Controlling infectious disease through the targeted manipulation of contact network structure

Directory of Open Access Journals (Sweden)

M. Carolyn Gates

2015-09-01

Full Text Available Individuals in human and animal populations are linked through dynamic contact networks with characteristic structural features that drive the epidemiology of directly transmissible infectious diseases. Using animal movement data from the British cattle industry as an example, this analysis explores whether disease dynamics can be altered by placing targeted restrictions on contact formation to reconfigure network topology. This was accomplished using a simple network generation algorithm that combined configuration wiring with stochastic block modelling techniques to preserve the weighted in- and out-degree of individual nodes (farms as well as key demographic characteristics of the individual network connections (movement date, livestock market, and animal production type. We then tested a control strategy based on introducing additional constraints into the network generation algorithm to prevent farms with a high in-degree from selling cattle to farms with a high out-degree as these particular network connections are predicted to have a disproportionately strong role in spreading disease. Results from simple dynamic disease simulation models predicted significantly lower endemic disease prevalences on the trade restricted networks compared to the baseline generated networks. As expected, the relative magnitude of the predicted changes in endemic prevalence was greater for diseases with short infectious periods and low transmission probabilities. Overall, our study findings demonstrate that there is significant potential for controlling multiple infectious diseases simultaneously by manipulating networks to have more epidemiologically favourable topological configurations. Further research is needed to determine whether the economic and social benefits of controlling disease can justify the costs of restricting contact formation.

Controlling infectious disease through the targeted manipulation of contact network structure

Science.gov (United States)

Gates, M. Carolyn; Woolhouse, Mark E.J.

2015-01-01

Individuals in human and animal populations are linked through dynamic contact networks with characteristic structural features that drive the epidemiology of directly transmissible infectious diseases. Using animal movement data from the British cattle industry as an example, this analysis explores whether disease dynamics can be altered by placing targeted restrictions on contact formation to reconfigure network topology. This was accomplished using a simple network generation algorithm that combined configuration wiring with stochastic block modelling techniques to preserve the weighted in- and out-degree of individual nodes (farms) as well as key demographic characteristics of the individual network connections (movement date, livestock market, and animal production type). We then tested a control strategy based on introducing additional constraints into the network generation algorithm to prevent farms with a high in-degree from selling cattle to farms with a high out-degree as these particular network connections are predicted to have a disproportionately strong role in spreading disease. Results from simple dynamic disease simulation models predicted significantly lower endemic disease prevalences on the trade restricted networks compared to the baseline generated networks. As expected, the relative magnitude of the predicted changes in endemic prevalence was greater for diseases with short infectious periods and low transmission probabilities. Overall, our study findings demonstrate that there is significant potential for controlling multiple infectious diseases simultaneously by manipulating networks to have more epidemiologically favourable topological configurations. Further research is needed to determine whether the economic and social benefits of controlling disease can justify the costs of restricting contact formation. PMID:26342238

Controlling infectious disease through the targeted manipulation of contact network structure.

Science.gov (United States)

Gates, M Carolyn; Woolhouse, Mark E J

2015-09-01

Individuals in human and animal populations are linked through dynamic contact networks with characteristic structural features that drive the epidemiology of directly transmissible infectious diseases. Using animal movement data from the British cattle industry as an example, this analysis explores whether disease dynamics can be altered by placing targeted restrictions on contact formation to reconfigure network topology. This was accomplished using a simple network generation algorithm that combined configuration wiring with stochastic block modelling techniques to preserve the weighted in- and out-degree of individual nodes (farms) as well as key demographic characteristics of the individual network connections (movement date, livestock market, and animal production type). We then tested a control strategy based on introducing additional constraints into the network generation algorithm to prevent farms with a high in-degree from selling cattle to farms with a high out-degree as these particular network connections are predicted to have a disproportionately strong role in spreading disease. Results from simple dynamic disease simulation models predicted significantly lower endemic disease prevalences on the trade restricted networks compared to the baseline generated networks. As expected, the relative magnitude of the predicted changes in endemic prevalence was greater for diseases with short infectious periods and low transmission probabilities. Overall, our study findings demonstrate that there is significant potential for controlling multiple infectious diseases simultaneously by manipulating networks to have more epidemiologically favourable topological configurations. Further research is needed to determine whether the economic and social benefits of controlling disease can justify the costs of restricting contact formation. Copyright © 2015 The Authors. Published by Elsevier B.V. All rights reserved.

A Novel Recurrent Neural Network for Manipulator Control With Improved Noise Tolerance.

Science.gov (United States)

Li, Shuai; Wang, Huanqing; Rafique, Muhammad Usman

2017-04-12

In this paper, we propose a novel recurrent neural network to resolve the redundancy of manipulators for efficient kinematic control in the presence of noises in a polynomial type. Leveraging the high-order derivative properties of polynomial noises, a deliberately devised neural network is proposed to eliminate the impact of noises and recover the accurate tracking of desired trajectories in workspace. Rigorous analysis shows that the proposed neural law stabilizes the system dynamics and the position tracking error converges to zero in the presence of noises. Extensive simulations verify the theoretical results. Numerical comparisons show that existing dual neural solutions lose stability when exposed to large constant noises or time-varying noises. In contrast, the proposed approach works well and has a low tracking error comparable to noise-free situations.

Stereoscopically Observing Manipulative Actions.

Science.gov (United States)

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

2016-08-01

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

A financial network perspective of financial institutions' systemic risk contributions

Science.gov (United States)

Huang, Wei-Qiang; Zhuang, Xin-Tian; Yao, Shuang; Uryasev, Stan

2016-08-01

This study considers the effects of the financial institutions' local topology structure in the financial network on their systemic risk contribution using data from the Chinese stock market. We first measure the systemic risk contribution with the Conditional Value-at-Risk (CoVaR) which is estimated by applying dynamic conditional correlation multivariate GARCH model (DCC-MVGARCH). Financial networks are constructed from dynamic conditional correlations (DCC) with graph filtering method of minimum spanning trees (MSTs). Then we investigate dynamics of systemic risk contributions of financial institution. Also we study dynamics of financial institution's local topology structure in the financial network. Finally, we analyze the quantitative relationships between the local topology structure and systemic risk contribution with panel data regression analysis. We find that financial institutions with greater node strength, larger node betweenness centrality, larger node closeness centrality and larger node clustering coefficient tend to be associated with larger systemic risk contributions.

Leadership Manipulation and Ethics in Storytelling

OpenAIRE

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

2013-01-01

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

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

Knowledge Contribution in Knowledge Networks: Effects of Participants’ Central Positions on Contribution Quality

NARCIS (Netherlands)

Sedighi, M.; Hamedi, Mohsen

2016-01-01

Knowledge networks play a crucial role in contemporary organisations to improve participation for knowledge sharing. Examining employees’ knowledge contribution play an important role for in success implementing knowledgenetworks. Whereas most part of studies emphasis on the quantity aspect of

Manipulation resolves non-trivial structure of corrole monolayer on Ag(111)

International Nuclear Information System (INIS)

Tebi, Stefano; Serrano, Giulia; Koch, Reinhold; Müllegger, Stefan; Aldahhak, Hazem; Rauls, Eva; Schmidt, Wolf Gero; Schöfberger, Wolfgang

2016-01-01

Non-trivial arrangement of molecules within a molecular network complicates structure determination due to interdigitation, partial overlap, or stacking. We demonstrate that combined imaging and lateral manipulation with a scanning tunneling microscope resolves the intricate structure of a molecular network in two-dimensions in a straightforward manner. The network, formed by a monolayer of 5,10,15-tris(pentafluorophenyl)-corrole molecules on Ag(111), is manipulated for the first time with single-molecule precision. Our results reveal a shingle-like packing of partially overlapping corrole molecules. Density functional theory calculations support our findings. (paper)

An adaptive PID like controller using mix locally recurrent neural network for robotic manipulator with variable payload.

Science.gov (United States)

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

2016-05-01

Being complex, non-linear and coupled system, the robotic manipulator cannot be effectively controlled using classical proportional-integral-derivative (PID) controller. To enhance the effectiveness of the conventional PID controller for the nonlinear and uncertain systems, gains of the PID controller should be conservatively tuned and should adapt to the process parameter variations. In this work, a mix locally recurrent neural network (MLRNN) architecture is investigated to mimic a conventional PID controller which consists of at most three hidden nodes which act as proportional, integral and derivative node. The gains of the mix locally recurrent neural network based PID (MLRNNPID) controller scheme are initialized with a newly developed cuckoo search algorithm (CSA) based optimization method rather than assuming randomly. A sequential learning based least square algorithm is then investigated for the on-line adaptation of the gains of MLRNNPID controller. The performance of the proposed controller scheme is tested against the plant parameters uncertainties and external disturbances for both links of the two link robotic manipulator with variable payload (TL-RMWVP). The stability of the proposed controller is analyzed using Lyapunov stability criteria. A performance comparison is carried out among MLRNNPID controller, CSA optimized NNPID (OPTNNPID) controller and CSA optimized conventional PID (OPTPID) controller in order to establish the effectiveness of the MLRNNPID controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A CRITICAL ANALYSIS OF THE CONTRIBUTIONS MADE BY BRAZILIAN THESES ON THE TOPIC OF NETWORKS

Directory of Open Access Journals (Sweden)

Eduardo Jorge Branco Vieira Barcelos

2015-03-01

Full Text Available Research into Management Networks is not a dominant paradigm, which leaves it open for discussions on its statements, models and theories. This paper analyzes the contributions made by Brazilian theses on networks in the area of management, from 2004 to 2013. For this purpose, criteria that define contribution are used, for both national and international literature, resulting in a chart of 12 originality and 8 significance indicators. 23 theses were identified as dealing with the subject of networks. Content analysis was employed on explicit contributing texts and a search of the keywords for each of the 20 indicators. As the subject of networks presents multifaceted concepts, research methodologies and management models, it is beneficial to discuss and develop new approaches and contributions were expected at all three levels. The results indicate, however, that theoretical contributions were practically non-existent, methodological contributions were limited, focusing on improvements, and managerial contributions were most common, especially when focused on local networks. The results and analysis show that more research and a deeper discussion on this subject are needed. These could include coordinators and supervisors due to the pre-paradigmatic nature of the topic.

EVALUATING AUSTRALIAN FOOTBALL LEAGUE PLAYER CONTRIBUTIONS USING INTERACTIVE NETWORK SIMULATION

Directory of Open Access Journals (Sweden)

Jonathan Sargent

2013-03-01

Full Text Available This paper focuses on the contribution of Australian Football League (AFL players to their team's on-field network by simulating player interactions within a chosen team list and estimating the net effect on final score margin. A Visual Basic computer program was written, firstly, to isolate the effective interactions between players from a particular team in all 2011 season matches and, secondly, to generate a symmetric interaction matrix for each match. Negative binomial distributions were fitted to each player pairing in the Geelong Football Club for the 2011 season, enabling an interactive match simulation model given the 22 chosen players. Dynamic player ratings were calculated from the simulated network using eigenvector centrality, a method that recognises and rewards interactions with more prominent players in the team network. The centrality ratings were recorded after every network simulation and then applied in final score margin predictions so that each player's match contribution-and, hence, an optimal team-could be estimated. The paper ultimately demonstrates that the presence of highly rated players, such as Geelong's Jimmy Bartel, provides the most utility within a simulated team network. It is anticipated that these findings will facilitate optimal AFL team selection and player substitutions, which are key areas of interest to coaches. Network simulations are also attractive for use within betting markets, specifically to provide information on the likelihood of a chosen AFL team list "covering the line".

Eleven years of net network research activity - inr contributions

International Nuclear Information System (INIS)

Deaconu, V.; Ionita, I.; Meleg, T.; Deaconu, M.; Truta, C.; Oncioiu, G.

2013-01-01

The European Network on Neutron Techniques Standardization for Structural Integrity (NeT) was established in 2002, grouping institutions from industry, research and academic media. Coordinated by the European Commission.s Joint Research Centre, the main mission of this network is to develop experimental and numerical techniques and standards for the reliable characterisation of residual stresses in structural welds. Each problem is tackled by creating a dedicated Task Group which manages measurement and modelling round robin studies and undertakes a thorough analysis and interpretation of the results. Over forty institutions are active NeT partners, their specific involvement and contributions being summarised in this paper. The Institute for Nuclear Research Pitesti (INR) is one of NeT founders and its contribution is related to numerical modelling, specimen analysis, material characterisation, data analysis or SANS support. This is also emphasised throughout this paper, together with the specific NeT research topics presentation. (authors)

Connexin 43-Mediated Astroglial Metabolic Networks Contribute to the Regulation of the Sleep-Wake Cycle.

Science.gov (United States)

Clasadonte, Jerome; Scemes, Eliana; Wang, Zhongya; Boison, Detlev; Haydon, Philip G

2017-09-13

Astrocytes produce and supply metabolic substrates to neurons through gap junction-mediated astroglial networks. However, the role of astroglial metabolic networks in behavior is unclear. Here, we demonstrate that perturbation of astroglial networks impairs the sleep-wake cycle. Using a conditional Cre-Lox system in mice, we show that knockout of the gap junction subunit connexin 43 in astrocytes throughout the brain causes excessive sleepiness and fragmented wakefulness during the nocturnal active phase. This astrocyte-specific genetic manipulation silenced the wake-promoting orexin neurons located in the lateral hypothalamic area (LHA) by impairing glucose and lactate trafficking through astrocytic networks. This global wakefulness instability was mimicked with viral delivery of Cre recombinase to astrocytes in the LHA and rescued by in vivo injections of lactate. Our findings propose a novel regulatory mechanism critical for maintaining normal daily cycle of wakefulness and involving astrocyte-neuron metabolic interactions. Copyright © 2017 Elsevier Inc. All rights reserved.

Dissociable meta-analytic brain networks contribute to coordinated emotional processing.

Science.gov (United States)

Riedel, Michael C; Yanes, Julio A; Ray, Kimberly L; Eickhoff, Simon B; Fox, Peter T; Sutherland, Matthew T; Laird, Angela R

2018-06-01

Meta-analytic techniques for mining the neuroimaging literature continue to exert an impact on our conceptualization of functional brain networks contributing to human emotion and cognition. Traditional theories regarding the neurobiological substrates contributing to affective processing are shifting from regional- towards more network-based heuristic frameworks. To elucidate differential brain network involvement linked to distinct aspects of emotion processing, we applied an emergent meta-analytic clustering approach to the extensive body of affective neuroimaging results archived in the BrainMap database. Specifically, we performed hierarchical clustering on the modeled activation maps from 1,747 experiments in the affective processing domain, resulting in five meta-analytic groupings of experiments demonstrating whole-brain recruitment. Behavioral inference analyses conducted for each of these groupings suggested dissociable networks supporting: (1) visual perception within primary and associative visual cortices, (2) auditory perception within primary auditory cortices, (3) attention to emotionally salient information within insular, anterior cingulate, and subcortical regions, (4) appraisal and prediction of emotional events within medial prefrontal and posterior cingulate cortices, and (5) induction of emotional responses within amygdala and fusiform gyri. These meta-analytic outcomes are consistent with a contemporary psychological model of affective processing in which emotionally salient information from perceived stimuli are integrated with previous experiences to engender a subjective affective response. This study highlights the utility of using emergent meta-analytic methods to inform and extend psychological theories and suggests that emotions are manifest as the eventual consequence of interactions between large-scale brain networks. © 2018 Wiley Periodicals, Inc.

SAMSIN: the next-generation servo-manipulator

International Nuclear Information System (INIS)

Adams, R.H.; Jennrich, C.E.; Korpi, K.W.

1985-01-01

The Central Research Laboratories (CRL) Division of Sargent Industries is now developing SAMSIN, a next-generation servo-manipulator. SAMSIN is an acronym for Servo-Actuated Manipulator Systems with Intelligent Networks. This paper discusses the objectives of this development and describes the key features of the servo-manipulator system. There are three main objectives in the SAMSIN development: adaptability, reliability, and maintainability. SAMSIN utilizes standard Sargent/CRL sealed master and slave manipulator arms as well as newly developed compact versions. The mechanical arms have more than 20 yr of successful performance in industrial applications such as hot cells, high vacuums, fuel pools, and explosives handling. The servo-actuator package is in a protective enclosure, which may be sealed in various ways from the remote environment. The force limiting characteristics of the servo-actuators extend motion tendon life. Protective bootings increase the reliability of the arms in an environment that is high in airborne contamination. These bootings also simplify the decontamination of the system. The modularity in construction permits quick removal and replacement of slave arms, wrist joints, tong fingers, and actuator packages for maintenance. SAMSIN utilizes readily available off-the-shelf actuator and control system components. Each manipulator motion uses the same actuator and control system components

Intelligent Switching Control of Pneumatic Artificial Muscle Manipulator

Science.gov (United States)

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

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

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

International Nuclear Information System (INIS)

Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

1994-10-01

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

Learning the inverse kinetics of an octopus-like manipulator in three-dimensional space.

Science.gov (United States)

Giorelli, M; Renda, F; Calisti, M; Arienti, A; Ferri, G; Laschi, C

2015-05-13

This work addresses the inverse kinematics problem of a bioinspired octopus-like manipulator moving in three-dimensional space. The bioinspired manipulator has a conical soft structure that confers the ability of twirling around objects as a real octopus arm does. Despite the simple design, the soft conical shape manipulator driven by cables is described by nonlinear differential equations, which are difficult to solve analytically. Since exact solutions of the equations are not available, the Jacobian matrix cannot be calculated analytically and the classical iterative methods cannot be used. To overcome the intrinsic problems of methods based on the Jacobian matrix, this paper proposes a neural network learning the inverse kinematics of a soft octopus-like manipulator driven by cables. After the learning phase, a feed-forward neural network is able to represent the relation between manipulator tip positions and forces applied to the cables. Experimental results show that a desired tip position can be achieved in a short time, since heavy computations are avoided, with a degree of accuracy of 8% relative average error with respect to the total arm length.

Manipulating stored phonological input during verbal working memory

Science.gov (United States)

Cogan, Gregory B.; Iyer, Asha; Melloni, Lucia; Thesen, Thomas; Friedman, Daniel; Doyle, Werner; Devinsky, Orrin; Pesaran, Bijan

2016-01-01

Verbal working memory (vWM), involves storing and manipulating information in phonological sensory input. An influential theory of vWM proposes that manipulation is carried out by a central executive while storage is performed by two interacting systems: A phonological input buffer that captures sound-based information and an articulatory rehearsal system that controls speech motor output. Whether, when, and how neural activity in the brain encodes these components remains unknown. Here, we read-out the contents of vWM from neural activity in human subjects as they manipulate stored speech sounds. As predicted, we identify storage systems that contain both phonological sensory and articulatory motor representations. Surprisingly however, we find that manipulation does not involve a single central executive but rather involves two systems with distinct contributions to successful manipulation. We propose, therefore, that multiple subsystems comprise the central executive needed to manipulate stored phonological input for articulatory motor output in vWM. PMID:27941789

Precision spectral manipulation: A demonstration using a coherent optical memory

Energy Technology Data Exchange (ETDEWEB)

Sparkes, B. M.; Cairns, C.; Hosseini, M.; Higginbottom, D.; Campbell, G. T.; Lam, P. K.; Buchler, B. C. [Centre for Quantum Computation and Communication Technology, The Australian National University, Canberra (Australia)

2014-12-04

The ability to coherently spectrally manipulate quantum information has the potential to improve qubit rates across quantum channels and find applications in optical quantum computing. Here we present experiments that use a multi-element solenoid combined with the three-level gradient echo memory scheme to perform precision spectral manipulation of optical pulses. If applied in a quantum information network, these operations would enable frequency-based multiplexing of qubits.

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

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

2018-04-04

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

Personalized Social Network Activity Feeds for Increased Interaction and Content Contribution

Directory of Open Access Journals (Sweden)

Shlomo eBerkovsky

2015-10-01

Full Text Available Online social networks were originally conceived as means of sharing information and activities with friends, and their success has been one of the primary contributors of the tremendous growth of the Web. Social network activity feeds were devised as a means to aggregate recent actions of friends into a convenient list. But the volume of actions and content generated by social network users is overwhelming, such that keeping users up-to-date with friend activities is an ongoing challenge for social network providers. Personalization has been proposed as a solution to combat social network information overload and help users to identify the nuggets of relevant information in the incoming flood of network activities. In this paper, we propose and thoroughly evaluate a personalized model for predicting the relevance of the activity feed items, which informs the ranking of the feeds and facilitates personalization. Results of a live study show that the proposed feed personalization approach successfully identifies and promotes relevant feed items and boosts the uptake of the feeds. In addition, it increases the contribution of user-generated content to the social network and spurs interaction between users.

Repetitive motion planning and control of redundant robot manipulators

CERN Document Server

Zhang, Yunong

2013-01-01

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

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

Social Network Structures of Breast Cancer Patients and the Contributing Role of Patient Navigators.

Science.gov (United States)

Gunn, Christine M; Parker, Victoria A; Bak, Sharon M; Ko, Naomi; Nelson, Kerrie P; Battaglia, Tracy A

2017-08-01

Minority women in the U.S. continue to experience inferior breast cancer outcomes compared with white women, in part due to delays in care delivery. Emerging cancer care delivery models like patient navigation focus on social barriers, but evidence demonstrating how these models increase social capital is lacking. This pilot study describes the social networks of newly diagnosed breast cancer patients and explores the contributing role of patient navigators. Twenty-five women completed a one hour interview about their social networks related to cancer care support. Network metrics identified important structural attributes and influential individuals. Bivariate associations between network metrics, type of network, and whether the network included a navigator were measured. Secondary analyses explored associations between network structures and clinical outcomes. We identified three types of networks: kin-based, role and/or affect-based, or heterogeneous. Network metrics did not vary significantly by network type. There was a low prevalence of navigators included in the support networks (25%). Network density scores were significantly higher in those networks without a navigator. Network metrics were not predictive of clinical outcomes in multivariate models. Patient navigators were not frequently included in support networks, but provided distinctive types of support. If navigators can identify patients with poorly integrated (less dense) social networks, or who have unmet tangible support needs, the intensity of navigation services could be tailored. Services and systems that address gaps and variations in patient social networks should be explored for their potential to reduce cancer health disparities. This study used a new method to identify the breadth and strength of social support following a diagnosis of breast cancer, especially examining the role of patient navigators in providing support. While navigators were only included in one quarter of patient

SETS, Boolean Manipulation for Network Analysis and Fault Tree Analysis

International Nuclear Information System (INIS)

Worrell, R.B.

1985-01-01

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

Identity and Professional Networking.

Science.gov (United States)

Raj, Medha; Fast, Nathanael J; Fisher, Oliver

2017-06-01

Despite evidence that large professional networks afford a host of financial and professional benefits, people vary in how motivated they are to build such networks. To help explain this variance, the present article moves beyond a rational self-interest account to examine the possibility that identity shapes individuals' intentions to network. Study 1 established a positive association between viewing professional networking as identity-congruent and the tendency to prioritize strengthening and expanding one's professional network. Study 2 revealed that manipulating the salience of the self affects networking intentions, but only among those high in networking identity-congruence. Study 3 further established causality by experimentally manipulating identity-congruence to increase networking intentions. Study 4 examined whether identity or self-interest is a better predictor of networking intentions, providing support for the former. These findings indicate that identity influences the networks people develop. Implications for research on the self, identity-based motivation, and professional networking are discussed.

Does network topology influence systemic risk contribution? A perspective from the industry indices in Chinese stock market.

Science.gov (United States)

Long, Haiming; Zhang, Ji; Tang, Nengyu

2017-01-01

This study considers the effect of an industry's network topology on its systemic risk contribution to the stock market using data from the CSI 300 two-tier industry indices from the Chinese stock market. We first measure industry's conditional-value-at-risk (CoVaR) and the systemic risk contribution (ΔCoVaR) using the fitted time-varying t-copula function. The network of the stock industry is established based on dynamic conditional correlations with the minimum spanning tree. Then, we investigate the connection characteristics and topology of the network. Finally, we utilize seemingly unrelated regression estimation (SUR) of panel data to analyze the relationship between network topology of the stock industry and the industry's systemic risk contribution. The results show that the systemic risk contribution of small-scale industries such as real estate, food and beverage, software services, and durable goods and clothing, is higher than that of large-scale industries, such as banking, insurance and energy. Industries with large betweenness centrality, closeness centrality, and clustering coefficient and small node occupancy layer are associated with greater systemic risk contribution. In addition, further analysis using a threshold model confirms that the results are robust.

Does network topology influence systemic risk contribution? A perspective from the industry indices in Chinese stock market.

Directory of Open Access Journals (Sweden)

Haiming Long

Full Text Available This study considers the effect of an industry's network topology on its systemic risk contribution to the stock market using data from the CSI 300 two-tier industry indices from the Chinese stock market. We first measure industry's conditional-value-at-risk (CoVaR and the systemic risk contribution (ΔCoVaR using the fitted time-varying t-copula function. The network of the stock industry is established based on dynamic conditional correlations with the minimum spanning tree. Then, we investigate the connection characteristics and topology of the network. Finally, we utilize seemingly unrelated regression estimation (SUR of panel data to analyze the relationship between network topology of the stock industry and the industry's systemic risk contribution. The results show that the systemic risk contribution of small-scale industries such as real estate, food and beverage, software services, and durable goods and clothing, is higher than that of large-scale industries, such as banking, insurance and energy. Industries with large betweenness centrality, closeness centrality, and clustering coefficient and small node occupancy layer are associated with greater systemic risk contribution. In addition, further analysis using a threshold model confirms that the results are robust.

Precision Spectral Manipulation: A Demonstration Using a Coherent Optical Memory

Directory of Open Access Journals (Sweden)

B. M. Sparkes

2012-06-01

Full Text Available The ability to coherently spectrally manipulate quantum information has the potential to improve qubit rates across quantum channels and find applications in optical quantum computing. In this paper, we present experiments that use a multielement solenoid combined with the three-level gradient echo memory scheme to perform precision spectral manipulation of optical pulses. These operations include separate bandwidth and frequency manipulation with precision down to tens of kHz, spectral filtering of up to three separate frequency components, as well as time-delayed interference between pulses with both the same, and different, frequencies. If applied in a quantum information network, these operations would enable frequency-based multiplexing of qubits.

Pneumatic artificial muscle actuators for compliant robotic manipulators

Science.gov (United States)

Robinson, Ryan Michael

adaptive neural network control. Results demonstrated the benefits of an accurate model in model-based control, and the advantages of adaptive neural network control when a model is unavailable or variations in payload are expected. Lastly, a variable recruitment strategy was applied to a group of parallel muscles actuating a common joint. Increased manipulator efficiency was observed when fewer PAMs were activated, justifying the use of variable recruitment strategies. Overall, this research demonstrates the benefits of pneumatic artificial muscles as actuators in robotics applications. It demonstrates that PAM-based manipulators can be well-modeled and can achieve high tracking accuracy over a wide range of payloads and inputs while maintaining natural compliance.

Interaction of acupuncture treatment and manipulation laterality modulated by the default mode network.

Science.gov (United States)

Niu, Xuan; Zhang, Ming; Liu, Zhenyu; Bai, Lijun; Sun, Chuanzhu; Wang, Shan; Wang, Xiaocui; Chen, Zhen; Chen, Hongyan; Tian, Jie

2017-01-01

Appropriate selection of ipsilateral or contralateral electroacupuncture (corresponding to the pain site) plays an important role in reaching its better curative effect; however, the involving brain mechanism still remains unclear. Compared with the heat pain model generally established in previous study, capsaicin pain model induces reversible cutaneous allodynia and is proved to be better simulating aspects of clinical nociceptive and neuropathic pain. In the current study, 24 subjects were randomly divided into two groups with a 2 × 2 factorial design: laterality (ipsi- or contralateral side, inter-subject) × treatment with counter-balanced at an interval of one week (verum and placebo electroacupuncture, within-subject). We observed subjective pain intensity and brain activations changes induced by capsaicin allodynia pain stimuli before and after electroacupuncture treatment at acupoint LI4 for 30 min. Analysis of variance results indicated that ipsilateral electroacupuncture treatment produced significant pain relief and wide brain signal suppressions in pain-related brain areas compared with contralateral electroacupuncture. We also found that verum electroacupuncture at either ipsi- or contralateral side to the pain site exhibited comparable significant magnitudes of analgesic effect. By contrast, placebo electroacupuncture elicited significant pain reductions only on the ipsilateral rather than contralateral side. It was inferred that placebo analgesia maybe attenuated on the region of the body (opposite to pain site) where attention was less focused, suggesting that analgesic effect of placebo electroacupuncture mainly rely on the motivation of its spatial-specific placebo responses via attention mechanism. This inference can be further supported by the evidence that the significant interaction effect of manipulation laterality and treatment was exclusively located within the default mode network, including the bilateral superior parietal

Innovation Networks: the Contribution of Partnerships to Innovative Performance of Firms in the Brazilian Electrical-Electronics Industry

Directory of Open Access Journals (Sweden)

Silvye Ane Massaini

2015-01-01

Full Text Available Innovation networks have been identified in the literature as a way to complement firms’ innovative capabilities through collaboration with other partners. To provide empirical evidence for this assertion, this paper investigates the contribution of partners established in innovation networks for innovative performance of firms in the Brazilian electricalelectronics industry. For this purpose, we carried out an exploratory and descriptive survey among 185 companies. The data were analyzed using structural equation modeling (SEM. As the main findings, we observed that the establishment of collaborative relationships with customers, competitors and universities/research institutions can contribute to organizational and process innovation. However, despite obtaining some significant results concerning the contribution of different partners in the network, electrical-electronics industry companies also attach great importance to internal activities to develop their innovations.

