four participants with mechanical neck pain were randomized into 1 of 2 groups, an experimental or comparison group. Both groups received 2 treatment sessions of cervical spine nonthrust manipulation and a home exercise program consisting of active range-of-motion exercises, and the experimental group received additional thoracic spine thrust manipulations. Outcome measures were collected at baseline and at a 1-week follow-up, and included the numeric pain rating scale, the Neck Disability Index, and the global rating of change. Participants in the experimental group demonstrated significantly greater improvements (Ppain rating scale and Neck Disability Index at the 1-week follow-up compared to those in the comparison group. In addition, 31 of 33 (94%) participants in the experimental group, compared to 11 of 31 participants (35%) in the comparison group, indicated a global rating of change score of +4 or higher at the 1-week follow-up, with an associated number needed to treat of 2. Individuals with neck pain who received a combination of thoracic spine thrust manipulation and cervical spine nonthrust manipulation plus exercise demonstrated better overall short-term outcomes on the numeric pain rating scale, the Neck Disability Index, and the global rating of change.

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

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

    1989-01-01

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

  17. Male Pragmatism in Ethical Decision Making

    Kray, Laura J.; Haselhuhn, Michael P.

    2011-01-01

    Why do men have more lenient ethical standards than women? To address this question, we test the male pragmatism hypothesis, which posits that men rely on their social and achievement motivations to set ethical standards more so than women. Across two studies, motivation was both manipulated and measured before examining ethicality judgments. Study 1 manipulated identification with two parties in an ethical dilemma and found that men were more egocentric than women. Whereas men’s ethicality...

  18. Manipulators inspired by the tongue of the chameleon

    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.

  19. Manipulators inspired by the tongue of the chameleon.

    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.

  20. Manipulators inspired by the tongue of the chameleon

    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.

  1. Male Hypogonadism

    ... the hormone that plays a key role in masculine growth and development during puberty — or has an ... Adulthood In adult males, hypogonadism may alter certain masculine physical characteristics and impair normal reproductive function. Signs ...

  2. Male Infertility

    ... to have a baby? If treatment doesn’t work, what are our other options? Resources National Institute of Child Health and Human Development, What Causes Male Infertility? Last Updated: May 30, 2017 This ...

  3. Male contraception.

    Amory, John K

    2016-11-01

    Although female contraceptives are very effective at preventing unintended pregnancy, some women can not use them because of health conditions or side-effects, leaving some couples without effective contraceptive options. In addition, many men wish to take active responsibility for family planning. Thus, there is a great need for male contraceptives to prevent unintended pregnancies, of which 80-90 million occur annually. At present, effective male contraceptive options are condoms and vasectomy, which are not ideal for all men. Therefore, efforts are under way to develop novel male contraceptives. This paper briefly reviews the advantages and disadvantages of condoms and vasectomies and then discusses the research directed toward development of novel methods of male contraception. Copyright © 2016 American Society for Reproductive Medicine. Published by Elsevier Inc. All rights reserved.

  4. Condoms - male

    Prophylactics; Rubbers; Male condoms; Contraceptive - condom; Contraception - condom; Barrier method - condom ... your health care provider or pharmacy about emergency contraception ("morning-after pills"). PROBLEMS WITH CONDOM USE Some ...

  5. Quantifying the transient carbon dynamics of ecosystem scale carbon cycle responses to piñon pine mortality using a large-scale experimental manipulation, remote sensing and model-data fusion

    Litvak, M. E.; Hilton, T. W.; Krofcheck, D. J.; Fox, A. M.; Robinson, E.; McDowell, N. G.; Rahn, T.; Sinsabaugh, R.

    2012-12-01

    The southwestern United States experienced an extended drought from 1999-2002 which led to widespread coniferous tree mortality throughout New Mexico, Arizona, Utah and Colorado. Piñon-juniper (PJ) woodlands, which occupy 24 million ha throughout the Southwest, proved to be extremely vulnerable to this drought, experiencing 40 to 95% mortality of piñon pine (Pinus edulis) and 2-25% mortality of juniper (Juniperus monosperma) in less than 3 years (Breshears et al., 2005). Understanding the response trajectories of these woodlands is crucial given that climate projections for the region suggest that episodic droughts, such as the one correlated with these recent conifer mortality, are likely to increase in frequency and severity and to expand northward. We are using a combination of eddy covariance, soil respiration, sap flow and biomass carbon pool measurements made at: (i) an undisturbed PJ woodland (control) in central New Mexico and at a manipulation site within 2 miles of the control where all piñon trees greater than 7 cm diameter at breast height within the 4 ha flux footprint were girdled (decreasing LAI by ~ 1/3) to quantify the response of ecosystem carbon and water dynamics in PJ woodlands to widespread piñon mortality. As expected, piñon mortality triggered an abrupt shift in carbon stocks from productive biomass to detritus, leading to a 25% decrease in gross primary production, and >50% decrease in net ecosystem production in the two years following mortality. Because litter and course woody debris are slow to decompose in these semiarid environments, ecosystem respiration initially decreased following mortality, and only increased two years post mortality following a large monsoon precipitation event. In the three years following mortality, reduced competition for water in these water limited ecosystems and increased light availability has triggered compensatory growth in understory vegetation observed in both remote sensing and ground

  6. Male contraception

    Mathew, Vivek; Bantwal, Ganapathi

    2012-01-01

    Contraception is an accepted route for the control of population explosion in the world. Traditionally hormonal contraceptive methods have focused on women. Male contraception by means of hormonal and non hormonal methods is an attractive alternative. Hormonal methods of contraception using testosterone have shown good results. Non hormonal reversible methods of male contraception like reversible inhibition of sperm under guidanceare very promising. In this article we have reviewed the curren...

  7. Male sexuality.

    Ginsberg, Terrie B

    2010-05-01

    It should be recognized that sexuality in the aging male is of such import that a complete sexual history must be performed. By taking a complete sexual history, facts can be obtained that will allow for appropriate focus relating to a holistic evaluation and will enable us to dispel antiquated sexual myths pertaining to the aging male. If initiated by the history taker, questions concerning sexuality may be discussed more comfortably by the patient. Erectile dysfunction, male sexual response cycle, testosterone, sexually transmitted diseases, human immunodeficiency virus, long-term illness, along with religion and culture are explored in this article with the aim of improving one's knowledge base, self reflection, and awareness of the importance of male sexuality. A complete understanding and appreciation of the aging male's medical history, surgical history, social history, and emotional history as well as his sexual, cultural, and religious concepts will allow the health care provider to better analyze information, and to recommend and provide appropriate advice and treatment to the aging male patient. Copyright 2010 Elsevier Inc. All rights reserved.

  8. High precision redundant robotic manipulator

    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

  9. Control of cooperative manipulators in holding deformable objects

    Alkathiri, A. A.; Azlan, N. Z.

    2017-11-01

    This paper presents the implementation of a control system to control cooperative manipulators to hold deformable objects. The aim is to hold the deformable object without having information on the shape and stiffness of the deformable object beforehand. The prototype of a pair of manipulators has been designed and built to test the controller. A force sensor and a rotary encoder are used to give feedback to the controller, which controls the DC motor actuators accordingly. A position proportional-integral-derivative (PID) controller technique has been applied for one of the manipulators and a PID force control technique is applied to the other. Simulations and experimental tests have been conducted on models and the controller has been implemented on the real plant. Both simulation and test results prove that the implemented control technique has successfully provided the desired position and force to hold the deformable object with maximum experimental errors of 0.34mm and 50mN respectively.

  10. Autonomous Industrial Mobile Manipulation (AIMM)

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

    2012-01-01

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

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

    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.

  12. Gallic acid and exercise training improve motor function, nerve conduction velocity but not pain sense reflex after experimental sciatic nerve crush in male rats

    Maryam Hajimoradi

    2015-06-01

    Full Text Available Objective: The aim of present study was to evaluate the effects of oral administration of gallic acid (GA for 21 days alone and in combination with exercise on nerve conduction velocity and sensory and motor functions in rats with sciatic nerve crush. Materials and Methods: Seventy adult male Wistar rats (250-300 g were divided randomly into 7 groups with 10 in each: 1 Control (Cont, 2 Crushed + Vehicle (Cr +Veh, 3-5 Crushed + gallic acid (Cr+GA (50, 100, and 200 mg/kg/2 mL, orally, 6 Crushed + exercise (Cr+Exe, and 7 Crushed + exercise + effective dose of gallic acid (Cr+Exe +GA200 for 21 days. In order to establish an animal model of sciatic nerve crush, equivalent to 7 kg of force pressed on 2-3 mm of sciatic nerve for 30 s, three times with 30 s intervals. Pain sense reflex in hot plate, motor coordination in rotarod, and sciatic nerve conduction velocity (SNCV in all groups were tested. Data were analyzed using one-way ANOVA followed by Tukey’s post hoc test and pResults: Pain threshold was increased significantly in untreated crushed rats while motor function and SNCV were decreased in all groups with nerve crush (p

  13. Gallic acid and exercise training improve motor function, nerve conduction velocity but not pain sense reflex after experimental sciatic nerve crush in male rats.

    Hajimoradi, Maryam; Fazilati, Mohammad; Gharib-Naseri, Mohammad Kazem; Sarkaki, Alireza

    2015-01-01

    The aim of present study was to evaluate the effects of oral administration of gallic acid (GA) for 21 days alone and in combination with exercise on nerve conduction velocity and sensory and motor functions in rats with sciatic nerve crush. Seventy adult male Wistar rats (250-300 g) were divided randomly into 7 groups with 10 in each: 1) Control (Cont), 2) Crushed + Vehicle (Cr +Veh), 3-5) Crushed + gallic acid (Cr+GA) (50, 100, and 200 mg/kg/2 mL, orally), 6) Crushed + exercise (Cr+Exe), and 7) Crushed + exercise + effective dose of gallic acid (Cr+Exe +GA200) for 21 days. In order to establish an animal model of sciatic nerve crush, equivalent to 7 kg of force pressed on 2-3 mm of sciatic nerve for 30 s, three times with 30 s intervals. Pain sense reflex in hot plate, motor coordination in rotarod, and sciatic nerve conduction velocity (SNCV) in all groups were tested. Data were analyzed using one-way ANOVA followed by Tukey's post hoc test and preflex latency was not changed in treated groups. Motor coordination and SNCV were improved in groups Cr+GA200 and Cr+Exe + GA200 (p<0.05, p<0.01 vs. Cr+Veh). GA, dose-dependently, may have therapeutic potential to improve the peripheral nerve degeneration, which is most likely related, at least in part, to its antioxidant and therapeutic properties.

  14. Learning Area and Perimeter with Virtual Manipulatives

    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…

  15. A six degrees of freedom mems manipulator

    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

  16. Manipulator vehicles and loading shovels

    Brudermueller, G.; Krueger, W.

    1992-01-01

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

  17. Male baldness.

    Clarke, Philip

    2016-04-01

    Male baldness is very common. Its effect on individuals is extremely variable, and in some people it will have a significant adverse effect on their quality of life. The objectives of this article are to help general practitioners (GPs) be aware of potential health problems related to male baldness, to have an approach to assessing hair loss and to be aware of treatment options. Male baldness is, most often, a normal occurrence, but it may have significant effects on a man's health. It may also be a pointer to other potential health issues. The GP is in the ideal position to conduct an initial evaluation, consider other health issues and advise on treatment options.

  18. Coloured leg bands affect male mate-guarding behaviour in the bluethroat

    Johnsen; Lifjeld; Rohde

    1997-07-01

    Artificial traits such as coloured leg bands may affect an individual's mating success, as shown for some birds. One explanation is that colour-matching with a sexual ornament affects the individual's sexual attractiveness. This study reports a colour-band experiment with free-living bluethroats, Luscinia s. svecicaa species where males have a distinct blue and chestnut throat and upper breast. There was no apparent difference in pairing success between males with ornament-matching colour bands (blue and orange) and males with non-ornamental colour bands. However, males with ornamental bands guarded their mates less intensely and spent more time singing, performing song flights and intruding into neighbours' territories than males with non-ornamental bands. We conclude that colour bands affect the trade-off between mate guarding and advertisement behaviour in a way that is consistent with the hypothesis that bands with ornamental colours improve a male's attractiveness. The results are in concordance with a previous study of the same population, showing that males with experimentally reduced attractiveness guarded their mates more closely and advertised less for additional mates, than non-manipulated males.

  19. No evidence for heritability of male mating latency or copulation duration across social environments in Drosophila melanogaster.

    Michelle L Taylor

    Full Text Available A key assumption underpinning major models of sexual selection is the expectation that male sexual attractiveness is heritable. Surprisingly, however, empirical tests of this assumption are relatively scarce. Here we use a paternal full-sib/half-sib breeding design to examine genetic and environmental variation in male mating latency (a proxy for sexual attractiveness and copulation duration in a natural population of Drosophila melanogaster. As our experimental design also involved the manipulation of the social environment within each full-sibling family, we were able to further test for the presence of genotype-by-environment interactions (GEIs in these traits, which have the potential to compromise mate choice for genetic benefits. Our experimental manipulation of the social environment revealed plastic expression of both traits; males exposed to a rival male during the sensitive period of adult sexual maturation exhibited shorter mating latencies and longer copulation durations than those who matured in isolation. However, we found no evidence for GEIs, and no significant additive genetic variation underlying these traits in either environment. These results undermine the notion that the evolution of female choice rests on covariance between female preference and male displays, an expectation that underpins indirect benefit models such as the good genes and sexy sons hypotheses. However, our results may also indicate depletion of genetic variance in these traits in the natural population studied, thus supporting the expectation that traits closely aligned with reproductive fitness can exhibit low levels of additive genetic variance.

  20. Effect of scoparia dulcis (Sweet Broomweed) plant extract on plasma antioxidants in streptozotocin-induced experimental diabetes in male albino Wistar rats.

    Pari, L; Latha, M

    2004-07-01

    Clinical research has confirmed the efficacy of several plants in the modulation of oxidative stress associated with diabetes mellitus. Scoparia dulcis plant extract is tried for prevention and treatment of diabetes mellitus induced experimentally by streptozotocin injection. A single dose of streptozotocin (45 mg/kg body weight) produced decrease in insulin, hyperglycemia, increased lipid peroxidation (Thiobarbituric reactive substances and lipid hydroperoxides) and decreased antioxidant levels (vitamin C, vitamin E, reduced glutathione, ceruloplasmin). Oral administration of an aqueous extract of Scoparia dulcis plant (200 mg/kg body weight) for 6 weeks to diabetic rats significantly increased the plasma insulin and plasma antioxidants and significantly decreased lipid peroxidation. The effect of Scoparia dulcis plant extract at 200 mg/kg body weight was better than that of glibenclamide, a reference drug.

  1. Acoustic Devices for Particle and Cell Manipulation and Sensing

    Yongqiang Qiu

    2014-08-01

    Full Text Available An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed.

  2. Application of model based control to robotic manipulators

    Petrosky, Lyman J.; Oppenheim, Irving J.

    1988-01-01

    A robot that can duplicate humam motion capabilities in such activities as balancing, reaching, lifting, and moving has been built and tested. These capabilities are achieved through the use of real time Model-Based Control (MBC) techniques which have recently been demonstrated. MBC accounts for all manipulator inertial forces and provides stable manipulator motion control even at high speeds. To effectively demonstrate the unique capabilities of MBC, an experimental robotic manipulator was constructed, which stands upright, balancing on a two wheel base. The mathematical modeling of dynamics inherent in MBC permit the control system to perform functions that are impossible with conventional non-model based methods. These capabilities include: (1) Stable control at all speeds of operation; (2) Operations requiring dynamic stability such as balancing; (3) Detection and monitoring of applied forces without the use of load sensors; (4) Manipulator safing via detection of abnormal loads. The full potential of MBC has yet to be realized. The experiments performed for this research are only an indication of the potential applications. MBC has no inherent stability limitations and its range of applicability is limited only by the attainable sampling rate, modeling accuracy, and sensor resolution. Manipulators could be designed to operate at the highest speed mechanically attainable without being limited by control inadequacies. Manipulators capable of operating many times faster than current machines would certainly increase productivity for many tasks.

  3. The ultrastructural changes in the liver cells induced by high doses of Benzodiazepine Tranquilizing drugs: An experimental transmission electron microscopic study on male guinea pigs

    Bisher, Ameen S. Ahmad

    2008-01-01

    Benzodiazepines are tranquilizing psychotropic drugs. Unfortunately, despite their therapeutic benefits, they are illegally consumed in high doses by some addicts to reach a sedative, exhilarative and euphoria state similar to that produced by narcotic substances. The present study, using transmission electron microscope on male guinea pigs, aims to investigate the potential ultrastructural changes in the liver cells induced by the high doses of Benzodiazepines. Animals in three treated groups administrated a daily combined dose consisted of (10mg Alprazolam with 10mg Diazepam/day/animal) for three different treatment periods: 7, 15, and 25 days. The ultrastructural examination of the hepatocytes of the animals treated for 15 days showed limited changes in the form of marginal heterochromatine accompanied with marginal nucleoli enlargement. On the other hand, severe ultrastructural damages are observed in the animals treated for 25 days, which appeared in the following various patterns: fatty degeneration of the hepatocytes as indicated by the accumulation of large number of lipid droplets in the cytoplasm, marked nuclear atrophy in some necrotic hepatocytes, massive nuclear degeneration in other hepatocytes, mitochondrial damages in the form of cristea destruction accompanied with abnormal oval shape, massive lysis of the cytoplasmic organelles with severe plasma membrane rupture. In conclusion, the observed ultrastructural damages in the present study may refer to the potential hepatotoxic effects of the high dose of Benzodiazepins. It is recommended that much more official restrictions should be applied on the pharmacies sector to prevent any illegal selling of these drugs in order to prevent abusers from obtaining them, as unfortunately in some developing countries the illegal selling of these drugs is known to occur due to the absence of official control. (author)

  4. A comparison of force sensing techniques for planetary manipulation

    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.

  5. Magnetic manipulation of topological states in p-wave superconductors

    Mercaldo, Maria Teresa; Cuoco, Mario; Kotetes, Panagiotis

    2018-01-01

    Substantial experimental investigation has provided evidence for spin-triplet pairing in diverse classes of materials and in a variety of artificial heterostructures. One of the fundamental challenges in this framework is how to manipulate the topological behavior of p-wave superconductors (PSC...

  6. Leadership Manipulation and Ethics in Storytelling

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

    2013-01-01

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

  7. Dynamic Control of Kinematically Redundant Robotic Manipulators

    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.

  8. Male Music Frogs Compete Vocally on the Basis of Temporal Sequence Rather Than Spatial Cues of Rival Calls

    Fan JIANG; Guangzhan FANG; Fei XUE; Jianguo CUI; Steven E BRAUTH; Yezhong TANG

    2015-01-01

    Male-male vocal competition in anuran species may be influenced by cues related to the temporal sequence of male calls as well by internal temporal, spectral and spatial ones. Nevertheless, the conditions under which each type of cue is important remain unclear. Since the salience of different cues could be reflected by dynamic properties of male-male competition under certain experimental manipulation, we investigated the effects of repeating playbacks of conspecific calls on male call production in the Emei music frog (Babina daunchina). In Babina, most males produce calls from nest burrows which modify the spectral features of the cues. Females prefer calls produced from inside burrows which are defined as highly sexually attractive (HSA) while those produced outside burrows as low sexual attractiveness (LSA). In this study HSA and LSA calls were broadcasted either antiphonally or stereophonically through spatially separated speakers in which the temporal sequence and/or spatial position of the playbacks was either predictable or random. Results showed that most males consistently avoided producing advertisement calls overlapping the playback stimuli and generally produced calls competitively in advance of the playbacks. Furthermore males preferentially competed with the HSA calls when the sequence was predictable but competed equally with HSA and LSA calls if the sequence was random regardless of the availability of spatial cues, implying that males relied more on available sequence cues than spatial ones to remain competitive.

  9. Manipulations to regenerate aspen ecosystems

    Wayne D. Shepperd

    2001-01-01

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

  10. Adaptive Control Of Remote Manipulator

    Seraji, Homayoun

    1989-01-01

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

  11. Indicial tensor manipulation on MACSYMA

    Bogen, R.A.; Pavelle, R.

    1977-01-01

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

  12. Manipulations of Totalitarian Nazi Architecture

    Antoszczyszyn, Marek

    2017-10-01

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

  13. Mapping and Manipulating Facial Expression

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

    2009-01-01

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

  14. AN EXPERIMENTAL COMPARATIVE STUDY OF ANALGESIC ACTIVITY OF CURCUMA: AMADA (MANGO - GINGER WITH CONVENTIONAL NSAID ASPIRIN IN MALE ALBINO WISTAR RATS

    Shanmukananda

    2015-09-01

    Full Text Available BACKGROUND: Mango ginger ( Curcuma amada Roxb. belongs to Zingiberaceae family has biological activities include antioxidant, antibacterial, antifungal, anti - inflammatory, antiallergic, CNS depressant and analgesic activity. The major chemical components include starch, phenolic acids, volatile oils, curcuminoids and terpenoids like difurocumenonol, amadannulen and amadaldehyde. Pain is often the first indication of disease or injury and a major symptom in many clinical conditions and can significantly interferes with a person’s quality of life and general functioning. The standard and test drugs suppress the inflammatory mediators associated with pain. This article brings out the analgesic activity of C. Amada in comparison with aspirin. Therefore aqueous extract of C. amada was evaluated for analgesic activity in animal models of pain. OBJECTIVES: 1. To evaluate rhizomes of Curcuma Amada for analgesic activity in male albino wistar rats and to compare the analgesic activity with aspirin . 2. To Evaluate if combination of Curcuma Amada with aspirin is synergistic . MATERIALS AND METHODS: Albino rats are the proven models for analgesic studies. They were obtained from the animal house of DR.B. R. Ambedkar Medical College. Animals were maintained as per CPCSEA guidelines .The aqueous extract of Curcuma Amada was used. Aspirin (100mg/kg was used as the standard analgesic drug. 4x4 groups of 6 Rats were used to ensure that results obtained were statistically significant using ANOVA test. Analgesic activity will be assessed with the help of following screening methods Acetic Acid Writhing Method using Acetic Acid, Tail Flick Method using the Analgesiometer, Tail Immersion Method using Hot Water (55 0 C , Hot Plate method using Hot Plate . RESULTS : Aqueous extract of Curcuma Amada significantly suppressed the 1% acetic acid induced writhing response in rats when compared to standard drug aspirin. In the Tail flick and Hot plate test Curcuma

  15. An experimental study on effect of antioxidant vitamin E in stress and alcohol induced changes in male fertility in albino rats.

    Sanghishetti Vijay Prasad, Nayak BB, Ghongane BB, Raul AR, Vijay Kumar AN, Mutalik MM, Kapure NL.

    2012-09-01

    Full Text Available Introduction: Physical and Psychological stresses are believed to reduce sexual functions, resulting fromneurotransmission changes in various erectile response pathways and reduced blood flow in genital organs.Intake of alcohol depends on numerous genetic and environmental factors. Stress has long been thought to influence the alcohol drinking in humans. Forced swimming in laboratory animals has been widely used as a model of stress to study the physiological changes and the capacity of the organism in response to stress. Aim: 1. To assess the effect of forced swimming stress on seminal fluid profile, Serum testosterone level, Testicular lipid peroxidation levels. 2. To assess the effect of Vitamin E on stress induced changes. Method: Adult male albino rats weighing 200 – 220 g, aged 12-15 weeks were used in this study. The animals were randomly divided into four groups of 6 animals each. Group1 (control received distilled water, Group 2 (Forced Swimming Stress received distilled water Group 3: subjected to Forced Swimming stress with 20% alcohol intake p.o. Group 4: Swimming stress with 20% alcohol treated with Vitamin E(200mg/kg/day orally. The following parameters were studied in all groups 1. Body weight. 2. Sperm count Motility and Life /death Ratio (SLDR. 3. Serum Testosterone 4. Testicular Malondialdehyde level (MDA. Results: Forced swimming stress caused loss in body wt, reduction in sperm count, motility and SLDR in sperm analysis, reduction in serum testosterone and increase testicular MDA levels compared to control. All the changes were statistically significant. When alcohol was added along with forced swimming it caused further loss in body wt, sperm count, motility and SLDR, serum testosterone level and slightly further increase in MDA levels. These observations were also statistically significant. In case of group IV in which Vitamin E was administered long with stress with alcohol it showed a trend of reversal phenomenon of

  16. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Joseph W. Geisinger, Ph.D.

    2001-07-31

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

  17. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Geisinger, Joseph W. Ph.D.

    2001-01-01

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

  18. Female behaviour and the interaction of male and female genital traits mediate sperm transfer during mating.

    Friesen, C R; Uhrig, E J; Mason, R T; Brennan, P L R

    2016-05-01

    Natural selection and post-copulatory sexual selection, including sexual conflict, contribute to genital diversification. Fundamental first steps in understanding how these processes shape the evolution of specific genital traits are to determine their function experimentally and to understand the interactions between female and male genitalia during copulation. Our experimental manipulations of male and female genitalia in red-sided garter snakes (Thamnophis sirtalis parietalis) reveal that copulation duration and copulatory plug deposition, as well as total and oviductal/vaginal sperm counts, are influenced by the interaction between male and female genital traits and female behaviour during copulation. By mating females with anesthetized cloacae to males with spine-ablated hemipenes using a fully factorial design, we identified significant female-male copulatory trait interactions and found that females prevent sperm from entering their oviducts by contracting their vaginal pouch. Furthermore, these muscular contractions limit copulatory plug size, whereas the basal spine of the male hemipene aids in sperm and plug transfer. Our results are consistent with a role of sexual conflict in mating interactions and highlight the evolutionary importance of female resistance to reproductive outcomes. © 2016 European Society For Evolutionary Biology. Journal of Evolutionary Biology © 2016 European Society For Evolutionary Biology.

  19. Experimental evolution under hyper-promiscuity in Drosophila melanogaster.

    Perry, Jennifer C; Joag, Richa; Hosken, David J; Wedell, Nina; Radwan, Jacek; Wigby, Stuart

    2016-06-16

    The number of partners that individuals mate with over their lifetime is a defining feature of mating systems, and variation in mate number is thought to be a major driver of sexual evolution. Although previous research has investigated the evolutionary consequences of reductions in the number of mates, we know little about the costs and benefits of increased numbers of mates. Here, we use a genetic manipulation of mating frequency in Drosophila melanogaster to create a novel, highly promiscuous mating system. We generated D. melanogaster populations in which flies were deficient for the sex peptide receptor (SPR) gene - resulting in SPR- females that mated more frequently - and genetically-matched control populations, and allowed them to evolve for 55 generations. At several time-points during this experimental evolution, we assayed behavioural, morphological and transcriptional reproductive phenotypes expected to evolve in response to increased population mating frequencies. We found that males from the high mating frequency SPR- populations evolved decreased ability to inhibit the receptivity of their mates and decreased copulation duration, in line with predictions of decreased per-mating investment with increased sperm competition. Unexpectedly, SPR- population males also evolved weakly increased sex peptide (SP) gene expression. Males from SPR- populations initially (i.e., before experimental evolution) exhibited more frequent courtship and faster time until mating relative to controls, but over evolutionary time these differences diminished or reversed. In response to experimentally increased mating frequency, SPR- males evolved behavioural responses consistent with decreased male post-copulatory investment at each mating and decreased overall pre-copulatory performance. The trend towards increased SP gene expression might plausibly relate to functional differences in the two domains of the SP protein. Our study highlights the utility of genetic

  20. Manipulators

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

    2005-01-01

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

  1. Embodied cognition, abstract concepts, and body manipulation

    Katinka eDijkstra

    2014-08-01

    Full Text Available Current approaches on cognition hold that concrete concepts are grounded in concrete experiences. There is no consensus, however, as to whether this is equally true for abstract concepts. In this review we discuss how the body might be involved in understanding abstract concepts through metaphor activation. Substantial research has been conducted on the activation of common orientational metaphors with bodily manipulations, such as ‘power is up’ and ‘more is up’ representations. We will focus on the political metaphor that has a more complex association between the concept and the concrete domain. However, the outcomes of studies on this political metaphor have not always been consistent, possibly because the experimental manipulation was not implicit enough. The inclusion of new technological devices in this area of research, such as the Wii Balance Board, seems promising in order to assess the groundedness of abstract conceptual spatial metaphors in an implicit manner. This may aid further research to effectively demonstrate the interrelatedness between the body and more abstract representations.

  2. Human-Manipulator Interface Using Particle Filter

    Guanglong Du

    2014-01-01

    Full Text Available This paper utilizes a human-robot interface system which incorporates particle filter (PF and adaptive multispace transformation (AMT to track the pose of the human hand for controlling the robot manipulator. This system employs a 3D camera (Kinect to determine the orientation and the translation of the human hand. We use Camshift algorithm to track the hand. PF is used to estimate the translation of the human hand. Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion. Therefore, a methodology to correct the translation error is required. What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation. This paper proposes an adaptive multispace transformation (AMT method to assist the operator to improve the accuracy and reliability in determining the pose of the robot. The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator.

  3. Visual control of a robot manipulator using neural networks

    Kurazume, Ryo; Sekiguchi, Minoru; Nagata, Shigemi

    1994-01-01

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

  4. Subwavelength image manipulation through oblique and herringbone layered acoustic systems

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

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

    2011-01-01

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

  6. THE BEAR BROOK WATERSHED MANIPULATION PROJECT: WATERSHED SCIENCE IN A POLICY PERSPECTIVE

    The Bear Brook Watershed Manipulation in Maine is a paired watershed experiment. Monitoring of the paired catchments (East Bear Brook - reference; West Bear Brook - experimental) began in early 1987. Chemical manipulation of West Bear Brook catchment began in November 1989. Proce...

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

    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...

  8. A control method for manipulators with redundancy

    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)

  9. Adaptive hybrid control of manipulators

    Seraji, H.

    1987-01-01

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

  10. Master-slave type manipulator

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

    1979-01-01

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

  11. Genetic manipulation of Francisella tularensis

    Xhavit eZogaj

    2011-01-01

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

  12. Viruses manipulate the marine environment.

    Rohwer, Forest; Thurber, Rebecca Vega

    2009-05-14

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

  13. List manipulation in Turbo Prolog

    V.Cotelea

    1995-06-01

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

  14. Manipulating bubbles with secondary Bjerknes forces

    Lanoy, Maxime [Institut Langevin, ESPCI ParisTech, CNRS (UMR 7587), PSL Research University, 1 rue Jussieu, 75005 Paris (France); Laboratoire Matière et Systèmes Complexes, Université Paris-Diderot, CNRS (UMR 7057), 10 rue Alice Domon et Léonie Duquet, 75013 Paris (France); Derec, Caroline; Leroy, Valentin [Laboratoire Matière et Systèmes Complexes, Université Paris-Diderot, CNRS (UMR 7057), 10 rue Alice Domon et Léonie Duquet, 75013 Paris (France); Tourin, Arnaud [Institut Langevin, ESPCI ParisTech, CNRS (UMR 7587), PSL Research University, 1 rue Jussieu, 75005 Paris (France)

    2015-11-23

    Gas bubbles in a sound field are submitted to a radiative force, known as the secondary Bjerknes force. We propose an original experimental setup that allows us to investigate in detail this force between two bubbles, as a function of the sonication frequency, as well as the bubbles radii and distance. We report the observation of both attractive and, more interestingly, repulsive Bjerknes force, when the two bubbles are driven in antiphase. Our experiments show the importance of taking multiple scatterings into account, which leads to a strong acoustic coupling of the bubbles when their radii are similar. Our setup demonstrates the accuracy of secondary Bjerknes forces for attracting or repealing a bubble, and could lead to new acoustic tools for noncontact manipulation in microfluidic devices.

  15. Beam Manipulation with an RF Dipole

    Bai, M.

    1999-01-01

    Coherent betatron motion adiabatically excited by an RF dipole has been successfully employed to overcome strong intrinsic spin depolarization resonances in the AGS, while a solenoid partial snake has been used to correct imperfection spin resonances. The experimental results showed that a full spin flip was obtained in passing through an intrinsic spin resonance when all the beam particles were forced to oscillate coherently at a large amplitude without diluting the beam emittance. With this method, they have successfully accelerated polarized beam up to 23.5 GeV/c. A new type of second order spin resonances was also discovered. As a non-destructive manipulation, this method can also be used for nonlinear beam dynamics studies and beam diagnosis such as measuring phase advance and betatron amplitude function

  16. Manipulating bubbles with secondary Bjerknes forces

    Lanoy, Maxime; Derec, Caroline; Leroy, Valentin; Tourin, Arnaud

    2015-01-01

    Gas bubbles in a sound field are submitted to a radiative force, known as the secondary Bjerknes force. We propose an original experimental setup that allows us to investigate in detail this force between two bubbles, as a function of the sonication frequency, as well as the bubbles radii and distance. We report the observation of both attractive and, more interestingly, repulsive Bjerknes force, when the two bubbles are driven in antiphase. Our experiments show the importance of taking multiple scatterings into account, which leads to a strong acoustic coupling of the bubbles when their radii are similar. Our setup demonstrates the accuracy of secondary Bjerknes forces for attracting or repealing a bubble, and could lead to new acoustic tools for noncontact manipulation in microfluidic devices

  17. Manipulation of Biofilm Microbial Ecology

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

    1998-08-15

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

  18. Females with a mutation in a nuclear-encoded mitochondrial protein pay a higher cost of survival than do males in Drosophila.

    Melvin, Richard G; Ballard, J William O

    2011-07-01

    Males and females age at different rates in a variety of species, but the mechanisms underlying the difference is not understood. In this study, we investigated sex-specific costs of a naturally occurring mildly deleterious deletion (DTrp85, DVal86) in cytochrome c oxidase subunit 7A (cox7A) in Drosophila simulans. We observed that females and males homozygous for the mutation had 30% and 26% reduced Cox activity, respectively, compared with wild type. Furthermore, 4-day-old females had 34%-42% greater physical activity than males. Greater physical activity in mutant females was correlated with a 19% lower 50% survival compared with wild-type females. Mutant and wild-type males had equal survival. These data suggest that females paid a higher cost of the mutation than did males. The data demonstrate linking population genetics and structural modeling to experimental manipulations that lead to functional predictions of mitochondrial bioenergetics and organism aging.