A case for motor network contributions to schizophrenia symptoms: Evidence from resting-state connectivity.

Science.gov (United States)

Bernard, Jessica A; Goen, James R M; Maldonado, Ted

2017-09-01

Though schizophrenia (SCZ) is classically defined based on positive symptoms and the negative symptoms of the disease prove to be debilitating for many patients, motor deficits are often present as well. A growing literature highlights the importance of motor systems and networks in the disease, and it may be the case that dysfunction in motor networks relates to the pathophysiology and etiology of SCZ. To test this and build upon recent work in SCZ and in at-risk populations, we investigated cortical and cerebellar motor functional networks at rest in SCZ and controls using publically available data. We analyzed data from 82 patients and 88 controls. We found key group differences in resting-state connectivity patterns that highlight dysfunction in motor circuits and also implicate the thalamus. Furthermore, we demonstrated that in SCZ, these resting-state networks are related to both positive and negative symptom severity. Though the ventral prefrontal cortex and corticostriatal pathways more broadly have been implicated in negative symptom severity, here we extend these findings to include motor-striatal connections, as increased connectivity between the primary motor cortex and basal ganglia was associated with more severe negative symptoms. Together, these findings implicate motor networks in the symptomatology of psychosis, and we speculate that these networks may be contributing to the etiology of the disease. Overt motor deficits in SCZ may signal underlying network dysfunction that contributes to the overall disease state. Hum Brain Mapp 38:4535-4545, 2017. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

“Thanks for sharing”—Identifying users’ roles based on knowledge contribution in Enterprise Social Networks

DEFF Research Database (Denmark)

Cetto, Alexandra; Klier, Mathias; Richter, Alexander

2018-01-01

in the network and help others to get their work done. In this paper, we propose a new methodological approach consisting of three steps, namely “message classification”, “identification of users’ roles” as well as “characterization of users’ roles”. We apply the approach to a dataset from a multinational......, are a central element of the network. In conclusion, the development and application of a new methodological approach allows us to contribute to a more refined understanding of users’ knowledge exchanging behavior in Enterprise Social Networks which can ultimately help companies to take measures to improve......While ever more companies use Enterprise Social Networks for knowledge management, there is still a lack of understanding of users’ knowledge exchanging behavior. In this context, it is important to be able to identify and characterize users who contribute and communicate their knowledge...

Kinematic Analysis of Mobile Manipulator for Measurement and Maintenance in Dangerous Environment

Institute of Scientific and Technical Information of China (English)

CUI Genqun; LI Chunshu; ZHANG Minglu

2006-01-01

This paper studies the kinematic modeling of a mobile manipulator that consists of 5-DOF manipulator and an autonomous wheeled mobile platform. Then an artificial neural network to realize the coordination motion between manipulator and mobile platform is developed. On the basis of the task specifications, the algorithm determines the appropriate control variables to respond to the well tracking trajectory. The control strategy employed for either subsystem is achieved by using a robust supervised controller. A learning paradigm is used to produce the required reference variables for an overall cooperative behavior of the system. Simulation results are presented to show the effectiveness of this approach.

Soft object deformation monitoring and learning for model-based robotic hand manipulation.

Science.gov (United States)

Cretu, Ana-Maria; Payeur, Pierre; Petriu, Emil M

2012-06-01

This paper discusses the design and implementation of a framework that automatically extracts and monitors the shape deformations of soft objects from a video sequence and maps them with force measurements with the goal of providing the necessary information to the controller of a robotic hand to ensure safe model-based deformable object manipulation. Measurements corresponding to the interaction force at the level of the fingertips and to the position of the fingertips of a three-finger robotic hand are associated with the contours of a deformed object tracked in a series of images using neural-network approaches. The resulting model captures the behavior of the object and is able to predict its behavior for previously unseen interactions without any assumption on the object's material. The availability of such models can contribute to the improvement of a robotic hand controller, therefore allowing more accurate and stable grasp while providing more elaborate manipulation capabilities for deformable objects. Experiments performed for different objects, made of various materials, reveal that the method accurately captures and predicts the object's shape deformation while the object is submitted to external forces applied by the robot fingers. The proposed method is also fast and insensitive to severe contour deformations, as well as to smooth changes in lighting, contrast, and background.

Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

Directory of Open Access Journals (Sweden)

Marcin Szuster

2016-02-01

Full Text Available This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic. The actor generates the suboptimal control law while the critic approximates the difference of the value function from Bellman's equation with respect to the state. The residual elements of the control system are the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis performed using the Lyapunov stability theorem. The control system works online, the neural networks' weights-adaptation procedure is performed in every iteration step, and the neural networks' preliminary learning process is not required. The performance of the control system was verified by a series of computer simulations and experiments performed using the Scorbot-ER 4pc robotic manipulator.

Inverse kinematics problem in robotics using neural networks

Science.gov (United States)

Choi, Benjamin B.; Lawrence, Charles

1992-01-01

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

Influence of ovarian manipulation on reproductive endocrinology in polycystic ovarian syndrome and regularly cycling women

NARCIS (Netherlands)

Hendriks, M.L.; König, T.E.; Soleman, R.S.; Korsen, T.; Schats, R.; Hompes, P.G.A.; Homburg, R.R.; Lambalk, C.B.

2013-01-01

Objective: Little is known about the function of the ovarian neuronal network in humans. In many species, copulation influences endocrinology through this network. As a first step, the possible influence of ovarian mechanical manipulation on pituitary and ovarian hormones was evaluated in polycystic

Manipulating neuronal circuits with endogenous and recombinant cell-surface tethered modulators

Directory of Open Access Journals (Sweden)

Mandë Holford

2009-10-01

Full Text Available Neuronal circuits depend on the precise regulation of cell-surface receptors and ion channels. An ongoing challenge in neuroscience research is deciphering the functional contribution of specific receptors and ion channels using engineered modulators. A novel strategy, termed “tethered toxins”, was recently developed to characterize neuronal circuits using the evolutionary derived selectivity of venom peptide toxins and endogenous peptide ligands, such as lynx1 prototoxins. Herein, the discovery and engineering of cell-surface tethered peptides is reviewed, with particular attention given to their cell-autonomy, modular composition, and genetic targeting in different model organisms. The relative ease with which tethered peptides can be engineered, coupled with the increasing number of neuroactive venom toxins and ligand peptides being discovered, imply a multitude of potentially innovative applications for manipulating neuronal circuits and tissue-specific cell networks, including treatment of disorders caused by malfunction of receptors and ion channels.

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

NARCIS (Netherlands)

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.

Adaptation of irrigation networks to climate change: Linking robust design and stakeholder contribution

Energy Technology Data Exchange (ETDEWEB)

Granados, A.; Martín-Carrasco, F.J.; García de Jalón, S.; Iglesias, A.

2015-07-01

Agriculture is a particularly sensitive sector to the potential impacts of climate change. Thus, irrigation infrastructure is required to be robust to cope with these potential threats. The objective of this research is designing more robust irrigation networks, considering cost and stakeholder contribution. To that end, the investigation was addressed in three phases: a sensitivity analysis to understand the effectiveness of the distinct variables, a cost-effectiveness analysis assessing their efficiency, and a global study of the most efficient variables to provide an insight into their function. The sensitivity analysis indicates that the networks oversized by means of the coefficient of utilisation or the factor of safety, behave better than those oversized via the continuous specific discharge; moreover, the degree of freedom has been shown ineffective. The cost-effectiveness analysis shows that the coefficient of utilisation and the factor of safety are the most efficient variables, as they introduced safety margin oversizing fewer network elements and to a lesser extent than the continuous specific discharge. It also shows that stakeholder contribution, conveyed as a reduction of the degree of freedom, plays an important role in the network’s adaptive capacity to change. The global study of these variables reveals the subtlety of the coefficient of utilisation, which is the variable that better reproduces the farmer behaviour during demand increase scenarios. In conclusion, the results identify the coefficient of utilisation as the variable which provides the safest margins and reveal the importance of stakeholder contribution in absorb the demand increase in a better manner. (Author)

Adaptation of irrigation networks to climate change: Linking robust design and stakeholder contribution

Directory of Open Access Journals (Sweden)

Alfredo Granados

2015-12-01

Full Text Available Agriculture is a particularly sensitive sector to the potential impacts of climate change. Thus, irrigation infrastructure is required to be robust to cope with these potential threats. The objective of this research is designing more robust irrigation networks, considering cost and stakeholder contribution. To that end, the investigation was addressed in three phases: a sensitivity analysis to understand the effectiveness of the distinct variables, a cost-effectiveness analysis assessing their efficiency, and a global study of the most efficient variables to provide an insight into their function. The sensitivity analysis indicates that the networks oversized by means of the coefficient of utilisation or the factor of safety, behave better than those oversized via the continuous specific discharge; moreover, the degree of freedom has been shown ineffective. The cost-effectiveness analysis shows that the coefficient of utilisation and the factor of safety are the most efficient variables, as they introduced safety margin oversizing fewer network elements and to a lesser extent than the continuous specific discharge. It also shows that stakeholder contribution, conveyed as a reduction of the degree of freedom, plays an important role in the network’s adaptive capacity to change. The global study of these variables reveals the subtlety of the coefficient of utilisation, which is the variable that better reproduces the farmer behaviour during demand increase scenarios. In conclusion, the results identify the coefficient of utilisation as the variable which provides the safest margins and reveal the importance of stakeholder contribution in absorb the demand increase in a better manner.

Manipulators

International Nuclear Information System (INIS)

Wilcock, P.D.

1984-01-01

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

Contributions of Social Networking for Innovation

Directory of Open Access Journals (Sweden)

Daniela Maria Cartoni

2013-04-01

Full Text Available This paper investigates the role of virtual social networks as a mechanism complementary to formal channels of technology transfer represented by ICT and by private centers of R & D in industry. The strengthening of Web 2.0 has provided the expansion of collaborative tools, in particular the social networks, with a strong influence on the spread of knowledge and innovation. To evaluate the potential of virtual networks, a survey had been conducted to identify and describe the characteristics of some of the major social networks used in Brazil (LinkedIn, Orkut and Twitter. Even this phenomenon is not mature, the study identified the potential and benefits of social networks as informal structures that help in generation of knowledge and innovation diffusion, as a field to be explored and developed.

Simulation analysis of control strategies for a tank waste retrieval manipulator system

International Nuclear Information System (INIS)

Schryver, J.C.; Draper, J.V.

1995-01-01

A network simulation model was developed for the Tank Waste Retrieval Manipulator System, incorporating two distinct levels of control: teleoperation and supervisory control. The model included six error modes, an attentional resource model, and a battery of timing variables. A survey questionnaire administered to subject matter experts provided data for estimating timing distributions for level of control-critical tasks. Simulation studies were performed to evaluate system behavior as a function of control level and error modes. The results provide important insights for development of waste retrieval manipulators

A taxonomy for software-defined networking, man-in-the-middle attacks

OpenAIRE

Fischer, Briana D.; Lato, Anita M.

2016-01-01

Approved for public release; distribution is unlimited In contrast to traditional networks, Software Defined Networking (SDN) allows the programming of network functions via an Application Programming Interface (API). The ability to implement the APIs in software is advantageous for traffic manipulation in SDN. With automated logic being programmed into a centralized component of the SDN, network operators are presented with new and scalable methods for traffic manipulation. Enterprises an...

Status of NGS CORS Network and Its Contribution to the GGOS Infrastructure

Science.gov (United States)

Choi, K. K.; Haw, D.; Sun, L.

2017-12-01

Recent advancement of Satellite Geodesy techniques can now contribute to the global frame realization needed to improve worldwide accuracies. These techniques rely on coordinates computed using continuously observed GPS data and corresponding satellite orbits. The GPS-based reference system continues to depend on the physical stability of a ground-based network of points as the primary foundation for these observations. NOAA's National Geodetic Survey (NGS) has been operating Continuously Operating Reference Stations (CORS) to provide direct access to the National Spatial Reference System (NSRS). By virtue of NGS' scientific reputation and leadership in national and international geospatial issues, NGS has determined to increase its participation in the maintenance of the U.S. component of the global GPS tracking network in order to realize a long-term stable national terrestrial reference frame. NGS can do so by leveraging its national leadership role coupled with NGS' scientific expertise, in designating and upgrading a subset of the current tracking network for this purpose. This subset of stations must have the highest operational standards to serve the dual functions: being the U.S. contribution to the international frame, along with providing the link to the national datum. These stations deserve special attention to ensure that the highest possible levels of quality and stability are maintained. To meet this need, NGS is working with the international scientific groups to add and designate these reference stations based on scientific merit such as: colocation with other geodetic techniques, geographic area, and monumentation stability.

Forward Models for Following a Moving Target with the Puma 560 Robot Manipulator

Directory of Open Access Journals (Sweden)

Daniel Fernando Tello Gamarra

2015-12-01

Full Text Available This paper describes how a forward model could be applied in a manipulator robot to accomplish the task of following a moving target. The forward model has been implemented in the puma 560 robot manipulator in simulation after a babbling motor phase using ANFIS neural networks. The forward model delivers a rough estimation of the position in the operational space of a moving target. Using this information a Cartesian controller tracks the moving target. An implementation of the proposed architecture and the Piepmeir algorithm for the problem of following a moving target is also shown in the paper. The control architecture proposed in this paper was also tested with MLP and RBF neural networks. Results and simulations are shown to demonstrate the applicability of our proposed architecture for tracking a moving target.

Currency Manipulation versus Current Account Manipulation

OpenAIRE

Junning Cai

2005-01-01

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

Importance of intrinsic and non-network contribution in PageRank centrality and its effect on PageRank localization

OpenAIRE

Deyasi, Krishanu

2016-01-01

PageRank centrality is used by Google for ranking web-pages to present search result for a user query. Here, we have shown that PageRank value of a vertex also depends on its intrinsic, non-network contribution. If the intrinsic, non-network contributions of the vertices are proportional to their degrees or zeros, then their PageRank centralities become proportion to their degrees. Some simulations and empirical data are used to support our study. In addition, we have shown that localization ...

Manipulator Comparative Testing Program: Final report

International Nuclear Information System (INIS)

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

1987-02-01

The manipulator systems tested included the Meidensha BILARM 83A, the Central Research Laboratories Model M-2, and the GCA PaR Systems Model 6000. Six manipulator and control mode combinations were evaluated: (1) the BILARM in master/slave mode without force reflection, (2) the BILARM in master/slave mode with force reflection, (3) the Model M-2 in master/slave mode without force reflection, (4) the Model M-2 in master/slave mode with force reflection, (5) the BILARM with switchbox controls, and (6) the PaR 6000 with switchbox controls. The experiments examined differences between master/slave systems with and without force reflection and differences between master/slave systems and switchbox-controlled systems. A fourth experiment examined the relative contributions of the remote viewing system and the manipulator system to the performance of remote handling tasks. Results of the experiments showed that operators using the Model M-2 in master/slave mode had significantly faster times to completion than operators using the BILARM in master/slave mode, with about the same error rate per trial. Operators were slower using the BILARM with force reflection than without it, and they committed more errors. There was no statistically significant difference between force-reflection and nonforce-reflection conditions for the M-2 manipulator for any of the performance criteria. Tasks and procedures used in this testing were not sensitive to differences within any single system. No inferences about the effect of force reflection on remote task performance should be made from these data. The two manipulator systems in switchbox mode had significantly slower times to completion than any system in master/slave mode, with approximately the same error rate per trial. There were no significant differences between the BILARM in switchbox mode and the PaR arm

Integrating networks with Mathematica

NARCIS (Netherlands)

Strijkers, R.J.; Meijer, R.J.

2008-01-01

We have developed a concept that considers network behavior as a collection of software objects, which can be used or modified in computer programs. The interfaces of these software objects are exposed as web services and enable applications to analyze and manipulate networks, e.g. to find

Biological effects of direct and indirect manipulation of the fascial system. Narrative review.

Science.gov (United States)

Parravicini, Giovanni; Bergna, Andrea

2017-04-01

Osteopathic Manipulative Treatment (OMT) is effective in improving function, movement and restoring pain conditions. Despite clinical results, the mechanisms of how OMT achieves its' effects remain unclear. The fascial system is described as a tensional network that envelops the human body. Direct or indirect manipulations of the fascial system are a distinctive part of OMT. This review describes the biological effects of direct and indirect manipulation of the fascial system. Literature search was performed in February 2016 in the electronic databases: Cochrane, Medline, Scopus, Ostmed, Pedro and authors' publications relative to Fascia Research Congress Website. Manipulation of the fascial system seems to interfere with some cellular processes providing various pro-inflammatory and anti-inflammatory cells and molecules. Despite growing research in the osteopathic field, biological effects of direct or indirect manipulation of the fascial system are not conclusive. To elevate manual medicine as a primary intervention in clinical settings, it's necessary to clarify how OMT modalities work in order to underpin their clinical efficacies. Copyright © 2017 Elsevier Ltd. All rights reserved.

Dexterous Manipulation: Making Remote Manipulators Easy to Use

International Nuclear Information System (INIS)

HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

2001-01-01

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

Correlated network of networks enhances robustness against catastrophic failures.

Science.gov (United States)

Min, Byungjoon; Zheng, Muhua

2018-01-01

Networks in nature rarely function in isolation but instead interact with one another with a form of a network of networks (NoN). A network of networks with interdependency between distinct networks contains instability of abrupt collapse related to the global rule of activation. As a remedy of the collapse instability, here we investigate a model of correlated NoN. We find that the collapse instability can be removed when hubs provide the majority of interconnections and interconnections are convergent between hubs. Thus, our study identifies a stable structure of correlated NoN against catastrophic failures. Our result further suggests a plausible way to enhance network robustness by manipulating connection patterns, along with other methods such as controlling the state of node based on a local rule.

Causal functional contributions and interactions in the attention network of the brain: an objective multi-perturbation analysis.

Science.gov (United States)

Zavaglia, Melissa; Hilgetag, Claus C

2016-06-01

Spatial attention is a prime example for the distributed network functions of the brain. Lesion studies in animal models have been used to investigate intact attentional mechanisms as well as perspectives for rehabilitation in the injured brain. Here, we systematically analyzed behavioral data from cooling deactivation and permanent lesion experiments in the cat, where unilateral deactivation of the posterior parietal cortex (in the vicinity of the posterior middle suprasylvian cortex, pMS) or the superior colliculus (SC) cause a severe neglect in the contralateral hemifield. Counterintuitively, additional deactivation of structures in the opposite hemisphere reverses the deficit. Using such lesion data, we employed a game-theoretical approach, multi-perturbation Shapley value analysis (MSA), for inferring functional contributions and network interactions of bilateral pMS and SC from behavioral performance in visual attention studies. The approach provides an objective theoretical strategy for lesion inferences and allows a unique quantitative characterization of regional functional contributions and interactions on the basis of multi-perturbations. The quantitative analysis demonstrated that right posterior parietal cortex and superior colliculus made the strongest positive contributions to left-field orienting, while left brain regions had negative contributions, implying that their perturbation may reverse the effects of contralateral lesions or improve normal function. An analysis of functional modulations and interactions among the regions revealed redundant interactions (implying functional overlap) between regions within each hemisphere, and synergistic interactions between bilateral regions. To assess the reliability of the MSA method in the face of variable and incomplete input data, we performed a sensitivity analysis, investigating how much the contribution values of the four regions depended on the performance of specific configurations and on the

Contribution of past and future self-defining event networks to personal identity.

Science.gov (United States)

Demblon, Julie; D'Argembeau, Arnaud

2017-05-01

Personal identity is nourished by memories of significant past experiences and by the imagination of meaningful events that one anticipates to happen in the future. The organisation of such self-defining memories and prospective thoughts in the cognitive system has received little empirical attention, however. In the present study, our aims were to investigate to what extent self-defining memories and future projections are organised in networks of related events, and to determine the nature of the connections linking these events. Our results reveal the existence of self-defining event networks, composed of both memories and future events of similar centrality for identity and characterised by similar identity motives. These self-defining networks expressed a strong internal coherence and frequently organised events in meaningful themes and sequences (i.e., event clusters). Finally, we found that the satisfaction of identity motives in represented events and the presence of clustering across events both contributed to increase in the perceived centrality of events for the sense of identity. Overall, these findings suggest that personal identity is not only nourished by representations of significant past and future events, but also depends on the formation of coherent networks of related events that provide an overarching meaning to specific life experiences.

A manipulator

International Nuclear Information System (INIS)

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

1984-01-01

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

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

International Nuclear Information System (INIS)

Whyley, S.R.

1985-01-01

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

Printing continuously graded interpenetrating polymer networks of acrylate/epoxy by manipulating cationic network formation during stereolithography

Directory of Open Access Journals (Sweden)

W. Li

2016-12-01

Full Text Available Ultra-violet (UV laser assisted stereolithography is used to print graded interpenetrating polymer networks (IPNs by controlling network formation. Unlike the traditional process where structural change in IPNs is achieved by varying the feeding ratio of monomers or polymer precursors, in this demonstration property is changed by controlled termination of network formation. A photo-initiated process is used to construct IPNs by a combination of radical and cationic network formation in an acrylate/epoxy system. The extent of the cationic network formation is used to control the final properties of the system. Rapid-Scan Fourier Transformation Infrared Spectroscopy (RS-FTIR is used to track the curing kinetics of the two networks and identify key parameters to control the final properties. Atomic force microscopy (AFM and differential scanning calorimetry (DSC confirm the formation of homogenous IPNs, whereas nano-indentation indicates that properties vary with the extent of cationic network formation. The curing characteristics are used to design and demonstrate printing of graded IPNs that show two orders of magnitude variation in mechanical properties in the millimeter scale.

The Hypocretin/Orexin Neuronal Networks in Zebrafish.

Science.gov (United States)

Elbaz, Idan; Levitas-Djerbi, Talia; Appelbaum, Lior

2017-01-01

The hypothalamic Hypocretin/Orexin (Hcrt) neurons secrete two Hcrt neuropeptides. These neurons and peptides play a major role in the regulation of feeding, sleep wake cycle, reward-seeking, addiction, and stress. Loss of Hcrt neurons causes the sleep disorder narcolepsy. The zebrafish has become an attractive model to study the Hcrt neuronal network because it is a transparent vertebrate that enables simple genetic manipulation, imaging of the structure and function of neuronal circuits in live animals, and high-throughput monitoring of behavioral performance during both day and night. The zebrafish Hcrt network comprises ~16-60 neurons, which similar to mammals, are located in the hypothalamus and widely innervate the brain and spinal cord, and regulate various fundamental behaviors such as feeding, sleep, and wakefulness. Here we review how the zebrafish contributes to the study of the Hcrt neuronal system molecularly, anatomically, physiologically, and pathologically.

Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer's Tutorial

Directory of Open Access Journals (Sweden)

Markus Wilde

2018-04-01

Full Text Available The paper provides a step-by-step tutorial on the Generalized Jacobian Matrix (GJM approach for modeling and simulation of spacecraft-manipulator systems. The General Jacobian Matrix approach describes the motion of the end-effector of an underactuated manipulator system solely by the manipulator joint rotations, with the attitude and position of the base-spacecraft resulting from the manipulator motion. The coupling of the manipulator motion with the base-spacecraft are thus expressed in a generalized inertia matrix and a GJM. The focus of the paper lies on the complete analytic derivation of the generalized equations of motion of a free-floating spacecraft-manipulator system. This includes symbolic analytic expressions for all inertia property matrices of the system, including their time derivatives and joint-angle derivatives, as well as an expression for the generalized Jacobian of a generic point on any link of the spacecraft-manipulator system. The kinematics structure of the spacecraft-manipulator system is described both in terms of direction-cosine matrices and unit quaternions. An additional important contribution of this paper is to propose a new and more detailed definition for the modes of maneuvering of a spacecraft-manipulator. In particular, the two commonly used categories free-flying and free-floating are expanded by the introduction of five categories, namely floating, rotation-floating, rotation-flying, translation-flying, and flying. A fully-symbolic and a partially-symbolic option for the implementation of a numerical simulation model based on the proposed analytic approach are introduced and exemplary simulation results for a planar four-link spacecraft-manipulator system and a spatial six-link spacecraft manipulator system are presented.

Learning spinal manipulation: A best-evidence synthesis of teaching methods.

Science.gov (United States)

Stainsby, Brynne E; Clarke, Michelle C S; Egonia, Jade R

2016-10-01

The purpose of this study was to evaluate the effectiveness of different reported methods used to teach spinal manipulative therapy to chiropractic students. For this best-evidence literature synthesis, 5 electronic databases were searched from 1900 to 2015. Eligible studies were critically appraised using the criteria of the Scottish Intercollegiate Guidelines Network. Scientifically admissible studies were synthesized following best-evidence synthesis principles. Twenty articles were critically appraised, including 9 randomized clinical trials, 9 cohort studies, and 2 systematic reviews/meta-analyses. Eleven articles were accepted as scientifically admissible. The type of teaching method aids included a Thrust in Motion cervical manikin, instrumented cardiopulmonary reanimation manikin, padded contact with a load cell, instrumented treatment table with force sensor/transducer, and Dynadjust instrument. Several different methods exist in the literature for teaching spinal manipulative therapy techniques; however, future research in this developing area of chiropractic education is proposed. It is suggested that various teaching methods be included in the regular curricula of chiropractic colleges to aid in developing manipulation skills, efficiency, and knowledge of performance.

Performers and performance : how to investigate the contribution of the operational network to operational performance

NARCIS (Netherlands)

Wijngaard, J.; Vries, J. de; Nauta, A.

2006-01-01

Purpose This paper seeks to explore the question of how to investigate the contribution of the operational network (comprising sales service, logistics, planning, production, etc.) to operational performance. In doing so, the paper aims to link concepts from organisational and social psychology to

Performers and performance : How to investigate the contribution of the operational network to operational performance

NARCIS (Netherlands)

Wijngaard, J.; de Vries, J.; Nauta, Aukje

2006-01-01

Purpose - This paper seeks to explore the question of how to investigate the contribution of the operational network (comprising sales service, logistics, planning, production, etc.) to operational performance. In doing so, the paper aims to link concepts from organisational and social psychology to

Manipulators in teleoperation

International Nuclear Information System (INIS)

Hamel, W.R.

1985-01-01

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

Magnus force effect in optical manipulation

International Nuclear Information System (INIS)

Cipparrone, Gabriella; Pagliusi, Pasquale; Hernandez, Raul Josue; Provenzano, Clementina

2011-01-01

The effect of the Magnus force in optical micromanipulation has been observed. An ad hoc experiment has been designed based on a one-dimensional optical trap that carries angular momentum. The observed particle dynamics reveals the occurrence of this hydrodynamic force, which is neglected in the common approach. Its measured value is larger than the one predicted by the existing theoretical models for micrometric particles and low Reynolds number, showing that the Magnus force can contribute to unconventional optohydrodynamic trapping and manipulation.

Marginal Contribution-Based Distributed Subchannel Allocation in Small Cell Networks.

Science.gov (United States)

Shah, Shashi; Kittipiyakul, Somsak; Lim, Yuto; Tan, Yasuo

2018-05-10

The paper presents a game theoretic solution for distributed subchannel allocation problem in small cell networks (SCNs) analyzed under the physical interference model. The objective is to find a distributed solution that maximizes the welfare of the SCNs, defined as the total system capacity. Although the problem can be addressed through best-response (BR) dynamics, the existence of a steady-state solution, i.e., a pure strategy Nash equilibrium (NE), cannot be guaranteed. Potential games (PGs) ensure convergence to a pure strategy NE when players rationally play according to some specified learning rules. However, such a performance guarantee comes at the expense of complete knowledge of the SCNs. To overcome such requirements, properties of PGs are exploited for scalable implementations, where we utilize the concept of marginal contribution (MC) as a tool to design learning rules of players’ utility and propose the marginal contribution-based best-response (MCBR) algorithm of low computational complexity for the distributed subchannel allocation problem. Finally, we validate and evaluate the proposed scheme through simulations for various performance metrics.

Marginal Contribution-Based Distributed Subchannel Allocation in Small Cell Networks

Directory of Open Access Journals (Sweden)

Shashi Shah

2018-05-01

Full Text Available The paper presents a game theoretic solution for distributed subchannel allocation problem in small cell networks (SCNs analyzed under the physical interference model. The objective is to find a distributed solution that maximizes the welfare of the SCNs, defined as the total system capacity. Although the problem can be addressed through best-response (BR dynamics, the existence of a steady-state solution, i.e., a pure strategy Nash equilibrium (NE, cannot be guaranteed. Potential games (PGs ensure convergence to a pure strategy NE when players rationally play according to some specified learning rules. However, such a performance guarantee comes at the expense of complete knowledge of the SCNs. To overcome such requirements, properties of PGs are exploited for scalable implementations, where we utilize the concept of marginal contribution (MC as a tool to design learning rules of players’ utility and propose the marginal contribution-based best-response (MCBR algorithm of low computational complexity for the distributed subchannel allocation problem. Finally, we validate and evaluate the proposed scheme through simulations for various performance metrics.

Characteristics of manipulative in mathematics laboratory

Science.gov (United States)

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

2017-12-01

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

The evolution of teleoperated manipulators at ORNL

International Nuclear Information System (INIS)

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

1996-01-01

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

Kinematic Analysis of 3-DOF Planer Robot Using Artificial Neural Network

Directory of Open Access Journals (Sweden)

Jolly Atit Shah

2012-07-01

Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 3-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 3-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error.

Features and perspectives of automatized construction crane-manipulators

Science.gov (United States)

Stepanov, Mikhail A.; Ilukhin, Peter A.

2018-03-01

Modern construction industry still has a high percentage of manual labor, and the greatest prospects of improving the construction process are lying in the field of automatization. In this article automatized construction manipulator-cranes are being studied in order to achieve the most rational design scheme. This is done through formulating a list of general conditions necessary for such cranes and a set of specialized kinematical conditions. A variety of kinematical schemes is evaluated via these conditions, and some are taken for further dynamical analisys. The comparative dynamical analisys of taken schemes was made and the most rational scheme was defined. Therefore a basis for a more complex and practical research of manipulator-cranes design is given and ways to implement them on practical level can now be calculated properly. Also, the perspectives of implementation of automated control systems and informational networks on construction sites in order to boost the quality of construction works, safety of labour and ecological safety are shown.

Analysis, reconstruction and manipulation using arterial snakes

KAUST Repository

Li, Guo

2010-01-01

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

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

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Pranav J Parikh

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

The contribution of gender-based violence and network trauma to gender differences in Post-Traumatic Stress Disorder

Science.gov (United States)

Silove, Derrick; Baker, Jess R.; Mohsin, Mohammed; Teesson, Maree; Creamer, Mark; O'Donnell, Meaghan; Forbes, David; Carragher, Natacha; Slade, Tim; Mills, Katherine; Bryant, Richard; McFarlane, Alexander; Steel, Zachary; Felmingham, Kim; Rees, Susan

2017-01-01

Background Posttraumatic stress disorder (PTSD) occurs twice as commonly amongst women as men. Two common domains of trauma, network trauma and gender based violence (GBV), may contribute to this gender difference in PTSD rates. We examined data from a nationally representative sample of the Australian population to clarify the characteristics of these two trauma domains in their contributions to PTSD rates in men and women. Methods We drew on data from the 2007 Australian National Survey of Mental Health and Well-being to assess gender differences across a comprehensive range of trauma domains, including (1) prevalence of lifetime exposure; (2) identification of an index trauma or DSM-IV Criterion A event; and (3) the likelihood of developing full DSM-IV PTSD symptoms once an index trauma was identified. Results Men reported more traumatic events (TEs) overall but women reported twice the prevalence of lifetime PTSD (women, 13.4%; men, 6.3%). Women reported a threefold higher level of exposure to GBV and were seven times more likely to nominate GBV as the index trauma as compared to men. Women were twice more likely than men to identify a network trauma as the index trauma and more likely to meet full PTSD symptoms in relation to that event (women, 20.6%; men, 14.6%). Conclusion Women are more likely to identify GBV and network trauma as an index trauma. Women’s far greater exposure to GBV contributes to their higher prevalence of PTSD. Women are markedly more likely to develop PTSD when network trauma is identified as the index trauma. Preventing exposure to GBV and providing timely interventions for acute psychological reactions following network trauma may assist in reducing PTSD rates amongst women. PMID:28207775

The contribution of gender-based violence and network trauma to gender differences in Post-Traumatic Stress Disorder.

Directory of Open Access Journals (Sweden)

Derrick Silove

Full Text Available Posttraumatic stress disorder (PTSD occurs twice as commonly amongst women as men. Two common domains of trauma, network trauma and gender based violence (GBV, may contribute to this gender difference in PTSD rates. We examined data from a nationally representative sample of the Australian population to clarify the characteristics of these two trauma domains in their contributions to PTSD rates in men and women.We drew on data from the 2007 Australian National Survey of Mental Health and Well-being to assess gender differences across a comprehensive range of trauma domains, including (1 prevalence of lifetime exposure; (2 identification of an index trauma or DSM-IV Criterion A event; and (3 the likelihood of developing full DSM-IV PTSD symptoms once an index trauma was identified.Men reported more traumatic events (TEs overall but women reported twice the prevalence of lifetime PTSD (women, 13.4%; men, 6.3%. Women reported a threefold higher level of exposure to GBV and were seven times more likely to nominate GBV as the index trauma as compared to men. Women were twice more likely than men to identify a network trauma as the index trauma and more likely to meet full PTSD symptoms in relation to that event (women, 20.6%; men, 14.6%.Women are more likely to identify GBV and network trauma as an index trauma. Women's far greater exposure to GBV contributes to their higher prevalence of PTSD. Women are markedly more likely to develop PTSD when network trauma is identified as the index trauma. Preventing exposure to GBV and providing timely interventions for acute psychological reactions following network trauma may assist in reducing PTSD rates amongst women.

Manipulators for production and research

International Nuclear Information System (INIS)

Munro, Ian

1987-01-01

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

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

NARCIS (Netherlands)

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

2005-01-01

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

Program Helps Simulate Neural Networks

Science.gov (United States)

Villarreal, James; Mcintire, Gary

1993-01-01

Neural Network Environment on Transputer System (NNETS) computer program provides users high degree of flexibility in creating and manipulating wide variety of neural-network topologies at processing speeds not found in conventional computing environments. Supports back-propagation and back-propagation-related algorithms. Back-propagation algorithm used is implementation of Rumelhart's generalized delta rule. NNETS developed on INMOS Transputer(R). Predefines back-propagation network, Jordan network, and reinforcement network to assist users in learning and defining own networks. Also enables users to configure other neural-network paradigms from NNETS basic architecture. Small portion of software written in OCCAM(R) language.

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

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

1997-01-01

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

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

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

1997-03-01

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

The Global Invasive Species Information Network: contributing to GEO Task BI-07-01b

Science.gov (United States)

Graham, J.; Morisette, J. T.; Simpson, A.

2009-12-01

Invasive alien species (IAS) threaten biodiversity and exert a tremendous cost on society for IAS prevention and eradication. They endanger natural ecosystem functioning and seriously impact biodiversity and agricultural production. The task definition for the GEO task BI-07-01b: Invasive Species Monitoring System is to characterize, monitor, and predict changes in the distribution of invasive species. This includes characterizing the current requirements and capacity for invasive species monitoring and developing strategies for implementing cross-search functionality among existing online invasive species information systems from around the globe. The Task is being coordinated by members of the Global Invasive Species Information Network (GISIN) and their partners. Information on GISIN and a prototype of the network is available at www.gisin.org. This talk will report on the current status of GISIN and review how researchers can either contribute to or utilize data from this network.

Social network based dynamic transit service through the OMITS system.

Science.gov (United States)

2014-02-01

The Open Mode Integrated Transportation System (OMITS) forms a sustainable information infrastructure for communication within and between the mobile/Internet network, the roadway : network, and the users social network. It manipulates the speed g...

Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation

Directory of Open Access Journals (Sweden)

Rong Mei

2017-01-01

Full Text Available This paper presents an adaptive neural output feedback control scheme for uncertain robot manipulators with input saturation using the radial basis function neural network (RBFNN and disturbance observer. First, the RBFNN is used to approximate the system uncertainty, and the unknown approximation error of the RBFNN and the time-varying unknown external disturbance of robot manipulators are integrated as a compounded disturbance. Then, the state observer and the disturbance observer are proposed to estimate the unmeasured system state and the unknown compounded disturbance based on RBFNN. At the same time, the adaptation technique is employed to tackle the control input saturation problem. Utilizing the estimate outputs of the RBFNN, the state observer, and the disturbance observer, the adaptive neural output feedback control scheme is developed for robot manipulators using the backstepping technique. The convergence of all closed-loop signals is rigorously proved via Lyapunov analysis and the asymptotically convergent tracking error is obtained under the integrated effect of the system uncertainty, the unmeasured system state, the unknown external disturbance, and the input saturation. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed adaptive neural output feedback control scheme for uncertain robot manipulators.

Photonic crystals, light manipulation, and imaging in complex nematic structures

Science.gov (United States)

Ravnik, Miha; Å timulak, Mitja; Mur, Urban; Čančula, Miha; Čopar, Simon; Žumer, Slobodan

2016-03-01

Three selected approaches for manipulation of light by complex nematic colloidal and non-colloidal structures are presented using different own custom developed theoretical and modelling approaches. Photonic crystals bands of distorted cholesteric liquid crystal helix and of nematic colloidal opals are presented, also revealing distinct photonic modes and density of states. Light propagation along half-integer nematic disclinations is shown with changes in the light polarization of various winding numbers. As third, simulated light transmission polarization micrographs of nematic torons are shown, offering a new insight into the complex structure characterization. Finally, this work is a contribution towards using complex soft matter in optics and photonics for advanced light manipulation.

Covariance Manipulation for Conjunction Assessment

Science.gov (United States)

Hejduk, M. D.

2016-01-01

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

Chattering-Free Neuro-Sliding Mode Control of 2-DOF Planar Parallel Manipulators

Directory of Open Access Journals (Sweden)

Tien Dung Le

2013-01-01

Full Text Available This paper proposes a novel chattering free neuro-sliding mode controller for the trajectory tracking control of two degrees of freedom (DOF parallel manipulators which have a complicated dynamic model, including modelling uncertainties, frictional uncertainties and external disturbances. A feedforward neural network (NN is combined with an error estimator to completely compensate the large nonlinear uncertainties and external disturbances of the parallel manipulators. The online weight tuning algorithms of the NN and the structure of the error estimator are derived with the strict theoretical stability proof of the Lyapunov theorem. The upper bound of uncertainties and the upper bound of the approximation errors are not required to be known in advance in order to guarantee the stability of the closed-loop system. The example simulation results show the effectiveness of the proposed control strategy for the tracking control of a 2-DOF parallel manipulator. It results in its being chattering-free, very small tracking errors and its robustness against uncertainties and external disturbances.

FAMILY INFLUENCE ON FORMATION OF CHILDREN'S MANIPULATIVE ATTITUDES

Directory of Open Access Journals (Sweden)

Liubov Ivanovna Ryumshina

2013-06-01

Full Text Available The article raises the issue of children's manipulation, and examines the conditions contributing to the formation of the manipulative attitudes. As such are analyzed: importance of these attitudes for the child, existence of manipulative attitudes in parents, family microclimate and position to the manipulations in society.According to the results of an empirical study, the characteristics of the family, provoking the development of manipulative behavior in children, are described. The members of this family hardly cooperate with each other and others, are focused on self-interests, and try to satisfy them without much effort, and by using the people around them. It is accompanied by the insincerity and lack of attention to the child, and most of all to his needs, feelings and emotional stress. Normal 0 false false false RU X-NONE X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Обычная таблица"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Calibri","sans-serif"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin; mso-fareast-language:EN-US;}

Manipulation of Auditory Inputs as Rehabilitation Therapy for Maladaptive Auditory Cortical Reorganization

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Hidehiko Okamoto

2018-01-01

Full Text Available Neurophysiological and neuroimaging data suggest that the brains of not only children but also adults are reorganized based on sensory inputs and behaviors. Plastic changes in the brain are generally beneficial; however, maladaptive cortical reorganization in the auditory cortex may lead to hearing disorders such as tinnitus and hyperacusis. Recent studies attempted to noninvasively visualize pathological neural activity in the living human brain and reverse maladaptive cortical reorganization by the suitable manipulation of auditory inputs in order to alleviate detrimental auditory symptoms. The effects of the manipulation of auditory inputs on maladaptively reorganized brain were reviewed herein. The findings obtained indicate that rehabilitation therapy based on the manipulation of auditory inputs is an effective and safe approach for hearing disorders. The appropriate manipulation of sensory inputs guided by the visualization of pathological brain activities using recent neuroimaging techniques may contribute to the establishment of new clinical applications for affected individuals.

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

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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.

Contribution of International and Regional Networks in Developing and Maintaining Human Capacity Building for Nuclear Power Programmes

International Nuclear Information System (INIS)

Osman, O. E.

2015-01-01

Capacity is defined as; the ability of individuals and organizations or organizational units to perform functions effectively, efficiently and sustainably. Capacity building is an evidence-driven process of strengthening the abilities of individuals, organizations, and systems to perform core functions sustainably, and to continue to improve and develop over time. This article will explain the contributions of knowledge networks at the national, regional and international level in developing the existing capacity building and human resources for regulatory body in Sudan, to confront the future challenges regarding to nuclear power program- safety and security. The article will compare the advantages and effectiveness of these knowledge networks (IAEA, ANNuR, FNRBA) in capacity building and enhance the infrastructure of national regulatory body. And how these networks contribute to enable the regulatory bodies in Africa and Arab countries, to establish and strengthen their regulatory infrastructure for nuclear power programme consistent with international standards and recommendations. As well as the recommendations resulting and deduced from comparative study to promote the exchange of knowledge, experience and information among its members. (author)

Contribution of transcranial magnetic stimulation to assessment of brain connectivity and networks.

Science.gov (United States)

Hallett, Mark; Di Iorio, Riccardo; Rossini, Paolo Maria; Park, Jung E; Chen, Robert; Celnik, Pablo; Strafella, Antonio P; Matsumoto, Hideyuki; Ugawa, Yoshikazu

2017-11-01

The goal of this review is to show how transcranial magnetic stimulation (TMS) techniques can make a contribution to the study of brain networks. Brain networks are fundamental in understanding how the brain operates. Effects on remote areas can be directly observed or identified after a period of stimulation, and each section of this review will discuss one method. EEG analyzed following TMS is called TMS-evoked potentials (TEPs). A conditioning TMS can influence the effect of a test TMS given over the motor cortex. A disynaptic connection can be tested also by assessing the effect of a pre-conditioning stimulus on the conditioning-test pair. Basal ganglia-cortical relationships can be assessed using electrodes placed in the process of deep brain stimulation therapy. Cerebellar-cortical relationships can be determined using TMS over the cerebellum. Remote effects of TMS on the brain can be found as well using neuroimaging, including both positron emission tomography (PET) and functional magnetic resonance imaging (fMRI). The methods complement each other since they give different views of brain networks, and it is often valuable to use more than one technique to achieve converging evidence. The final product of this type of work is to show how information is processed and transmitted in the brain. Published by Elsevier B.V.

Prediction of enthalpy of fusion of pure compounds using an Artificial Neural Network-Group Contribution method

International Nuclear Information System (INIS)

Gharagheizi, Farhad; Salehi, Gholam Reza

2011-01-01

Highlights: → An Artificial Neural Network-Group Contribution method is presented for prediction of enthalpy of fusion of pure compounds at their normal melting point. → Validity of the model is confirmed using a large evaluated data set containing 4157 pure compounds. → The average percent error of the model is equal to 2.65% in comparison with the experimental data. - Abstract: In this work, the Artificial Neural Network-Group Contribution (ANN-GC) method is applied to estimate the enthalpy of fusion of pure chemical compounds at their normal melting point. 4157 pure compounds from various chemical families are investigated to propose a comprehensive and predictive model. The obtained results show the Squared Correlation Coefficient (R 2 ) of 0.999, Root Mean Square Error of 0.82 kJ/mol, and average absolute deviation lower than 2.65% for the estimated properties from existing experimental values.

Imagining the future: evidence for a hippocampal contribution to constructive processing.

Science.gov (United States)

Gaesser, Brendan; Spreng, R Nathan; McLelland, Victoria C; Addis, Donna Rose; Schacter, Daniel L

2013-12-01

Imagining future events and remembering past events rely on a common core network, but several regions within this network--including the hippocampus--show increased activity for imagining future events compared to remembering past events. It remains unclear whether this hippocampal activity reflects processes related to the demands of constructing details retrieved across disparate episodic memories into coherent imaginary events, encoding these events into memory, novelty detection, or some combination of these processes. We manipulated the degree of constructive processing by comparing activity associated with the initial construction of an imagined scenario with the re-construction of an imagined scenario (imagine vs. re-imagine). After accounting for effects of novelty and subsequent memory, we found that a region in the hippocampus was preferentially activated for newly constructed imagined events compared with re-imagined events. Our results suggest that the hippocampus may support several distinct but related processes that are critical for imagining future events, and they also indicate that a particular region within posterior hippocampus may uniquely contribute to the construction of imagined future events. Copyright © 2013 Wiley Periodicals, Inc.

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

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

2016-01-01

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

The effects of redundancy and information manipulation on traffic networks

OpenAIRE

Özel, Berk; Ozel, Berk

2014-01-01

Traffic congestion is one of the most frequently encountered problems in real life. It is not only a scientific concern of scholars, but also an inevitable issue for most of the individuals living in urban areas. Since every driver in traffic networks tries to minimize own journey length, and volume of the traffic prevents coordination between individuals, a cooperative behavior will not be provided spontaneously in order to decrease the total cost of the network and the time spent on traffic...

Authorship and citation manipulation in academic research

Science.gov (United States)

2017-01-01

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

Understanding pharmaceutical research manipulation in the context of accounting manipulation.

Science.gov (United States)

Brown, Abigail

2013-01-01

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

Modular architectures for quantum networks

Science.gov (United States)

Pirker, A.; Wallnöfer, J.; Dür, W.

2018-05-01

We consider the problem of generating multipartite entangled states in a quantum network upon request. We follow a top-down approach, where the required entanglement is initially present in the network in form of network states shared between network devices, and then manipulated in such a way that the desired target state is generated. This minimizes generation times, and allows for network structures that are in principle independent of physical links. We present a modular and flexible architecture, where a multi-layer network consists of devices of varying complexity, including quantum network routers, switches and clients, that share certain resource states. We concentrate on the generation of graph states among clients, which are resources for numerous distributed quantum tasks. We assume minimal functionality for clients, i.e. they do not participate in the complex and distributed generation process of the target state. We present architectures based on shared multipartite entangled Greenberger–Horne–Zeilinger states of different size, and fully connected decorated graph states, respectively. We compare the features of these architectures to an approach that is based on bipartite entanglement, and identify advantages of the multipartite approach in terms of memory requirements and complexity of state manipulation. The architectures can handle parallel requests, and are designed in such a way that the network state can be dynamically extended if new clients or devices join the network. For generation or dynamical extension of the network states, we propose a quantum network configuration protocol, where entanglement purification is used to establish high fidelity states. The latter also allows one to show that the entanglement generated among clients is private, i.e. the network is secure.

An evolutionary resolution of manipulation conflict.

Science.gov (United States)

González-Forero, Mauricio

2014-07-01

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

Manipulation, salience, and nudges.

Science.gov (United States)

Noggle, Robert

2018-03-01

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

Cell manipulation in microfluidics

International Nuclear Information System (INIS)

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

2013-01-01

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

Manipulator comparative testing program

International Nuclear Information System (INIS)

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

1986-01-01

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

Measuring and manipulating brain connectivity with resting state functional connectivity magnetic resonance imaging (fcMRI) and transcranial magnetic stimulation (TMS).

Science.gov (United States)

Fox, Michael D; Halko, Mark A; Eldaief, Mark C; Pascual-Leone, Alvaro

2012-10-01

Both resting state functional magnetic resonance imaging (fcMRI) and transcranial magnetic stimulation (TMS) are increasingly popular techniques that can be used to non-invasively measure brain connectivity in human subjects. TMS shows additional promise as a method to manipulate brain connectivity. In this review we discuss how these two complimentary tools can be combined to optimally study brain connectivity and manipulate distributed brain networks. Important clinical applications include using resting state fcMRI to guide target selection for TMS and using TMS to modulate pathological network interactions identified with resting state fcMRI. The combination of TMS and resting state fcMRI has the potential to accelerate the translation of both techniques into the clinical realm and promises a new approach to the diagnosis and treatment of neurological and psychiatric diseases that demonstrate network pathology. Copyright © 2012 Elsevier Inc. All rights reserved.

Measuring and manipulating brain connectivity with resting state functional connectivity magnetic resonance imaging (fcMRI) and transcranial magnetic stimulation (TMS)

OpenAIRE

Fox, Michael D.; Halko, Mark A.; Eldaief, Mark C.; Pascual-Leone, Alvaro

2012-01-01

Both resting state functional magnetic resonance imaging (fcMRI) and transcranial magnetic stimulation (TMS) are increasingly popular techniques that can be used to non-invasively measure brain connectivity in human subjects. TMS shows additional promise as a method to manipulate brain connectivity. In this review we discuss how these two complimentary tools can be combined to optimally study brain connectivity and manipulate distributed brain networks. Important clinical applications include...

On-chip particle trapping and manipulation

Science.gov (United States)

Leake, Kaelyn Danielle

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

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

International Nuclear Information System (INIS)

Khosla, P.K.; Kanade, Takeo

1996-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

Khosla, P.K.; Kanade, Takeo

1996-12-31

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

Master-slave manipulator

International Nuclear Information System (INIS)

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

1981-01-01

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

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

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

Dynamic photonic lightpaths in the StarPlane network

NARCIS (Netherlands)

Grosso, P.; Marchal, D.; Maassen, J.; Bernier, E.; Xu, L.; de Laat, C.

2009-01-01

The StarPlane project enables users to dynamically control network photonic paths. Applications running on the Distributed ASCI Supercomputer (DAS-3) can manipulate wavelengths in the Dutch research and education network SURFnet6. The goal is to achieve fast switching times so that when the

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

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

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

Directory of Open Access Journals (Sweden)

Abul K. M. Azad

2008-03-01

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

Using Manipulatives in Math Instruction.

Science.gov (United States)

Marzola, Eileen S.

1987-01-01

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

Mind Control: How Parasites Manipulate Cognitive Functions in Their Insect Hosts

Directory of Open Access Journals (Sweden)

Frederic Libersat

2018-05-01

Full Text Available Neuro-parasitology is an emerging branch of science that deals with parasites that can control the nervous system of the host. It offers the possibility of discovering how one species (the parasite modifies a particular neural network, and thus particular behaviors, of another species (the host. Such parasite–host interactions, developed over millions of years of evolution, provide unique tools by which one can determine how neuromodulation up-or-down regulates specific behaviors. In some of the most fascinating manipulations, the parasite taps into the host brain neuronal circuities to manipulate hosts cognitive functions. To name just a few examples, some worms induce crickets and other terrestrial insects to commit suicide in water, enabling the exit of the parasite into an aquatic environment favorable to its reproduction. In another example of behavioral manipulation, ants that consumed the secretions of a caterpillar containing dopamine are less likely to move away from the caterpillar and more likely to be aggressive. This benefits the caterpillar for without its ant bodyguards, it is more likely to be predated upon or attacked by parasitic insects that would lay eggs inside its body. Another example is the parasitic wasp, which induces a guarding behavior in its ladybug host in collaboration with a viral mutualist. To exert long-term behavioral manipulation of the host, parasite must secrete compounds that act through secondary messengers and/or directly on genes often modifying gene expression to produce long-lasting effects.

Interactive Network Exploration with Orange

Directory of Open Access Journals (Sweden)

Miha Štajdohar

2013-04-01

Full Text Available Network analysis is one of the most widely used techniques in many areas of modern science. Most existing tools for that purpose are limited to drawing networks and computing their basic general characteristics. The user is not able to interactively and graphically manipulate the networks, select and explore subgraphs using other statistical and data mining techniques, add and plot various other data within the graph, and so on. In this paper we present a tool that addresses these challenges, an add-on for exploration of networks within the general component-based environment Orange.

Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy

Directory of Open Access Journals (Sweden)

Niu Xuemei

2015-05-01

Full Text Available This paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task space using Lagrangian formalism and decoupled into three entirely independent subsystems under generalized coordinates to significantly reduce system complexity. Based on the dynamic model, a decoupled sliding mode control strategy is proposed for the parallel manipulator; the idea behind this strategy is to design a nonsingular terminal sliding mode controller for each subsystem, which can drive states of three subsystems to the original equilibrium points simultaneously by two intermediate variables. Additionally, a RBF neural network is used to compensate the cross-coupling force and gravity to enhance the control precision. Simulation and experimental results show that the proposed DNTSMC can achieve better control performances compared with the conventional sliding mode controller (SMC and the DNTSMC without compensator.

SNAP: A General Purpose Network Analysis and Graph Mining Library.

Science.gov (United States)

Leskovec, Jure; Sosič, Rok

2016-10-01

Large networks are becoming a widely used abstraction for studying complex systems in a broad set of disciplines, ranging from social network analysis to molecular biology and neuroscience. Despite an increasing need to analyze and manipulate large networks, only a limited number of tools are available for this task. Here, we describe Stanford Network Analysis Platform (SNAP), a general-purpose, high-performance system that provides easy to use, high-level operations for analysis and manipulation of large networks. We present SNAP functionality, describe its implementational details, and give performance benchmarks. SNAP has been developed for single big-memory machines and it balances the trade-off between maximum performance, compact in-memory graph representation, and the ability to handle dynamic graphs where nodes and edges are being added or removed over time. SNAP can process massive networks with hundreds of millions of nodes and billions of edges. SNAP offers over 140 different graph algorithms that can efficiently manipulate large graphs, calculate structural properties, generate regular and random graphs, and handle attributes and meta-data on nodes and edges. Besides being able to handle large graphs, an additional strength of SNAP is that networks and their attributes are fully dynamic, they can be modified during the computation at low cost. SNAP is provided as an open source library in C++ as well as a module in Python. We also describe the Stanford Large Network Dataset, a set of social and information real-world networks and datasets, which we make publicly available. The collection is a complementary resource to our SNAP software and is widely used for development and benchmarking of graph analytics algorithms.

Balanced articulated manipulator

International Nuclear Information System (INIS)

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

1976-01-01

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

Direct Manipulation in Virtual Reality

Science.gov (United States)

Bryson, Steve

2003-01-01

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

Geometric control of manipulators

International Nuclear Information System (INIS)

Thiruarooran, C.

1996-01-01

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

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

Science.gov (United States)

Kwon, Dong-Soo

1991-01-01

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

Application of symbolic and algebraic manipulation software in solving applied mechanics problems

Science.gov (United States)

Tsai, Wen-Lang; Kikuchi, Noboru

1993-01-01

As its name implies, symbolic and algebraic manipulation is an operational tool which not only can retain symbols throughout computations but also can express results in terms of symbols. This report starts with a history of symbolic and algebraic manipulators and a review of the literatures. With the help of selected examples, the capabilities of symbolic and algebraic manipulators are demonstrated. These applications to problems of applied mechanics are then presented. They are the application of automatic formulation to applied mechanics problems, application to a materially nonlinear problem (rigid-plastic ring compression) by finite element method (FEM) and application to plate problems by FEM. The advantages and difficulties, contributions, education, and perspectives of symbolic and algebraic manipulation are discussed. It is well known that there exist some fundamental difficulties in symbolic and algebraic manipulation, such as internal swelling and mathematical limitation. A remedy for these difficulties is proposed, and the three applications mentioned are solved successfully. For example, the closed from solution of stiffness matrix of four-node isoparametrical quadrilateral element for 2-D elasticity problem was not available before. Due to the work presented, the automatic construction of it becomes feasible. In addition, a new advantage of the application of symbolic and algebraic manipulation found is believed to be crucial in improving the efficiency of program execution in the future. This will substantially shorten the response time of a system. It is very significant for certain systems, such as missile and high speed aircraft systems, in which time plays an important role.

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

CSIR Research Space (South Africa)

Dube, C

2011-11-01

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

The Follower Count Fallacy: Detecting Twitter Users with Manipulated Follower Count

OpenAIRE

Aggarwal, Anupama; Kumar, Saravana; Bhargava, Kushagra; Kumaraguru, Ponnurangam

2018-01-01

Online Social Networks (OSN) are increasingly being used as platform for an effective communication, to engage with other users, and to create a social worth via number of likes, followers and shares. Such metrics and crowd-sourced ratings give the OSN user a sense of social reputation which she tries to maintain and boost to be more influential. Users artificially bolster their social reputation via black-market web services. In this work, we identify users which manipulate their projected f...

Virtualized cognitive network architecture for 5G cellular networks

KAUST Repository

Elsawy, Hesham

2015-07-17

Cellular networks have preserved an application agnostic and base station (BS) centric architecture1 for decades. Network functionalities (e.g. user association) are decided and performed regardless of the underlying application (e.g. automation, tactile Internet, online gaming, multimedia). Such an ossified architecture imposes several hurdles against achieving the ambitious metrics of next generation cellular systems. This article first highlights the features and drawbacks of such architectural ossification. Then the article proposes a virtualized and cognitive network architecture, wherein network functionalities are implemented via software instances in the cloud, and the underlying architecture can adapt to the application of interest as well as to changes in channels and traffic conditions. The adaptation is done in terms of the network topology by manipulating connectivities and steering traffic via different paths, so as to attain the applications\\' requirements and network design objectives. The article presents cognitive strategies to implement some of the classical network functionalities, along with their related implementation challenges. The article further presents a case study illustrating the performance improvement of the proposed architecture as compared to conventional cellular networks, both in terms of outage probability and handover rate.

In Praise of Manipulation

NARCIS (Netherlands)

Dowding, Keith; Van Hees, Martin

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

Powered manipulator control arm

International Nuclear Information System (INIS)

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

1975-01-01

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

The direct manipulation shell

International Nuclear Information System (INIS)

Allen, M.E.; Christiansen, M.