  19. Manipulating parameters of reinforcement to reduce problem behavior without extinction.

    Kunnavatana, S Shanun; Bloom, Sarah E; Samaha, Andrew L; Slocum, Timothy A; Clay, Casey J

    2018-04-01

    Differential reinforcement of alternative behavior (DRA) most often includes extinction as a treatment component. However, extinction is not always feasible and it can be counter-therapeutic if implemented without optimal treatment integrity. Researchers have successfully implemented DRA without extinction by manipulating various parameters of reinforcement such that alternative behavior is favored. We extended previous research by assessing three participants' sensitivities to quality, magnitude, and immediacy using arbitrary responses and reinforcers that maintain problem behavior. The results were used to implement an intervention for problem behavior using DRA without extinction. Our findings indicate that arbitrary responses can be used to identify individual and relative sensitivity to parameters of reinforcement for reinforcers that maintain problem behavior. Treatment was effective for all participants when we manipulated parameters of reinforcement to which they were most sensitive, and, for two participants, the treatment was less effective when we manipulated parameters to which they were least sensitive. © 2018 Society for the Experimental Analysis of Behavior.

  20. Development of telerobotic manipulators for reactor dismantling work

    Shinohara, Yoshikuni; Usui, Hozumi; Fujii, Yoshio

    1991-01-01

    This paper describes the amphibious electrical manipulators JARM-10, JART-25, JART-100 and JARM-25 which were developed in the program of reactor decommissioning technology development carried out by the Japan Atomic Energy Research Institute. They are multi-functional telerobotic light-duty (10 and 25 daN) and heavy-duty (100 daN) Manipulators which can be used in hostile environments in reactor dismantling work such as high radiation, underwater work and electrical noise. Each manipulator can be operated in either a bilateral master-slave, a teach-and-playback or a programmed control mode. By combining these modes appropriately, it is possible to perform complex tasks of remote handling. The usefulness of the telerobotic systems for dismantling nuclear reactors has been demonstrated by successful application of the JARM-25 for remote underwater dismantlement of highly radioactive reactor internals of complex form of an experimental nuclear power reactor. (author)

  1. Design of a novel magnetic platform for cell manipulation

    Lucarini, Gioia; Iacovacci, Veronica; Gouveia, Pedro J.; Ricotti, Leonardo; Menciassi, Arianna

    2018-02-01

    Cell manipulation tasks, especially in lab-on-a-chip applications for personalized medicine, could greatly benefit from mobile untethered microdevices able to wirelessly navigate in fluidic environments by means of magnetic fields. In this paper, the design, fabrication and testing of a magnetic platform enabling the controlled locomotion and immersion of microrobots placed at the air/liquid interface is proposed and exploited for cell manipulation. The proposed microrobot consists of a polymeric magnetic thin film that acts as cell transporter and a specific coating strategy, devised to enhance a safe cancer cell adhesion to the magnetic film. Experimental results demonstrated an overall cell viability and a fine control of magnetic microrobot locomotion. The proposed technologies are promising in view of future cell manipulation tasks for personalized medicine applications.

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

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

    2016-03-01

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

  3. Control of free-flying space robot manipulator systems

    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.

  4. Male Rape Victim and Perpetrator Blaming

    Sleath, Emma; Bull, Ray

    2010-01-01

    One of four possible vignettes manipulated by (a) level of rape myth contained within them (low vs. high) and (b) type of rape (stranger vs. acquaintance) was presented to participants followed by scales measuring victim blame, perpetrator blame, belief in a just world, sex-role egalitarian beliefs, and male rape myth acceptance. Victim blaming…

  5. The effect of virus-blocking Wolbachia on male competitiveness of the dengue vector mosquito, Aedes aegypti.

    Segoli, Michal; Hoffmann, Ary A; Lloyd, Jane; Omodei, Gavin J; Ritchie, Scott A

    2014-12-01

    The bacterial endosymbiont Wolbachia blocks the transmission of dengue virus by its vector mosquito Aedes aegypti, and is currently being evaluated for control of dengue outbreaks. Wolbachia induces cytoplasmic incompatibility (CI) that results in the developmental failure of offspring in the cross between Wolbachia-infected males and uninfected females. This increases the relative success of infected females in the population, thereby enhancing the spread of the beneficial bacterium. However, Wolbachia spread via CI will only be feasible if infected males are sufficiently competitive in obtaining a mate under field conditions. We tested the effect of Wolbachia on the competitiveness of A. aegypti males under semi-field conditions. In a series of experiments we exposed uninfected females to Wolbachia-infected and uninfected males simultaneously. We scored the competitiveness of infected males according to the proportion of females producing non-viable eggs due to incompatibility. We found that infected males were equally successful to uninfected males in securing a mate within experimental tents and semi-field cages. This was true for males infected by the benign wMel Wolbachia strain, but also for males infected by the virulent wMelPop (popcorn) strain. By manipulating male size we found that larger males had a higher success than smaller underfed males in the semi-field cages, regardless of their infection status. The results indicate that Wolbachia infection does not reduce the competitiveness of A. aegypti males. Moreover, the body size effect suggests a potential advantage for lab-reared Wolbachia-males during a field release episode, due to their better nutrition and larger size. This may promote Wolbachia spread via CI in wild mosquito populations and underscores its potential use for disease control.

  6. Particle Manipulation Methods in Droplet Microfluidics.

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

    2018-02-06

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

  7. Physics Based Vision Systems for Robotic Manipulation

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

  8. Condition-dependent pheromone signaling by male rock lizards: more oily scents are more attractive.

    Martín, José; López, Pilar

    2010-05-01

    Pheromones of vertebrates are often a mixture of several chemicals with different properties and messages, and their production seems condition dependent. Thus, pheromones are a good, but little studied, example of multiple sexual signals. Femoral gland secretions of male rock lizards Iberolacerta cyreni contain steroids that may act as pheromones, but there are also many other lipids, such as oleic acid, whose allocation to secretions may be costly because it has to be diverted from body fat reserves. This suggests that oleic acid could also have some function in secretions. Chemical analyses showed that proportions of oleic acid in femoral secretions of males were positively related to body condition of males, suggesting that the oleic acid secreted may reflect the amount of body fat reserves of a male. Tongue-flick bioassays showed that females were able to detect by chemosensory cues alone differences in proportions of oleic acid in secretions of males. Scents of males with more oleic acid elicited stronger chemosensory responses by females. Further tests with chemical standards confirmed that females distinguished oleic acid, and changes in its concentration, from other chemicals that are naturally found in secretions of males. Moreover, choice trials of scent-marked substrates showed that females were more attracted to areas that were experimentally manipulated to increase the proportion of oleic acid in natural scent marks of males. We suggest that oleic acid in femoral secretions might be a reliable advertisement of a male's body condition, which females could use to select high-quality mates in conjunction with information provided by other chemicals. Alternatively, scent marks with more oleic acid might be simply more attractive to females if chemosensory responses of females to scent of males were originated by a preexisting sensory bias for food chemicals such as the oleic acid. Nevertheless, this sensory trap might have evolved into an honest signal

  9. Effects of D-004, a lipid extract of the fruit of the Cuban royal palm (Roystonea regia) or the lipidosterolic extract of saw palmetto (Serenoa repens) on the sexual activity in male rats: A controlled, experimental study.

    Fernández, Lilia C; Mas, Rosa; Fernández, Julio; Mendoza, Sarahí; Gámez, Rafael; Pardo, Balia

    2008-02-01

    The etiology of benign prostatic hyperplasia (BPH) is not completely understood, but hormonal changes in aging men seem to be pivotal. Dihydrotestosterone, a potent, active metabolite of testosterone, is formed by the enzymatic action of prostate 5α-reductase and causes cell growth and hyperplasia. Consistent with this action, male sexual dysfunction has been clinically documented to be among the drug-related adverse events associated with 5α-reductase inhibitors. The lipidosterolic extract of saw palmetto (LESP) fruit (Serenoa repens) has been used to treat BPH. D-004, a lipid extract of Roystonea regia Royal palm fruit, has been found to prevent prostatic hyperplasia induced by testoste-rone in rodents and to competitively inhibit prostate 5α-reductase activity in vitro. The purpose of this study was to assess the effects of D-004 and LESP, administered as single or repeated doses, on the sexual activity in male rats. This controlled, experimental study was conducted at the Pharmacology Department, Centre of Natural Products, National Centre for Scientific Research, Havana City, Cuba. Adult male Wistar rats weighing 250 to 300 g were randomized into 5 groups: 2 groups treated orally with D-004 (400 and 800 mg/kg); 2 groups treated orally with LESP (400 and 800 mg/kg); and 1 control group orally administered a water vehicle. Sexual activity behavior (the number of mounts and intromissions, mount latency, and intromission latency) was assessed during 2 observation periods: 90 minutes after the initial dose and at the end of the 30-day treatment. Latency was defined as time elapsed between the first mount and intromission. A total of 50 rats (mean [SD] age, 10 [3] weeks; mean [SD] weight, 295 [10] g) were included in the experiment. There were no significant difterences in the mean number of mounts, intromissions, mount latency, or intromission latency in the groups treated with single or repeated doses of D-004 or LESP (400 and 800 mg/kg) compared with the

  10. An evolutionary resolution of manipulation conflict.

    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.

  11. Using Manipulatives to Teach Elementary Mathematics

    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…

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

    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....

  13. Stress, nutrition and parental care in a teleost fish: exploring mechanisms with supplemental feeding and cortisol manipulation.

    Zolderdo, A J; Algera, D A; Lawrence, M J; Gilmour, K M; Fast, M D; Thuswaldner, J; Willmore, W G; Cooke, S J

    2016-04-15

    Parental care is an essential life-history component of reproduction for many animal species, and it entails a suite of behavioural and physiological investments to enhance offspring survival. These investments can incur costs to the parent, reducing their energetic and physiological condition, future reproductive capabilities and survival. In fishes, relatively few studies have focused on how these physiological costs are mediated. Male smallmouth bass provide parental care for developing offspring until the brood reaches independence. During this energetically demanding life stage, males cease active foraging as they vigorously defend their offspring. Experimental manipulation of cortisol levels (via implantation) and food (via supplemental feeding) in parental males was used to investigate the fitness consequences of parental care. Improving the nutritional condition of nest-guarding males increased their reproductive success by reducing premature nest abandonment. However, supplemental feeding and cortisol treatment had no effect on parental care behaviours. Cortisol treatment reduced plasma lymphocyte numbers, but increased neutrophil and monocyte concentrations, indicating a shift in immune function. Supplemental feeding improved the physiological condition of parental fish by reducing the accumulation of oxidative injury. Specifically, supplemental feeding reduced the formation of 8-hydroxy-2'-deoxyguanosine (8-OHdG) on DNA nucleotides. Increasing the nutritional condition of parental fish can reduce the physiological cost associated with intensive parental activity and improve overall reproductive success, illustrating the importance of nutritional condition as a key modulator of parental fitness. © 2016. Published by The Company of Biologists Ltd.

  14. Effects of experimental canopy manipulation on amphibian egg deposition

    Zachary I. Felix; Yong Wang; Callie J. Schweitzer

    2010-01-01

    Although effects of forest management on amphibians are relatively well studied, few studies have examined how these practices affect egg deposition by adults, which can impact population recruitment. We quantified the effects of 4 canopy tree-retention treatments on amphibian oviposition patterns in clusters of 60-L aquatic mesocosms located in each treatment. We also...

  15. Whole-ecosystem experimental manipulations of tropical forests

    Fayle, Tom Maurice; Turner, E. C.; Basset, Yves; Ewers, R. M.; Reynolds, G.; Novotný, Vojtěch

    2015-01-01

    Roč. 30, č. 6 (2015), s. 334-346 ISSN 0169-5347 R&D Projects: GA ČR GA14-32302S; GA ČR(CZ) GA14-04258S; GA ČR GB14-36098G Grant - others:Euroepan Social Fund(CZ) CZ.1.07/2.3.00/20.0064 Institutional support: RVO:60077344 Keywords : tropical forests Subject RIV: EH - Ecology, Behaviour Impact factor: 16.735, year: 2015 http://www.cell.com/trends/ecology-evolution/pdf/S0169-5347(15)00069-5.pdf

  16. The buck in the milkweed: evidence of male-male interference among pollinaria on pollinators.

    Cocucci, Andrea A; Marino, Salvador; Baranzelli, Matías; Wiemer, Ana P; Sérsic, Alicia

    2014-07-01

    Direct physical confrontation among conspecifics for access to mates is a form of sexual selection well known among animals, but not thought to take place in plants. Consequently, no structures are known that can be considered as weapons that evolved under such confrontation. Pollinaria of milkweeds may physically compete for access to attachment points on the pollinators' body, and occasionally pollinaria may link onto pre-existing pollinaria on a pollinator resulting in concatenation. We hypothesized that concatenation may result in interference between proximal and distal pollinaria, and that features of nonconcatenating pollinaria might be attributed to prevention of concatenation. We tested this by analyzing pollen donation efficiency, experimental manipulation of the phenotype and the phylogenetic patterns of co-occurrence of traits. It is shown that concatenation was able to diminish the reproductive performance of proximal pollinaria, that horns on pollinaria prevented concatenation, and that horn acquisition was correlated with a loss of concatenation. The experimental removal of horns in species that did not concatenate caused reversion to concatenation. The present work could be the first evidence of male physical struggles and of the acquisition of weapons related to these struggles, that are analogous to those known in animals. © 2014 The Authors. New Phytologist © 2014 New Phytologist Trust.

  17. Interpersonal relationship manipulation at a personal level

    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.

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

    Koops, Kathelijne; Furuichi, Takeshi; Hashimoto, Chie; van Schaik, Carel P

    2015-01-01

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

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

    Kathelijne Koops

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

  20. Laser manipulation of atomic and molecular flows

    Lilly, Taylor C.

    The continuing advance of laser technology enables a range of broadly applicable, laser-based flow manipulation techniques. The characteristics of these laser-based flow manipulations suggest that they may augment, or be superior to, such traditional electro-mechanical methods as ionic flow control, shock tubes, and small scale wind tunnels. In this study, methodology was developed for investigating laser flow manipulation techniques, and testing their feasibility for a number of aerospace, basic physics, and micro technology applications. Theories for laser-atom and laser-molecule interactions have been under development since the advent of laser technology. The theories have yet to be adequately integrated into kinetic flow solvers. Realizing this integration would greatly enhance the scaling of laser-species interactions beyond the realm of ultra-cold atomic physics. This goal was realized in the present study. A representative numerical investigation, of laser-based neutral atomic and molecular flow manipulations, was conducted using near-resonant and non-resonant laser fields. To simulate the laser interactions over a range of laser and flow conditions, the following tools were employed: a custom collisionless gas particle trajectory code and a specifically modified version of the Direct Simulation Monte Carlo statistical kinetic solver known as SMILE. In addition to the numerical investigations, a validating experiment was conducted. The experimental results showed good agreement with the numerical simulations when experimental parameters, such as finite laser line width, were taken into account. Several areas of interest were addressed: laser induced neutral flow steering, collimation, direct flow acceleration, and neutral gas heating. Near-resonant continuous wave laser, and non-resonant pulsed laser, interactions with cesium and nitrogen were simulated. These simulations showed trends and some limitations associated with these interactions, used for flow

  1. Genetic manipulation of Methanosarcina spp.

    Petra Regine Adelheid Kohler

    2012-07-01

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

  2. Covariance Manipulation for Conjunction Assessment

    Hejduk, M. D.