1992-01-01

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

Image manipulation as research misconduct.

Science.gov (United States)

Parrish, Debra; Noonan, Bridget

2009-06-01

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

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

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

1993-01-01

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

The Manipulative Discourse of Gandalf

Directory of Open Access Journals (Sweden)

Farid Mohammadi

2014-07-01

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

Hydraulic manipulator

International Nuclear Information System (INIS)

Sinha, A.K.; Srikrishnamurty, G.

1990-01-01

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

The age of enlightenment: evolving opportunities in brain research through optical manipulation of neuronal activity

Directory of Open Access Journals (Sweden)

Jason eJerome

2011-12-01

Full Text Available Optical manipulation of neuronal activity has rapidly developed into the most powerful and widely used approach to study mechanisms related to neuronal connectivity over a range of scales. Since the early use of single site uncaging to map network connectivity, rapid technological development of light modulation techniques has added important new options, such as fast scanning photostimulation, massively parallel control of light stimuli, holographic uncaging and 2-photon stimulation techniques. Exciting new developments in optogenetics complement neurotransmitter uncaging techniques by providing cell-type specificity and in vivo usability, providing optical access to the neural substrates of behavior. Here we review the rapid evolution of methods for the optical manipulation of neuronal activity, emphasizing crucial recent developments.

The age of enlightenment: evolving opportunities in brain research through optical manipulation of neuronal activity.

Science.gov (United States)

Jerome, Jason; Heck, Detlef H

2011-01-01

Optical manipulation of neuronal activity has rapidly developed into the most powerful and widely used approach to study mechanisms related to neuronal connectivity over a range of scales. Since the early use of single site uncaging to map network connectivity, rapid technological development of light modulation techniques has added important new options, such as fast scanning photostimulation, massively parallel control of light stimuli, holographic uncaging, and two-photon stimulation techniques. Exciting new developments in optogenetics complement neurotransmitter uncaging techniques by providing cell-type specificity and in vivo usability, providing optical access to the neural substrates of behavior. Here we review the rapid evolution of methods for the optical manipulation of neuronal activity, emphasizing crucial recent developments.

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

Science.gov (United States)

Brown, Robert Michael, Jr.

1995-01-01

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

Manipulation in Industrialized Meat Products | Manipulação em produtos de carne industrializados

Directory of Open Access Journals (Sweden)

Neide Kazue Sakugawa Shinohara

2017-06-01

Full Text Available Super and hypermarkets commercialize a wide variety of foods of animal origin and its derivatives, acquired by the population as an important source of proteins. The adoption of Good Manufacturing Practices (GMP in distribution networks and in commercialization represents an important tool to guarantee the quality of food, especially in the segment of processed meat products, due to its perishability. The objective of this study was to evaluate the application of good practices in the manipulation environment of animal products in supermarkets in the Metropolitan Region of Recife (RMR. The methodology used was the quantitative survey and action research during 30 days, with application of checklist regarding the handling and packaging of meat products with employees and managers of eight different companies of the retail network. The most frequently found nonconformities were deficiency in porting and the maintenance of the cold chain, visible microbial deterioration and packaging in unhealthy conditions, which may evolve into food-borne outbreaks. Therefore, it is necessary to constantly monitor BPM through regular training with the manipulators and employees, to ensure the correct execution of the activities and thus to commercialize industrialized meat products safely.

CLIMAN - a mobile manipulator concept

International Nuclear Information System (INIS)

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

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

Interpersonal relationship manipulation at a personal level

Directory of Open Access Journals (Sweden)

Andreja Hribernik

2010-12-01

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

Multidiscipline simulation of elastic manipulators

Directory of Open Access Journals (Sweden)

T. Rølvåg

1992-10-01

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

How Can Procurement Contribute to Network Performance? Streamlining Network, Project and Procurement Objectives

NARCIS (Netherlands)

Leendertse, W.; Arts, J.; De Ridder, H.

2012-01-01

The core business of governmental organizations like Rijkswaterstaat in the Netherlands is the optimal management of road-end waterway networks. The coming years many maintenance, renewal and extension projects will be executed in these networks. Projects give a disturbance in functionality of the

Simulation of robot manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

A six degrees of freedom mems manipulator

NARCIS (Netherlands)

de Jong, B.R.

2006-01-01

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

A control method for manipulators with redundancy

International Nuclear Information System (INIS)

Furusho, Junji; Usui, Hiroyuki

1989-01-01

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

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

The Central Electricity Generating Board has a requirement for a manipulator which can deploy to its work location around obstacles. A multilink manipulator has been designed for this purpose. A computer control system designed to ease manipulator operation is described. Using the control program, the manipulator may be deployed using just 2 joysticks. Experience in the use of the program with an inspection manipulator at Sizewell 'A' Nuclear Power Station is discussed. When used to control a manipulator of 9 hydraulically actuated degrees of freedom, a control accuracy of about 1.5% of full extension has been achieved. (author)

Manipulation of the extrastriate frontal loop can resolve visual disability in blindsight patients.

Science.gov (United States)

Badgaiyan, Rajendra D

2012-12-01

Patients with blindsight are not consciously aware of visual stimuli in the affected field of vision but retain nonconscious perception. This disability can be resolved if nonconsciously perceived information can be brought to their conscious awareness. It can be accomplished by manipulating neural network of visual awareness. To understand this network, we studied the pattern of cortical activity elicited during processing of visual stimuli with or without conscious awareness. The analysis indicated that a re-entrant signaling loop between the area V3A (located in the extrastriate cortex) and the frontal cortex is critical for processing conscious awareness. The loop is activated by visual signals relayed in the primary visual cortex, which is damaged in blindsight patients. Because of the damage, V3A-frontal loop is not activated and the signals are not processed for conscious awareness. These patients however continue to receive visual signals through the lateral geniculate nucleus. Since these signals do not activate the V3A-frontal loop, the stimuli are not consciously perceived. If visual input from the lateral geniculate nucleus is appropriately manipulated and made to activate the V3A-frontal loop, blindsight patients can regain conscious vision. Published by Elsevier Ltd.

Dynamic Control of Kinematically Redundant Robotic Manipulators

Directory of Open Access Journals (Sweden)

Erling Lunde

1987-07-01

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

Discovery of Boolean metabolic networks: integer linear programming based approach.

Science.gov (United States)

Qiu, Yushan; Jiang, Hao; Ching, Wai-Ki; Cheng, Xiaoqing

2018-04-11

Traditional drug discovery methods focused on the efficacy of drugs rather than their toxicity. However, toxicity and/or lack of efficacy are produced when unintended targets are affected in metabolic networks. Thus, identification of biological targets which can be manipulated to produce the desired effect with minimum side-effects has become an important and challenging topic. Efficient computational methods are required to identify the drug targets while incurring minimal side-effects. In this paper, we propose a graph-based computational damage model that summarizes the impact of enzymes on compounds in metabolic networks. An efficient method based on Integer Linear Programming formalism is then developed to identify the optimal enzyme-combination so as to minimize the side-effects. The identified target enzymes for known successful drugs are then verified by comparing the results with those in the existing literature. Side-effects reduction plays a crucial role in the study of drug development. A graph-based computational damage model is proposed and the theoretical analysis states the captured problem is NP-completeness. The proposed approaches can therefore contribute to the discovery of drug targets. Our developed software is available at " http://hkumath.hku.hk/~wkc/APBC2018-metabolic-network.zip ".

Measuring co-authorship and networking-adjusted scientific impact.

Science.gov (United States)

Ioannidis, John P A

2008-07-23

Appraisal of the scientific impact of researchers, teams and institutions with productivity and citation metrics has major repercussions. Funding and promotion of individuals and survival of teams and institutions depend on publications and citations. In this competitive environment, the number of authors per paper is increasing and apparently some co-authors don't satisfy authorship criteria. Listing of individual contributions is still sporadic and also open to manipulation. Metrics are needed to measure the networking intensity for a single scientist or group of scientists accounting for patterns of co-authorship. Here, I define I(1) for a single scientist as the number of authors who appear in at least I(1) papers of the specific scientist. For a group of scientists or institution, I(n) is defined as the number of authors who appear in at least I(n) papers that bear the affiliation of the group or institution. I(1) depends on the number of papers authored N(p). The power exponent R of the relationship between I(1) and N(p) categorizes scientists as solitary (R>2.5), nuclear (R = 2.25-2.5), networked (R = 2-2.25), extensively networked (R = 1.75-2) or collaborators (Raccountable co-authorship behaviour in published articles.

Learning Area and Perimeter with Virtual Manipulatives

Science.gov (United States)

Bouck, Emily; Flanagan, Sara; Bouck, Mary

2015-01-01

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

Sensory and cross-network contributions to response inhibition in patients with schizophrenia

Directory of Open Access Journals (Sweden)

Matthew J. Hoptman

Full Text Available Patients with schizophrenia show response inhibition deficits equal to or greater than those seen in impulse-control disorders, and these deficits contribute to poor outcome. However, little is known about the circuit abnormalities underlying this impairment. To address this, we examined stop signal task performance in 21 patients with schizophrenia and 21 healthy controls using event related potential (ERP and resting state functional connectivity. Patients showed prolonged stop signal reaction time (SSRT and reduced N1, N2, and P3 amplitudes compared to controls. Across groups, P3 amplitudes were maximal after SSRT (i.e., after the time associated with the decision to stop occurred, suggesting that this component indexed response monitoring. Multiple regression analyses showed that longer SSRTs were independently related to 1 patient status, 2 reduced N1 amplitude on successful stop trials and 3 reduced anticorrelated resting state functional connectivity between visual and frontoparietal cortical networks. This study used a combined multimodal imaging approach to better understand the network abnormalities that underlie response inhibition in schizophrenia. It is the first of its kind to specifically assess the brain's resting state functional architecture in combination with behavioral and ERP methods to investigate response inhibition in schizophrenia. Keywords: EEG, Stop signal task, Impulsivity, Schizophrenia, Resting state functional connectivity

High precision redundant robotic manipulator

International Nuclear Information System (INIS)

Young, K.K.D.

1998-01-01

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

Bioprinting Living Biofilms through Optogenetic Manipulation.

Science.gov (United States)

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

2018-04-18

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

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

Directory of Open Access Journals (Sweden)

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.

Master-slave-manipulator 'EMSM I'

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

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

Master-slave-manipulator EMSM I

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

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

Using Manipulatives to Teach Elementary Mathematics

Science.gov (United States)

Boggan, Matthew; Harper, Sallie; Whitmire, Anna

2010-01-01

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

Parallel and patterned optogenetic manipulation of neurons in the brain slice using a DMD-based projector.

Science.gov (United States)

Sakai, Seiichiro; Ueno, Kenichi; Ishizuka, Toru; Yawo, Hiromu

2013-01-01

Optical manipulation technologies greatly advanced the understanding of the neuronal network and its dysfunctions. To achieve patterned and parallel optical switching, we developed a microscopic illumination system using a commercial DMD-based projector and a software program. The spatiotemporal patterning of the system was evaluated using acute slices of the hippocampus. The neural activity was optically manipulated, positively by the combination of channelrhodopsin-2 (ChR2) and blue light, and negatively by the combination of archaerhodopsin-T (ArchT) and green light. It is suggested that our projector-managing optical system (PMOS) would effectively facilitate the optogenetic analyses of neurons and their circuits. Copyright © 2012 Elsevier Ireland Ltd and the Japan Neuroscience Society. All rights reserved.

Tailoring the mechanical properties by molecular integration of flexible and stiff polymer networks.

Science.gov (United States)

Wan, Haixiao; Shen, Jianxiang; Gao, Naishen; Liu, Jun; Gao, Yangyang; Zhang, Liqun

2018-03-28

Designing a multiple-network structure at the molecular level to tailor the mechanical properties of polymeric materials is of great scientific and technological importance. Through the coarse-grained molecular dynamics simulation, we successfully construct an interpenetrating polymer network (IPN) composed of a flexible polymer network and a stiff polymer network. First, we find that there is an optimal chain stiffness for a single network (SN) to achieve the best stress-strain behavior. Then we turn to study the mechanical behaviors of IPNs. The result shows that the stress-strain behaviors of the IPNs appreciably exceed the sum of that of the corresponding single flexible and stiff network, which highlights the advantage of the IPN structure. By systematically varying the stiffness of the stiff polymer network of the IPNs, optimal stiffness also exists to achieve the best performance. We attribute this to a much larger contribution of the non-bonded interaction energy. Last, the effect of the component concentration ratio is probed. With the increase of the concentration of the flexible network, the stress-strain behavior of the IPNs is gradually enhanced, while an optimized concentration (around 60% molar ration) of the stiff network occurs, which could result from the dominant role of the enthalpy rather than the entropy. In general, our work is expected to provide some guidelines to better tailor the mechanical properties of the IPNs made of a flexible network and a stiff network, by manipulating the stiffness of the stiff polymer network and the component concentration ratio.

A New Tool for Local Manipulation of Neuronal Micro-Circuitry with Ions and Force

Science.gov (United States)

2017-02-07

unmyelinated axons. This was confirmed when we manipulated factors known to affect axonal action potential propagation. Co- detection of eAPs by...the activity of neurons can propagate in a network and affect other neurons. We did this by first fitting a Generalized Linear Model (GLM) to spike...Unbiased data exploration requires the use of tools that minimize data transforms, enabling the development of a heuristic perspective from unprocessed

The influence of object and background color manipulations on the electrophysiological indices of recognition memory.

Science.gov (United States)

Ecker, Ullrich K H; Zimmer, Hubert D; Groh-Bordin, Christian

2007-12-14

In a recognition memory experiment, the claim was tested that intrinsic object features contribute to familiarity, whereas extrinsic context features do not. We used the study-test manipulation of color to investigate the perceptual specificity of ERP old-new effects associated with familiarity and recollection. Color was either an intrinsic surface feature of the object or a feature of the surrounding context (a frame encasing the object); thus, the same feature was manipulated across intrinsic/extrinsic conditions. Subjects performed a threefold (same color/different color/new object) decision, making feature information task-relevant. Results suggest that the intrinsic manipulation of color affected the mid-frontal old-new effect associated with familiarity, while this effect was not influenced by extrinsic manipulation. This ERP pattern could not be explained by basic behavioral performance differences. It is concluded that familiarity can be perceptually specific with regard to intrinsic information belonging to the object. The putative electrophysiological signature of recollection - a late parietal old-new effect - was not present in the data, and reasons for this null effect are discussed.

The marketing and economic implications of the manipulation of share prices: Nigeria stock exchange experience

Directory of Open Access Journals (Sweden)

Ajayi Ezekiel Oluwole

2012-12-01

Full Text Available This paper examined the marketing and economic effects of the manipulation of share prices in the Nigerian Stock Exchange. The survey research design was adopted. Data collected was analyzed using the regression analysis. Student t- test was used to test the two hypotheses formulated at 0.05 level of significance. The findings of the study revealed that capital market infractions such as fraudulent disposal of investor assets, illegal fund management and the wonder bank syndrome, others are insider dealings, corporate accounting fraud and share price manipulations affects the capital market and the economy .The study concluded that share prices manipulation actually influences the marketing and economic values of the shares being manipulated. It was recommended that the Nigerian government must put in place strong regulatory measures and punish the entire offender that has been found guilty. It was also recommended that for the market to rebound, stockbrokers that accessed margin facility from banks should be provided with certain percentage of their contributions to the loan as cushion to help them move on with their business.

Dissociating contributions of head and torso to spatial reference frames

DEFF Research Database (Denmark)

Alsmith, Adrian J T; Ferrè, Elisa R; Longo, Matthew R.

2017-01-01

contribution of each part to spatial judgments. Both the head and the torso contributed to judgements, though with greater contributions from the torso. A second experiment manipulating visual contrast of the torso showed that this does not reflect low-level differences in visual salience between body parts....... Our results demonstrate that spatial perspective-taking relies on a weighted combination of reference frames centred on different parts of the body....

Nano-manipulation of single DNA molecules

International Nuclear Information System (INIS)

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

2004-01-01

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

Intrinsic connectivity of neural networks in the awake rabbit.

Science.gov (United States)

Schroeder, Matthew P; Weiss, Craig; Procissi, Daniel; Disterhoft, John F; Wang, Lei

2016-04-01

The way in which the brain is functionally connected into different networks has emerged as an important research topic in order to understand normal neural processing and signaling. Since some experimental manipulations are difficult or unethical to perform in humans, animal models are better suited to investigate this topic. Rabbits are a species that can undergo MRI scanning in an awake and conscious state with minimal preparation and habituation. In this study, we characterized the intrinsic functional networks of the resting New Zealand White rabbit brain using BOLD fMRI data. Group independent component analysis revealed seven networks similar to those previously found in humans, non-human primates and/or rodents including the hippocampus, default mode, cerebellum, thalamus, and visual, somatosensory, and parietal cortices. For the first time, the intrinsic functional networks of the resting rabbit brain have been elucidated demonstrating the rabbit's applicability as a translational animal model. Without the confounding effects of anesthetics or sedatives, future experiments may employ rabbits to understand changes in neural connectivity and brain functioning as a result of experimental manipulation (e.g., temporary or permanent network disruption, learning-related changes, and drug administration). Copyright © 2016 Elsevier Inc. All rights reserved.

Performance Analysis of a Neuro-PID Controller Applied to a Robot Manipulator

Directory of Open Access Journals (Sweden)

Saeed Pezeshki

2012-11-01

Full Text Available The performance of robot manipulators with nonadaptive controllers might degrade significantly due to the open loop unstable system and the effect of some uncertainties on the robot model or environment. A novel Neural Network PID controller (NNP is proposed in order to improve the system performance and its robustness. The Neural Network (NN technique is applied to compensate for the effect of the uncertainties of the robot model. With the NN compensator introduced, the system errors and the NN weights with large dispersion are guaranteed to be bounded in the Lyapunov sense. The weights of the NN compensator are adaptively tuned. The simulation results show the effectiveness of the model validation approach and its efficiency to guarantee a stable and accurate trajectory tracking process in the presence of uncertainties.

Factors Contributing to the Hydrologic Effectiveness of a Rain Garden Network (Cincinnati OH USA

Directory of Open Access Journals (Sweden)

William D. Shuster

2017-09-01

Full Text Available Infiltrative rain gardens can add retention capacity to sewersheds, yet factors contributing to their capacity for detention and redistribution of stormwater runoff are dynamic and often unverified. Over a four-year period, we tracked whole-system water fluxes in a two-tier rain garden network and assessed near-surface hydrology and soil development across construction and operational phases. The monitoring data provided a quantitative basis for determining effectiveness of this stormwater control measure. Based on 233 monitored warm-season rainfall events, nearly half of total inflow volume was detained, with 90 percent of all events producing no flow to the combined sewer. For the events that did result in flow to the combined sewer system, the rain garden delayed flows for an average of 5.5 h. Multivariate analysis of hydrologic fluxes indicated that total event rainfall depth was a predominant hydrologic driver for network outflow during both phases, with average event intensity and daily evapotranspiration as additional, independent factors in regulating retention in the operational phase. Despite sediment loads that can clog the rooting zone, and overall lower-than-design infiltration rates, tradeoffs among soil profile development and hydrology apparently maintained relatively high overall retention effectiveness. Overall, our study identified factors relevant to regulation of retention capacity of a rain garden network. These factors may be generalizable, and guide improvement of new or existing rain garden designs.

Contribution of Charges in Polyvinyl Alcohol Networks to Marine Antifouling.

Science.gov (United States)

Yang, Wufang; Lin, Peng; Cheng, Daocang; Zhang, Longzhou; Wu, Yang; Liu, Yupeng; Pei, Xiaowei; Zhou, Feng

2017-05-31

Semi-interpenetrated polyvinyl alcohol polymer networks (SIPNs) were prepared by integrating various charged components into polyvinyl alcohol polymer. Contact angle measurement, attenuated total reflection Fourier transform infrared spectroscopy, field emission scanning electron microscopy, and tensile tests were used to characterize the physicochemical properties of the prepared SIPNs. To investigate the contribution of charges to marine antifouling, the adhesion behaviors of green algae Dunaliella tertiolecta and diatoms Navicula sp. in the laboratory and of the actual marine animals in field test were studied for biofouling assays. The results suggest that less algae accumulation densities are observed for neutral-, anionic-, and zwitterionic-component-integrated SIPNs. However, for the cationic SIPNs, despite the hydration shell induced by the ion-dipole interaction, the resistance to biofouling largely depends on the amount of cationic component because of the possible favorable electrostatic attraction between the cationic groups in SIPNs and the negatively charged algae. Considering that the preparation of novel nontoxic antifouling coating is a long-standing and cosmopolitan industrial challenge, the SIPNs may provide a useful reference for marine antifouling and some other relevant fields.

Task based synthesis of serial manipulators

Directory of Open Access Journals (Sweden)

Sarosh Patel

2015-05-01

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

Collision Detection for Underwater ROV Manipulator Systems

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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.

Stainless steel decontamination manipulators

International Nuclear Information System (INIS)

Sullivan, R.J.

1986-01-01

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

Synchronized motion control and precision positioning compensation of a 3-DOFs macro-micro parallel manipulator fully actuated by piezoelectric actuators

Science.gov (United States)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Xu

2017-11-01

The macro-micro combined approach, as an effective way to realize trans-scale nano-precision positioning with multi-dimensions and high velocity, plays a significant role in integrated circuit manufacturing field. A 3-degree-of-freedoms (3-DOFs) macro-micro manipulator is designed and analyzed to compromise the conflictions among the large stroke, high precision and multi-DOFs. The macro manipulator is a 3-Prismatic-Revolute-Revolute (3-PRR) structure parallel manipulator which is driven by three linear ultrasonic motors. The dynamic model and the cross-coupling error based synchronized motion controller of the 3-PRR parallel manipulator are theoretical analyzed and experimental tested. To further improve the positioning accuracy, a 3-DOFs monolithic compliant manipulator actuated by three piezoelectric stack actuators is designed. Then a multilayer BP neural network based inverse kinematic model identifier is developed to perform the positioning control. Finally, by forming the macro-micro structure, the dual stage manipulator successfully achieved the positioning task from the point (2 mm, 2 mm, 0 rad) back to the original point (0 mm, 0 mm, 0 rad) with the translation errors in X and Y directions less than ±50 nm and the rotation error around Z axis less than ±1 μrad, respectively.

Measuring co-authorship and networking-adjusted scientific impact.

Directory of Open Access Journals (Sweden)

John P A Ioannidis

Full Text Available Appraisal of the scientific impact of researchers, teams and institutions with productivity and citation metrics has major repercussions. Funding and promotion of individuals and survival of teams and institutions depend on publications and citations. In this competitive environment, the number of authors per paper is increasing and apparently some co-authors don't satisfy authorship criteria. Listing of individual contributions is still sporadic and also open to manipulation. Metrics are needed to measure the networking intensity for a single scientist or group of scientists accounting for patterns of co-authorship. Here, I define I(1 for a single scientist as the number of authors who appear in at least I(1 papers of the specific scientist. For a group of scientists or institution, I(n is defined as the number of authors who appear in at least I(n papers that bear the affiliation of the group or institution. I(1 depends on the number of papers authored N(p. The power exponent R of the relationship between I(1 and N(p categorizes scientists as solitary (R>2.5, nuclear (R = 2.25-2.5, networked (R = 2-2.25, extensively networked (R = 1.75-2 or collaborators (R<1.75. R may be used to adjust for co-authorship networking the citation impact of a scientist. I(n similarly provides a simple measure of the effective networking size to adjust the citation impact of groups or institutions. Empirical data are provided for single scientists and institutions for the proposed metrics. Cautious adoption of adjustments for co-authorship and networking in scientific appraisals may offer incentives for more accountable co-authorship behaviour in published articles.

Data interoperabilty between European Environmental Research Infrastructures and their contribution to global data networks

Science.gov (United States)

Kutsch, W. L.; Zhao, Z.; Hardisty, A.; Hellström, M.; Chin, Y.; Magagna, B.; Asmi, A.; Papale, D.; Pfeil, B.; Atkinson, M.

2017-12-01

Environmental Research Infrastructures (ENVRIs) are expected to become important pillars not only for supporting their own scientific communities, but also a) for inter-disciplinary research and b) for the European Earth Observation Program Copernicus as a contribution to the Global Earth Observation System of Systems (GEOSS) or global thematic data networks. As such, it is very important that data-related activities of the ENVRIs will be well integrated. This requires common policies, models and e-infrastructure to optimise technological implementation, define workflows, and ensure coordination, harmonisation, integration and interoperability of data, applications and other services. The key is interoperating common metadata systems (utilising a richer metadata model as the `switchboard' for interoperation with formal syntax and declared semantics). The metadata characterises data, services, users and ICT resources (including sensors and detectors). The European Cluster Project ENVRIplus has developed a reference model (ENVRI RM) for common data infrastructure architecture to promote interoperability among ENVRIs. The presentation will provide an overview of recent progress and give examples for the integration of ENVRI data in global integration networks.

Online Learning of Industrial Manipulators' Dynamics Models

DEFF Research Database (Denmark)

Polydoros, Athanasios

2017-01-01

, it was compared with multiple other state-of-the-art machine learning algorithms. Moreover, the thesis presents the application of the proposed learning method on robot control for achieving trajectory execution while learning the inverse dynamics models  on-the-fly . Also it is presented the application...... of the dynamics models. Those mainly derive from physics-based methods and thus they are based on physical properties which are hard to be calculated.  In this thesis, is presented, a novel online machine learning approach  which is able to model both inverse and forward dynamics models of industrial manipulators....... The proposed method belongs to the class of deep learning and exploits the concepts of self-organization, recurrent neural networks and iterative multivariate Bayesian regression. It has been evaluated on multiple datasets captured from industrial robots while they were performing various tasks. Also...

A Lightweight AV System for Providing a Faithful and Spatially Manipulable Visual Hand Representation

OpenAIRE

Pusch , Andreas; Martin , Olivier; Coquillart , Sabine

2011-01-01

Session: Developing new tools and technologies - Abstracts to be published in a regular issue of the journal Cyberpsychology, Behavior and Social Networking (indexed in MedLine and PsychInfo): http://online.liebertpub.com/loi/CYBER; International audience; This paper introduces the technical foundations of a system designed to embed a lightweight, faithful and spatially manipulable representation of the user's hand into an otherwise virtual world (aka Augmented Virtuality, AV). A highly intui...

Manipulating Strings in Python

Directory of Open Access Journals (Sweden)

William J. Turkel

2012-07-01

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

System Integration for Real-time Mobile Manipulation

OpenAIRE

Oftadeh, Reza; Aref, Mohammad M.; Ghabcheloo, Reza; Mattila, Jouni

2014-01-01

Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator ’s mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based con...

Modeling manipulation in medical education.

Science.gov (United States)

Dailey, Jason I

2010-05-01

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

Statistical analysis of network data with R

CERN Document Server

Kolaczyk, Eric D

2014-01-01

Networks have permeated everyday life through everyday realities like the Internet, social networks, and viral marketing. As such, network analysis is an important growth area in the quantitative sciences, with roots in social network analysis going back to the 1930s and graph theory going back centuries. Measurement and analysis are integral components of network research. As a result, statistical methods play a critical role in network analysis. This book is the first of its kind in network research. It can be used as a stand-alone resource in which multiple R packages are used to illustrate how to conduct a wide range of network analyses, from basic manipulation and visualization, to summary and characterization, to modeling of network data. The central package is igraph, which provides extensive capabilities for studying network graphs in R. This text builds on Eric D. Kolaczyk’s book Statistical Analysis of Network Data (Springer, 2009).

Jogos e materiais manipuláveis produzidos por alunos do IFBA, Campus de Eunápolis

Directory of Open Access Journals (Sweden)

Marcio Antonio Souza Paim

2014-08-01

Full Text Available O objetivo deste trabalho é mostrar exemplos de jogos e materiais manipuláveis criados por alunos da 1ª série do ensino médio do IFBA, campus de Eunápolis, para auxiliar no processo de ensino e aprendizagem da matemática. Sob a supervisão do professor da disciplina, três grupos de cinco estudantes do Curso Técnico em Edificações do Instituto Federal da Bahia, localizado na cidade de Eunápolis, no extremo sul do mesmo estado, construíram três tipos de subsídios de matemática, na forma de jogos e materiais manipuláveis, para o Laboratório de Matemática da Instituição. Espera-se que o material manipulável, quando associado ao jogo, contribua para o desenvolvimento da criatividade dos estudantes e compreensão de conteúdos matemáticos, fortalecendo o interesse pela pesquisa em matemática.Palavras-chave: Materiais Manipuláveis. Jogos. Ensino e Aprendizagem da Matemática.Games and manipulatives produced by students IFBA, Campus  Eunápolis   The objective of this work is to show examples of manipulative materials and games created by IFBA high school 1st year students, Eunápolis Campus, to assist in teaching and learning of mathematics process. Under the supervision of the subject teacher, tree groups of five students of the building technical course built tree types of math subsidies in games form and manipulative materials for the Mathematics Laboratory Facility. It is expected that the manipulable material when associated with games, contribute to the development of student creativity and understanding of mathematical content, strengthening the interest in research in mathematics.Keywords: Manipulatives. Games. Teaching and Learning of Mathematics.

Professional responsibility in relation to cervical spine manipulation.

Science.gov (United States)

Refshauge, Kathryn M; Parry, Sharon; Shirley, Debra; Larsen, Dale; Rivett, Darren A; Boland, Rob

2002-01-01

Manipulation of the cervical spine is one of the few potentially life-threatening procedures performed by physiotherapists. Is it worth the risk? A comparison of risks versus benefits indicates that at present, the risks of cervical manipulation outweigh the benefits: manipulation has yet to be shown to be more effective for neck pain and headache than other interventions such as mobilisation, whereas the risks, although infrequent, are serious. This analysis is of particular concern because the conditions for which manipulation is indicated are benign and usually self-limiting. Because physiotherapists have legal and ethical obligations to the community to avoid foreseeable harm and provide optimum care, it may be prudent to determine who in our profession should perform cervical manipulation. That is, the profession could restrict the practice of cervical spine manipulation. Although all registered physiotherapists in Australia are entitled to perform cervical manipulation, few choose to use this intervention. Therefore, it might be feasible to encourage those practitioners who wish to use cervical manipulation to undertake formal education programs. Such a requirement could be embodied in a code of practice that discourages those without formal training from performing cervical manipulation. By taking such measures, we could ensure that our profession exercises wisdom in its monitoring and use of cervical manipulation.

An Analysis of Manipulation Strategies in Stock Markets

OpenAIRE

Rasim Ozcan

2012-01-01

Manipulative transactions, which affect both the supply and demand side of the markets, have been studied by academic circles and it was concluded that manipulation exerts negative impact on markets. A market with manipulation is considered as less trustworthy and credible compared to a market without manipulation, which in turn, affects demand. Manipulations affecting both the supply and demand should be closely monitored by stock market investors as well as legislative, executive, and regul...

The Anatomy of Virtual Manipulative Apps: Using Grounded Theory to Conceptualize and Evaluate Educational Apps that Contain Virtual Manipulatives

OpenAIRE

Boyer-Thurgood, Jennifer M.

2017-01-01

This exploratory qualitative study used grounded theory to investigate the anatomy of educational apps that contain virtual manipulatives. For this study 100 virtual manipulatives within educational apps designed for the iPad were observed by the researcher in order to expand the explanations of and build theory about virtual manipulatives within apps. Affordance theory was used to frame all six phases of the study in which the researcher identified virtual manipulatives situated within educa...

Probabilistic approach to manipulator kinematics and dynamics

International Nuclear Information System (INIS)

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

2001-01-01

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

All-Round Manipulation of the Actin Cytoskeleton by HIV.

Science.gov (United States)

Ospina Stella, Alberto; Turville, Stuart

2018-02-05

While significant progress has been made in terms of human immunodeficiency virus (HIV) therapy, treatment does not represent a cure and remains inaccessible to many people living with HIV. Continued mechanistic research into the viral life cycle and its intersection with many aspects of cellular biology are not only fundamental in the continued fight against HIV, but also provide many key observations of the workings of our immune system. Decades of HIV research have testified to the integral role of the actin cytoskeleton in both establishing and spreading the infection. Here, we review how the virus uses different strategies to manipulate cellular actin networks and increase the efficiency of various stages of its life cycle. While some HIV proteins seem able to bind to actin filaments directly, subversion of the cytoskeleton occurs indirectly by exploiting the power of actin regulatory proteins, which are corrupted at multiple levels. Furthermore, this manipulation is not restricted to a discrete class of proteins, but rather extends throughout all layers of the cytoskeleton. We discuss prominent examples of actin regulators that are exploited, neutralized or hijacked by the virus, and address how their coordinated deregulation can lead to changes in cellular behavior that promote viral spreading.

Disrupted reward and cognitive control networks contribute to anhedonia in depression.

Science.gov (United States)

Gong, Liang; He, Cancan; Zhang, Haisan; Zhang, Hongxing; Zhang, Zhijun; Xie, Chunming

2018-08-01

Neuroimaging studies have identified that anhedonia, a core feature of major depressive disorder (MDD), is associated with dysfunction in reward and cognitive control processing. However, it is still not clear how the reward network (β-network) and the cognitive control network (δ-network) are linked to biased anhedonia in MDD patients. Sixty-eight MDD patients and 64 cognitively normal (CN) subjects underwent a resting-state functional magnetic resonance imaging scan. A 2*2 ANCOVA analysis was used to explore the differences in the nucleus accumbens-based, voxelwise functional connectivity (FC) between the groups. Then, the β- and δ-networks were constructed, and the FC intensities were compared within and between theβ- and δ-networks across all subjects. Multiple linear regression analyses were also employed to investigate the relationships between the neural features of the β- and δ-networks and anhedonia in MDD patients. Compared to the CN subjects, the MDD patients showed synergistic functional decoupling in both the β- and δ-networks, as well as decreased FC intensities in the intra- and inter- β- and δ-networks. In addition, the FC in both the β- and δ-networks was significantly correlated with anhedonia severity in the MDD patients. Importantly, the integrated neural features of the β- and δ-networks could more precisely predict anhedonic symptoms. These findings initially demonstrated that the imbalance between β- and δ-network activity successfully predicted anhedonia severity and suggested that the neural features of both the β- and δ-networks could represent a fundamental mechanism that underlies anhedonia in MDD patients. Copyright © 2018 Elsevier Ltd. All rights reserved.

The Age of Enlightenment: Evolving Opportunities in Brain Research Through Optical Manipulation of Neuronal Activity

OpenAIRE

Jerome, Jason; Heck, Detlef H.

2011-01-01

Optical manipulation of neuronal activity has rapidly developed into the most powerful and widely used approach to study mechanisms related to neuronal connectivity over a range of scales. Since the early use of single site uncaging to map network connectivity, rapid technological development of light modulation techniques has added important new options, such as fast scanning photostimulation, massively parallel control of light stimuli, holographic uncaging, and two-photon stimulation techn...

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

Directory of Open Access Journals (Sweden)

J Timothy Wootton

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

Price Manipulation in Indonesian Capital Market: Empirical Analysis on Stockbroker’s Behavior and Interaction Pattern between Domestic Investors and Foreign Investors

Directory of Open Access Journals (Sweden)

Buddi Wibowo

2014-08-01

Full Text Available Price manipulation in stock market transaction is an important issue when developing investor  conidence  and  market  integrity  is  a  priority.  Price  manipulation  is  prevalent  in emerging  markets,  which  still  have  institutional  problems  and  lack  regulations.  A  stock market  as  a  mutual  company  has  an  institutional  problem  when  a  stock  broker  instead  of being an intermediary, behaves like a dealer and a principal for some stocks. A stock broker has strong incentives to give a signal to public investors about price of some stocks in order to get an unfair proit. A usual pattern of manipulation done by stock broker is a pump and dump manipulation. Artiicial price increase was made by manipulators through buying and selling activities among themselves until tend chaser and naive investors jump to this game. When stock price is at the highest level, manipulators start selling their stock. This research measured  and  identiied  behavior  pattern  of  stock  brokers  in  Indonesian  Stock  Market, concerning  their  contribution  to  price  manipulation    existence.    Because  of  the  important  role  played by foreign investors in Indonesian stock market, this research would also identify interaction  pattern  between  foreign  and  domestic  investors.  Empirical  researches  showed that  foreign investors  were underperformed domestic investors in Indonesian stock market (Dvorak, 2005, and Agarwal et al. 2009. In spite of their superior experience and inancial support  compared  to  domestic  investosr,  foreign  investors  got  lower  return  on  average. Agarwal  et  al.  (2009  showed  this  phenomenon  occured  because  foreign  investors  were more aggressive than domestic investors. Dvorak (2005 argued that domestic investors had more  access  and  network  to  collect  short  run �

A portable modular architecture for robotic manipulator control

International Nuclear Information System (INIS)

Butler, P.L.

1993-01-01

A control architecture has been developed to provide a framework for robotic manipulator control. This architecture, called the Modular Integrated Control Architecture (MICA), has been successfully applied to two different manipulator systems. MICA is a portable system in two respects. First, it can be used for the control of different types of manipulator systems. Second, the MICA code is portable across several operating environments. This portability allows the sharing of common control code among various systems. A major portion of MICA is the precise control of multiple processors that have to be coordinated to control a manipulator system. By having NUCA control the processor synchronization, the system developer can concentrate on the specific aspects of a new manipulator system. MICA also provides standard functions for trajectory generation that can be used for most manipulators. Custom trajectory generators can be easily added to suit the needs of a particular robotic control system. Another facility that MICA provides is a simulation of the manipulator, allowing the control code to be simulated before trying it on a manipulator system. Using this technique, one can develop code for a manipulator system without risking damage to the arm during development

Managerial Incentives and Stock Price Manipulation

OpenAIRE

Peng, Lin; Röell, Ailsa A

2009-01-01

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

Visuospatial viewpoint manipulation during full-body illusion modulates subjective first-person perspective.

Science.gov (United States)

Pfeiffer, Christian; Schmutz, Valentin; Blanke, Olaf

2014-12-01

Self-consciousness is based on multisensory signals from the body. In full-body illusion (FBI) experiments, multisensory conflict was used to induce changes in three key aspects of bodily self-consciousness (BSC): self-identification (which body 'I' identify with), self-location (where 'I' am located), and first-person perspective (from where 'I' experience the world; 1PP). Here, we adapted a previous FBI protocol in which visuotactile stroking was administered by a robotic device (tactile stroking) and simultaneously rendered on the back of a virtual body (visual stroking) that participants viewed on a head-mounted display as if filmed from a posterior viewpoint of a camera. We compared the effects of two different visuospatial viewpoints on the FBI and thereby on these key aspects of BSC. During control manipulations, participants saw a no-body object instead of a virtual body (first experiment) or received asynchronous versus synchronous visuotactile stroking (second experiment). Results showed that within-subjects visuospatial viewpoint manipulations affected the subjective 1PP ratings if a virtual body was seen but had no effect for viewing a non-body object. However, visuospatial viewpoint had no effect on self-identification, but depended on the viewed object and visuotactile synchrony. Self-location depended on visuospatial viewpoint (first experiment) and visuotactile synchrony (second experiment). Our results show that the visuospatial viewpoint from which the virtual body is seen during FBIs modulates the subjective 1PP and that such viewpoint manipulations contribute to spatial aspects of BSC. We compare the present data with recent data revealing vestibular contributions to the subjective 1PP and discuss the multisensory nature of BSC and the subjective 1PP.

Kinematic sensitivity of robot manipulators

Science.gov (United States)

Vuskovic, Marko I.

1989-01-01

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

A links manipulator simulation program interim report

International Nuclear Information System (INIS)

Noble, R.A.

1987-04-01

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

Detection, identification and classification of defects using ANN and a robotic manipulator of 2 G.L. (Kohonen and MLP algorithms)

International Nuclear Information System (INIS)

Barrera, G.; Fabian, M. A.; Ugalde, C. A.

2002-01-01

The ultrasonic inspection technique had a sustained growth since the 80's It has several advantages, compared with the contact technique. A flexible and low cost solution is presented based on virtual instrumentation for the servomechanism (manipulator) control of the ultrasound inspection transducer in the immersion technique. The developed system uses a personal computer (PC). a Windows Operating System. Virtual Instrumentation Software. DAQ cards and a GPIB card. As a solution to detection, classification and evaluation of defects an Artificial Neuronal Networks technique proposed. It consists of characterization and interpretation of acoustic signals (echoes) acquired by the immersion ultrasonic inspection technique. Two neuronal networks are proposed: Kohonen and Multilayer Perceptron (MLP). With this techniques non-linear complex processes can be modeled with great precision. The 2-degree of freedom manipulator control, the data acquisition and the net training have been carried out in a virtual instrument environment using LabVIEV and Data Engine. (Author) 14 refs

Distinct contributions of functional and deep neural network features to representational similarity of scenes in human brain and behavior.

Science.gov (United States)

Groen, Iris Ia; Greene, Michelle R; Baldassano, Christopher; Fei-Fei, Li; Beck, Diane M; Baker, Chris I

2018-03-07

Inherent correlations between visual and semantic features in real-world scenes make it difficult to determine how different scene properties contribute to neural representations. Here, we assessed the contributions of multiple properties to scene representation by partitioning the variance explained in human behavioral and brain measurements by three feature models whose inter-correlations were minimized a priori through stimulus preselection. Behavioral assessments of scene similarity reflected unique contributions from a functional feature model indicating potential actions in scenes as well as high-level visual features from a deep neural network (DNN). In contrast, similarity of cortical responses in scene-selective areas was uniquely explained by mid- and high-level DNN features only, while an object label model did not contribute uniquely to either domain. The striking dissociation between functional and DNN features in their contribution to behavioral and brain representations of scenes indicates that scene-selective cortex represents only a subset of behaviorally relevant scene information.

Manipulators

International Nuclear Information System (INIS)

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

2005-01-01

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

Animal Social Network Theory Can Help Wildlife Conservation

NARCIS (Netherlands)

Snijders, Lysanne; Blumstein, Daniel T.; Stanley, Christina R.; Franks, Daniel W.

2017-01-01

Many animals preferentially associate with certain other individuals. This social structuring can influence how populations respond to changes to their environment, thus making network analysis a promising technique for understanding, predicting, and potentially manipulating population dynamics.

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2003-01-01

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

Positional control of space robot manipulator

Science.gov (United States)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

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

Why do spinal manipulation techniques take the form they do? Towards a general model of spinal manipulation.

Science.gov (United States)

Evans, David W

2010-06-01

For centuries, techniques used to manipulate joints in the spine have been passed down from one generation of manipulators to the next. Today, spinal manipulation is in the curious position that positive clinical effects have now been demonstrated, yet the theoretical base underpinning every aspect of its use is still underdeveloped. An important question is posed in this masterclass: why do spinal manipulation techniques take the form they do? From the available literature, two factors appear to provide an answer: 1. Action of a force upon vertebrae. Any 'direct' spinal manipulation technique requires that the patient be orientated in such a way that force is applied perpendicular to the overlying skin surface so as to act upon the vertebrae beneath. If the vertebral motion produced by 'directly' applied force is insufficient to produce the desired effect (e.g. cavitation), then force must be applied 'indirectly', often through remote body segments such as the head, thorax, abdomen, pelvis, and extremities. 2. Spinal segment morphology. A new hypothesis is presented. Spinal manipulation techniques exploit the morphology of vertebrae by inducing rotation at a spinal segment, about an axis that is always parallel to the articular surfaces of the constituent zygapophysial joints. In doing so, the articular surfaces of one zygapophysial joint appose to the point of contact, resulting in migration of the axis of rotation towards these contacting surfaces, and in turn this facilitates gapping of the other (target) zygapophysial joint. Other variations in the form of spinal manipulation techniques are likely to depend upon the personal style and individual choices of the practitioner.

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

Directory of Open Access Journals (Sweden)

Max Schwarz

2016-10-01

Full Text Available Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

Better with Byzantine: Manipulation-Optimal Mechanisms

Science.gov (United States)

Othman, Abraham; Sandholm, Tuomas

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

Estimating the per-capita contribution of habitats and pathways in a migratory network: A modelling approach

Science.gov (United States)

Wiederholt, Ruscena; Mattsson, Brady J.; Thogmartin, Wayne E.; Runge, Michael C.; Diffendorfer, Jay E.; Erickson, Richard A.; Federico, Paula; Lopez-Hoffman, Laura; Fryxell, John; Norris, D. Ryan; Sample, Christine

2018-01-01

Every year, migratory species undertake seasonal movements along different pathways between discrete regions and habitats. The ability to assess the relative demographic contributions of these different habitats and pathways to the species’ overall population dynamics is critical for understanding the ecology of migratory species, and also has practical applications for management and conservation. Metrics for assessing habitat contributions have been well-developed for metapopulations, but an equivalent metric is not currently available for migratory populations. Here, we develop a framework for estimating the demographic contributions of the discrete habitats and pathways used by migratory species throughout the annual cycle by estimating the per capita contribution of cohorts using these locations. Our framework accounts for seasonal movements between multiple breeding and non-breeding habitats and for both resident and migratory cohorts. We illustrate our framework using a hypothetical migratory network of four habitats, which allows us to better understand how variations in habitat quality affect per capita contributions. Results indicate that per capita contributions for any habitat or pathway are dependent on habitat-specific survival probabilities in all other areas used as part of the migratory circuit, and that contribution metrics are spatially linked (e.g. reduced survival in one habitat also decreases the contribution metric for other habitats). Our framework expands existing theory on the dynamics of spatiotemporally structured populations by developing a generalized approach to estimate the habitat- and pathway-specific contributions of species migrating between multiple breeding and multiple non-breeding habitats for a range of life histories or migratory strategies. Most importantly, it provides a means of prioritizing conservation efforts towards those migratory pathways and habitats that are most critical for the population viability of

The TFTR maintenance manipulator

International Nuclear Information System (INIS)

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

1989-01-01

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

MANIPULATING CONSUMERS THROUGH ADVERTISING

Directory of Open Access Journals (Sweden)

Nicoleta -Andreea Neacşu

2012-12-01

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

Interaction control of a redundant mobile manipulator

International Nuclear Information System (INIS)

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

1998-01-01

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

On stiffening cables of a long reach manipulator

International Nuclear Information System (INIS)

Wang, S.L.; Santiago, P.

1996-01-01

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

Manipulation Robustness of Collaborative Filtering

OpenAIRE

Benjamin Van Roy; Xiang Yan

2010-01-01

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

Comparative analysis of hydraulic crane-manipulating installations transport and technological machines and industrial robots hydraulic manipulators

Directory of Open Access Journals (Sweden)

Lagerev I.A.

2016-09-01

Full Text Available The article presents results of comparative analysis of hydraulic crane-manipulator installations of mobile transport and technological machines and hydraulic manipulators of industrial robots. The comparative analysis is based on consid-eration of a wide range of types and sizes indicated technical devices of both domestic and foreign production: 1580 structures of cranes and more than 450 structures of industrial robots. It was performed in the following areas: func-tional purpose and basic technical characteristics; a design; the loading conditions of the model and failures in operation process; approaches to the design, calculation methods and mathematical modeling. The conclusions about the degree of similarity and the degree of difference hydraulic crane-manipulator installations of transport and technological ma-chines and hydraulic industrial robot manipulators from the standpoint of their design and modeling occurring in them during operation of dynamic and structural processes.

Atomic and molecular manipulation

CERN Document Server

Mayne, Andrew J

2011-01-01

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

Actin and microtubule networks contribute differently to cell response for small and large strains

Science.gov (United States)

Kubitschke, H.; Schnauss, J.; Nnetu, K. D.; Warmt, E.; Stange, R.; Kaes, J.

2017-09-01

Cytoskeletal filaments provide cells with mechanical stability and organization. The main key players are actin filaments and microtubules governing a cell’s response to mechanical stimuli. We investigated the specific influences of these crucial components by deforming MCF-7 epithelial cells at small (≤5% deformation) and large strains (>5% deformation). To understand specific contributions of actin filaments and microtubules, we systematically studied cellular responses after treatment with cytoskeleton influencing drugs. Quantification with the microfluidic optical stretcher allowed capturing the relative deformation and relaxation of cells under different conditions. We separated distinctive deformational and relaxational contributions to cell mechanics for actin and microtubule networks for two orders of magnitude of drug dosages. Disrupting actin filaments via latrunculin A, for instance, revealed a strain-independent softening. Stabilizing these filaments by treatment with jasplakinolide yielded cell softening for small strains but showed no significant change at large strains. In contrast, cells treated with nocodazole to disrupt microtubules displayed a softening at large strains but remained unchanged at small strains. Stabilizing microtubules within the cells via paclitaxel revealed no significant changes for deformations at small strains, but concentration-dependent impact at large strains. This suggests that for suspended cells, the actin cortex is probed at small strains, while at larger strains; the whole cell is probed with a significant contribution from the microtubules.

Dynamic whole-body robotic manipulation

Science.gov (United States)

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

2013-05-01

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

The impact of aortic manipulation on neurologic outcomes after coronary artery bypass surgery: a risk-adjusted study.

Science.gov (United States)

Kapetanakis, Emmanouil I; Stamou, Sotiris C; Dullum, Mercedes K C; Hill, Peter C; Haile, Elizabeth; Boyce, Steven W; Bafi, Ammar S; Petro, Kathleen R; Corso, Paul J

2004-11-01

Cerebral embolization of atherosclerotic plaque debris caused by aortic manipulation during conventional coronary artery bypass grafting (CABG) is a major mechanism of postoperative cerebrovascular accidents (CVA). Off-pump CABG (OPCABG) reduces stroke rates by minimizing aortic manipulation. Consequently, the effect of different levels of aortic manipulation on neurologic outcomes after CABG surgery was examined. From January 1998 to June 2002, 7,272 patients underwent isolated CABG surgery through three levels of aortic manipulation: full plus tangential (side-biting) aortic clamp application (on-pump surgery; n = 4,269), only tangential aortic clamp application (OPCABG surgery; n = 2,527) or an "aortic no-touch" technique (OPCABG surgery; n = 476). A risk-adjusted logistic regression analysis was performed to establish the likelihood of postoperative stroke with each technique. Preoperative risk factors for stroke from the literature, and those found significant in a univariable model were used. A significant association for postoperative stroke correspondingly increasing with the extent of aortic manipulation was demonstrated by the univariable analysis (CVA incidence respectively increasing from 0.8% to 1.6% to a maximum of 2.2%, p < 0.01). In the logistic regression model, patients who had a full and a tangential aortic clamp applied were 1.8 times more likely to have a stroke versus those without any aortic manipulation (95% confidence interval: 1.15 to 2.74, p < 0.01) and 1.7 times more likely to develop a postoperative stroke than those with only a tangential aortic clamp applied (95% confidence interval: 1.11 to 2.48, p < 0.01). Aortic manipulation during CABG is a contributing mechanism for postoperative stroke. The incidence of postoperative stroke increases with increased levels of aortic manipulation.

Altering neuronal excitability to preserve network connectivity in a computational model of Alzheimer's disease.

Directory of Open Access Journals (Sweden)

Willem de Haan

2017-09-01

Full Text Available Neuronal hyperactivity and hyperexcitability of the cerebral cortex and hippocampal region is an increasingly observed phenomenon in preclinical Alzheimer's disease (AD. In later stages, oscillatory slowing and loss of functional connectivity are ubiquitous. Recent evidence suggests that neuronal dynamics have a prominent role in AD pathophysiology, making it a potentially interesting therapeutic target. However, although neuronal activity can be manipulated by various (non-pharmacological means, intervening in a highly integrated system that depends on complex dynamics can produce counterintuitive and adverse effects. Computational dynamic network modeling may serve as a virtual test ground for developing effective interventions. To explore this approach, a previously introduced large-scale neural mass network with human brain topology was used to simulate the temporal evolution of AD-like, activity-dependent network degeneration. In addition, six defense strategies that either enhanced or diminished neuronal excitability were tested against the degeneration process, targeting excitatory and inhibitory neurons combined or separately. Outcome measures described oscillatory, connectivity and topological features of the damaged networks. Over time, the various interventions produced diverse large-scale network effects. Contrary to our hypothesis, the most successful strategy was a selective stimulation of all excitatory neurons in the network; it substantially prolonged the preservation of network integrity. The results of this study imply that functional network damage due to pathological neuronal activity can be opposed by targeted adjustment of neuronal excitability levels. The present approach may help to explore therapeutic effects aimed at preserving or restoring neuronal network integrity and contribute to better-informed intervention choices in future clinical trials in AD.

Data manipulation with R

CERN Document Server

Abedin, Jaynal

2014-01-01

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

Stock Market Manipulation on the Hong Kong Stock Exchange

Directory of Open Access Journals (Sweden)

Dionigi Gerace

2014-10-01

Full Text Available This study is the first to empirically examine stock market manipulation on the Hong Kong Stock Exchange. The dataset contains 40 cases of market manipulation from 1996 to 2009 that were successfully prosecuted by the Hong Kong Securities & Futures Commission. Manipulation is found to negatively impact market efficiency measures such as the bid-ask spread and volatility. Markets appear incapable of efficiently responding to the presence of manipulators and are characterised by information asymmetry. Manipulators were successfully able to raise prices and exit the market. This finding contradicts views that trade-based manipulation is entirely unprofitable and self-deterring. The victimisation of information-seeking investors and the market as a whole provides a strong rationale for all jurisdictions, including Australia, to have effective laws that prohibit manipulation and for robust enforcement of those laws to further deter market manipulation.

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2004-01-01

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

Tension Stiffened and Tendon Actuated Manipulator

Science.gov (United States)

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

2015-01-01

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

Physical manipulation of single-molecule DNA using microbead and its application to analysis of DNA-protein interaction

International Nuclear Information System (INIS)

Kurita, Hirofumi; Yasuda, Hachiro; Takashima, Kazunori; Katsura, Shinji; Mizuno, Akira

2009-01-01

We carried out an individual DNA manipulation using an optical trapping for a microbead. This manipulation system is based on a fluorescent microscopy equipped with an IR laser. Both ends of linear DNA molecule were labeled with a biotin and a thiol group, respectively. Then the biotinylated end was attached to a microbead, and the other was immobilized on a thiol-linkable glass surface. We controlled the form of an individual DNA molecule by moving the focal point of IR laser, which trapped the microbead. In addition, we applied single-molecule approach to analyze DNA hydrolysis. We also used microchannel for single-molecule observation of DNA hydrolysis. The shortening of DNA in length caused by enzymatic hydrolysis was observed in real-time. The single-molecule DNA manipulation should contribute to elucidate detailed mechanisms of DNA-protein interactions

Particle Manipulation Methods in Droplet Microfluidics.

Science.gov (United States)

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

2018-02-06

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

Kinematics of a Hybrid Manipulator by Means of Screw Theory

International Nuclear Information System (INIS)

Gallardo-Alvarado, J

2005-01-01

In this work the kinematics of a hybrid manipulator, namely a fully parallel-serial manipulator, with a particular topology is approached by means of the theory of screws. Given the length of the six independent limbs, the forward position analysis of the mechanism under study, indeed the computation of the resulting pose, position and orientation, of the end-platform with respect to the fixed platform, is carried out in closed-form solution. Therefore conveniently this initial analysis avoids the use of a numerical technique such as the Newton-Raphson method. Writing in screw form the reduced acceleration state of the translational platform, with respect to the fixed platform, a simple expression for the computation of the acceleration of the translational platform is derived by taking advantage of the properties of reciprocal screws, via the Klein form, a bilinear symmetric form of the Lie algebra e(3). Following a similar procedure, a simple expression for the computation of the angular acceleration of the end-platform, with respect to the translational platform, is easily derived. Naturally, as an intermediate step, this contribution also provides the forward and inverse velocity analyses of the chosen parallel-serial manipulator. Finally, in order to prove the versatility of the expressions obtained via screw theory for solving the kinematics, up to the acceleration analysis, of the proposed spatial mechanism, a numerical example is solved with the help of commercial computer codes

Manipulation or Mobilisation for Neck Pain

NARCIS (Netherlands)

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

2010-01-01

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

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

Science.gov (United States)

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

2018-05-10

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

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

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

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

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

Co-extinction in a host-parasite network: identifying key hosts for network stability.

Science.gov (United States)

Dallas, Tad; Cornelius, Emily

2015-08-17

Parasites comprise a substantial portion of total biodiversity. Ultimately, this means that host extinction could result in many secondary extinctions of obligate parasites and potentially alter host-parasite network structure. Here, we examined a highly resolved fish-parasite network to determine key hosts responsible for maintaining parasite diversity and network structure (quantified here as nestedness and modularity). We evaluated four possible host extinction orders and compared the resulting co-extinction dynamics to random extinction simulations; including host removal based on estimated extinction risk, parasite species richness and host level contributions to nestedness and modularity. We found that all extinction orders, except the one based on realistic extinction risk, resulted in faster declines in parasite diversity and network structure relative to random biodiversity loss. Further, we determined species-level contributions to network structure were best predicted by parasite species richness and host family. Taken together, we demonstrate that a small proportion of hosts contribute substantially to network structure and that removal of these hosts results in rapid declines in parasite diversity and network structure. As network stability can potentially be inferred through measures of network structure, our findings may provide insight into species traits that confer stability.

Contribution to the Management of Traffic in Networks

Directory of Open Access Journals (Sweden)

Filip Chamraz

2014-01-01

Full Text Available The paper deals with Admission control methods (AC in IMS networks (IP multimedia subsystem as one of the elements that help ensure QoS (Quality of service. In the paper we are trying to choose the best AC method for selected IMS network to allow access to the greatest number of users. Of the large number of methods that were tested and considered good we chose two. The paper compares diffusion method and one of the measurement based method, specifically „Simple Sum“. Both methods estimate effective bandwidth to allow access for the greatest number of users/devices and allow them access to prepaid services or multimedia content.

Mapping of the Underlying Neural Mechanisms of Maintenance and Manipulation in Visuo-Spatial Working Memory Using An n-back Mental Rotation Task: A Functional Magnetic Resonance Imaging Study.