    2016-01-01

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

  3. Manipulating the Gut Microbiota: Methods and Challenges.

    Ericsson, Aaron C; Franklin, Craig L

    2015-01-01

    Eukaryotic organisms are colonized by rich and dynamic communities of microbes, both internally (e.g., in the gastrointestinal and respiratory tracts) and externally (e.g., on skin and external mucosal surfaces). The vast majority of bacterial microbes reside in the lower gastrointestinal (GI) tract, and it is estimated that the gut of a healthy human is home to some 100 trillion bacteria, roughly an order of magnitude greater than the number of host somatic cells. The development of culture-independent methods to characterize the gut microbiota (GM) has spurred a renewed interest in its role in host health and disease. Indeed, associations have been identified between various changes in the composition of the GM and an extensive list of diseases, both enteric and systemic. Animal models provide a means whereby causal relationships between characteristic differences in the GM and diseases or conditions can be formally tested using genetically identical animals in highly controlled environments. Clearly, the GM and its interactions with the host and myriad environmental factors are exceedingly complex, and it is rare that a single microbial taxon associates with, much less causes, a phenotype with perfect sensitivity and specificity. Moreover, while the exact numbers are the subject of debate, it is well recognized that only a minority of gut bacteria can be successfully cultured ex vivo. Thus, to perform studies investigating causal roles of the GM in animal model phenotypes, researchers need clever techniques to experimentally manipulate the GM of animals, and several ingenious methods of doing so have been developed, each providing its own type of information and with its own set of advantages and drawbacks. The current review will focus on the various means of experimentally manipulating the GM of research animals, drawing attention to the factors that would aid a researcher in selecting an experimental approach, and with an emphasis on mice and rats, the

  4. Electrokinetic Phenomena in Chemically Manipulated Environments

    Nery Azevedo, Rodrigo

    Suspended particles are integral part of many systems and engineering technologies. They can be found in the form of colloidal suspensions, emulsions, polymer precursor solutions, and in biological materials such as blood. The miniaturization of new technologies and the advent of microfludics has made the manipulation of suspended particles in the microscale particularly important for a variety of fields. The ability to easily impart complex chemical environments to suspensions in microfluidic devices enables us to characterize these systems, modify their properties and drive their motion. Nonetheless, precise manipulation of the chemistry surrounding suspended particles has been particularly difficult up until recently. This thesis dissertation shows how microfluidic devices integrated with hydrogel membranes can be used to control the chemical environment of suspended particles for a variety of studies and practical applications. First, I demonstrate how particles move diffusiophoretically under ionic surfactant gradients. Diffusiophoresis, the motion of particles under concentration gradients, has been known for several decades but it has rarely been studied experimentally outside the context of simple electrolytes. Here, we show that diffusiophoresis in ionic surfactants below the CMC can be understood in terms of the classic theory for electrolytes. Above the CMC, however, the drive for diffsuiophoresis is significantly diminished due to a large drop in the change in chemical potential with added solute. Next, I show that gradients of dipolar molecules such a zwitterions can drive diffusiophoresis. I derive the diffusiophoretic migration of particles under gradients of dipolar molecules. This theory is backed up by experiments which reveal that, in such systems, particle velocities are directly proportional to the imposed gradient but do not scale with the inverse of the local concentration, as occurs under electrolyte gradients. Furthermore, I show that the

  5. The Glymphatic-Lymphatic Continuum: Opportunities for Osteopathic Manipulative Medicine.

    Hitscherich, Kyle; Smith, Kyle; Cuoco, Joshua A; Ruvolo, Kathryn E; Mancini, Jayme D; Leheste, Joerg R; Torres, German

    2016-03-01

    The brain has long been thought to lack a lymphatic drainage system. Recent studies, however, show the presence of a brain-wide paravascular system appropriately named the glymphatic system based on its similarity to the lymphatic system in function and its dependence on astroglial water flux. Besides the clearance of cerebrospinal fluid and interstitial fluid, the glymphatic system also facilitates the clearance of interstitial solutes such as amyloid-β and tau from the brain. As cerebrospinal fluid and interstitial fluid are cleared through the glymphatic system, eventually draining into the lymphatic vessels of the neck, this continuous fluid circuit offers a paradigm shift in osteopathic manipulative medicine. For instance, manipulation of the glymphatic-lymphatic continuum could be used to promote experimental initiatives for nonpharmacologic, noninvasive management of neurologic disorders. In the present review, the authors describe what is known about the glymphatic system and identify several osteopathic experimental strategies rooted in a mechanistic understanding of the glymphatic-lymphatic continuum.

  6. Sexual selection on receptor organ traits: younger females attract males with longer antennae

    Johnson, Tamara L.; Symonds, Matthew R. E.; Elgar, Mark A.

    2017-06-01

    Sexual selection theory predicts that female choice may favour the evolution of elaborate male signals. Darwin also suggested that sexual selection can favour elaborate receiver structures in order to better detect sexual signals, an idea that has been largely ignored. We evaluated this unorthodox perspective by documenting the antennal lengths of male Uraba lugens Walker (Lepidoptera: Nolidae) moths that were attracted to experimentally manipulated emissions of female sex pheromone. Either one or two females were placed in field traps for the duration of their adult lives in order to create differences in the quantity of pheromone emissions from the traps. The mean antennal length of males attracted to field traps baited with a single female was longer than that of males attracted to traps baited with two females, a pattern consistent with Darwin's prediction assuming the latter emits higher pheromone concentrations. Furthermore, younger females attracted males with longer antennae, which may reflect age-specific changes in pheromone emission. These field experiments provide the first direct evidence of an unappreciated role for sexual selection in the evolution of sexual dimorphism in moth antennae and raise the intriguing possibility that females select males with longer antennae through strategic emission of pheromones.

  7. Experimental studies on the sterile male technique of spodoptera litura (F. ) by the gamma radiation from /sup 137/Cs, 3. Experiments of the mating competitiveness between moths irradiated as pupae and unirradiated ones in the field cage

    Tsukuda, R; Kiyoku, M [Okayama Univ. (Japan). Faculty of Agriculture

    1973-10-01

    Experiments of the mating competitiveness between the substerilized tobacco cutworms and the normal ones were carried out in a field cage (200 x 120 x 180 cm/plot). Pupae of seven days old reared on an artificial medium during the larval stage irradiated with 12 kR of the gamma rays to substerilize. The normal adults were cultured using leaves of cabbages. Cabbages and soybeans were planted in the purpose of egg laying for adult females mated with males in the cage. Substerilized males only or both substerilized males and females were combined with normal males and females. The mating behavior, longevity, egg deposition, percentage of egg hatch and spermatophore in a receptaculum seminis were investigated. When more than ten substerilized and one normal males were exposed to one female, or more than fourteen substerilized and two normal males were combined two normal females, the substerilized males showed high competitiveness with normal males for virgin females. When both five substerilized males and females placed together with one pair of normal male and female in the cage, or each ten substerilized males and females with each two normals, these substerilized males showed full competitiveness. In addition, it was found that offspring obtained from the combination between substerilized males and normal females were sterile.

  8. IMMEDIATE EFFECT OF CERVICAL MANIPULATION ON PAIN AND RANGE OF MOTION IN PATIENTS WITH CHRONIC MECHANICAL NECK PAIN

    Kabir Isah Mayana

    2017-06-01

    Full Text Available Background: Neck pain has been reported as a prevalent musculoskeletal disorder globally with more than half of the general population being affected once or more within their life span. Methods: A randomized clinical trial research design was used which investigated the immediate effect of cervical manipulation on neck pain and cervical range of motion among patients with chronic mechanical neck pain. 20 male and female participants between the ages of 26 to 60 years with chronic mechanical neck pain attending physiotherapy clinics were recruited. They were randomly assigned into two groups (A and B of 10 patients each. Group A received soft tissue massage, and cervical manipulation and group B served as the control group, and they received only soft tissue massage. There were two outcomes measured; Pain intensity was rated using visual analog scale (VAS before and immediately after the intervention. Pre and Post intervention measurements of cervical spine range of motion using Goniometer were also taken. Results: Findings of the study revealed significant immediate improvement of pain and Cervical Range of Motions (p<0.05 in all dimensions in the experimental group while Pain, flexion and right side Cervical flexion significantly improved in the control group. It was also found out after comparing the outcomes between the two groups that, the experimental group had significantly (p<0.05 better improvement than the control group in post-intervention pain, cervical flexion, cervical extension and cervical (right and left lateral rotations. Conclusion: Cervical manipulation is effective in immediate pain relief and improvement in cervical range of motion in patients with mechanical neck pain

  9. Wave Manipulation by Topology Optimization

    Andkjær, Jacob Anders

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

  10. Ion manipulation method and device

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

    2017-11-07

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

  11. Multidiscipline simulation of elastic manipulators

    T. Rølvåg

    1992-10-01

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

  12. Effect of Spinal Manipulative Therapy on the Singing Voice.

    Fachinatto, Ana Paula A; Duprat, André de Campos; Silva, Marta Andrada E; Bracher, Eduardo Sawaya Botelho; Benedicto, Camila de Carvalho; Luz, Victor Botta Colangelo; Nogueira, Maruan Nogueira; Fonseca, Beatriz Suster Gomes

    2015-09-01

    This study investigated the effect of spinal manipulative therapy (SMT) on the singing voice of male individuals. Randomized, controlled, case-crossover trial. Twenty-nine subjects were selected among male members of the Heralds of the Gospel. This association was chosen because it is a group of persons with similar singing activities. Participants were randomly assigned to two groups: (A) chiropractic SMT procedure and (B) nontherapeutic transcutaneous electrical nerve stimulation (TENS) procedure. Recordings of the singing voice of each participant were taken immediately before and after the procedures. After a 14-day period, procedures were switched between groups: participants who underwent SMT on the first day were subjected to TENS and vice versa. Recordings were subjected to perceptual audio and acoustic evaluations. The same recording segment of each participant was selected. Perceptual audio evaluation was performed by a specialist panel (SP). Recordings of each participant were randomly presented thus making the SP blind to intervention type and recording session (before/after intervention). Recordings compiled in a randomized order were also subjected to acoustic evaluation. No differences in the quality of the singing on perceptual audio evaluation were observed between TENS and SMT. No differences in the quality of the singing voice of asymptomatic male singers were observed on perceptual audio evaluation or acoustic evaluation after a single spinal manipulative intervention of the thoracic and cervical spine. Copyright © 2015 The Voice Foundation. Published by Elsevier Inc. All rights reserved.

  13. Sertraline and its iodine product: Experimental and theoretical vibrational studies. Potential in vitro anti-thyroid activity of sertraline and iodine product toxicity with respect to male Wistar rats

    Escudero, Graciela E.; Ferraresi Curotto, Verónica; Laino, Carlos H.; Pis Diez, Reinaldo; Williams, Patricia A. M.; Ferrer, Evelina G.

    2013-03-01

    Mayor depression, obsessive-compulsive panic, social anxiety disorders are common diseases that are usually treated with sertraline hydrochloride which is the active ingredient of the well known drugs as Zoloft and Lustral. In this work, we presented a more complete vibrational characterization of the solid phase FT-IR spectra of Sertraline hydrochloride and its sertraline-iodine product in which the conformational space of the molecules was investigated performing molecular dynamic simulations within an NVT ensemble. Geometrical, electronic and vibrational properties were calculated with the density functional theory. Comparison of the simulated spectra with the experimental spectra provides important information about the ability of the computational method to describe the vibrational modes of both molecules. In addition, for the first time we present the evaluation of anti-thyroid activity of sertraline hydrochloride by using the Lang's method. Also, with the aim to evaluate the antidepressant effect of its iodine product we demonstrated for this compound the toxic effect towards the male Wistar rats.

  14. A links manipulator simulation program interim report

    Noble, R.A.

    1987-04-01

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

  15. Probabilistic approach to manipulator kinematics and dynamics

    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

  16. Master-slave-manipulator 'EMSM I'

    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

  17. Master-slave-manipulator EMSM I

    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

  18. Positional control of space robot manipulator

    Kurochkin, Vladislav; Shymanchuk, Dzmitry

    2018-05-01

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

  19. Managerial Incentives and Stock Price Manipulation

    Peng, Lin; Röell, Ailsa A

    2009-01-01

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

  20. Seismic qualification of existing safety class manipulators

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

    1992-01-01

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

  1. Encoding specificity manipulations do affect retrieval from memory.

    Zeelenberg, René

    2005-05-01

    In a recent article, P.A. Higham (2002) [Strong cues are not necessarily weak: Thomson and Tulving (1970) and the encoding specificity principle revisited. Memory &Cognition, 30, 67-80] proposed a new way to analyze cued recall performance in terms of three separable aspects of memory (retrieval, monitoring, and report bias) by comparing performance under both free-report and forced-report instructions. He used this method to derive estimates of these aspects of memory in an encoding specificity experiment similar to that reported by D.M. Thomson and E. Tulving (1970) [Associative encoding and retrieval: weak and strong cues. Journal of Experimental Psychology, 86, 255-262]. Under forced-report instructions, the encoding specificity manipulation did not affect performance. Higham concluded that the manipulation affected monitoring and report bias, but not retrieval. I argue that this interpretation of the results is problematic because the Thomson and Tulving paradigm is confounded, and show in three experiments using a more appropriate design that encoding specificity manipulations do affect performance in forced-report cued recall. Because in Higham's framework forced-report performance provides a measure of retrieval that is uncontaminated by monitoring and report bias it is concluded that encoding specificity manipulations do affect retrieval from memory.

  2. Visualization of virtual slave manipulator using the master input device

    Kim, S. H.; Song, T. K.; Lee, J. Y.; Yoon, J. S.

    2003-01-01

    To handle the high level radioactive materials such a spent fuel, the Master-Slave Manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobiles attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface (LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment

  3. Active cooling system for Tokamak in-vessel operation manipulator

    Yuan, Jianjun, E-mail: yuanjj@sjtu.edu.cn; Chen, Tan; Li, Fashe; Zhang, Weijun; Du, Liang

    2015-10-15

    Highlights: • We summarized most of the challenges of fusion devices to robot systems. • Propose an active cooling system to protect all of the necessary components. • Trial design test and theoretical analysis were conducted. • Overall implementation of the active cooling system was demonstrated. - Abstract: In-vessel operation/inspection is an indispensable task for Tokamak experimental reactor, for a robot/manipulator is more capable in doing this than human being with more precise motion and less risk of damaging the ambient equipment. Considering the demanding conditions of Tokamak, the manipulator should be adaptable to rapid response in the extreme conditions such as high temperature, vacuum and so on. In this paper, we propose an active cooling system embedded into such manipulator. Cameras, motors, gearboxes, sensors, and other mechanical/electrical components could then be designed under ordinary conditions. The cooling system cannot only be a thermal shield since the components are also heat sources in dynamics. We carry out a trial test to verify our proposal, and analyze the active cooling system theoretically, which gives a direction on the optimization by varying design parameters, components and distribution. And based on thermal sensors monitoring and water flow adjusting a closed-loop feedback control of temperature is added to the system. With the preliminary results, we believe that the proposal gives a way to robust and inexpensive design in extreme environment. Further work will concentrate on overall implementation and evaluation of this cooling system with the whole inspection manipulator.

  4. Manipulating Liquids With Acoustic Radiation Pressure Phased Arrays

    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.

  5. Additive manufacturing of patient-specific tubular continuum manipulators

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

    2015-03-01

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

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

    Sheng, Weihua; Thobbi, Anand; Gu, Ye

    2015-10-01

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

  7. 3D Laser Scanner for Underwater Manipulation

    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.

  8. Long-reach manipulators for decommissioning

    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)

  9. Nano-manipulation of single DNA molecules

    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)

  10. Bioprinting Living Biofilms through Optogenetic Manipulation.

    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.

  11. 3D Laser Scanner for Underwater Manipulation.

    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.

  12. Laser Manipulation of Nuclear Transitions

    Kocharovskaya, Olga

    2008-01-01

    .... The main results are the following. 1. Electromagnetically Induced Transparency (EIT) and all-optical writing and probing of quantum coherence in room temperature solids are demonstrated experimentally in the first time. 2...

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

    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

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

    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

  15. Development of a genetic sexing mechanism in the Mediterranean fruit fly Ceratitis capitata for isolation of males in the egg or neonatal larval stage. Coordinated programme on development of sexing mechanisms in fruit flies through manipulation of radiation induced conditional lethals and other genetic measures

    Milani, R.

    1984-05-01

    The use of biochemical markers has allowed a sufficiently detailed evaluation of the genetic variability of the medfly; it has also fostered significant progress in the field of formal genetics. Chromosomal examinations have provided clues for interpreting genetical aspects of sex determination and of occasional recombination of linked factors in heterozygous males. The results obtained are considered a reliable basis for rewarding progress both in basic research and in applied programs

  16. Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly

    Zhan Yang

    2016-09-01

    Full Text Available Carbon nanotubes (CNT have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM. Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis. Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system.

  17. Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly

    Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

    2016-01-01

    Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system. PMID:27649180

  18. Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly.

    Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

    2016-09-14

    Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system.

  19. The effect of spinal manipulation on imbalances in leg strength.

    Chilibeck, Philip D; Cornish, Stephen M; Schulte, Al; Jantz, Nathan; Magnus, Charlene R A; Schwanbeck, Shane; Juurlink, Bernhard H J

    2011-09-01

    We hypothesized that spinal manipulation (SM) would reduce strength imbalances between legs. Using an un-blinded randomized design, 28 males and 21 females (54 ± 19y) with at least a 15% difference in isometric strength between legs for hip flexion, extension, abduction, or knee flexion were randomized to treatment or placebo (mock spinal manipulation). Strength of the stronger and weaker legs for hip flexion, extension, abduction, and/or knee flexion was assessed before and after the intervention. SM reduced the relative strength difference between legs for knee flexion (mean ± SD 57 ± 53 to 5 ± 14%) and hip flexion (24 ± 12 to 11 ± 15%) compared to placebo (34 ± 29 to 24 ± 36%, and 20 ± 18 to 22 ± 26%, respectively) (p = 0.05). SM also improved strength in the weak leg for hip abduction (104 ± 43 to 116 ± 43 Nm) compared to placebo (84 ± 24 to 85 ± 31 Nm) (p = 0.03). This study suggests that spinal manipulation may reduce imbalances in strength between legs for knee and hip flexion.

  20. Manipulation or Mobilisation for Neck Pain

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

    2010-01-01

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

  1. Analysis of singularity in redundant manipulators

    Watanabe, Koichi

    2000-03-01

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

  2. Managing collaboration in the nanoManipulator

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

    2004-01-01

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

  3. Even Middle Graders Can Learn with Manipulatives.

    Holden, Linda

    1987-01-01

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

  4. Lazy motion planning for robotic manipulators

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

    2017-01-01

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

  5. Judging Nudging : Answering the Manipulation Objection

    Nys, Thomas; Engelen, Bart

    2017-01-01

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

  6. Tools for Manipulation and Characterisation of Nanostructures

    Mølhave, Kristian; Bøggild, Peter

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

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

    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

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

    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)

  9. The effect of experimental gastric dilatation-volvulus on adenosine triphosphate content and conductance of the canine gastric and jejunal mucosa

    Peycke, Laura E.; Hosgood, Giselle; Davidson, Jacqueline R.; Tetens, Joanne; Taylor, H. Wayne

    2005-01-01

    The objective of this study was to determine if experimental gastric dilatation volvulus (GDV) would decrease adenosine triphosphate (ATP) concentration and increase membrane conductance of the canine gastric and jejunal mucosa. Male dogs (n = 15) weighing between 20 and 30 kg were used. Dogs were randomly assigned to 1 of 3 equal groups: Group 1 was control, group 2 was GDV, and group 3 was ischemia. All dogs were anesthetized for 210 min. Group 1 had no manipulation. Group 2 had GDV experim...

  10. Design Issues and Application of Cable-Based Parallel Manipulators for Rehabilitation Therapy

    E. Ottaviano

    2008-01-01

    Full Text Available In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In particular, they can be used to aid motion or as monitoring/training systems in rehabilitation therapies. Modelling and simulation of both active and passive cable-based parallel manipulators are presented for an application to help older people, patients or disabled people in the sit-to-stand transfer and as a monitoring/training system. Experimental results are presented by using built prototypes.

  11. Interaction control of a redundant mobile manipulator

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

    1998-01-01

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

  12. Maximum allowable load on wheeled mobile manipulators

    Habibnejad Korayem, M.; Ghariblu, H.

    2003-01-01

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

  13. Laser Diode Beam Basics, Manipulations and Characterizations

    Sun, Haiyin

    2012-01-01

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

  14. Prostate response to prolactin in sexually active male rats

    Garcia Luis I

    2006-05-01

    Full Text Available Abstract Background The prostate is a key gland in the sexual physiology of male mammals. Its sensitivity to steroid hormones is widely known, but its response to prolactin is still poorly known. Previous studies have shown a correlation between sexual behaviour, prolactin release and prostate physiology. Thus, here we used the sexual behaviour of male rats as a model for studying this correlation. Hence, we developed experimental paradigms to determine the influence of prolactin on sexual behaviour and prostate organization of male rats. Methods In addition to sexual behaviour recordings, we developed the ELISA procedure to quantify the serum level of prolactin, and the hematoxilin-eosin technique for analysis of the histological organization of the prostate. Also, different experimental manipulations were carried out; they included pituitary grafts, and haloperidol and ovine prolactin treatments. Data were analyzed with a One way ANOVA followed by post hoc Dunnet test if required. Results Data showed that male prolactin has a basal level with two peaks at the light-dark-light transitions. Consecutive ejaculations increased serum prolactin after the first ejaculation, which reached the highest level after the second, and started to decrease after the third ejaculation. These normal levels of prolactin did not induce any change at the prostate tissue. However, treatments for constant elevations of serum prolactin decreased sexual potency and increased the weight of the gland, the alveoli area and the epithelial cell height. Treatments for transient elevation of serum prolactin did not affect the sexual behaviour of males, but triggered these significant effects mainly at the ventral prostate. Conclusion The prostate is a sexual gland that responds to prolactin. Mating-induced prolactin release is required during sexual encounters to activate the epithelial cells in the gland. Here we saw a precise mechanism controlling the release of prolactin

  15. Applications of optical manipulation in plant biology

    Buer, Charles S.

    Measuring small forces in biology is important for determining basic physiological parameters of a cell. The plant cell wall provides a primary defense and presents a barrier to research. Magnitudes of small forces are impossible to measure with mechanical transducers, glass needles, atomic force microscopy, or micropipet-based force transduction due to the cell wall. Therefore, a noninvasive method of breaching the plant cell wall to access the symplastic region of the cell is required. Laser light provides sub-micrometer positioning, particle manipulation without mechanical contact, and piconewton force determination. Consequently, the extension of laser microsurgery to expand an experimental tool for plant biology encompassed the overall objective. A protocol was developed for precisely inserting microscopic objects into the periplasmic region of plant callus cells using laser microsurgery. Ginkgo biloba and Agrobacterium rhizogenes were used as the model system for developing the optical tweezers and scalpel techniques. Better than 95% survival was achieved after plasmolyzing G. biloba cells, ablating a 2-4 μm hole through the cell wall using a pulsed UV laser beam, trapping and manipulating bacteria into the periplasmic region, and deplasmolyzing the cells. Optical trapping experiments implied a difference existed between the bacteria models. Determining the optical trapping efficiency of Agrobacterium rhizogenes and A. tumefaciens strains indicated the A. rhizogenes strain, ATCC 11325, was significantly less efficiently trapped than strains A4 and ATCC 15834 and the A. tumefaciens strain LBA4404. Differences were also found in capsule generation, growth media viscosity, and transmission electron microscopy negative staining implying that a difference in surface structure exists. Calcofluor fluorescence suggests the difference involves an exopolysaccharide. Callus cell plasmolysis revealed Hechtian strands interconnecting the plasma membrane and the cell wall

  16. The Effect of Manipulatives on Mathematics Achievement and Attitudes of Secondary School Students

    Kontas, Hakki

    2016-01-01

    The purpose of this study is to investigate the effect of manipulatives (concrete learning materials) both on the academic achievement of secondary school students in mathematics and on their attitudes towards mathematics. Pretest-posttest control group experimental model, which is one of the quasi-experimental research designs, was used in the…

  17. Hybrid Modeling Method for a DEP Based Particle Manipulation

    Mohamad Sawan

    2013-01-01

    Full Text Available In this paper, a new modeling approach for Dielectrophoresis (DEP based particle manipulation is presented. The proposed method fulfills missing links in finite element modeling between the multiphysic simulation and the biological behavior. This technique is amongst the first steps to develop a more complex platform covering several types of manipulations such as magnetophoresis and optics. The modeling approach is based on a hybrid interface using both ANSYS and MATLAB to link the propagation of the electrical field in the micro-channel to the particle motion. ANSYS is used to simulate the electrical propagation while MATLAB interprets the results to calculate cell displacement and send the new information to ANSYS for another turn. The beta version of the proposed technique takes into account particle shape, weight and its electrical properties. First obtained results are coherent with experimental results.

  18. Trajectory generation for manipulators using linear quadratic optimal tracking

    Olav Egeland

    1989-04-01

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

  19. Assembly, destruction and manipulation of atomic, molecular and complex systems

    Le Padellec, Arnaud Pierre Frederic

    2003-04-01

    In this report for Accreditation to Supervise Researches (HDR), the author first indicates his professional curriculum (diplomas, teaching activities, responsibilities in the field of education and research, publications), and then proposes a presentation of his scientific works and researches. He notably proposes an overview of the different experimental techniques he implemented: CRYRING storage ring, confluent beams, flow post-discharge with mass spectrometry and Langmuir probe, crossed beams, and so on. He reports works dealing with the manipulation and destruction of atomic, molecular and complex systems: detachment of atomic anions by electronic impact, detachment and dissociation of small carbon aggregates by electronic impact, dissociative recombination, dissociative ionisation and excitation, creation of pairs of ions, manipulation of sodium fluoride aggregates. He finally presents research projects regarding the assembly of molecular and complex systems

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

    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.

  1. Raven’s Progressive Matrices, manipulations of complexity and measures of accuracy, speed and confidence

    LAZAR STANKOV; KARL SCHWEIZER

    2007-01-01

    This paper examines the effects of complexity-enhancing manipulations of two cognitive tasks – Swaps and Triplet Numbers tests (Stankov, 2000) – on their relationship with Raven’s Progressive Matrices test representing aspects of fluid intelligence. The complexity manipulations involved four treatment levels, each requiring an increasing number of components and relationships among these components. The accuracy, speed of processing, and confidence measures were decomposed into experimental a...

  2. Reduction of dopamine level enhances the attractiveness of male Drosophila to other males.

    Liu, Tong; Dartevelle, Laurence; Yuan, Chunyan; Wei, Hongping; Wang, Ying; Ferveur, Jean-François; Guo, Aike

    2009-01-01

    Dopamine is an important neuromodulator in animals and its roles in mammalian sexual behavior are extensively studied. Drosophila as a useful model system is widely used in many fields of biological studies. It has been reported that dopamine reduction can affect female receptivity in Drosophila and leave male-female courtship behavior unaffected. Here, we used genetic and pharmacological approaches to decrease the dopamine level in dopaminergic cells in Drosophila, and investigated the consequence of this manipulation on male homosexual courtship behavior. We find that reduction of dopamine level can induce Drosophila male-male courtship behavior, and that this behavior is mainly due to the increased male attractiveness or decreased aversiveness towards other males, but not to their enhanced propensity to court other males. Chemical signal input probably plays a crucial role in the male-male courtship induced by the courtees with reduction of dopamine. Our finding provides insight into the relationship between the dopamine reduction and male-male courtship behavior, and hints dopamine level is important for controlling Drosophila courtship behavior.

  3. Manipulating colloids with charges and electric fields

    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. Male size composition affects male reproductive variance in Atlantic cod Gadus morhua L. spawning aggregations

    Bekkevold, Dorte

    2006-01-01

    Estimates of Atlantic cod Gadus morhua reproductive success, determined using experimental spawning groups and genetic paternity assignment of offspring, showed that within-group variance in male size correlated positively with the degree of male mating skew, predicting a decrease in male reprodu...

  5. Task based synthesis of serial manipulators

    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.

  6. Behavioral and physiological responses to male handicap in chick-rearing black-legged kittiwakes

    Leclaire, S.; Bourret, V.; Wagner, R.H.; Hatch, Shyla A.; Helfenstein, F.; Chastel, O.; Danchin, E.

    2011-01-01

    Parental investment entails a trade-off between the benefits of effort in current offspring and the costs to future reproduction. Long-lived species are predicted to be reluctant to increase parental effort to avoid affecting their survival. We tested this hypothesis in black-legged kittiwakes Rissa tridactyla by clipping flight feathers of experimental males at the beginning of the chick-rearing period. We analyzed the consequences of this handicap on feeding and attendance behavior, body condition, integument coloration, and circulating levels of corticosterone and prolactin in handicapped males and their mates in comparison to unmanipulated controls. Chicks in both groups were compared in terms of aggressive behavior, growth, and mortality. Handicapped males lost more mass, had less bright integuments, and attended the nest less often than controls. Nevertheless, they fed their chicks at the same rate and had similar corticosterone and prolactin levels. Compared with control females, females mated with handicapped males showed a lower provisioning rate and higher nest attendance in the first days after manipulation. Their lower feeding rate probably triggered the increased sibling aggression and mortality observed in experimental broods. Our findings suggest that experimental females adaptively adjusted their effort to their mate's perceived quality or that their provisioning was constrained by their higher nest attendance. Overall, our results suggest that kittiwake males can decrease their condition for the sake of their chicks, which seems to contradict the hypothesis that kittiwakes should be reluctant to increase parental effort to avoid affecting their survival. ?? 2011 The Author. Published by Oxford University Press on behalf of the International Society for Behavioral Ecology. All rights reserved.

  7. Completion of the Heysham 2 peripheral manipulator

    Shipp, R.; Ewen, R.O.

    1996-01-01

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

  8. W-026, acceptance test report manipulator system

    Watson, T.L.

    1997-01-01

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

  9. Interpersonal relationship manipulation at a personal level

    Andreja Hribernik

    2010-01-01

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

  10. Development of the heavy manipulator vehicle system

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

    1993-01-01

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

  11. Manipulation of viscous fingering in a radially tapered cell geometry

    Bongrand, Grégoire; Tsai, Peichun Amy

    2018-06-01

    When a more mobile fluid displaces another immiscible one in a porous medium, viscous fingering propagates with a partial sweep, which hinders oil recovery and soil remedy. We experimentally investigate the feasibility of tuning such fingering propagation in a nonuniform narrow passage with a radial injection, which is widely used in various applications. We show that a radially converging cell can suppress the common viscous fingering observed in a uniform passage, and a full sweep of the displaced fluid is then achieved. The injection flow rate Q can be further exploited to manipulate the viscous fingering instability. For a fixed gap gradient α , our experimental results show a full sweep at a small Q but partial displacement with fingering at a sufficient Q . Finally, by varying α , we identify and characterize the variation of the critical threshold between stable and unstable displacements. Our experimental results reveal good agreement with theoretical predictions by a linear stability analysis.

  12. The Relationship Between Willingness To Manipulate Others And Success In Two Different Types Of Basic Speech Communication

    Burgoon, Michael

    1971-01-01

    Through experimentation the author finds that there is a positive relationship between willingness to manipulate other people and success in a course where small group and dyadic communication activities compromise most of the performance experience. (Author/MS)

  13. The mechanisms of morph determination in the amphipod Jassa: implications for the evolution of alternative male phenotypes.

    Kurdziel, Josepha P; Knowles, L Lacey

    2002-09-07

    The proximal basis for and the maintenance of alternative male reproductive strategies and tactics are generally not understood in most species, despite the occurrence of male polymorphism across many taxa. In the marine amphipod Jassa marmorata, males differ in morphology as well as behaviour. This dimorphism corresponds to two contrasting reproductive strategies: small sneaker males or 'minors', and large fighter males or 'majors'. This study uses quantitative genetic analyses in conjunction with experimental manipulations to assess the relative importance of genetic versus environmental factors in the determination and maintenance of these alternative mating strategies. Heritability analyses indicated the reproductive phenotypes do not reflect genetic differences between dimorphic males. By contrast, morph determination was significantly affected by diet quality. Majors essentially only developed on high-protein diets. Field studies also identified a strong correlation between seasonal shifts in the relative proportions of morphs and changes in food (i.e. phytoplankton) quantity and composition, corroborating that diet cues the switch between alternative reproductive tactics. Moreover, the comparison of major and minor growth trajectories identified a heterochronic shift in maturation times between morphs, indicating that ecological selective pressures, rather than just sexual selection, may be involved in the maintenance of this conditional strategy.

  14. Aerosolized avian influenza virus by laboratory manipulations

    Li Zhiping

    2012-08-01

    Full Text Available Abstract Background Avian H5N1 influenza viruses present a challenge in the laboratory environment, as they are difficult to collect from the air due to their small size and relatively low concentration. In an effort to generate effective methods of H5N1 air removal and ensure the safety of laboratory personnel, this study was designed to investigate the characteristics of aerosolized H5N1 produced by laboratory manipulations during research studies. Results Normal laboratory procedures used to process the influenza virus were carried out independently and the amount of virus polluting the on-site atmosphere was measured. In particular, zootomy, grinding, centrifugation, pipetting, magnetic stirring, egg inoculation, and experimental zoogenetic infection were performed. In addition, common accidents associated with each process were simulated, including breaking glass containers, syringe injection of influenza virus solution, and rupturing of centrifuge tubes. A micro-cluster sampling ambient air pollution collection device was used to collect air samples. The collected viruses were tested for activity by measuring their ability to induce hemagglutination with chicken red blood cells and to propagate in chicken embryos after direct inoculation, the latter being detected by reverse-transcription PCR and HA test. The results showed that the air samples from the normal centrifugal group and the negative-control group were negative, while all other groups were positive for H5N1. Conclusions Our findings suggest that there are numerous sources of aerosols in laboratory operations involving H5N1. Thus, laboratory personnel should be aware of the exposure risk that accompanies routine procedures involved in H5N1 processing and take proactive measures to prevent accidental infection and decrease the risk of virus aerosol leakage beyond the laboratory.

  15. Aerosolized avian influenza virus by laboratory manipulations.

    Li, Zhiping; Li, Jinsong; Zhang, Yandong; Li, Lin; Ma, Limin; Li, Dan; Gao, Feng; Xia, Zhiping

    2012-08-06

    Avian H5N1 influenza viruses present a challenge in the laboratory environment, as they are difficult to collect from the air due to their small size and relatively low concentration. In an effort to generate effective methods of H5N1 air removal and ensure the safety of laboratory personnel, this study was designed to investigate the characteristics of aerosolized H5N1 produced by laboratory manipulations during research studies. Normal laboratory procedures used to process the influenza virus were carried out independently and the amount of virus polluting the on-site atmosphere was measured. In particular, zootomy, grinding, centrifugation, pipetting, magnetic stirring, egg inoculation, and experimental zoogenetic infection were performed. In addition, common accidents associated with each process were simulated, including breaking glass containers, syringe injection of influenza virus solution, and rupturing of centrifuge tubes. A micro-cluster sampling ambient air pollution collection device was used to collect air samples. The collected viruses were tested for activity by measuring their ability to induce hemagglutination with chicken red blood cells and to propagate in chicken embryos after direct inoculation, the latter being detected by reverse-transcription PCR and HA test. The results showed that the air samples from the normal centrifugal group and the negative-control group were negative, while all other groups were positive for H5N1. Our findings suggest that there are numerous sources of aerosols in laboratory operations involving H5N1. Thus, laboratory personnel should be aware of the exposure risk that accompanies routine procedures involved in H5N1 processing and take proactive measures to prevent accidental infection and decrease the risk of virus aerosol leakage beyond the laboratory.