Science.gov (United States)

Lamp, Gemma; Alexander, Bonnie; Laycock, Robin; Crewther, David P; Crewther, Sheila G

2016-01-01

Mapping of the underlying neural mechanisms of visuo-spatial working memory (WM) has been shown to consistently elicit activity in right hemisphere dominant fronto-parietal networks. However to date, the bulk of neuroimaging literature has focused largely on the maintenance aspect of visuo-spatial WM, with a scarcity of research into the aspects of WM involving manipulation of information. Thus, this study aimed to compare maintenance-only with maintenance and manipulation of visuo-spatial stimuli (3D cube shapes) utilizing a 1-back task while functional magnetic resonance imaging (fMRI) scans were acquired. Sixteen healthy participants (9 women, M = 23.94 years, SD = 2.49) were required to perform the 1-back task with or without mentally rotating the shapes 90° on a vertical axis. When no rotation was required (maintenance-only condition), a right hemispheric lateralization was revealed across fronto-parietal areas. However, when the task involved maintaining and manipulating the same stimuli through 90° rotation, activation was primarily seen in the bilateral parietal lobe and left fusiform gyrus. The findings confirm that the well-established right lateralized fronto-parietal networks are likely to underlie simple maintenance of visuo-spatial stimuli. The results also suggest that the added demand of manipulation of information maintained online appears to require further neural recruitment of functionally related areas. In particular mental rotation of visuospatial stimuli required bilateral parietal areas, and the left fusiform gyrus potentially to maintain a categorical or object representation. It can be concluded that WM is a complex neural process involving the interaction of an increasingly large network.

Actin Cytoskeleton Manipulation by Effector Proteins Secreted by Diarrheagenic Escherichia coli Pathotypes

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Fernando Navarro-Garcia

2013-01-01

Full Text Available The actin cytoskeleton is a dynamic structure necessary for cell and tissue organization, including the maintenance of epithelial barriers. Disruption of the epithelial barrier coincides with alterations of the actin cytoskeleton in several disease states. These disruptions primarily affect the paracellular space, which is normally regulated by tight junctions. Thereby, the actin cytoskeleton is a common and recurring target of bacterial virulence factors. In order to manipulate the actin cytoskeleton, bacteria secrete and inject toxins and effectors to hijack the host cell machinery, which interferes with host-cell pathways and with a number of actin binding proteins. An interesting model to study actin manipulation by bacterial effectors is Escherichia coli since due to its genome plasticity it has acquired diverse genetic mobile elements, which allow having different E. coli varieties in one bacterial species. These E. coli pathotypes, including intracellular and extracellular bacteria, interact with epithelial cells, and their interactions depend on a specific combination of virulence factors. In this paper we focus on E. coli effectors that mimic host cell proteins to manipulate the actin cytoskeleton. The study of bacterial effector-cytoskeleton interaction will contribute not only to the comprehension of the molecular causes of infectious diseases but also to increase our knowledge of cell biology.

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

Science.gov (United States)

Hartley, Breanne K.

2009-01-01

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

Evaluation of Remote Collaborative Manipulation for Scientific Data Analysis

OpenAIRE

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

2012-01-01

International audience; In the context of scientific data analysis, we propose to compare a remote collaborative manipulation technique with a single user manipulation technique. The manipulation task consists in positioning a clipping plane in order to perform cross-sections of scientific data which show several points of interest located inside this data. For the remote collaborative manipulation, we have chosen to use the 3-hand manipulation technique proposed by Aguerreche et al. which is...

Reconfigurable mobile manipulation for accident response

International Nuclear Information System (INIS)

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

2000-01-01

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

Phenomena of Inter-age Manipulations in Interaction "Teacher-Student"

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Miklyaeva A.V.,

2017-01-01

Full Text Available Thearticlepresentsthe results of studies of the phenomenon empirical inter-age manipulation in the pedagogical interaction. Inter-age manipulation is considered a form of manipulation carried out on the basis of an appeal to the participants in the interaction age roles. Based on the results of a survey 109 teenagers 13-15 years, using a questionnaire, color test of relations and projective drawing shows that inter-age manipulation is a common way to impact on the students, elected teacher. Teachers are the subjects of inter-age manipulation more often than students. It was revealed that the effectiveness of inter-age manipulation in pedagogical interaction increases if it is meaningful is consistent with the normative content of age roles, as well as «inter-age distance" between the teacher and the students. The greatest effectiveness of have inter-age manipulation undertaken for older teachers, and manipulation "from below" from young teachers

Active volcanoes observed through Art: the contribution offered by the social networks

Science.gov (United States)

Neri, Marco; Neri, Emilia

2015-04-01

Volcanoes have always fascinated people for the wild beauty of their landscapes and also for the fear that they arouse with their eruptive actions, sometimes simply spectacular, but other times terrifying and catastrophic for human activities. In the past, volcanoes were sometimes imagined as a metaphysical gateway to the otherworld; they have inspired the creation of myths and legends ever since three thousand years ago, also represented by paintings of great artistic impact. Modern technology today offers very sophisticated and readily accessed digital tools, and volcanoes continue to be frequently photographed and highly appreciated natural phenomena. Moreover, in recent years, the spread of social networks (Facebook, Twitter, YouTube, Instagram, etc.) have made the widespread dissemination of graphic contributions even easier. The result is that very active and densely inhabited volcanoes such as Etna, Vesuvius and Aeolian Islands, in Italy, have become among the most photographed subjects in the world, providing a popular science tool with formidable influence and usefulness. The beauty of these landscapes have inspired both professional artists and photographers, as well as amateurs, who compete in the social networks for the publication of the most spectacular, artistic or simply most informative images. The end result of this often frantic popular scientific activity is at least two-fold: on one hand, it provides geoscientists and science communicators a quantity of documentation that is almost impossible to acquire through the normal systems of volcano monitoring, while on the other it raises awareness and respect for the land among the civil community.

Maximum allowable load on wheeled mobile manipulators

International Nuclear Information System (INIS)

Habibnejad Korayem, M.; Ghariblu, H.

2003-01-01

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

Laser Diode Beam Basics, Manipulations and Characterizations

CERN Document Server

Sun, Haiyin

2012-01-01

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

Manipulatives Work!

Science.gov (United States)

Moch, Peggy L.

2001-01-01

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

Seismic qualification of existing safety class manipulators

International Nuclear Information System (INIS)

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

1992-01-01

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

Control of master-slave manipulator using virtual force

International Nuclear Information System (INIS)

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)

NETWORK, HOW? Perceptions of business people on networking practices

Directory of Open Access Journals (Sweden)

Saskia De Klerk

2010-12-01

Full Text Available Purpose: The purpose of this paper was to contribute to literature on networking from a South African perspective. Literature on networking is mainly concentrated on the European and American contexts with homogeneous groups and traditional divisions. The business landscape of South Africa thus requires more investigation. Problem investigated: Literature regarding networking in an South African context with its dynamic business environment is limited. This article addresses the concerns of how South African business owners and managers perceive networking in their businesses and specifically focus on the South African perspective. Therefore, the focus is on the perceptions of business owners and managers on current networking practices in South Africa. Methodology: A qualitative research design to uncover the rich underlying feelings of business owners and managers was used. The qualitative enquiry consisted of five focus group discussions (n=41 participants among prominent business owners and managers in the Gauteng Province, South Africa. The Gauteng Province was selected since it is the economic and innovation hub of South Africa. Findings and implications: The main findings showed the following main themes of networking that emerged from the data, and included (1 networking as a skill versus a natural ability; (2 the motivation behind networking; (3 the loci of networking; (4 the type of relationships that determine the character of the network; and (5 the relationship characteristics of successful networking. The main contribution of this is that there seems to be different networking situations and applications for different circumstances. According to the participants, it seems that networking in the South African landscape appears to be either relationship or business based. Originality and value of the research: The value of these findings lies in the fact that they contribute to networking literature from a South African perspective

How to Make the Most of Math Manipulatives.

Science.gov (United States)

Burns, Marilyn

1996-01-01

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

Advanced manipulator system for large hot cells

International Nuclear Information System (INIS)

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

1981-01-01

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

Digital Manipulation in Scientific Images: Some Ethical Considerations.

Science.gov (United States)

Hayden, James E.

2000-01-01

Discusses the importance of images in the publishing and presentation of scientific research. Explains the use of photographs as scientific data in research. Lists some reasons for the manipulation of images, and clarifies the acceptable and unacceptable limits of manipulation and image manipulation policy. (Author/YDS)

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

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

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

International Nuclear Information System (INIS)

Geisinger, Joseph W. Ph.D.

2001-01-01

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

Manipulation of biological samples using micro and nano techniques.

Science.gov (United States)

Castillo, Jaime; Dimaki, Maria; Svendsen, Winnie Edith

2009-01-01

The constant interest in handling, integrating and understanding biological systems of interest for the biomedical field, the pharmaceutical industry and the biomaterial researchers demand the use of techniques that allow the manipulation of biological samples causing minimal or no damage to their natural structure. Thanks to the advances in micro- and nanofabrication during the last decades several manipulation techniques offer us the possibility to image, characterize and manipulate biological material in a controlled way. Using these techniques the integration of biomaterials with remarkable properties with physical transducers has been possible, giving rise to new and highly sensitive biosensing devices. This article reviews the different techniques available to manipulate and integrate biological materials in a controlled manner either by sliding them along a surface (2-D manipulation), by grapping them and moving them to a new position (3-D manipulation), or by manipulating and relocating them applying external forces. The advantages and drawbacks are mentioned together with examples that reflect the state of the art of manipulation techniques for biological samples (171 references).

Improvement of the M/S manipulator maintenance at OSL

International Nuclear Information System (INIS)

Kuwana, Koichi; Ouchi, Hiroshi; Ito, Yutaka; Sato, Yoshihiro; Midorikawa, Mituhiro; Hayakawa, Tuyoshi

2010-01-01

The safeguards inspection samples from the JNFL Rokkasho Reprocessing Plant (RRP) are received and analyzed at the On Site Laboratory (OSL). Since the samples from the input accountancy tank of the RRP contain a lot of fission products, they are treated in a hot-cell line with a M/S (Master /Slave) manipulator. Special equipment and tools were used for the maintenance of the M/S manipulator, especially for the exchange of the M/S manipulator. However, the manipulator exchange work was not easy due to the limitation of the space in the OSL. For solution to this problem, a monorail and monorail hoist equipment was installed onto wall surface of analytical room close to each M/S manipulator, and then it made the exchange of M/S manipulator easy without special equipment and tools. Additionally, operator was freed from the burden of working space arranging for the exchange of M/S manipulator such as removing of analytical equipments. This report represents the improvement of operation for the exchange of M/S manipulator with installation of monorail and hoist equipment. (author)

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

Science.gov (United States)

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

2015-12-01

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

Manipulations of Totalitarian Nazi Architecture

Science.gov (United States)

Antoszczyszyn, Marek

2017-10-01

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

Lazy motion planning for robotic manipulators

NARCIS (Netherlands)

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

2017-01-01

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

Carrier ethernet network control plane based on the Next Generation Network

DEFF Research Database (Denmark)

Fu, Rong; Wang, Yanmeng; Berger, Michael Stubert

2008-01-01

This paper contributes on presenting a step towards the realization of Carrier Ethernet control plane based on the next generation network (NGN). Specifically, transport MPLS (T-MPLS) is taken as the transport technology in Carrier Ethernet. It begins with providing an overview of the evolving...... architecture of the next generation network (NGN). As an essential candidate among the NGN transport technologies, the definition of Carrier Ethernet (CE) is also introduced here. The second part of this paper depicts the contribution on the T-MPLS based Carrier Ethernet network with control plane based on NGN...... at illustrating the improvement of the Carrier Ethernet network with the NGN control plane....

Manipulators inspired by the tongue of the chameleon.

Science.gov (United States)

Debray, Alexis

2011-06-01

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

Manipulators inspired by the tongue of the chameleon

International Nuclear Information System (INIS)

Debray, Alexis

2011-01-01

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

Manipulators inspired by the tongue of the chameleon

Energy Technology Data Exchange (ETDEWEB)

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

2011-06-15

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

Can earnings manipulation create value?

OpenAIRE

Anton Miglo

2008-01-01

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

A Geometry Deformation Model for Braided Continuum Manipulators

Directory of Open Access Journals (Sweden)

S. M. Hadi Sadati

2017-06-01

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

The application of manipulator robot for nuclear plant maintenance

International Nuclear Information System (INIS)

Kohata, Yukifumi; Fujita, Jun; Onishi, Ken; Tsuhari, Hiroyuki; Hosoe, Fumihiro

2010-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. Various robots are needed because there is various maintenance works. This is inefficiency. As the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. We achieved efficiency improvement and the reliability improvement by developing a high generality manipulator. (author)

Physics Based Vision Systems for Robotic Manipulation

Data.gov (United States)

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

Final report of the study on heat networks in Ile-de-France, contributing to the elaboration of the climate-air-energy regional scheme + Judicial aspect + Economic aspect + Assessment of development potential of urban heating in Ile-de-France - Analysis document based on the study on heat networks contributing to the elaboration of the climate-air-energy regional plan

International Nuclear Information System (INIS)

2012-10-01

A first report is a contribution to the elaboration of a plan aiming at the substitution of fossil energies, at the development of heat deliveries, while maintaining network economic profitability. Such a plan is based on the connection of buildings, the renovation, extension and interconnection of existing networks, and the creation of new heat networks. The study addressed technical, urban, financial, judicial and cartographic aspects. Public statistical data have been used and interviews of actors (network funders, representatives of delegating authorities, social landlords, administrations, and technical professions) have been performed. A guide of good practices is proposed regarding contract reviewing conditions, possibilities of revision of subscribed power. Prospective issues are discussed: strategic stakes and deposits, actions paths and tools, strategy and action plan. Appendices address methodologies, organisation of the geographical information system, judicial aspect with the circular of 1982, financial data and aspects. Then, a set of reports more precisely presents various aspects addressed as a contribution for the study of heat networks in Ile-de-France: the judicial aspect (present status, guide of good judicial practices), the economic aspect (present status of sale prices and costs, analysis of financing, of revision formula), and an assessment of urban heating development (context, technical aspect, analysis of the geographical information system)

System Integration for Real-Time Mobile Manipulation

Directory of Open Access Journals (Sweden)

Reza Oftadeh

2014-03-01

Full Text Available Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator's mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based controls, and proposes a systematic solution based on code generation products of MATLAB and Simulink. The remote development environment described here is used to develop real-time controller software and modules for the mobile manipulator under a POSIX-compliant, real-time Linux operating system. Our approach enables developers to reliably design controller modules that meet the hard real-time constraints of the entire low-level system architecture. Moreover, it provides a systematic framework for the development and integration of hardware devices with various communication mediums and protocols, which facilitates the development and integration process of the software controller.

Development of a maintenance manipulator for TFTR

International Nuclear Information System (INIS)

Holloway, C.

1986-01-01

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

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

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

2002-01-01

To handle the high level radioactive materials such as spent fuels remotely, the master-slave manipulator is generally used as a remote handling equipment in the hot cell. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual work cell is implemented in the graphical environment which is the same as the real environment and the path planning method using the function of the collision detection for a manipulator are proposed. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management

Laser microbeams for the manipulation of plant cells and subcellular structures

International Nuclear Information System (INIS)

Hoffmann, F.

1996-01-01

Laser microsurgery has been used in plants to study physiological, cell biological and genetical questions for over 10 years. More recently, the optical trap became available as an additional tool. Specific areas of research include membrane physiology, motility, transformation and protoplast fusion. Compared to the data reported in animal systems, the contributions of laser microbeam manipulations in plant biology are rather limited. However, with increased awareness of the enormous potential of the technology and better accessibility to less expensive and more user-friendly equipment, the next decade should be more productive. (author)

Pose Space Surface Manipulation

Directory of Open Access Journals (Sweden)

Yusuke Yoshiyasu

2012-01-01

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

Development of an optimum end-effector with a nano-scale uneven surface for non-adhesion cell manipulation using a micro-manipulator

International Nuclear Information System (INIS)

Horade, M; Kojima, M; Kamiyama, K; Kurata, T; Mae, Y; Arai, T

2015-01-01

In order to realize effective micro-manipulation using a micro-manipulator system, an optimum end-effector is proposed. Cell-manipulation experiments using mouse fibroblast cells are conducted, and the usability of the proposed end-effector is confirmed. A key advantage of the micro-manipulator is high-accuracy, high-speed 3D micro- and nano-scale positioning. Micro-manipulation has often been used in research involving biological cells. However, there are two important concerns with the micro-manipulator system: gripping efficiency and the release of gripped objects. When it is not possible to grip a micro-object, such as a cell, near its center, the object may be dropped during manipulation. Since the acquisition of exact position information for a micro-object in the vertical direction is difficult using a microscope, the gripping efficiency of the end-effector should be improved. Therefore, technical skill or operational support is required. Since, on the micro-scale, surface forces such as the adsorption force are greater than body forces, such as the gravitational force, the adhesion force between the end-effector and the object is strong. Therefore, manipulation techniques without adhesion are required for placed an object at an arbitrary position. In the present study, we consider direct physical contact between the end-effector and objects. First, the design and materials of the end-effector for micro-scale manipulation were optimized, and an end-effector with an optimum shape to increase the grip force was fabricated. Second, the surface of the end-effector tip was made uneven, and the adhesion force from increasing on the micro-scale was prevented. When an end-effector with an uneven surface was used, release without adhesion was successful 85.0% of the time. On the other hand, when an end-effector without an uneven surface was used, release without adhesion was successful 6.25% of the time. Therefore, the superiority of a structure with an uneven

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

Energy Technology Data Exchange (ETDEWEB)

Joseph W. Geisinger, Ph.D.

2001-07-31

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

Judging Nudging : Answering the Manipulation Objection

NARCIS (Netherlands)

Nys, Thomas; Engelen, Bart

2017-01-01

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

Surgical manipulation of mammalian embryos in vitro.

Science.gov (United States)

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

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

An octopus-bioinspired solution to movement and manipulation for soft robots

Energy Technology Data Exchange (ETDEWEB)

Calisti, M; Giorelli, M; Laschi, C; Dario, P [BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa (Italy); Levy, G; Hochner, B [Hebrew University of Jerusalem, Jerusalem (Israel); Mazzolai, B, E-mail: marcello.calisti@sssup.it, E-mail: michele.giorelli@sssup.it, E-mail: guy.levy@mail.huji.ac.il, E-mail: barbara.mazzolai@iit.it, E-mail: Binyamin.Hochner@huji.ac.il, E-mail: cecilia.laschi@sssup.it, E-mail: paolo.dario@sssup.it [Centre for Micro-BioRobotics-SSSA, Istituto Italiano di Tecnologia, Pontedera (Italy)

2011-09-15

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

An octopus-bioinspired solution to movement and manipulation for soft robots

International Nuclear Information System (INIS)

Calisti, M; Giorelli, M; Laschi, C; Dario, P; Levy, G; Hochner, B; Mazzolai, B

2011-01-01

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

An octopus-bioinspired solution to movement and manipulation for soft robots.

Science.gov (United States)

Calisti, M; Giorelli, M; Levy, G; Mazzolai, B; Hochner, B; Laschi, C; Dario, P

2011-09-01

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

Active Versus Passive Academic Networking

DEFF Research Database (Denmark)

Goel, Rajeev K.; Grimpe, Christoph

2013-01-01

This paper examines determinants of networking by academics. Using information from a unique large survey of German researchers, the key contribution focuses on the active versus passive networking distinction. Is active networking by researchers a substitute or a complement to passive networking......? Other contributions include examining the role of geographic factors in networking and whether research bottlenecks affect a researcher's propensity to network. Are the determinants of European conference participation by German researchers different from conferences in rest of the world? Results show...... that some types of passive academic networking are complementary to active networking, while others are substitute. Further, we find differences in factors promoting participation in European conferences versus conferences in rest of the world. Finally, publishing bottlenecks as a group generally do...

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-07-01

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

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-04-01

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

A systematic review of the use of dosage form manipulation to obtain required doses to inform use of manipulation in paediatric practice.

Science.gov (United States)

Richey, Roberta H; Hughes, Clare; Craig, Jean V; Shah, Utpal U; Ford, James L; Barker, Catrin E; Peak, Matthew; Nunn, Anthony J; Turner, Mark A

2017-02-25

This study sought to determine whether there is an evidence base for drug manipulation to obtain the required dose, a common feature of paediatric clinical practice. A systematic review of the data sources, PubMed, EMBASE, CINAHL, IPA and the Cochrane database of systematic reviews, was used. Studies that considered the dose accuracy of manipulated medicines of any dosage form, evidence of safety or harm, bioavailability, patient experience, tolerability, contamination and comparison of methods of manipulation were included. Case studies and letters were excluded. Fifty studies were eligible for inclusion, 49 of which involved tablets being cut, split, crushed or dispersed. The remaining one study involved the manipulation of suppositories of one drug. No eligible studies concerning manipulation of oral capsules or liquids, rectal enemas, nebuliser solutions, injections or transdermal patches were identified. Twenty four of the tablet studies considered dose accuracy using weight and/or drug content. In studies that considered weight using adapted pharmacopoeial specifications, the percentage of halved tablets meeting these specifications ranged from 30% to 100%. Eighteen studies investigated bioavailability, pharmacokinetics or clinical outcomes following manipulations which included nine delayed or modified release formulations. In each of these nine studies the entirety of the dosage form was administered. Only one of the 18 studies was identified where drugs were manipulated to obtain a proportion of the dosage form, and that proportion administered. The five studies that considered patient perception found that having to manipulate the tablets did not have a negative impact on adherence. Of the 49 studies only two studies reported investigating children. This review yielded limited evidence to support manipulation of medicines for children. The results cannot be extrapolated between dosage forms, methods of manipulation or between different brands of the same

Vestigial preference functions in neural networks and túngara frogs.

OpenAIRE

Phelps, S. M.; Ryan, M. J.; Rand, A. S.

2001-01-01

Although there is a growing interest in understanding how perceptual mechanisms influence behavioral evolution, few studies have addressed how perception itself is shaped by evolutionary forces. We used a combination of artificial neural network models and behavioral experiments to investigate how evolutionary history influenced the perceptual processes used in mate choice by female túngara frogs. We manipulated the evolutionary history of artificial neural network models and observed an emer...

Manipulators in deep ocean environments, needs versus technology

International Nuclear Information System (INIS)

Mackey, L.A.; Stenovec, G.M.

1984-01-01

As exploration and production proceed into deeper water, remotely operated vehicles (ROVs) and their manipulators acquire many of the tasks now performed by divers in shallower water. The resulting increased complexity of work tasks requires more dexterious manipulators. Even the most sophisticated of the manipulators today cannot perform many of the work tasks now performed by divers in shallower waters. Manipulators cannot yet duplicate the functions of the human hand. How much technology must be improved to perform the desired tasks, and how much adapting of the work task or equipment must be done to achieve a workable underwater robotics environment?

Synchronous gesture manipulation for collaboration and coordination of co-located Business Process Modelling

Directory of Open Access Journals (Sweden)

Brenda Scholtz

2015-12-01

Full Text Available The purpose of this study was to investigate approaches (techniques and technologies for the coordination of collaborative tasks using synchronous gesture manipulation. Business Process Modelling (BPM tasks are often performed in teams of modellers who need to collaborate with each other in order to coordinate and integrate their individual contributions into the various process models in a co-located environment. These collaborative BPM tasks were used as a case study in order to develop the artifact (the BPM-Touch approach as a proof of concept. The BPM-Touch approach allows for the coordination and collaboration of BPM tasks in co-located modelling teams using synchronous gesture manipulation approaches. The Design Science Research (DSR methodology was used and several cycles of developing and evaluating the artifact took place. This paper reports on the last cycle and set of evaluations. The proposed approach was implemented in a BPM software package in order to provide empirical validation. Usability evaluations of the software were undertaken with both students and BPM professionals as participants. The empirical results of the evaluations revealed that the participants found the approach to be effective and rated the usability and satisfaction of the collaboration and gesture manipulation aspects of the software positively.

A short tutorial contribution to impedance and AC-electrokinetic characterization and manipulation of cells and media: Are electric methods more versatile than acoustic and laser methods?

Directory of Open Access Journals (Sweden)

Jan Gimsa

2014-11-01

Full Text Available Lab-on-chip systems (LOCs can be used as in vitro systems for cell culture or manipulation in order to analyze or monitor physiological cell parameters. LOCs may combine microfluidic structures with integrated elements such as piezo-transducers, optical tweezers or electrodes for AC-electrokinetic cell and media manipulations. The wide frequency band (<1 kHz to >1 GHz usable for AC-electrokinetic manipulation and characterization permits avoiding electrochemical electrode processes, undesired cell damage, and provides a choice between different polarization effects that permit a high electric contrast between the cells and the external medium as well as the differentiation between cellular subpopulations according to a variety of parameters. It has been shown that structural polarization effects do not only determine the impedance of cell suspensions and the force effects in AC-electrokinetics but can also be used for the manipulation of media with inhomogeneous temperature distributions. This manuscript considers the interrelations of the impedance of suspensions of cells and AC-electrokinetic single cell effects, such as electroorientation, electrodeformation, dielectrophoresis, electrorotation, and travelling wave (TW dielectrophoresis. Unified models have allowed us to derive new characteristic equations for the impedance of a suspension of spherical cells, TW dielectrophoresis, and TW pumping. A critical review of the working principles of electro-osmotic, TW and electrothermal micropumps shows the superiority of the electrothermal pumps. Finally, examples are shown for LOC elements that can be produced as metallic structures on glass chips, which may form the bottom plate for self-sealing microfluidic systems. The structures can be used for cell characterization and manipulation but also to realize micropumps or sensors for pH, metabolites, cell-adhesion, etc.

Interpersonal relationship manipulation at a personal level

OpenAIRE

Andreja Hribernik

2010-01-01

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

W-026, acceptance test report manipulator system

International Nuclear Information System (INIS)

Watson, T.L.

1997-01-01

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

Contribution of the radiation hygiene laboratories network in physical protection of radiation materials in Romania

International Nuclear Information System (INIS)

Milu, C.

2002-01-01

Full text: The Ministry of Health and Family from Romania has its own radiation protection network, including 23 radiation hygiene laboratories (RHLs), within the Institutes of Public Health-Bucharest, Iassy, Cluj-Napoca and Timisoara and the Directions of Public Health from Arges county, Bihor, Brasov, Mures, Maramures, Cluj, Sibiu, Harghita, Suceava, lassy, Bacau, Neamt, Galati, Constanta, Prahova, Dolj, Caras-Severin, Timis and Bucharest City. The RHLs network has 170 persons (physicians, physicists, engineers, chemists, biologists and technicians) and it is technically co-ordinated by the RHL in the Institute of Public Health-Bucharest. Within the local or national activities for physical protection of radioactive materials, the RHLs network closely co-operates with the Ministry of Internal Affairs (MAI) and with the nuclear regulatory authority, named the National Commission for Nuclear Activities Control (CNCAN). In the particular case of theft, sabotage or illicit traffic of radioactive materials, usually the MAI has the main role in the co-ordination of intervention actions of the three authorities. The RHLs network contributes by the expertise of its staff and by using its intervention facilities. The specific tasks for the RHLs network are: identification of the type and size of the radioactive material (by direct dosimetry and/or by gamma spectroscopy); dose reconstructions for the involved persons, the intervention personnel and the population; health management for overexposed persons and the medical response, including biological dosimetry and epidemiological studies. Recent special situations in this field, were: theft of some fuel (defect) tablets of natural uranium, from a production factory; the illicit traffic of radioactive materials, in transition to Western European Countries; an unauthorized decommissioning of a furnace, determining the uncontrolled dispersion of about 30 cobalt-60 sealed sources and the radiation exposure of nearly 20

Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators

Directory of Open Access Journals (Sweden)

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.

Contribution inequality in the spatial public goods game: Should the rich contribute more?

Science.gov (United States)

Tu, Jing

2018-04-01

Scale-free property exists in resource distribution, and the rich pay more in public goods is commonplace in reality. What will happen if the rich are expected to contribute more in the spatial public goods game? This paper therefore proposes a new contribution paradigm, in which individual contribution is determined by his payoff in the last evolution step. Tunable parameter w is used to characterize the contribution rate of nodes whose payoff is larger than the average. The results of simulations reveal that the impact of w on cooperation is associated with the enhancement factor r. When r is low, the higher w is, the lower the cooperation rate is. With the increment of r, the value of w to optimize cooperation rate increases with r. The relationship of cooperation rate and wealth on the network has also been investigated. Interestingly, higher cooperation rate does not always lead to higher wealth. Finally, the impact of w on the wealth distribution on the network is explored. The higher w reduces the inequality in wealth distribution by the shrinking of lower-class, which is enhanced by a higher r.

Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots

Directory of Open Access Journals (Sweden)

Rene de Jesus Romero-Troncoso

2011-04-01

Full Text Available Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint’s angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot.

Fused smart sensor network for multi-axis forward kinematics estimation in industrial robots.

Science.gov (United States)

Rodriguez-Donate, Carlos; Osornio-Rios, Roque Alfredo; Rivera-Guillen, Jesus Rooney; Romero-Troncoso, Rene de Jesus

2011-01-01

Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint's angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA) is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot.

Contribution of the cheeks to the intraoral manipulation of food.