  16. Manipulating the reported age in earliest memories.

    Wessel, Ineke; Schweig, Theresa; Huntjens, Rafaële J C

    2017-11-02

    Previous work suggests that the estimated age in adults' earliest autobiographical memories depends on age information implied by the experimental context [e.g., Kingo, O. S., Bohn, A., & Krøjgaard, P. (2013). Warm-up questions on early childhood memories affect the reported age of earliest memories in late adolescence. Memory, 21(2), 280-284. doi: 10.1080/09658211.2012.729598 ] and that the age in decontextualised snippets of memory is younger than in more complete accounts (i.e., event memories [Bruce, D., Wilcox-O'Hearn, L. A., Robinson, J. A., Phillips-Grant, K., Francis, L., & Smith, M. C. (2005). Fragment memories mark the end of childhood amnesia. Memory & Cognition, 33(4), 567-576. doi: 10.3758/BF03195324 ]). We examined the malleability of the estimated age in undergraduates' earliest memories and its relation with memory quality. In Study 1 (n = 141), vignettes referring to events happening at age 2 rendered earlier reported ages than examples referring to age 6. Exploratory analyses suggested that event memories were more sensitive to the age manipulation than memories representing a single, isolated scene (i.e., snapshots). In Study 2 (n = 162), asking self-relevant and public-event knowledge questions about participants' preschool years prior to retrieval yielded comparable average estimated ages. Both types of semantic knowledge questions rendered earlier memories than a no-age control task. Overall, the reported age in snapshots was younger than in event memories. However, age-differences between memory types across conditions were not statistically significant. Together, the results add to the growing literature indicating that the average age in earliest memories is not as fixed as previously thought.

  17. Male pattern baldness

    Alopecia in men; Baldness - male; Hair loss in men; Androgenetic alopecia ... Male pattern baldness is related to your genes and male sex hormones. It usually follows a pattern of receding hairline and ...

  18. Genital sores - male

    Sores - male genitals; Ulcers - male genitals ... A common cause of male genital sores are infections that are spread through sexual contact, such as: Genital herpes (small, painful blisters filled with clear ...

  19. Surgical manipulation of mammalian embryos in vitro.

    Naruse, I; Keino, H; Taniguchi, M

    1997-04-01

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

  20. Autonomous Task Primitives for Complex Manipulation Operations

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

  1. Reconfigurable mobile manipulation for accident response

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

    2000-01-01

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

  2. Spinal Manipulation for Low-Back Pain

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

  3. Managing collaboration in the nanoManipulator

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

    2003-01-01

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

  4. Analysis, reconstruction and manipulation using arterial snakes

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

    2010-01-01

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

  5. Disrupting reconsolidation: pharmacological and behavioral manipulations

    Soeter, M.; Kindt, M.

    2011-01-01

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

  6. ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

    Camelia PAVEL

    2014-04-01

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

  7. Optoelectronic Tweezers for Microparticle and Cell Manipulation

    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.

  8. Tension Stiffened and Tendon Actuated Manipulator

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

    2015-01-01

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

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

    Du, Guanglong; Zhang, Ping

    2013-01-01

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

  10. Manipulation/Extraction of Adatom on a Mound: AG(111)

    Yildirim, H.

    2004-01-01

    We present results of an extensive study of the manipulation/extraction of an atom from a small Ag mound on Ag(111) using a Ag tip. Molecular dynamics (MD) and molecular static (MS) simulations were carried out using interaction potentials from the embedded atom method. In order to evaluate the manipulation capabilities of the tip, we first examine in detail the characteristics of the energy landscape in the absence of the tip. We find that the energy barrier for the extraction of the Ag atom, either through lateral (sliding downwards) or through vertical (climbing upwards) diffusion, to be about 0.3 eV. We show that the presence of the tip lowers the energy barrier for both lateral and vertical diffusion. We find that when the tip is above the edge of the mound (at a height of 2.43 A A from the Ag atom) the barrier for diffusion drops to 0.032 eV for lateral and 0.18 eV for vertical manipulation. We discuss the effect of the tip shape and geometry on the energetics, and present a detailed explanation of how the adatom is extracted from a mound in good agreement with experimental observations

  11. Manipulating heat shock protein expression in laboratory animals.

    Tolson, J Keith; Roberts, Stephen M

    2005-02-01

    Upregulation of heat shock proteins (Hsps) has been observed to impart resistance to a wide variety of physical and chemical insults. Elucidation of the role of Hsps in cellular defense processes depends, in part, on the ability to manipulate Hsp expression in laboratory animals. Simple methods of inducing whole body hyperthermia, such as warm water immersion or heating pad application, are effective in producing generalized expression of Hsps. Hsps can be upregulated locally with focused direct or indirect heating, such as with ultrasound or with laser or microwave radiation. Increased Hsp expression in response to toxic doses of xenobiotics has been commonly observed. Some pharmacologic agents are capable of altering Hsps more specifically by affecting processes involved in Hsp regulation. Gene manipulation offers the ability to selectively increase or decrease individual Hsps. Knockout mouse strains and Hsp-overexpressing transgenics have been used successfully to examine the role of specific Hsps in protection against hyperthermia, chemical insults, and ischemia-reperfusion injury. Gene therapy approaches also offer the possibility of selective alteration of Hsp expression. Some methods of increasing Hsp expression have application in specialized areas of research, such cold response, myocardial protection from exercise, and responses to stressful or traumatic stimuli. Each method of manipulating Hsp expression in laboratory animals has advantages and disadvantages, and selection of the best method depends upon the experimental objectives (e.g., the alteration in Hsp expression needed, its timing, and its location) and resources available.

  12. A novel magnetorheological damper based parallel planar manipulator design

    Hoyle, A; Arzanpour, S; Shen, Y

    2010-01-01

    This paper presents a novel parallel planar robot design which is low cost and simple in structure. The design addresses some of the problems, such as concentration of excessive load on the links and joints, due to wrong commanding signals being given by the controller. In this application two of the conventional actuators are replaced by magnetorheological (MR) dampers, and only one actuator is used to generate motion. The design paradigm is based on the concept that a moving object 'intuitively' follows the path with minimum resistance to its motion. This implies that virtual adoptable constraints can be used effectively to define motion trajectories. In fact, motion generation and adaptive constraints are two elements essential to implementing this strategy. In this paper, MR dampers are used to provide adjustable constraints and to guide the platform that is moved by the linear motor. The model of the MR dampers is derived using the Bouc–Wen model. This model is then used for manipulator simulation and controller design. Two controllers are developed for this manipulator: (1) a closed loop on/off one and (2) a proportional–derivative controller. Also, three different trajectories are defined and used for both the simulations and experiments. The results indicate a good agreement between the simulations and experiments. The experimental results also demonstrate the capability of the manipulator for following sophisticated trajectories

  13. IMU-Based Online Kinematic Calibration of Robot Manipulator

    Guanglong Du

    2013-01-01

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

  14. Manipulation of biomimetic objects in acoustic levitation

    Castro , Angelica

    2013-01-01

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

  15. Manipulation Robustness of Collaborative Filtering Systems

    Benjamin Van Roy; Xiang Yan

    2009-01-01

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

  16. Counterweight system for master-slave manipulator

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

    1981-01-01

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

  17. Manipulation of Cash-Settled Futures Contracts.

    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...

  18. Billing and coding for osteopathic manipulative treatment.

    Snider, Karen T; Jorgensen, Douglas J

    2009-08-01

    Some osteopathic physicians are not properly reimbursed by insurance companies after providing osteopathic manipulative treatment (OMT) to their patients. Common problems associated with lack of reimbursements include insurers bundling OMT with the standard evaluation and management service and confusing OMT with chiropractic manipulative treatment or physical therapy services. The authors suggest methods of appeal for denied reimbursement claims that will also prevent future payment denials.

  19. Sports Tournament Predictions Using Direct Manipulation

    Vuillemot , Romain; Perin , Charles

    2016-01-01

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

  20. Effect of the manipulation of exercise order in the tri-set training system

    Alex Silva Ribeiro

    2013-07-01

    Full Text Available The aim of this study was to analyze the effect of the manipulation of two different exercise orders using the tn-set system on the motor performance in exercises for the chest. Ten male (25.6 ± 5.7 years, 77.0 ± 5.8 kg, 172.9 ± 5.0 cm, 25.7 ± 1.4 kg/m2 with experience in resistance training underwent two experimental sessions, in which the subjects performed two sequences of exercises for the chest: SEQA (bench press, incline bench press, and peck deck and SEQB (peck deck, incline bench press, and bench press. The load used allowed 8 to 12 repetitions (80% of 1RM in each exercise. A higher number of repetitions (29 ± 2 reps vs. 26 ± 3 reps, P < 0.001 and a greater total overload (resistance used x repetitions performed = 1,942 ± 172 kg vs. 1,728 ± 234 kg, P < 0.001 were observed in SEQB. The results suggest that in the tn-set system the higher number of repetitions and a greater training volume occur when the single-joint exercise is included before multiple-joint exercises.

  1. Error Modeling and Design Optimization of Parallel Manipulators

    Wu, Guanglei

    /backlash, manufacturing and assembly errors and joint clearances. From the error prediction model, the distributions of the pose errors due to joint clearances are mapped within its constant-orientation workspace and the correctness of the developed model is validated experimentally. ix Additionally, using the screw......, dynamic modeling etc. Next, the rst-order dierential equation of the kinematic closure equation of planar parallel manipulator is obtained to develop its error model both in Polar and Cartesian coordinate systems. The established error model contains the error sources of actuation error...

  2. Position Control of a 3-CPU Spherical Parallel Manipulator

    Massimo Callegari

    2013-01-01

    Full Text Available The paper presents the first experimental results on the control of a prototypal robot designed for the orientation of parts or tools. The innovative machine is a spherical parallel manipulator actuated by 3 linear motors; several position control schemes have been tested and compared with the final aim of designing an interaction controller. The relative simplicity of machine kinematics allowed to test algorithms requiring the closed-loop evaluation of both inverse and direct kinematics; the compensation of gravitational terms has been experimented as well.

  3. Nitric Oxide Manipulation: A Therapeutic Target for Peripheral Arterial Disease?

    Gareth Williams

    2012-01-01

    Full Text Available Peripheral Arterial Disease (PAD is a cause of significant morbidity and mortality in the Western world. Risk factor modification and endovascular and surgical revascularisation are the main treatment options at present. However, a significant number of patients still require major amputation. There is evidence that nitric oxide (NO and its endogenous inhibitor asymmetric dimethylarginine (ADMA play significant roles in the pathophysiology of PAD. This paper reviews experimental work implicating the ADMA-DDAH-NO pathway in PAD, focussing on both the vascular dysfunction and effects within the ischaemic muscle, and examines the potential of manipulating this pathway as a novel adjunct therapy in PAD.

  4. A first wall material probe manipulator for the 'TEXTOR' tokamak

    Marmy, P.; Stiefel, U.

    1984-04-01

    Textor is a technology oriented tokamak of Euratom at the Kernforschungsanlage Juelich (KFA). Switzerland participates in its experimental program within the framework of the IEA agreement on Plasma Wall Interaction. A major task of EIR consists in the layout, construction and fabrication of a manipulator for the remote handling of up to 240 specimen candidate first wall materials. This operation has to be done without breaking the ultra high vacuum (UHV) and with wall temperatures up to 300 0 C. A great number of preexperiments involving different materials had to be carried out; the understanding of the tribology in ultra high vacuum could be improved. (Auth.)

  5. Advanced manipulator system for large hot cells

    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)

  6. Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

    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.

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

    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.

  8. Manipulation of the body schema

    Laessoe, Uffe; Barth, Lasse; Skeie, Sindre

    2017-01-01

    Summary Clinical experience advocates sensory stimulation to increase the body sensation and adjust the body schema, which may be disturbed in some patients. Unilateral massage may affect the body midline orientation, but little evidence is available to support the effect of this practice. Twenty......-one healthy young people participated in this experimental study. Two force plates measured weight distribution between the legs in standing position before and after unilateral manual stimulation of the lower extremities. Stimulation of the leg with initial least weight-bearing increased the load on this leg...... significantly from 48.2% to 49.0% and a similar but reverse effect was seen when stimulating the contra-lateral leg. When analysing the data with respect to stimulation of the non-dominant leg, the stimulation increased the weight-bearing on this leg from 49.6% to 51.3%. These findings indicate that external...

  9. Manipulating quantum information by propagation

    Perales, Alvaro [Departmento de Automatica, Escuela Politecnica, Universidad de Alcala, 28871 Alcala de Henares, Madrid (Spain); Plenio, Martin B [Blackett Laboratory, Imperial College London, Prince Consort Road, London SW7 2BW (United Kingdom); Institute for Mathematical Sciences, Imperial College London, 53 Exhibition Road, London SW7 2AZ (United Kingdom)

    2005-12-01

    We study the creation of bipartite and multipartite continuous variable entanglement in structures of coupled quantum harmonic oscillators. By adjusting the interaction strengths between nearest neighbours we show how to maximize the entanglement production between the arms in a Y-shaped structure where an initial single mode squeezed state is created in the first oscillator of the input arm. We also consider the action of the same structure as an approximate quantum cloner. For a specific time in the system dynamics the last oscillators in the output arms can be considered as imperfect copies of the initial state. By increasing the number of arms in the structure, multipartite entanglement is obtained, as well as 1 {yields}M cloning. Finally, we consider configurations that implement the symmetric splitting of an initial entangled state. All calculations are carried out within the framework of the rotating wave approximation in quantum optics, and our predictions could be tested with current available experimental techniques.

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

    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.

  11. MEMS-based platforms for mechanical manipulation and characterization of cells

    Pan, Peng; Wang, Wenhui; Ru, Changhai; Sun, Yu; Liu, Xinyu

    2017-12-01

    Mechanical manipulation and characterization of single cells are important experimental techniques in biological and medical research. Because of the microscale sizes and highly fragile structures of cells, conventional cell manipulation and characterization techniques are not accurate and/or efficient enough or even cannot meet the more and more demanding needs in different types of cell-based studies. To this end, novel microelectromechanical systems (MEMS)-based technologies have been developed to improve the accuracy, efficiency, and consistency of various cell manipulation and characterization tasks, and enable new types of cell research. This article summarizes existing MEMS-based platforms developed for cell mechanical manipulation and characterization, highlights their specific design considerations making them suitable for their designated tasks, and discuss their advantages and limitations. In closing, an outlook into future trends is also provided.

  12. Whole arm manipulation planning based on feedback velocity fields and sampling-based techniques.

    Talaei, B; Abdollahi, F; Talebi, H A; Omidi Karkani, E

    2013-09-01

    Changing the configuration of a cooperative whole arm manipulator is not easy while enclosing an object. This difficulty is mainly because of risk of jamming caused by kinematic constraints. To reduce this risk, this paper proposes a feedback manipulation planning algorithm that takes grasp kinematics into account. The idea is based on a vector field that imposes perturbation in object motion inducing directions when the movement is considerably along manipulator redundant directions. Obstacle avoidance problem is then considered by combining the algorithm with sampling-based techniques. As experimental results confirm, the proposed algorithm is effective in avoiding jamming as well as obstacles for a 6-DOF dual arm whole arm manipulator. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

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

    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.

  14. Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information.

    Montaño, Andrés; Suárez, Raúl

    2018-05-03

    This work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals of the manipulation process: improving the hand configuration, the grasp quality and the object positioning, and, at the same time, prevents the object from falling. Tactile feedback is used to obtain local information of the contacts between the fingertips and the object, and no additional exteroceptive feedback sources are considered in the approach. The main novelty of this work lies in the fact that the grasp optimization is performed on-line as a reactive procedure using the tactile and kinematic information obtained during the manipulation. Experimental results are shown to illustrate the efficiency of the approach.

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

    Huangsheng Xie

    2014-01-01

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

  16. Effect of Sacroiliac Joint Manipulation on Selected Gait Parameters in Healthy Subjects.

    Wójtowicz, Sebastian; Sajko, Igor; Hadamus, Anna; Mosiołek, Anna; Białoszewski, Dariusz

    2017-08-31

    The sacroiliac joints have complicated biomechanics. While the movements in the joints are small, they exert a significant effect on gait. This study aimed to assess how sacroiliac joint manipulation influences selected gait parameters. The study enrolled 57 healthy subjects. The experimental group consisted of 26 participants diagnosed with dysfunction of one sacroiliac joint. The control group was composed of 31 persons. All subjects from the experimental group underwent sacroiliac joint manipulation. The experimental group showed significant lengthening of the step on both sides and the stride length in this group increased as well. Moreover, the duration of the stride increased (p=0.000826). The maximum midfoot pressure was higher and maximum heel pressure decreased. The differences were statistically significant. 1. Subclinical dysfunctions of the sacroiliac joints may cause functional gait disturbance. 2. Manipulation of the iliosacral joint exerts a significant effect on gait parameters, which may lead to improved gait economy and effec-tiveness. 3. Following manipulation of one iliosacral joint, altered gait parameters are noted on both the manipulated side and the contralateral side, which may translate into improved quality of locomotion.

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

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

    2006-01-01

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

  18. Postnatal nutrition influences male attractiveness and promotes plasticity in male mating preferences

    Noguera, José C; Metcalfe, Neil B.; Monaghan, Pat

    2017-01-01

    Poor early-life nutrition could reduce adult reproductive success by negatively affecting traits linked to sexual attractiveness such as song complexity. If so, this might favor strategic mate choice, allowing males with less complex songs to tailor their mating tactics to maximize the reproductive benefits. However, this possibility has been ignored in theoretical and empirical studies. By manipulating the micronutrient content of the diet (e.g., low or high) during the postnatal period of m...

  19. Sistem kontrol gerak kinematika robot gripper manipulator

    Wayan Widhiada

    2018-01-01

    Full Text Available Abstrak Sistem robot manipulator ini merupakan mekanisme lengan yang terdiri dari serangkaian segmen yang digunakan untuk menangkap dan memindahkan benda dengan beberapa derajat kebebasan. Dalam perkembangannya, robot manipulator telah digunakan dalam melaksanakan misi tertentu dan membantu operasi di ruang angkasa. Robot biasanya berinteraksi dengan sistem tangan, dan dalam kegiatan industri tangan biasanya disebut sebagai gripper. Penulis menggunakan metode simulasi teknik yang dapat menentukan sistem gerak kinematika robot. Simulasi teknik adalah metode yang digunakan untuk mendesain dan menganalisa gerakan robot dimana hasil dari respon gerakan robot yang didapat mendekati hasil dalam keadaan sebenarnya. Simulasi juga dapat menghemat waktu dan biaya yang digunakan dalam mendesain robot gripper manipulator lima jari dengan elemen prismatik. Dengan menggunakan kontrol PID diharapkan respon gerak kinematik dari setiap joint robot manipulator mencapai perfomance yang terbaik seperti overshoot yang kecil, dan kondisi tenang (steady state dalam waktu yang singkat disertai dengan keselahan penggerak yang kecil. Melalui proses Advance tuning pada PID kontrol selesai didapatkan parameter penguat pada PID kontrol yaitu Kp = 0.7194, Ki = 8.306 dan Kd = 0.0061sehingga tercapai performance gerakan kinematika robot gripper manipulator yang terbaik sesuai yang dikehendaki oleh user dengan rise time yang singkat 0.52 detik, waktu puncak yang singkat 0.52 detik, maksimum overshoot yang kecil 1,8%, kesetebailan response dicapai pada 0.76 detik dan kesalahan penggerak yang sangat kecil 0.32%. Kata kunci: Robot gripper manipulator, PID control, gerakan kinematika Abstract A robot gripper manipulator system mechanism comprising a series of segments that are used to capture and move objects with multiple degrees of freedom. In the process, the robot manipulator has been used in carrying out the specific mission and assist operations in space. Robot manipulator

  20. Dynamic whole-body robotic manipulation

    Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

    2013-05-01

    The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

  1. Development of a maintenance manipulator for TFTR

    Holloway, C.

    1986-01-01

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

  2. Distinguishing manipulated stocks via trading network analysis

    Sun, Xiao-Qian; Cheng, Xue-Qi; Shen, Hua-Wei; Wang, Zhao-Yang

    2011-10-01

    Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a trading network is constructed to characterize the relations among its investors. In trading networks, nodes represent investors and a directed link connects a stock seller to a buyer with the total trade size as the weight of the link, and the node strength is the sum of all edge weights of a node. For all these trading networks, we find that the node degree and node strength both have tails following a power-law distribution. Compared with non-manipulated stocks, manipulated stocks have a high lower bound of the power-law tail, a high average degree of the trading network and a low correlation between the price return and the seller-buyer ratio. These findings may help us to detect manipulated stocks.

  3. Better with Byzantine: Manipulation-Optimal Mechanisms

    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.

  4. Quantum optical arbitrary waveform manipulation and measurement in real time.

    Kowligy, Abijith S; Manurkar, Paritosh; Corzo, Neil V; Velev, Vesselin G; Silver, Michael; Scott, Ryan P; Yoo, S J B; Kumar, Prem; Kanter, Gregory S; Huang, Yu-Ping

    2014-11-17

    We describe a technique for dynamic quantum optical arbitrary-waveform generation and manipulation, which is capable of mode selectively operating on quantum signals without inducing significant loss or decoherence. It is built upon combining the developed tools of quantum frequency conversion and optical arbitrary waveform generation. Considering realistic parameters, we propose and analyze applications such as programmable reshaping of picosecond-scale temporal modes, selective frequency conversion of any one or superposition of those modes, and mode-resolved photon counting. We also report on experimental progress to distinguish two overlapping, orthogonal temporal modes, demonstrating over 8 dB extinction between picosecond-scale time-frequency modes, which agrees well with our theory. Our theoretical and experimental progress, as a whole, points to an enabling optical technique for various applications such as ultradense quantum coding, unity-efficiency cavity-atom quantum memories, and high-speed quantum computing.

  5. A Molecular Analysis of Training Multiple versus Single Manipulations to Establish a Generalized Manipulative Imitation Repertoire

    Hartley, Breanne K.

    2009-01-01

    This study evaluates the necessity of training multiple versus single manipulative-imitations per object in order to establish generalized manipulative-imitation. Training took place in Croyden Avenue School's Early Childhood Developmental Delay preschool classroom in Kalamazoo, MI. Two groups of 3 children each were trained to imitate in order to…

  6. Effect of Soybean on Male Reproductive Physiology in Male Mice

    M Modaresi

    2011-01-01

    Full Text Available Introduction & Objective: Soybean (Soja hispida Moench is a member of Fabaceae family. It is a species of legume native to East Asia. Soy contains significant amount of all the essential amino acids for humans therefore, is a good source of protein .Soy has an important role in the improvement and treatment of some cancers such as colon, prostate, and breast. The aim of this study was to investigate the effect of soybeans on reproductive system in male mice. Materials & Methods: This experimental study was conducted at Isfahan Payam e Noor University in 2009. In this research, 32 male mice were randomly grouped into four experimental groups. The control group was fed with soy-free basic diet. The experimental groups 1, 2, and 3 were fed with a diet containing 20%, 30% and 50% soy diet respectively.At the end of 9 weeks of treatment, blood samples were collected and serum levels of testosterone, LH and FSH were measured. The collected data was analyzed with SPSS software using one way ANOVA with Dunnett's post test and Duncan test. Results : In the experimental group which received 20% soy diet, the level of testosterone had a meaningful decrease in comparison with the control group (P<0.05, but in the experimental group which received a 50% soy diet, the level of testosterone had a meaningful increase (P<0.05 .The LH level in 30% and 50% groups had a meaningful increase but no significant differences were observed in FSH level & weight of testicles (P<0.05.The number of sperms in all of the treatment regimes had a meaningful decrease (P0.05 Conclusion: Results of this research indicated that the 20, 30, and 50 percent soy diet had a negative effect on the male reproductive system in mice.

  7. Supplementation of male pheromone on rock substrates attracts female rock lizards to the territories of males: a field experiment.

    José Martín

    Full Text Available Many animals produce elaborated sexual signals to attract mates, among them are common chemical sexual signals (pheromones with an attracting function. Lizards produce chemical secretions for scent marking that may have a role in sexual selection. In the laboratory, female rock lizards (Iberolacerta cyreni prefer the scent of males with more ergosterol in their femoral secretions. However, it is not known whether the scent-marks of male rock lizards may actually attract females to male territories in the field.In the field, we added ergosterol to rocks inside the territories of male lizards, and found that this manipulation resulted in increased relative densities of females in these territories. Furthermore, a higher number of females were observed associated to males in manipulated plots, which probably increased mating opportunities for males in these areas.These and previous laboratory results suggest that female rock lizards may select to settle in home ranges based on the characteristics of scent-marks from conspecific males. Therefore, male rock lizards might attract more females and obtain more matings by increasing the proportion of ergosterol when scent-marking their territories. However, previous studies suggest that the allocation of ergosterol to secretions may be costly and only high quality males could afford it, thus, allowing the evolution of scent-marks as an honest sexual display.

  8. Supplementation of Male Pheromone on Rock Substrates Attracts Female Rock Lizards to the Territories of Males: A Field Experiment

    Martín, José; López, Pilar

    2012-01-01

    Background Many animals produce elaborated sexual signals to attract mates, among them are common chemical sexual signals (pheromones) with an attracting function. Lizards produce chemical secretions for scent marking that may have a role in sexual selection. In the laboratory, female rock lizards (Iberolacerta cyreni) prefer the scent of males with more ergosterol in their femoral secretions. However, it is not known whether the scent-marks of male rock lizards may actually attract females to male territories in the field. Methodology/Principal Findings In the field, we added ergosterol to rocks inside the territories of male lizards, and found that this manipulation resulted in increased relative densities of females in these territories. Furthermore, a higher number of females were observed associated to males in manipulated plots, which probably increased mating opportunities for males in these areas. Conclusions/Significance These and previous laboratory results suggest that female rock lizards may select to settle in home ranges based on the characteristics of scent-marks from conspecific males. Therefore, male rock lizards might attract more females and obtain more matings by increasing the proportion of ergosterol when scent-marking their territories. However, previous studies suggest that the allocation of ergosterol to secretions may be costly and only high quality males could afford it, thus, allowing the evolution of scent-marks as an honest sexual display. PMID:22253895

  9. Metaoptics for Spectral and Spatial Beam Manipulation

    Raghu Srimathi, Indumathi

    Laser beam combining and beam shaping are two important areas with applications in optical communications, high power lasers, and atmospheric propagation studies. In this dissertation, metaoptical elements have been developed for spectral and spatial beam shaping, and multiplexing. Beams carrying orbital angular momentum (OAM), referred to as optical vortices, have unique propagation properties. Optical vortex beams carrying different topological charges are orthogonal to each other and have low inter-modal crosstalk which allows for them to be (de)multiplexed. Efficient spatial (de)multiplexing of these beams have been carried out by using diffractive optical geometrical coordinate transformation elements. The spatial beam combining technique shown here is advantageous because the efficiency of the system is not dependent on the number of OAM states being combined. The system is capable of generating coaxially propagating beams in the far-field and the beams generated can either be incoherently or coherently multiplexed with applications in power scaling and dynamic intensity profile manipulations. Spectral beam combining can also be achieved with the coordinate transformation elements. The different wavelengths emitted by fiber sources can be spatially overlapped in the far-field plane and the generated beams are Bessel-Gauss in nature with enhanced depth of focus properties. Unique system responses and beam shapes in the far-field can be realized by controlling amplitude, phase, and polarization at the micro-scale. This has been achieved by spatially varying the structural parameters at the subwavelength scale and is analogous to local modification of material properties. With advancements in fabrication technology, it is possible to control not just the lithographic process, but also the deposition process. In this work, a unique combination of spatial structure variations in conjunction with the conformal coating properties of an atomic layer deposition tool

  10. Manipulation of microfluidic droplets by electrorheological fluid

    Zhang, Menying

    2009-09-01

    Microfluidics, especially droplet microfluidics, attracts more and more researchers from diverse fields, because it requires fewer materials and less time, produces less waste and has the potential of highly integrated and computer-controlled reaction processes for chemistry and biology. Electrorheological fluid, especially giant electrorheological fluid (GERF), which is considered as a kind of smart material, has been applied to the microfluidic systems to achieve active and precise control of fluid by electrical signal. In this review article, we will introduce recent results of microfluidic droplet manipulation, GERF and some pertinent achievements by introducing GERF into microfluidic system: digital generation, manipulation of "smart droplets" and droplet manipulation by GERF. Once it is combined with real-time detection, integrated chip with multiple functions can be realized. © 2009 Wiley-VCH Verlag GmbH & Co. KGaA.

  11. A digital joint controller for manipulators

    Holt, E.J.; Palmer, D.E.B.

    1993-01-01

    Nuclear Electric's hydraulic heavy duty manipulators are used at a number of Magnox Power Stations for a wide variety of tasks. In recent years there has been a trend towards the use of manipulators for tasks requiring increasing precision of tip positioning. In order to meet this requirement, a digital controller has been designed to replace the analogue controller board used in almost all manipulator control systems. The new controller allows the programming of a wide range of closed loop control algorithms. Position and drive signal data may be passed to and from the controller by digital means, allowing direct connection to a graphical display system and/or a computer executing a guidance algorithm. The hardware and software design are outlined and performance in the laboratory and the field is reported. (author)

  12. Phonon manipulation with phononic crystals.

    Kim Bongsang; Hopkins, Patrick Edward; Leseman, Zayd C.; Goettler, Drew F.; Su, Mehmet F. (University of New Mexico, Albuquerque, NM); El-Kady, Ihab Fathy; Reinke, Charles M.; Olsson, Roy H., III

    2012-01-01

    factor. In addition, the techniques and scientific understanding developed in the research can be applied to a wide range of materials, with the caveat that the thermal conductivity of such a material be dominated by phonon, rather than electron, transport. In particular, this includes several thermoelectric materials with attractive properties at elevated temperatures (i.e., greater than room temperature), such as silicon germanium and silicon carbide. It is reasonable that phononic crystal patterning could be used for high-temperature thermoelectric devices using such materials, with applications in energy scavenging via waste-heat recovery and thermoelectric cooling for high-performance microelectronic circuits. The only part of the ZT picture missing in this work was the experimental measurement of the Seebeck coefficient of our phononic crystal devices. While a first-order approximation indicates that the Seebeck coefficient should not change significantly from that of bulk silicon, we were not able to actually verify this assumption within the timeframe of the project. Additionally, with regards to future high-temperature applications of this technology, we plan to measure the thermal conductivity reduction factor of our phononic crystals as elevated temperatures to confirm that it does not diminish, given that the nominal thermal conductivity of most semiconductors, including silicon, decreases with temperature above room temperature. We hope to have the opportunity to address these concerns and further advance the state-of-the-art of thermoelectric materials in future projects.

  13. On stiffening cables of a long reach manipulator

    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

  14. Boiler inspection manipulator for Torness Power Station

    Carrey, R.T.A.; Playle, M.J.

    1996-01-01

    In-service inspection at Torness Advanced Gas-cooled Reactor is achieved, via penetrations above and below the core area and boilers and through eight circulator penetrations for inspection of the sub-diagrid area. A manipulator is described which can access the area above the reactor core via any of these eight peripheral penetrations. The design and fabrication of the manipulator has led to innovation with a number of possible solutions being tendered. In reactor deployment of the successful design is expected in early 1997. (UK)

  15. Reconfigurable metamaterials for terahertz wave manipulation

    Hashemi, Mohammed R.; Cakmakyapan, Semih; Jarrahi, Mona

    2017-09-01

    Reconfigurable metamaterials have emerged as promising platforms for manipulating the spectral and spatial properties of terahertz waves without being limited by the characteristics of naturally existing materials. Here, we present a comprehensive overview of various types of reconfigurable metamaterials that are utilized to manipulate the intensity, phase, polarization, and propagation direction of terahertz waves. We discuss various reconfiguration mechanisms based on optical, electrical, thermal, and mechanical stimuli while using semiconductors, superconductors, phase-change materials, graphene, and electromechanical structures. The advantages and disadvantages of different reconfigurable metamaterial designs in terms of modulation efficiency, modulation bandwidth, modulation speed, and system complexity are discussed in detail.

  16. Radioactive source manipulator and stowage device

    Burton, C.

    1980-01-01

    A description is given of a radioactive source manipulator and stowage device comprising: a cylindrical body; a transversely disposed socket formed near one end of said cylindrical body for receiving a radioactive source; a cylindrical sleeve rotatably mounted on said cylindrical body; and an aperture formed in the wall of said sleeve whereby rotation of said sleeve to axially align said aperture with said socket will permit a radioactive source to be inserted into and removed from said socket and rotation of said sleeve to move said aperture out of alignment with said socket when the socket contains a radioactive source readies the device for manipulation and stowage

  17. Complexity in Climate Change Manipulation Experiments

    Kreyling, Juergen; Beier, Claus

    2014-01-01

    Climate change goes beyond gradual changes in mean conditions. It involves increased variability in climatic drivers and increased frequency and intensity of extreme events. Climate manipulation experiments are one major tool to explore the ecological impacts of climate change. Until now...... variability in temperature are ecologically important. Embracing complexity in future climate change experiments in general is therefore crucial......., precipitation experiments have dealt with temporal variability or extreme events, such as drought, resulting in a multitude of approaches and scenarios with limited comparability among studies. Temperature manipulations have mainly been focused only on warming, resulting in better comparability among studies...

  18. The Ethics/ Skills Interface in Image Manipulation

    Jenny Webber

    2000-05-01

    Full Text Available Image manipulation using computer technology has become a basic skill required in various graphics dependent industries such as advertising, and the print and electronic media, and for specialist use in institutions for in-house and on-line publishing and the creation of Web pages. The 'seamless' alteration of photographs and other visual images made possible by computer technology has allowed misrepresentation with intent to deceive, and difficulty in establishing copyright of original images. The dilemma in teaching techniques of image manipulation is to create a basis for ethical practice HCI in this paper refers to the ethics/skills interface in the education and work of multimedia practitioners.

  19. Sports Tournament Predictions Using Direct Manipulation.

    Vuillemot, Romain; Perin, Charles

    2016-01-01

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

  20. Seminal fluid enhances competitiveness of territorial males' sperm in a fish with alternative male reproductive tactics.

    Poli, Federica; Locatello, Lisa; Rasotto, Maria B

    2018-05-29

    The most common adaptation to sperm competition in males is represented by an increase in the sperm number and/or quality released at mating, to raise their probability of egg fertilization. However, rapidly mounting evidence highlights that seminal fluid may directly influence the competitive fertilization success of a male by affecting either own and/or rival sperm performances. In the black goby, Gobius niger , an external fertilizer with guard-sneaker mating tactics and high sperm competition level, sneaker males' ejaculates contain less seminal fluid and more sperm, that are also of better quality, than those of territorial males. However, territorial males, gain a higher paternity success inside natural nests. Here, we ask whether the seminal fluid can contribute to territorial males' reproductive success by enhancing their sperm performances and/or by decreasing those of sneaker males. Using sperm and seminal fluid manipulation and in vitro fertilization tests, we found that own seminal fluid influences the velocity and fertilization ability of sperm only in territorial males, making them as faster as those of sneakers and with similar fertilization rate. Moreover, both sneaker and territorial males' sperm remain unaffected by the seminal fluid of rival males. Thus, black goby males respond to the different level of sperm competition faced by differently allocating in sperm and non-sperm components of the ejaculate, with sneakers primarily investing in sperm of intrinsic high quality and territorial males relying on the effect of seminal fluid to increase the lower intrinsic quality of their sperm. © 2018. Published by The Company of Biologists Ltd.