Science.gov (United States)

Mazari, A; Heath, M R; Prinz, J F

2007-04-01

The role of the teeth in chewing has been studied extensively; however, less attention has been paid to soft tissue function. In this study the process of mixing within the bolus and the contribution of the cheeks to this process were investigated using a test food constructed from two differently colored chewing gums. A cheek guard was placed into either the left the or right buccal sulcus. Eighteen dentate subjects were instructed to chew four samples of gum for 30 strokes, two samples with the cheek guard in place and two without. Upon completion, the gum was removed from the mouth and its length was measured. The bolus was then placed into a plastic bag and flattened. Pairs of flattened samples chewed with and without the cheek guard in place were then assessed by five judges who were asked to identify which of each pair was most mixed. Inhibition of the cheek during chewing resulted in significantly longer samples, which were also less mixed.

Manipulation of entanglement and its realisation using trapped ions

International Nuclear Information System (INIS)

Jonathan, Daniel

2001-01-01

Entanglement is a fundamental physical resource at the heart of quantum information theory. This Thesis contributes to its study by approaching it from two separate directions: the laws governing its manipulation, and its creation within a concrete physical setting. I begin by studying the manipulation of entangled pure states of two quantum systems when (i) only a single copy of each system is available and (ii) only a restricted class of physical operations are allowed to be performed on them. One physically reasonable class, denoted LQCC, is the set of all possible quantum operations realised on each system by local agents, who are allowed to communicate with each other only by classical means. Given these conditions, I find a minimal set of entropic-like state functions that completely determine which manipulations can be realised. Applications to useful protocols such as entanglement concentration are discussed. Further elaboration allows also the determination of the most faithful approximation to a given target state that can be attained under LQCC, and the most faithful teleportation protocol achievable when only partial entanglement is available. The study of a more general class of transformations demonstrates that entanglement can also be a re-usable resource. Specifically, I show that the mere presence of further entanglement allows the realisation of transformations which are impossible under LQCC alone. The extra entanglement is not consumed in any way, acting as a 'catalyst'. Applications of this counter-intuitive effect are discussed. In the second part of the Thesis, I turn to the concrete creation and manipulation of entanglement within the system of laser-cooled, trapped ions. After a brief survey of known schemes, I propose a new method for realising two-qubit quantum logic gates within this system. The scheme is based on the AC Stark shift (lightshift) induced by laser light resonant with the ionic transition frequency. At specific laser

STUDDING OF MANIPULATIVE IMPACT ON THE RUSSIAN YOUTH DURING THE IMPERIAL PERIOD OF NATIONAL HISTORY

Directory of Open Access Journals (Sweden)

S. O. Elishev

2018-01-01

Full Text Available Features of studying of manipulative impact on the Russian youth of various subjects of public activity during the imperial period of the Russian history are considered. Studying of purposeful impact on youth of various, not unambiguous subjects of public activity using its as subject to manipulations and also approbations on its political, social and psychological technologies and experiments is the relevant and perspective direction of modern sociological researches. Systematization of knowledge of this perspective and also accounting of the available experiment on studying of this sort of the negative phenomena acquired during the previous periods of national history – the imperial and Soviet periods, has to contribute to development of effective mechanisms of counteraction to manipulative and destructive impact on process of socialization, education and social development of modern Russian youth.The author pays attention to little-known works, official documents and unfairly the forgotten classics of the Russian socio-political thought, opinion of the official government persons and publicists mentioning this perspective in the researches. Interest in this perspective, investigating features of process of socialization, crisis of institutes of socialization, participation of youth in policy, growth of crimes of extremist and terrorist orientation, mood of youth, student’s revolts and performances were generally shown by both official officials, and scientists, experts and publicists, first of all, of the conservative and guarding direction of the Russian socio-political thought.I.K. Palen, K.P. Pobedonostsev, A.I. Georgiyevsky, A.S. Izgoyev, M.N. Katkov, F.P. Elenev, N.A. Berdyaev, S.N. Bulgakov, L.A. Tikhomirov, B.N. Chicherin, etc are highlited as persons who have brought a significant contribution to the development of this perspective. The Russian youth is often acted in ideas of these statesmen and thinkers as the victim of

Autonomous Industrial Mobile Manipulation (AIMM)

DEFF Research Database (Denmark)

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

2012-01-01

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

ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

Directory of Open Access Journals (Sweden)

Camelia PAVEL

2014-04-01

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

The use of physical and virtual manipulatives in an undergraduate mechanical engineering (Dynamics) course

Science.gov (United States)

Pan, Edward A.

Science, technology, engineering, and mathematics (STEM) education is a national focus. Engineering education, as part of STEM education, needs to adapt to meet the needs of the nation in a rapidly changing world. Using computer-based visualization tools and corresponding 3D printed physical objects may help nontraditional students succeed in engineering classes. This dissertation investigated how adding physical or virtual learning objects (called manipulatives) to courses that require mental visualization of mechanical systems can aid student performance. Dynamics is one such course, and tends to be taught using lecture and textbooks with static diagrams of moving systems. Students often fail to solve the problems correctly and an inability to mentally visualize the system can contribute to student difficulties. This study found no differences between treatment groups on quantitative measures of spatial ability and conceptual knowledge. There were differences between treatments on measures of mechanical reasoning ability, in favor of the use of physical and virtual manipulatives over static diagrams alone. There were no major differences in student performance between the use of physical and virtual manipulatives. Students used the physical and virtual manipulatives to test their theories about how the machines worked, however their actual time handling the manipulatives was extremely limited relative to the amount of time they spent working on the problems. Students used the physical and virtual manipulatives as visual aids when communicating about the problem with their partners, and this behavior was also seen with Traditional group students who had to use the static diagrams and gesture instead. The explanations students gave for how the machines worked provided evidence of mental simulation; however, their causal chain analyses were often flawed, probably due to attempts to decrease cognitive load. Student opinions about the static diagrams and dynamic

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

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

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

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

International Nuclear Information System (INIS)

Vertut, Jean

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

Advanced Bimanual Manipulation Results from the DEXMART Project

CERN Document Server

2012-01-01

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

Functional brain networks contributing to the Parieto-Frontal Integration Theory of Intelligence.

Science.gov (United States)

Vakhtin, Andrei A; Ryman, Sephira G; Flores, Ranee A; Jung, Rex E

2014-12-01

The refinement of localization of intelligence in the human brain is converging onto a distributed network that broadly conforms to the Parieto-Frontal Integration Theory (P-FIT). While this theory has received support in the neuroimaging literature, no functional magnetic resonance imaging study to date has conducted a whole-brain network-wise examination of the changes during engagement in tasks that are reliable measures of general intelligence (e.g., Raven's Progressive Matrices Test; RPM). Seventy-nine healthy subjects were scanned while solving RPM problems and during rest. Functional networks were extracted from the RPM and resting state data using Independent Component Analysis. Twenty-nine networks were identified, 26 of which were detected in both conditions. Fourteen networks were significantly correlated with the RPM task. The networks' spatial maps and functional connectivity measures at 3 frequency levels (low, medium, & high) were compared between the RPM and rest conditions. The regions involved in the networks that were found to be task related were consistent with the P-FIT, localizing to the bilateral medial frontal and parietal regions, right superior frontal lobule, and the right cingulate gyrus. Functional connectivity in multiple component pairs was differentially affected across all frequency levels during the RPM task. Our findings demonstrate that functional brain networks are more stable than previously thought, and maintain their general features across resting state and engagement in a complex cognitive task. The described spatial and functional connectivity alterations that such components undergo during fluid reasoning provide a network-wise framework of the P-FIT that can be valuable for further, network based, neuroimaging inquiries regarding the neural underpinnings of intelligence. Published by Elsevier Inc.

Analysis of singularity in redundant manipulators

International Nuclear Information System (INIS)

Watanabe, Koichi

2000-03-01

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

Kinematics at the Main Mechanism of a Railbound Forging Manipulator

Directory of Open Access Journals (Sweden)

Florian Ion Tiberiu Petrescu

2015-09-01

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

Dynamical networks: Finding, measuring, and tracking neural population activity using network science

Directory of Open Access Journals (Sweden)

Mark D. Humphries

2017-12-01

Full Text Available Systems neuroscience is in a headlong rush to record from as many neurons at the same time as possible. As the brain computes and codes using neuron populations, it is hoped these data will uncover the fundamentals of neural computation. But with hundreds, thousands, or more simultaneously recorded neurons come the inescapable problems of visualizing, describing, and quantifying their interactions. Here I argue that network science provides a set of scalable, analytical tools that already solve these problems. By treating neurons as nodes and their interactions as links, a single network can visualize and describe an arbitrarily large recording. I show that with this description we can quantify the effects of manipulating a neural circuit, track changes in population dynamics over time, and quantitatively define theoretical concepts of neural populations such as cell assemblies. Using network science as a core part of analyzing population recordings will thus provide both qualitative and quantitative advances to our understanding of neural computation.

Optical Manipulation System Using a Plurality of Optical Traps

DEFF Research Database (Denmark)

2006-01-01

The present invention relates to an optical manipulation system (10) for generation of a plurality of optical traps for manipulation of micro-objects including nano-objects using electromagnetic radiation forces in a micro-object manipulation volume (14), the system comprising a spatially modulat...

WORKSPACE DRAWING FROM A MANIPULATOR ARM WITH 6 DOF

Directory of Open Access Journals (Sweden)

NAIDIN Gigi

2011-06-01

Full Text Available Modelling and simulation is an important aspect in robotic field. Knowing of the workspace is very important to the operation of manipulators arm. This paper investigates operational performance of space manipulator arm destined for industrial manufacturing, by defining and analyzing their workspace and manipulability measure. The authors show that manipulator arm developing requires the consideration of more efficient dynamic models and use of dedicated processing techniques such as Autodesk-Inventor 9, MATLAB, WorkSpace software.

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

CERN Document Server

From, Pal Johan; Pettersen, Kristin Ytterstad

2014-01-01

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

Protozoa manipulation by ultrasound

Directory of Open Access Journals (Sweden)

Yancy Milena Porras Rodríguez

2004-01-01

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

Optogenetic stimulation effectively enhances intrinsically generated network synchrony

Science.gov (United States)

El Hady, Ahmed; Afshar, Ghazaleh; Bröking, Kai; Schlüter, Oliver M.; Geisel, Theo; Stühmer, Walter; Wolf, Fred

2013-01-01

Synchronized bursting is found in many brain areas and has also been implicated in the pathophysiology of neuropsychiatric disorders such as epilepsy, Parkinson’s disease, and schizophrenia. Despite extensive studies of network burst synchronization, it is insufficiently understood how this type of network wide synchronization can be strengthened, reduced, or even abolished. We combined electrical recording using multi-electrode array with optical stimulation of cultured channelrhodopsin-2 transducted hippocampal neurons to study and manipulate network burst synchronization. We found low frequency photo-stimulation protocols that are sufficient to induce potentiation of network bursting, modifying bursting dynamics, and increasing interneuronal synchronization. Surprisingly, slowly fading-in light stimulation, which substantially delayed and reduced light-driven spiking, was at least as effective in reorganizing network dynamics as much stronger pulsed light stimulation. Our study shows that mild stimulation protocols that do not enforce particular activity patterns onto the network can be highly effective inducers of network-level plasticity. PMID:24155695

Optogenetic stimulation effectively enhances intrinsically generated network synchrony

Directory of Open Access Journals (Sweden)

Ahmed eEl Hady

2013-10-01

Full Text Available Synchronized bursting is found in many brain areas and has also been implicated in the pathophysiology of neuropsychiatric disorders such as epilepsy, Parkinson’s disease and schizophrenia. Despite extensive studies of network burst synchronization, it is insufficiently understood how this type of network wide synchronization can be strengthened, reduced or even abolished. We combined electrical recording using multi-electrode array with optical stimulation of cultured channelrhodopsin-2 transducted hippocampal neurons to study and manipulate network burst synchronization. We found low frequency photo-stimulation protocols that are sufficient to induce potentiation of network bursting, modifying bursting dynamics and increasing interneuronal synchronization. Surprisingly, slowly fading-in light stimulation, which substantially delayed and reduced light driven spiking, was at least as effective in reorganizing network dynamics as much stronger pulsed light stimulation. Our study shows that mild stimulation protocols that do not enforce particular activity patterns onto the network can be highly effective inducers of network-level plasticity.

Getting Manipulative about Math.

Science.gov (United States)

Scheer, Janet K.; And Others

1984-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2012-06-15

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

Electrolytic Manipulation of Persulfate Reactivity by Iron Electrodes for TCE Degradation in Groundwater

Science.gov (United States)

Yuan, Songhu; Liao, Peng; Alshawabkeh, Akram N.

2014-01-01

Activated persulfate oxidation is an effective in situ chemical oxidation process for groundwater remediation. However, reactivity of persulfate is difficult to manipulate or control in the subsurface causing activation before reaching the contaminated zone and leading to a loss of chemicals. Furthermore, mobilization of heavy metals by the process is a potential risk. An effective approach using iron electrodes is thus developed to manipulate the reactivity of persulfate in situ for trichloroethylene (TCE) degradation in groundwater, and to limit heavy metals mobilization. TCE degradation is quantitatively accelerated or inhibited by adjusting the current applied to the iron electrode, following k1 = 0.00053•Iv + 0.059 (−122 A/m3 ≤ Iv ≤ 244 A/m3) where k1 and Iv are the pseudo first-order rate constant (min−1) and volume normalized current (A/m3), respectively. Persulfate is mainly decomposed by Fe2+ produced from the electrochemical and chemical corrosion of iron followed by the regeneration via Fe3+ reduction on the cathode. SO4•− and •OH co-contribute to TCE degradation, but •OH contribution is more significant. Groundwater pH and oxidation-reduction potential can be restored to natural levels by the continuation of electrolysis after the disappearance of contaminants and persulfate, thus decreasing adverse impacts such as the mobility of heavy metals in the subsurface. PMID:24328192

Manipulation of the Commodity Futures Market Delivery Process.

OpenAIRE

Pirrong, Stephen Craig

1993-01-01

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

Intelligent tuning of vibration mitigation process for single link manipulator using fuzzy logic

Directory of Open Access Journals (Sweden)

Ahmed A. Ali

2017-08-01

Full Text Available In this work, active vibration mitigation for smart single link manipulator is presented. Two piezoelectric transducers were utilized to act as actuator and sensor respectively. Classical Proportional (P controller was tested numerically and experimentally. The comparison between measured results showed good agreement. The proposed work includes the introducing of fuzzy logic for tuning controller's gain within finite element method. Classical Proportional-Integral (PI, Fuzzy-P and Fuzzy-PI controllers were totally integrated as a series of [IF-Then] states and solved numerically by using Finite Element (FE solver (ANSYS. Proposed method will pave the way on solving the tuning process totally within single FE solver with high efficiency. Proposed method satisfied mitigation in the overall free response with about 52% and 74% of the manipulator settling time when Fuzzy-P and Fuzzy-PI controllers were activated respectively. This contribution can be utilized for many other applications related to fuzzy topics.

Even Middle Graders Can Learn with Manipulatives.

Science.gov (United States)

Holden, Linda

1987-01-01

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

Tools for Manipulation and Characterisation of Nanostructures

DEFF Research Database (Denmark)

Mølhave, Kristian; Bøggild, Peter

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

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

Science.gov (United States)

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.

Contributions to the building and upgrading of the Greenland Ice Sheet Monitoring Network (GLISN)

Science.gov (United States)

Reusch, A. M.; Childs, D.; Anderson, K. R.

2011-12-01

The GLISN project began in 2009 and is now a 10-nation collaborative project (Canada, Denmark, France, Germany, Italy, Japan, Norway, Poland, Switzerland and the USA) with a long-term goal of establishing a real-time broadband seismic network of 25 stations within and around Greenland. The GLISN project provides publicly available data distributed by the IRIS Data Management Center that researchers can use in the characterization of tectonic and glacial earthquakes as well as other cryo-seismic phenomena (e.g. iceberg calving events, seiches, tidal patterns, and the draining of supra-glacial lakes). Cooperation among the 10 nations has provided a wealth of material and knowledge resources, contributing to the success of the project as a whole. At the same time, involving multiple intra-national and international organizations has also required increased efforts in coordination and shared decision-making. As of August 2011, the IRIS PASSCAL Instrument Center has contributed to the effort by building, installing and maintaining 6 new and upgrading 5 existing broadband seismic stations at both coastal and interior sites. Three of the 11 GLISN stations were installed along the main ice divide. Two of these ridge sites are equipped with borehole sensors in addition to the standard surface sensor, and all 3 stations have real-time geodetic-quality GPS receivers. The GLISN stations take advantage of the latest methods and technologies field-tested in Antarctica and other high-latitude regions by the PASSCAL Instrument Center. All stations are designed to operate year-round with cold-rated instrumentation, autonomous power generation (solar and wind) or protected AC power delivery systems when grid power is available. Data and state of health communication is through the Internet, when available, or via Iridium modem. The latter currently provides daily station state of health information along with a 10s data segment on an hourly basis. Development of an Iridium link is

Mixed Analog/Digital Matrix-Vector Multiplier for Neural Network Synapses

DEFF Research Database (Denmark)

Lehmann, Torsten; Bruun, Erik; Dietrich, Casper

1996-01-01

In this work we present a hardware efficient matrix-vector multiplier architecture for artificial neural networks with digitally stored synapse strengths. We present a novel technique for manipulating bipolar inputs based on an analog two's complements method and an accurate current rectifier...

Development of the heavy manipulator vehicle system

International Nuclear Information System (INIS)

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

1993-01-01

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

Completion of the Heysham 2 peripheral manipulator

International Nuclear Information System (INIS)

Shipp, R.; Ewen, R.O.

1996-01-01

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

Greenland Ice Sheet Monitoring Network (GLISN): Contributions to Science and Society

Science.gov (United States)

Anderson, K. R.; Bonaime, S.; Clinton, J. F.; Dahl-Jensen, T.; Debski, W. M.; Giardini, D.; Govoni, A.; Kanao, M.; Larsen, T. B.; Lasocki, S.; Lee, W. S.; McCormack, D. A.; Mykkeltveit, S.; Nettles, M.; Stutzmann, E.; Strollo, A.; Sweet, J. R.; Tsuboi, S.; Vallee, M.

2017-12-01

The Greenland Ice Sheet Monitoring Network (GLISN) is a broadband, multi-use seismological network, enhanced by selected geodetic observations, designed with the capability to allow researchers to understand the changes currently occurring in the Arctic, and with the operational characteristics necessary to enable response to those changes as understanding improves. GLISN was established through an international collaboration, with 10 nations coordinating their efforts to develop the current 34-station observing network during the last eight years. All of the data collected are freely and openly available in near-real time. The network was designed to transform the community capability for recording, analysis, and interpretation of seismic signals generated by discrete events in Greenland and the Arctic, as well as those traversing the region. Data from the network support a wide range of uses, including estimation of the properties of the solid Earth that control isostatic adjustment rates and set key boundary conditions for ice-sheet evolution; analysis of tectonic earthquakes throughout Greenland and the Arctic; study of the seismic signals associated with large calving events and changing glacier dynamics; and variations in ice and snow properties within the Greenland Ice Sheet. Recordings from the network have also provided invaluable data for rapid evaluation and understanding of the devastating landslide and tsunami that occurred near Nuugaatsiaq, Greenland, in June, 2017. The GLISN strategy of maximizing data quality from a network of approximately evenly distributed stations, delivering data in near-real time, and archiving a continuous data stream easily accessible to researchers, allows continuous discovery of new uses while also facilitating the generation of data products, such as catalogs of tectonic and glacial earthquakes and GPS-based estimates of snow height, that allow for assessment of change over time.

A digital joint controller for manipulators

International Nuclear Information System (INIS)

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

1993-01-01

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

Manipulator techniques and problems of their application in primary circuit maintenance

International Nuclear Information System (INIS)

Kertscher, F.; Popp, P.

1985-01-01

The fundamental structure and specifications of manipulators (in particular of industrial robots) are presented in order to derive the application conditions and fields for manipulators in primary circuit maintenance. The necessity of applying process-specific manipulator technique in the primary circuit maintenance is based on nuclear safety requirements and on decreasing of the radiation exposure of maintenance personnel. Synchronous manipulators and industrial robots are the types of manipulators used in materials testing, repairing and scrapping. The technical requirements of manipulators are discussed

A universal microscope manipulator

Directory of Open Access Journals (Sweden)

Peter S. Boyadzhiev

2012-03-01

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

Optoelectronic Tweezers for Microparticle and Cell Manipulation

Science.gov (United States)

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

2014-01-01

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

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

Science.gov (United States)

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…

Manipulating Combinatorial Structures.

Science.gov (United States)

Labelle, Gilbert

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

A randomized clinical trial to compare the immediate effects of seated thoracic manipulation and targeted supine thoracic manipulation on cervical spine flexion range of motion and pain.

Science.gov (United States)

Karas, Steve; Olson Hunt, Megan J

2014-05-01

Randomized clinical trial. To determine the effectiveness of seated thoracic manipulation versus targeted supine thoracic manipulation on cervical spine pain and flexion range of motion (ROM). There is evidence that thoracic spine manipulation is an effective treatment for patients with cervical spine pain. This evidence includes a variety of techniques to manipulate the thoracic spine. Although each of them is effective, no research has compared techniques to determine which produces the best outcomes. A total of 39 patients with cervical spine pain were randomly assigned to either a seated thoracic manipulation or targeted supine thoracic manipulation group. Pain and flexion ROM measures were taken before and after the intervention. Pain reduction (post-treatment-pre-treatment) was significantly greater in those patients receiving the targeted supine thoracic manipulation compared to the seated thoracic manipulation (Pmanipulation group. The results of this study indicate that a targeted supine thoracic manipulation may be more effective in reducing cervical spine pain and improving cervical flexion ROM than a seated thoracic manipulation. Future studies should include a variety of patients and physical therapists (PTs) to validate our findings.

Transformation optics beyond the manipulation of light trajectories.

Science.gov (United States)

Ginis, Vincent; Tassin, Philippe

2015-08-28

Since its inception in 2006, transformation optics has become an established tool to understand and design electromagnetic systems. It provides a geometrical perspective into the properties of light waves without the need for a ray approximation. Most studies have focused on modifying the trajectories of light rays, e.g. beam benders, lenses, invisibility cloaks, etc. In this contribution, we explore transformation optics beyond the manipulation of light trajectories. With a few well-chosen examples, we demonstrate that transformation optics can be used to manipulate electromagnetic fields up to an unprecedented level. In the first example, we introduce an electromagnetic cavity that allows for deep subwavelength confinement of light. The cavity is designed with transformation optics even though the concept of trajectory ceases to have any meaning in a structure as small as this cavity. In the second example, we show that the properties of Cherenkov light emitted in a transformation-optical material can be understood and modified from simple geometric considerations. Finally, we show that optical forces--a quadratic function of the fields--follow the rules of transformation optics too. By applying a folded coordinate transformation to a pair of waveguides, optical forces can be enhanced just as if the waveguides were closer together. With these examples, we open up an entirely new spectrum of devices that can be conceived using transformation optics. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Manipulation of Biofilm Microbial Ecology

Energy Technology Data Exchange (ETDEWEB)

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

1998-08-15

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

Manipulation Robustness of Collaborative Filtering Systems

OpenAIRE

Benjamin Van Roy; Xiang Yan

2009-01-01

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

Remote Decontamination Facility and Repair Station for hot-cell manipulators

International Nuclear Information System (INIS)

Ryz, M.A.

1977-01-01

Increasingly high radiation levels on manipulators at the Whiteshell Nuclear Research Establishment, Pinawa, Manitoba, Canada, necessitated design and construction of a Remote Decontamination Facility and Repair Station. This facility reduces radiation levels on manipulators by an order of magnitude over previous hand decontamination techniques. The reduced radiation levels have allowed superior manipulator repair and maintenance, resulting in 50% fewer manipulator breakdowns

Neuro-fuzzy inverse model control structure of robotic manipulators utilized for physiotherapy applications

Directory of Open Access Journals (Sweden)

A.A. Fahmy

2013-12-01

Full Text Available This paper presents a new neuro-fuzzy controller for robot manipulators. First, an inductive learning technique is applied to generate the required inverse modeling rules from input/output data recorded in the off-line structure learning phase. Second, a fully differentiable fuzzy neural network is developed to construct the inverse dynamics part of the controller for the online parameter learning phase. Finally, a fuzzy-PID-like incremental controller was employed as Feedback servo controller. The proposed control system was tested using dynamic model of a six-axis industrial robot. The control system showed good results compared to the conventional PID individual joint controller.

A new approach to adaptive control of manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

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

Manipulator for rotating and translating a sample holder

Science.gov (United States)

van de Water, Jeroen [Breugel, NL; van den Oetelaar, Johannes [Eindhoven, NL; Wagner, Raymond [Gorinchem, NL; Slingerland, Hendrik Nicolaas [Venlo, NL; Bruggers, Jan Willem [Eindhoven, NL; Ottevanger, Adriaan Huibert Dirk [Malden, NL; Schmid, Andreas [Berkeley, CA; Olson, Eric A [Champaign, IL; Petrov, Ivan G [Champaign, IL; Donchev, Todor I [Urbana, IL; Duden, Thomas [Kensington, CA

2011-02-08

A manipulator for use in e.g. a Transmission Electron Microscope (TEM) is described, said manipulator capable of rotating and translating a sample holder (4). The manipulator clasps the round sample holder between two members (3A, 3B), said members mounted on actuators (2A, 2B). Moving the actuators in the same direction results in a translation of the sample holder, while moving the actuators in opposite directions results in a rotation of the sample holder.

Machine Learnig for Robotic Manipulation in cluttered environments

OpenAIRE

Alet Puig, Ferran

2016-01-01

In this thesis we focus on designing the planner for MIT s entry in the Amazon Picking Challenge, a robotic competition aiming at pushing the frontiers of manipulation until robots can substitute human pickers in warehouses. Given a set of manipulation primitives (such as grasping, suction, scooping, placing or pushing) we designed a system capable of learning a planner from a set of manipulation experiments. After learning, given any configuration of objects, the planner can come up with the...

Presentation of a stochastic model estimating the wind energy contribution in remote island electrical networks

International Nuclear Information System (INIS)

Kaldellis, J.K.; Kapsali, M.; Tiligadas, D.

2012-01-01

Highlights: ► This study estimates the maximum wind energy contribution to an isolated micro-grid. ► An integrated computational tool is developed on the basis of stochastic analysis. ► The probability distribution of the wind energy surplus and deficit is estimated. ► The results indicate that a strict penetration limit is imposed to wind energy. -- Abstract: The electrification in remote islands whose electricity distribution network is not connected to the mainland’s grid is mostly based on Autonomous Power Stations (APSs) that are usually characterized by a considerably high electricity production cost, while at the same time the contribution of Renewable Energy Sources (RES) in these regions accounts for less than 10% of the total electricity generation. This actually results from the fact that despite the excellent wind potential of most of these islands, the wind energy contribution is significantly restricted from limits imposed to protect the remote electrical grids from possible instability problems, due to the stochastic wind speed behavior and the variable electricity consumption. On the basis of probability distribution of the load demand of a representative Greek island and the corresponding data related to the available wind potential, the present study estimates the maximum – acceptable by the local grid – wind energy contribution. For that reason, an integrated computational algorithm has been developed from first principles, based on a stochastic analysis. According to the results obtained, it becomes evident that with the current wind turbine technology, wind energy cannot play a key role in coping with the electrification problems encountered in many Greek island regions, excluding however the case of introducing bulk energy storage systems that may provide considerable recovery of the remarkable wind energy rejections expected.

Nonlinear Dynamics of Controlled Synchronizations of Manipulator System

Directory of Open Access Journals (Sweden)

Qingkai Han

2014-01-01

Full Text Available The nonlinear dynamics of the manipulator system which is controlled to achieve the synchronization motions is investigated in the paper. Firstly, the control strategies and modeling approaches of the manipulator system are given, in which the synchronization goal is defined by both synchronization errors and its derivatives. The synchronization controllers applied on the manipulator system include neuron synchronization controller, improved OPCL synchronization controller, and MRAC-PD synchronization controller. Then, an improved adaptive synchronized control strategy is proposed in order to estimate online the unknown structure parameters and state variables of the manipulator system and to realize the needed synchronous compensation. Furthermore, a robust adaptive synchronization controller is also researched to guarantee the dynamic stability of the system. Finally, the stability of motion synchronizations of the manipulator system possessing nonlinear component is discussed, together with the effect of control parameters and joint friction and others. Some typical motions such as motion bifurcations and the loss of synchronization of it are obtained and illustrated as periodic, multiperiodic, and/or chaotic motion patterns.

Particle manipulation techniques in AEgIS

Energy Technology Data Exchange (ETDEWEB)

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

2011-07-15

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

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

Energy Technology Data Exchange (ETDEWEB)

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

2016-10-15

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

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

International Nuclear Information System (INIS)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon

2016-01-01

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

The application of manipulator robot for nuclear power plant maintenance

International Nuclear Information System (INIS)

Fujita, Jun; Onishi, Ken

2009-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. In light of manufacture period, cost and reliability, various maintenance works are requested to be done by one robot. As one of the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. The manipulator technologies in this study are able to apply to robotization needed under radiation environment. (author)

Manipulator vehicles and loading shovels

International Nuclear Information System (INIS)

Brudermueller, G.; Krueger, W.

1992-01-01

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

Application of model based control to robotic manipulators

Science.gov (United States)

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.