  1. Broodstock management and hormonal manipulations of fish reproduction.

    Mylonas, Constantinos C; Fostier, Alexis; Zanuy, Silvia

    2010-02-01

    Control of reproductive function in captivity is essential for the sustainability of commercial aquaculture production, and in many fishes it can be achieved by manipulating photoperiod, water temperature or spawning substrate. The fish reproductive cycle is separated in the growth (gametogenesis) and maturation phase (oocyte maturation and spermiation), both controlled by the reproductive hormones of the brain, pituitary and gonad. Although the growth phase of reproductive development is concluded in captivity in most fishes-the major exemption being the freshwater eel (Anguilla spp.), oocyte maturation (OM) and ovulation in females, and spermiation in males may require exogenous hormonal therapies. In some fishes, these hormonal manipulations are used only as a management tool to enhance the efficiency of egg production and facilitate hatchery operations, but in others exogenous hormones are the only way to produce fertilized eggs reliably. Hormonal manipulations of reproductive function in cultured fishes have focused on the use of either exogenous luteinizing hormone (LH) preparations that act directly at the level of the gonad, or synthetic agonists of gonadotropin-releasing hormone (GnRHa) that act at the level of the pituitary to induce release of the endogenous LH stores, which, in turn act at the level of the gonad to induce steroidogenesis and the process of OM and spermiation. After hormonal induction of maturation, broodstock should spawn spontaneously in their rearing enclosures, however, the natural breeding behavior followed by spontaneous spawning may be lost in aquaculture conditions. Therefore, for many species it is also necessary to employ artificial gamete collection and fertilization. Finally, a common question in regards to hormonal therapies is their effect on gamete quality, compared to naturally maturing or spawning broodfish. The main factors that may have significant consequences on gamete quality-mainly on eggs-and should be considered

  2. Kinematic modelling of a five-DOFs spatial manipulator used in robot-assisted surgery

    Shakti Singh

    2016-09-01

    Full Text Available Since last three decades, research in the field of robot kinematics is boosted-up among different researchers worldwide. This is mainly due to their increased use in various challenging fields of engineering and science. One such challenging application is the use of master–slave concept in a robot-assisted surgery. The authors have already performed the kinematic study and gravity balancing of seven degrees-of-freedom (DOFs surgeon-side manipulator (Singh et al., 2015a, 2015b. To meet these challenging demands, the most important aspect of a robotic manipulator is to develop an accurate kinematic model. In this direction, different researchers in the literature have made significant contributions. Out of these, the most prominent one is D–H parameters method, which was proposed by Denavit and Hartenberg in 1955. In the present work, this method is applied to a five-DOFs spatial manipulator, named as patient-side manipulator, which tracks the motion of surgeon-side manipulator during a robot-assisted surgery. The prototype considered in this work is a spatial serial manipulator, being developed at CSIR-CSIO Chandigarh. Experimental validations are performed and results are found to be in close agreement.

  3. Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

    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.

  4. Virtual reality visual feedback for hand-controlled scanning probe microscopy manipulation of single molecules

    Philipp Leinen

    2015-11-01

    Full Text Available Controlled manipulation of single molecules is an important step towards the fabrication of single molecule devices and nanoscale molecular machines. Currently, scanning probe microscopy (SPM is the only technique that facilitates direct imaging and manipulations of nanometer-sized molecular compounds on surfaces. The technique of hand-controlled manipulation (HCM introduced recently in Beilstein J. Nanotechnol. 2014, 5, 1926–1932 simplifies the identification of successful manipulation protocols in situations when the interaction pattern of the manipulated molecule with its environment is not fully known. Here we present a further technical development that substantially improves the effectiveness of HCM. By adding Oculus Rift virtual reality goggles to our HCM set-up we provide the experimentalist with 3D visual feedback that displays the currently executed trajectory and the position of the SPM tip during manipulation in real time, while simultaneously plotting the experimentally measured frequency shift (Δf of the non-contact atomic force microscope (NC-AFM tuning fork sensor as well as the magnitude of the electric current (I flowing between the tip and the surface. The advantages of the set-up are demonstrated by applying it to the model problem of the extraction of an individual PTCDA molecule from its hydrogen-bonded monolayer grown on Ag(111 surface.

  5. Virtual reality visual feedback for hand-controlled scanning probe microscopy manipulation of single molecules.

    Leinen, Philipp; Green, Matthew F B; Esat, Taner; Wagner, Christian; Tautz, F Stefan; Temirov, Ruslan

    2015-01-01

    Controlled manipulation of single molecules is an important step towards the fabrication of single molecule devices and nanoscale molecular machines. Currently, scanning probe microscopy (SPM) is the only technique that facilitates direct imaging and manipulations of nanometer-sized molecular compounds on surfaces. The technique of hand-controlled manipulation (HCM) introduced recently in Beilstein J. Nanotechnol. 2014, 5, 1926-1932 simplifies the identification of successful manipulation protocols in situations when the interaction pattern of the manipulated molecule with its environment is not fully known. Here we present a further technical development that substantially improves the effectiveness of HCM. By adding Oculus Rift virtual reality goggles to our HCM set-up we provide the experimentalist with 3D visual feedback that displays the currently executed trajectory and the position of the SPM tip during manipulation in real time, while simultaneously plotting the experimentally measured frequency shift (Δf) of the non-contact atomic force microscope (NC-AFM) tuning fork sensor as well as the magnitude of the electric current (I) flowing between the tip and the surface. The advantages of the set-up are demonstrated by applying it to the model problem of the extraction of an individual PTCDA molecule from its hydrogen-bonded monolayer grown on Ag(111) surface.

  6. Improving training of laparoscopic tissue manipulation skills using various visual force feedback types

    Smit, Daan; Spruit, Edward; Dankelman, J.; Tuijthof, G.J.M.; Hamming, J; Horeman, T.

    2017-01-01

    Background Visual force feedback allows trainees to learn laparoscopic tissue manipulation skills. The aim of this experimental study was to find the most efficient visual force feedback method to acquire these skills. Retention and transfer validity to an untrained task were assessed. Methods

  7. Field-based scanning tunneling microscope manipulation of antimony dimers on Si(001)

    Rogge, S.; Timmerman, R.H.; Scholte, P.M.L.O.; Geerligs, L.J.; Salemink, H.W.M.

    2001-01-01

    The manipulation of antimony dimers, Sb2, on the silicon (001) surface by means of a scanning tunneling microscope (STM) has been experimentally investigated. Directed hopping of the Sb2 dimers due the STM tip can dominate over the thermal motion at temperatures between 300 and 500 K. Statistics on

  8. The effect of spinal manipulative therapy on spinal range of motion

    Millan, Mario; Leboeuf-Yde, Charlotte; Budgell, Brian

    2012-01-01

    Spinal manipulative therapy (SMT) has been shown to have an effect on spine-related pain, both clinically and in experimentally induced pain. However, it is unclear if it has an immediate noticeable biomechanical effect on spinal motion that can be measured in terms of an increased range of motion...

  9. Evaluation of Remote Collaborative Manipulation for Scientific Data Analysis

    Fleury , Cédric; Duval , Thierry; Gouranton , Valérie; Steed , Anthony

    2012-01-01

    International audience; In the context of scientific data analysis, we propose to compare a remote collaborative manipulation technique with a single user manipulation technique. The manipulation task consists in positioning a clipping plane in order to perform cross-sections of scientific data which show several points of interest located inside this data. For the remote collaborative manipulation, we have chosen to use the 3-hand manipulation technique proposed by Aguerreche et al. which is...

  10. An Analysis of Manipulation Strategies in Stock Markets

    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...

  11. Male pattern baldness (image)

    Male pattern baldness is a sex-linked characteristic that is passed from mother to child. A man can more accurately predict his chances of developing male pattern baldness by observing his mother's father than by looking ...

  12. [Male urinary incontinence

    Boer, T.A. de; Heesakkers, J.P.F.A.

    2008-01-01

    *Urinary incontinence in males is gaining increasingly more attention. *Male urinary incontinence can be classified as storage incontinence due to overactive bladder syndrome or stress incontinence due to urethral sphincter dysfunction. *Most patients benefit from the currently available treatment

  13. Self catheterization - male

    ... male; CIC - male Images Catheterization References Davis JE, Silverman MA. Urologic procedures. In: Roberts JR, ed. Roberts ... provided by VeriMed Healthcare Network. Also reviewed by David Zieve, MD, MHA, Medical Director, Brenda Conaway, Editorial ...

  14. Prostatitis and male infertility.

    Alshahrani, Saad; McGill, John; Agarwal, Ashok

    2013-11-01

    The prostate gland plays an important role in male reproduction. Inflammation of the prostate gland (prostatitis) is a common health problem affecting many young and middle aged men. Prostatitis is considered a correctable cause of male infertility, but the pathophysiology and appropriate treatment options of prostatitis in male infertility remain unclear. This literature review will focus on current data regarding prostatitis and its impact on male infertility. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

  15. Perception and manipulation of game control

    Plass - Oude Bos, D.; van de Laar, B.L.A.; Reuderink, B.; Poel, Mannes; Nijholt, Antinus; Reidsma, Dennis; Choi, Insook; Bargar, Robin

    Brain-computer interfaces do not provide perfect recognition of user input, for similar reasons as natural input modalities. How well can users assess the amount of control they have, and how much control do they need? We describe an experiment where we manipulated the control users had in a

  16. Text Manipulation Techniques and Foreign Language Composition.

    Walker, Ronald W.

    1982-01-01

    Discusses an approach to teaching second language composition which emphasizes (1) careful analysis of model texts from a limited, but well-defined perspective and (2) the application of text manipulation techniques developed by the word processing industry to student compositions. (EKN)

  17. Motion planning for gantry mounted manipulators

    Olsen, Anders Lau; Petersen, Henrik Gordon

    2007-01-01

    We present a roadmap based planner for finding robot motions for gantry mounted manipulators for a line welding application at Odense Steel Shipyard (OSS). The robot motions are planned subject to constraints on when the gantry may be moved. We show that random sampling of gantry configurations...

  18. Subpicosecond Coherent Manipulation of X-Rays

    Adams, Bernhard W.

    2004-01-01

    The Takagi-Taupin theory is synthesized with the eikonal theory in a unified space-time approach, based upon microscopic electromagnetism. It is designed specifically to address x-ray diffraction in crystal structures being modified within down to a few femtosconds. Possible applications in the subpicosecond coherent manipulation of x-rays are given

  19. The risk associated with spinal manipulation

    Nielsen, Sabrina Mai; Tarp, Simon; Christensen, Robin

    2017-01-01

    BACKGROUND: Spinal manipulative therapy (SMT) is a widely used manual treatment, but many reviews exist with conflicting conclusions about the safety of SMT. We performed an overview of reviews to elucidate and quantify the risk of serious adverse events (SAEs) associated with SMT. METHODS: We...

  20. High degree-of-freedom dynamic manipulation

    Murphy, Michael P.; Stephens, Benjamin; Abe, Yeuhi; Rizzi, Alfred A.

    2012-06-01

    The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal, we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are utilized to optimize for several criteria such as payload capability and task completion speed while also obeying constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased payload capacity is accomplished through coordinated body motion.

  1. WORKER, a program for histogram manipulation

    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.)

  2. Identity and incentives: impact on accounting manipulation

    Abernethy, M.A.; Bouwens, J.; Kroos, P.

    2012-01-01

    This study examines how individual characteristics of managers influence the incidence of accounting manipulation. We examine one particular characteristic argued to reduce agency costs, namely the extent to which an individual identifies with the firm (OI). Drawing on a database collected from

  3. Temperature manipulation during layer chick embryogenesis

    Walstra, I.; Napel, ten J.; Kemp, B.; Brand, van den H.

    2010-01-01

    The current study investigated the effects of temperature manipulation (TM) during late embryogenesis on temperature preference, response to high environmental temperature, behavior, and performance in young layer chicks. Control (CC) embryos (n = 96) were incubated at 37.8°C eggshell temperature

  4. Automatic camera tracking for remote manipulators

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

    1984-04-01

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

  5. Ideas on Manipulative Math for Young Children.

    Murray, Anne

    2001-01-01

    Presents a case study of one kindergarten class in which the mathematics center is the popular area in the room. Focuses on how math is best understood if activities follow the five-C formula: collaborative, concrete, comprehensive, connecting, and cavorting. Describes how children used manipulatives to construct mathematics concepts…

  6. Early Childhood Math: Make It Manipulative!

    Stone, Janet I.

    1987-01-01

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

  7. Redefining trade-based market manipulation

    Nelemans, Matthijs

    2008-01-01

    Trade-based market manipulation, which is usually described as trading shares to initiate a price change or to cause an artificial price, has received wide attention in policy and academic discussions, although the behavior is still poorly defined in both legal and economic literature. This Article

  8. Spin tunneling and manipulation in nanostructures.

    Sherman, E Ya; Ban, Yue; Gulyaev, L V; Khomitsky, D V

    2012-09-01

    The results for joint effects of tunneling and spin-orbit coupling on spin dynamics in nanostructures are presented for systems with discrete and continuous spectra. We demonstrate that tunneling plays the crucial role in the spin dynamics and the abilities of spin manipulation by external electric field. This result can be important for design of nanostructures-based spintronics devices.

  9. Using magnetic nanoparticles to manipulate biological objects

    Liu Yi; Gao Yu; Xu Chenjie

    2013-01-01

    The use of magnetic nanoparticles (MNPs) for the manipulation of biological objects, including proteins, genes, cellular organelles, bacteria, cells, and organs, are reviewed. MNPs are popular candidates for controlling and probing biological objects with a magnetic force. In the past decade, progress in the synthesis and surface engineering of MNPs has further enhanced this popularity. (topical review - magnetism, magnetic materials, and interdisciplinary research)

  10. Automatic camera tracking for remote manipulators

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

    1984-07-01

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

  11. Atomic and Molecular Manipulation of Chemical Interactions

    Ho, Wilson

    2007-01-01

    .... In effect, the goal is to carry out chemical changes by manipulating individual atoms and molecules to induce different bonding geometry and to create new interactions with their environment. These studies provide the scientific basis for the advancement of technology in catalysis, molecular electronics, optics, chemical and biological sensing, and magnetic storage.

  12. A plasmonic spanner for metal particle manipulation

    Zhang, Y.; Shi, W.; Shen, Z.; Man, Z.; Min, C.; Shen, J.; Zhu, S.; Urbach, H.P.; Yuan, X.

    2015-01-01

    Typically, metal particles are difficult to manipulate with conventional optical vortex (OV) tweezers, because of their strong absorption and scattering. However, it has been shown that the vortex field of surface plasmonic polaritons, called plasmonic vortex (PV), is capable of stable trapping and

  13. Impedance Control of a Redundant Parallel Manipulator

    Méndez, Juan de Dios Flores; Schiøler, Henrik; Madsen, Ole

    2017-01-01

    This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping...

  14. Interactive data manipulation program. FAWTEK user guide

    Boyer, W.B.; Sauer, S.

    1980-02-01

    This report describes the interactive data acquisition and manipulation program FAWTEK.'The program allows users of the electron beam data acquisition facility to control the R7912 digitizers and to perform a variety of mathematical operations on data arrays. Commands are entered in a high level language via a Tektronix 4010 terminal console. Each command directive and associated parameters is described in detail

  15. Development of an advanced robot manipulator system

    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)

  16. Intracellular manipulation of chromatin using magnetic nanoparticles

    Kanger, Johannes S.; Subramaniam, Vinod; van Driel, Roel

    2008-01-01

    Magnetic tweezers are widely used for manipulating small magnetic beads inside the cell cytoplasm in order to gain insight into the structural and mechanical properties of the cytoskeleton. Here we discuss the use of magnetic tweezers for the study of nuclear architecture and the mechanical

  17. Money, Manipulation and Misunderstanding on Manus Island

    Wallis, Joanne; Dalsgaard, Steffen

    2016-01-01

    Island, on domestic affairs in PNG, and on the relationship between PNG and Australia. Overall, it concludes that the costs arising from the money, manipulation and misunderstanding generated by the centre seem likely to outweigh the purported benefits, particularly for Manusians and other ordinary Papua...

  18. Outcome manipulation in corporate prediction markets

    Ottaviani, Marco; Sørensen, Peter Norman

    2007-01-01

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

  19. Parallelogram mechanisms for mine manipulator arms

    Yoncheva, N

    1983-01-01

    Kinematic equations are written for the mechanism of a manipulator arm which is used as the operational element of a basic machine and is shaped like a parallelogram. The drive is accomplished using a hydraulic cylinder. A transfer functions method is used to acquire kinematic equations of the final shifts and equations for determining accelerations.

  20. Kinematically Optimal Robust Control of Redundant Manipulators

    Galicki, M.

    2017-12-01

    This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.