Lateral prefrontal cortex subregions make dissociable contributions during fluid reasoning.

Science.gov (United States)

Hampshire, Adam; Thompson, Russell; Duncan, John; Owen, Adrian M

2011-01-01

Reasoning is a key component of adaptable "executive" behavior and is known to depend on a network of frontal and parietal brain regions. However, the mechanisms by which this network supports reasoning and adaptable behavior remain poorly defined. Here, we examine the relationship between reasoning, executive control, and frontoparietal function in a series of nonverbal reasoning experiments. Our results demonstrate that, in accordance with previous studies, a network of frontal and parietal brain regions is recruited during reasoning. Our results also reveal that this network can be fractionated according to how different subregions respond when distinct reasoning demands are manipulated. While increased rule complexity modulates activity within a right lateralized network including the middle frontal gyrus and the superior parietal cortex, analogical reasoning demand-or the requirement to remap rules on to novel features-recruits the left inferior rostrolateral prefrontal cortex and the lateral occipital complex. In contrast, the posterior extent of the inferior frontal gyrus, associated with simpler executive demands, is not differentially sensitive to rule complexity or analogical demand. These findings accord well with the hypothesis that different reasoning demands are supported by different frontal and parietal subregions.

Lateral Prefrontal Cortex Subregions Make Dissociable Contributions during Fluid Reasoning

Science.gov (United States)

Thompson, Russell; Duncan, John; Owen, Adrian M.

2011-01-01

Reasoning is a key component of adaptable “executive” behavior and is known to depend on a network of frontal and parietal brain regions. However, the mechanisms by which this network supports reasoning and adaptable behavior remain poorly defined. Here, we examine the relationship between reasoning, executive control, and frontoparietal function in a series of nonverbal reasoning experiments. Our results demonstrate that, in accordance with previous studies, a network of frontal and parietal brain regions is recruited during reasoning. Our results also reveal that this network can be fractionated according to how different subregions respond when distinct reasoning demands are manipulated. While increased rule complexity modulates activity within a right lateralized network including the middle frontal gyrus and the superior parietal cortex, analogical reasoning demand—or the requirement to remap rules on to novel features—recruits the left inferior rostrolateral prefrontal cortex and the lateral occipital complex. In contrast, the posterior extent of the inferior frontal gyrus, associated with simpler executive demands, is not differentially sensitive to rule complexity or analogical demand. These findings accord well with the hypothesis that different reasoning demands are supported by different frontal and parietal subregions. PMID:20483908

Design and Transmission Analysis of an Asymmetrical Spherical Parallel Manipulator

DEFF Research Database (Denmark)

Wu, Guanglei; Caro, Stéphane; Wang, Jiawei

2015-01-01

analysis and optimal design of the proposed manipulator based on its kinematic analysis. The input and output transmission indices of the manipulator are defined for its optimum design based on the virtual coefficient between the transmission wrenches and twist screws. The sets of optimal parameters......This paper presents an asymmetrical spherical parallel manipulator and its transmissibility analysis. This manipulator contains a center shaft to both generate a decoupled unlimited-torsion motion and support the mobile platform for high positioning accuracy. This work addresses the transmission...... are identified and the distribution of the transmission index is visualized. Moreover, a comparative study regarding to the performances with the symmetrical spherical parallel manipulators is conducted and the comparison shows the advantages of the proposed manipulator with respect to its spherical parallel...

Dynamics three-tier hydraulic crane-manipulators

OpenAIRE

Lagerev I.A.; Lagerev A.V.

2018-01-01

The methods and generalized recommendations for modeling dynamic loading of load-bearing elements of steel structures of three-tier hydraulic cranes-manipulators are considered. Mathematical models have been developed to study the dynamics of moving elements of the crane-manipulator, the movement of the load-lifting machine on a stochastic uneven surface with a suspended load. The presented approaches can be used to calculate other types of jib cranes equipped with hydraulic drive.

Counterweight system for master-slave manipulator

International Nuclear Information System (INIS)

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

1981-01-01

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

Techniques applied in design optimization of parallel manipulators

CSIR Research Space (South Africa)

Modungwa, D

2011-11-01

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

Evidence of market manipulation in the financial crisis

OpenAIRE

Vedant Misra; Marco Lagi; Yaneer Bar-Yam

2011-01-01

We provide direct evidence of market manipulation at the beginning of the financial crisis in November 2007. The type of manipulation, a "bear raid," would have been prevented by a regulation that was repealed by the Securities and Exchange Commission in July 2007. The regulation, the uptick rule, was designed to prevent manipulation and promote stability and was in force from 1938 as a key part of the government response to the 1929 market crash and its aftermath. On November 1, 2007, Citigr...

Manipulating Tournaments in Cup and Round Robin Competitions

OpenAIRE

Russell, Tyrel; Walsh, Toby

2009-01-01

In sports competitions, teams can manipulate the result by, for instance, throwing games. We show that we can decide how to manipulate round robin and cup competitions, two of the most popular types of sporting competitions in polynomial time. In addition, we show that finding the minimal number of games that need to be thrown to manipulate the result can also be determined in polynomial time. Finally, we show that there are several different variations of standard cup competitions where mani...

SDN control of optical nodes in metro networks for high capacity inter-datacentre links

Science.gov (United States)

Magalhães, Eduardo; Perry, Philip; Barry, Liam

2017-11-01

Worldwide demand for bandwidth has been growing fast for some years and continues to do so. To cover this, mega datacentres need scalable connectivity to provide rich connectivity to handle the heavy traffic across them. Therefore, hardware infrastructures must be able to play different roles according to service and traffic requirements. In this context, software defined networking (SDN) decouples the network control and forwarding functions enabling the network control to become directly programmable and the underlying infrastructure to be abstracted for applications and network services. In addition, elastic optical networking (EON) technologies enable efficient spectrum utilization by allocating variable bandwidth to each user according to their actual needs. In particular, flexible transponders and reconfigurable optical add/drop multiplexers (ROADMs) are key elements since they can offer degrees of freedom to self adapt accordingly. Thus, it is crucial to design control methods in order to optimize the hardware utilization and offer high reconfigurability, flexibility and adaptability. In this paper, we propose and analyze, using a simulation framework, a method of capacity maximization through optical power profile manipulation for inter datacentre links that use existing metropolitan optical networks by exploiting the global network view afforded by SDN. Results show that manipulating the loss profiles of the ROADMs in the metro-network can yield optical signal-to-noise ratio (OSNR) improvements up to 10 dB leading to an increase in 112% in total capacity.

The Use of Instrumental Hardness Measurements in Determining Stresses in the Elastic Elements of a Manipulator for Servicing Water and Sewage Networks

Directory of Open Access Journals (Sweden)

Kaczyński R.

2016-12-01

Full Text Available The paper presents the design of a manipulator for servicing the elements of water and sewage infrastructure, in particular for installation and dismantling of pressure transducers without the need for earthmoving. To build this device the resilient elements, cold shaped, responsible for centering the manipulator in the technical tube were used. In their construction a method was applied of estimating the value of residual stresses in the cold shaped material, based on measurements of instrumental hardness. The experimental verification of numerical simulation of instrumental hardness measurements of flat springs made of 1.1274 steel is described.

Development and design optimization of water hydraulic manipulator for ITER

International Nuclear Information System (INIS)

Kekaelaeinen, Teemu; Mattila, Jouni; Virvalo, Tapio

2009-01-01

This paper describes one of the research projects carried out in The Preparation of Remote Handling Engineers for ITER (PREFIT) program within the European Fusion Training Scheme (EFTS). This research project is focusing on the design and optimization of water hydraulic manipulators used to test several remote handling tasks of ITER at Divertor Test Platform 2 (DTP2), Tampere, Finland, and later in ITER. In this project, a water hydraulic manipulator designed and build by Department of Intelligent Hydraulics and Automation in Tampere University of Technology, Finland (TUT/IHA) is further optimized as a case study for a given manipulator requirement specification in order to illustrate and verify developed comprehensive design guidelines and performance metrics. Without meaningful manipulator performance parameters, the evaluation of alternative robot manipulators designs remains ad hoc at best. Therefore, more comprehensive design guidelines and performance metrics are needed for comparing and improving different existing manipulators versus task requirements or for comparing different digital prototypes at early design phase of manipulators. In this paper the description of the project, its background and developments are presented and discussed.

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

NARCIS (Netherlands)

Brouwer, Dannis Michel

2007-01-01

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

Remote telerobotic replacement for master-slave manipulator

International Nuclear Information System (INIS)

Heckendorn, F.M.; Iverson, D.C.; LaValle, D.R.

1997-01-01

A remotely replaceable telerobotic manipulator (TRM) has been developed and deployed at the Defense Waste Processing Facility (DWPF) in support of its radioactive operation. The TRM replaces a Master-Slave Manipulator (MSM). The TRM is in use for both routine and recovery operations for the radioactive waste vitrification melter, the primary production device within the DWPF. The arm was designed for deployment and operation using an existing MSM penetration. This replacement of an existing MSM with a high power robotic device demonstrates the capability to perform similar replacement in other operating facilities. The MSM's were originally deployed in the DWPF to perform routine light capacity tasks. During the testing phase of the DWPF, prior to its radioactive startup in 5/96, the need to remove glass deposits that can form at the melter discharge during filling of glass containment canisters was identified. The combination of high radiation and contamination in the DWPF melter cell during radioactive operation eliminated personnel entry as a recovery option. Therefore remote cleaning methods had to be devised. The MSM's had neither the reach nor the strength required for this task. It became apparent that a robust manipulator arm would be required for recovery from these potential melter discharge pluggage events. The existing wall penetrations, used for the MSM's, could not be altered for seismic and radiological reasons. The new manipulator was required to be of considerable reach, due to existing physical layout, and strength, due to the glass removal requirement. Additionally, the device would have to compatible with high radiation and remote crane installation. The physical size of the manipulator and the weight of components must be consistent with the existing facilities. It was recognized early-on that a manipulator of sufficient strength to recover from a pluggage event would require robotic functions to constrain undesirable motions

Controllability and observability of Boolean networks arising from biology

Science.gov (United States)

Li, Rui; Yang, Meng; Chu, Tianguang

2015-02-01

Boolean networks are currently receiving considerable attention as a computational scheme for system level analysis and modeling of biological systems. Studying control-related problems in Boolean networks may reveal new insights into the intrinsic control in complex biological systems and enable us to develop strategies for manipulating biological systems using exogenous inputs. This paper considers controllability and observability of Boolean biological networks. We propose a new approach, which draws from the rich theory of symbolic computation, to solve the problems. Consequently, simple necessary and sufficient conditions for reachability, controllability, and observability are obtained, and algorithmic tests for controllability and observability which are based on the Gröbner basis method are presented. As practical applications, we apply the proposed approach to several different biological systems, namely, the mammalian cell-cycle network, the T-cell activation network, the large granular lymphocyte survival signaling network, and the Drosophila segment polarity network, gaining novel insights into the control and/or monitoring of the specific biological systems.

Currency Manipulation

OpenAIRE

Weithing Zhang; Thomas Mertens; Tarek Hassan

2014-01-01

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

A large divertor manipulator for ASDEX Upgrade

Energy Technology Data Exchange (ETDEWEB)

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

2015-10-15

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

Tree manipulation experiment

Science.gov (United States)

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

2012-12-01

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

Kinematically Optimal Robust Control of Redundant Manipulators

Science.gov (United States)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Manipulating the Gradient

Science.gov (United States)

Gaze, Eric C.

2005-01-01

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

A Family of Algorithms for Computing Consensus about Node State from Network Data

Science.gov (United States)

Brush, Eleanor R.; Krakauer, David C.; Flack, Jessica C.

2013-01-01

Biological and social networks are composed of heterogeneous nodes that contribute differentially to network structure and function. A number of algorithms have been developed to measure this variation. These algorithms have proven useful for applications that require assigning scores to individual nodes–from ranking websites to determining critical species in ecosystems–yet the mechanistic basis for why they produce good rankings remains poorly understood. We show that a unifying property of these algorithms is that they quantify consensus in the network about a node's state or capacity to perform a function. The algorithms capture consensus by either taking into account the number of a target node's direct connections, and, when the edges are weighted, the uniformity of its weighted in-degree distribution (breadth), or by measuring net flow into a target node (depth). Using data from communication, social, and biological networks we find that that how an algorithm measures consensus–through breadth or depth– impacts its ability to correctly score nodes. We also observe variation in sensitivity to source biases in interaction/adjacency matrices: errors arising from systematic error at the node level or direct manipulation of network connectivity by nodes. Our results indicate that the breadth algorithms, which are derived from information theory, correctly score nodes (assessed using independent data) and are robust to errors. However, in cases where nodes “form opinions” about other nodes using indirect information, like reputation, depth algorithms, like Eigenvector Centrality, are required. One caveat is that Eigenvector Centrality is not robust to error unless the network is transitive or assortative. In these cases the network structure allows the depth algorithms to effectively capture breadth as well as depth. Finally, we discuss the algorithms' cognitive and computational demands. This is an important consideration in systems in which

Simple Ontology of Manipulation Actions based on Hand-Object Relations

DEFF Research Database (Denmark)

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

2013-01-01

and time. For this we use as temporal anchor points those moments where two objects (or hand and object) touch or un-touch each other during a manipulation. We show that by this one can define a relatively small tree-like manipulation ontology. We find less than 30 fundamental manipulations. The temporal...... and encoded. Examples of manipulations recognition and execution by a robot based on this representation are given at the end of this study....

Manipulation of Cash-Settled Futures Contracts.

OpenAIRE

Pirrong, Craig

2001-01-01

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

Sports Tournament Predictions Using Direct Manipulation

OpenAIRE

Vuillemot , Romain; Perin , Charles

2016-01-01

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

HUMAN NATURE: BETWEEN PERSUASION AND MANIPULATION

Directory of Open Access Journals (Sweden)

CRISTINA LUCIA ȘUTIU

2014-11-01

Full Text Available Each word is an attempt to influence other persons, as Alex Mucchielli said. Communication, by using words, is a characteristic of human beings, and it plays an important role in everyday life. Communication can be seen as an attempt to share information through a process of symbolic interaction between human beings. It is an essential life process through which humans create, transmit and utilize information by words. Putting words in act, we can express feelings, we can share opinions and we can obtain whatever we want, finally. It is essential to take into account certain ethical rules whenever we start a communication process. As the main purpose of communication is to convince people, this goal can be achieved only by using persuasion and/or manipulation. The last century is a sort of witness as regards the use of words in order to persuade people to adhere to certain ideological precepts and to determine them to act in a certain desirable way by the initiators of the communication process. Practically, there is a fine line between persuasion and manipulation; and in this situation, it is hard for ordinary people to distinguish between them. Manipulation appears like a persuasive process and it hides its true aims. This is the only way by which it can operate and for that it is considered immoral and invasive in the mind and soul of people. Human beings are now in the position to look for a way to protect themselves against such an invasive act and to find a way to distinguish between correct and false information. What can we do? In this study we analyze persuasion and manipulation from an ethical point of view and we search for paths to protect ourselves from the manipulative techniques.

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

Science.gov (United States)

Guo, Lisa

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

Control and manipulation of antiferromagnetic skyrmions in racetrack

Science.gov (United States)

Xia, Haiyan; Jin, Chendong; Song, Chengkun; Wang, Jinshuai; Wang, Jianbo; Liu, Qingfang

2017-12-01

Controllable manipulations of magnetic skyrmions are essential for next-generation spintronic devices. Here, the duplication and merging of skyrmions, as well as logical AND and OR functions, are designed in antiferromagnetic (AFM) materials with a cusp or smooth Y-junction structures. The operational time are in the dozens of picoseconds, enabling ultrafast information processing. A key factor for the successful operation is the relatively complex Y-junction structures, where domain walls propagate through in a controlled manner, without significant risks of pinning, vanishing or unwanted depinning of existing domain walls, as well as the nucleation of new domain walls. The motions of a multi-bit, namely the motion of an AFM skyrmion-chain in racetrack, are also investigated. Those micromagnetic simulations may contribute to future AFM skyrmion-based spintronic devices, such as nanotrack memory, logic gates and other information processes.

The Contribution of Network Organization and Integration to the Development of Cognitive Control.

Science.gov (United States)

Marek, Scott; Hwang, Kai; Foran, William; Hallquist, Michael N; Luna, Beatriz

2015-12-01

Cognitive control, which continues to mature throughout adolescence, is supported by the ability for well-defined organized brain networks to flexibly integrate information. However, the development of intrinsic brain network organization and its relationship to observed improvements in cognitive control are not well understood. In the present study, we used resting state functional magnetic resonance imaging (RS-fMRI), graph theory, the antisaccade task, and rigorous head motion control to characterize and relate developmental changes in network organization, connectivity strength, and integration to inhibitory control development. Subjects were 192 10-26-y-olds who were imaged during 5 min of rest. In contrast to initial studies, our results indicate that network organization is stable throughout adolescence. However, cross-network integration, predominantly of the cingulo-opercular/salience network, increased with age. Importantly, this increased integration of the cingulo-opercular/salience network significantly moderated the robust effect of age on the latency to initiate a correct inhibitory control response. These results provide compelling evidence that the transition to adult-level inhibitory control is dependent upon the refinement and strengthening of integration between specialized networks. Our findings support a novel, two-stage model of neural development, in which networks stabilize prior to adolescence and subsequently increase their integration to support the cross-domain incorporation of information processing critical for mature cognitive control.

The Contribution of Network Organization and Integration to the Development of Cognitive Control

Science.gov (United States)

Marek, Scott; Hwang, Kai; Foran, William; Hallquist, Michael N.; Luna, Beatriz

2015-01-01

Abstract Cognitive control, which continues to mature throughout adolescence, is supported by the ability for well-defined organized brain networks to flexibly integrate information. However, the development of intrinsic brain network organization and its relationship to observed improvements in cognitive control are not well understood. In the present study, we used resting state functional magnetic resonance imaging (RS-fMRI), graph theory, the antisaccade task, and rigorous head motion control to characterize and relate developmental changes in network organization, connectivity strength, and integration to inhibitory control development. Subjects were 192 10–26-y-olds who were imaged during 5 min of rest. In contrast to initial studies, our results indicate that network organization is stable throughout adolescence. However, cross-network integration, predominantly of the cingulo-opercular/salience network, increased with age. Importantly, this increased integration of the cingulo-opercular/salience network significantly moderated the robust effect of age on the latency to initiate a correct inhibitory control response. These results provide compelling evidence that the transition to adult-level inhibitory control is dependent upon the refinement and strengthening of integration between specialized networks. Our findings support a novel, two-stage model of neural development, in which networks stabilize prior to adolescence and subsequently increase their integration to support the cross-domain incorporation of information processing critical for mature cognitive control. PMID:26713863

The Contribution of Network Organization and Integration to the Development of Cognitive Control.

Directory of Open Access Journals (Sweden)

Scott Marek

2015-12-01

Full Text Available Cognitive control, which continues to mature throughout adolescence, is supported by the ability for well-defined organized brain networks to flexibly integrate information. However, the development of intrinsic brain network organization and its relationship to observed improvements in cognitive control are not well understood. In the present study, we used resting state functional magnetic resonance imaging (RS-fMRI, graph theory, the antisaccade task, and rigorous head motion control to characterize and relate developmental changes in network organization, connectivity strength, and integration to inhibitory control development. Subjects were 192 10-26-y-olds who were imaged during 5 min of rest. In contrast to initial studies, our results indicate that network organization is stable throughout adolescence. However, cross-network integration, predominantly of the cingulo-opercular/salience network, increased with age. Importantly, this increased integration of the cingulo-opercular/salience network significantly moderated the robust effect of age on the latency to initiate a correct inhibitory control response. These results provide compelling evidence that the transition to adult-level inhibitory control is dependent upon the refinement and strengthening of integration between specialized networks. Our findings support a novel, two-stage model of neural development, in which networks stabilize prior to adolescence and subsequently increase their integration to support the cross-domain incorporation of information processing critical for mature cognitive control.

Acoustic Devices for Particle and Cell Manipulation and Sensing

Directory of Open Access Journals (Sweden)

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.

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

International Nuclear Information System (INIS)

Rininsland, H.; Boehme, G.

1986-01-01

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

A motion sensing-based framework for robotic manipulation.

Science.gov (United States)

Deng, Hao; Xia, Zeyang; Weng, Shaokui; Gan, Yangzhou; Fang, Peng; Xiong, Jing

2016-01-01

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human-machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.

Predictors of Host Specificity among Behavior-Manipulating Parasites

DEFF Research Database (Denmark)

Fredensborg, B. L.

2014-01-01

specifically, hosts’ behavioral modification that involves interaction with the central nervous system presumably restricts parasites to more closely related hosts than does manipulation of the host’s behavior via debilitation of the host’s physiology. The results of the analysis suggest that phylogenetic......-specialist that has a restricted ecological niche that it masters. Parasites that manipulate hosts’ behavior are often thought to represent resource-specialists based on a few spectacular examples of manipulation of the host’s behavior. However, the determinants of which, and how many, hosts a manipulating parasite...... of parasites and hosts. Using individual and multivariate analyses, I examined the effect of the host’s and parasite’s taxonomy, location of the parasite in the host, type of behavioral change, and the effect of debilitation on host-specificity, measured as the mean taxonomic relatedness of hosts...

Broadcasting collective operation contributions throughout a parallel computer

Science.gov (United States)

Faraj, Ahmad [Rochester, MN

2012-02-21

Methods, systems, and products are disclosed for broadcasting collective operation contributions throughout a parallel computer. The parallel computer includes a plurality of compute nodes connected together through a data communications network. Each compute node has a plurality of processors for use in collective parallel operations on the parallel computer. Broadcasting collective operation contributions throughout a parallel computer according to embodiments of the present invention includes: transmitting, by each processor on each compute node, that processor's collective operation contribution to the other processors on that compute node using intra-node communications; and transmitting on a designated network link, by each processor on each compute node according to a serial processor transmission sequence, that processor's collective operation contribution to the other processors on the other compute nodes using inter-node communications.

Manipulation of single neutral atoms in optical lattices

International Nuclear Information System (INIS)

Zhang Chuanwei; Das Sarma, S.; Rolston, S. L.

2006-01-01

We analyze a scheme to manipulate quantum states of neutral atoms at individual sites of optical lattices using focused laser beams. Spatial distributions of focused laser intensities induce position-dependent energy shifts of hyperfine states, which, combined with microwave radiation, allow selective manipulation of quantum states of individual target atoms. We show that various errors in the manipulation process are suppressed below 10 -4 with properly chosen microwave pulse sequences and laser parameters. A similar idea is also applied to measure quantum states of single atoms in optical lattices

Non-linear contributions to interactions in climate networks: sources, relevance, nonstationarity

Czech Academy of Sciences Publication Activity Database

Hlinka, Jaroslav; Hartman, David; Vejmelka, Martin; Paluš, Milan

2012-01-01

Roč. 14, - (2012), s. 14274 ISSN 1607-7962. [European Geosciences Union General Assembly 2012. 22.04.2012-27.04.2012, Vienna] R&D Projects: GA ČR GCP103/11/J068 Institutional support: RVO:67985807 Keywords : correlation * mutual information * test of nonlinearity * surrogate data * complex networks * climate network Subject RIV: BB - Applied Statistics, Operational Research

Master-slave type manipulator

International Nuclear Information System (INIS)

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

1979-01-01

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

Do Managers Manipulate Earnings Prior to Management Buyouts?

NARCIS (Netherlands)

Mao, Y.; Renneboog, L.D.R.

2013-01-01

Abstract: To address the question as to whether managers manipulate accounting numbers downwards prior to management buyouts (MBOs), we implement an industry-adjusted buyout-specific approach and receive an affirmative answer. In UK buyout companies, negative earnings manipulation (understating the

Using Network Science to Support Design Research

DEFF Research Database (Denmark)

Parraguez Ruiz, Pedro; Maier, Anja

2016-01-01

and societal impact. This chapter contributes to the use of network science in empirical studies of design organisations. It focuses on introducing a network-based perspective on the design process and in particular on making use of network science to support design research and practice. The main contribution...... of this chapter is an overview of the methodological challenges and core decision points when embarking on network-based design research, namely defining the overall research purpose and selecting network features. We furthermore highlight the potential for using archival data, the opportunities for navigating...

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

Science.gov (United States)

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

2015-02-01

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

Development of a Control System for PRIDE Remote Servo-manipulator

International Nuclear Information System (INIS)

Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

2009-12-01

KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment

Development of a Control System for PRIDE Remote Servo-manipulator

Energy Technology Data Exchange (ETDEWEB)

Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

2009-12-15

KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment.

Pharmacogenomic identification of small molecules for lineage specific manipulation of subventricular zone germinal activity.

Directory of Open Access Journals (Sweden)

Kasum Azim

2017-03-01

Full Text Available Strategies for promoting neural regeneration are hindered by the difficulty of manipulating desired neural fates in the brain without complex genetic methods. The subventricular zone (SVZ is the largest germinal zone of the forebrain and is responsible for the lifelong generation of interneuron subtypes and oligodendrocytes. Here, we have performed a bioinformatics analysis of the transcriptome of dorsal and lateral SVZ in early postnatal mice, including neural stem cells (NSCs and their immediate progenies, which generate distinct neural lineages. We identified multiple signaling pathways that trigger distinct downstream transcriptional networks to regulate the diversity of neural cells originating from the SVZ. Next, we used a novel in silico genomic analysis, searchable platform-independent expression database/connectivity map (SPIED/CMAP, to generate a catalogue of small molecules that can be used to manipulate SVZ microdomain-specific lineages. Finally, we demonstrate that compounds identified in this analysis promote the generation of specific cell lineages from NSCs in vivo, during postnatal life and adulthood, as well as in regenerative contexts. This study unravels new strategies for using small bioactive molecules to direct germinal activity in the SVZ, which has therapeutic potential in neurodegenerative diseases.

Exploitation of manipulators: 'hitch-hiking' as a parasite transmission strategy.

Science.gov (United States)

Thomas; Renaud; Poulin

1998-07-01

For many parasites with complex life cycles, manipulation of host behaviour is an adaptation to increase the probability of successful transmission. Since manipulation is likely to be costly, other parasites may exploit hosts already manipulated so as to ensure their transmission without investing in manipulation. Such a cheating strategy, called 'hitch-hiking', could be adaptive in a range of situations. We first propose and discuss criteria that should be met by any parasite to be considered a hitch-hiker. Then, to understand the evolution of the hitch-hiking strategy, we use simple mathematical models to analyse the influence of several variables on the potential benefits for a nonmanipulative parasite of actively seeking a ride to the definitive host with a manipulative parasite. The models suggest that the prevalence or abundance of manipulative parasites will be a key determinant of whether hitch-hiking can be an advantageous option for other parasites. Copyright 1998 The Association for the Study of Animal Behaviour.

Data manipulation with R

CERN Document Server

Abedin, Jaynal

2015-01-01

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

The effects of spatially displaced visual feedback on remote manipulator performance

Science.gov (United States)

Smith, Randy L.; Stuart, Mark A.

1993-01-01

The results of this evaluation have important implications for the arrangement of remote manipulation worksites and the design of workstations for telerobot operations. This study clearly illustrates the deleterious effects that can accompany the performance of remote manipulator tasks when viewing conditions are less than optimal. Future evaluations should emphasize telerobot camera locations and the use of image/graphical enhancement techniques in an attempt to lessen the adverse effects of displaced visual feedback. An important finding in this evaluation is the extent to which results from previously performed direct manipulation studies can be generalized to remote manipulation studies. Even though the results obtained were very similar to those of the direct manipulation evaluations, there were differences as well. This evaluation has demonstrated that generalizations to remote manipulation applications based upon the results of direct manipulation studies are quite useful, but they should be made cautiously.

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

Science.gov (United States)

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

2005-12-01

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

Modelling, Synthesis, and Configuration of Networks-on-Chips

DEFF Research Database (Denmark)

Stuart, Matthias Bo

This thesis presents three contributions in two different areas of network-on-chip and system-on-chip research: Application modelling and identifying and solving different optimization problems related to two specific network-on-chip architectures. The contribution related to application modelling...... is an analytical method for deriving the worst-case traffic pattern caused by an application and the cache-coherence protocol in a cache-coherent shared-memory system. The contributions related to network-on-chip optimization problems consist of two parts: The development and evaluation of six heuristics...... for solving the network synthesis problem in the MANGO network-on-chip, and the identification and formalization of the ReNoC configuration problem together with three heuristics for solving it....

Animal Social Network Theory Can Help Wildlife Conservation.

Science.gov (United States)

Snijders, Lysanne; Blumstein, Daniel T; Stanley, Christina R; Franks, Daniel W

2017-08-01

Many animals preferentially associate with certain other individuals. This social structuring can influence how populations respond to changes to their environment, thus making network analysis a promising technique for understanding, predicting, and potentially manipulating population dynamics. Various network statistics can correlate with individual fitness components and key population-level processes, yet the logical role and formal application of animal social network theory for conservation and management have not been well articulated. We outline how understanding of direct and indirect relationships between animals can be profitably applied by wildlife managers and conservationists. By doing so, we aim to stimulate the development and implementation of practical tools for wildlife conservation and management and to inspire novel behavioral research in this field. Copyright © 2017 Elsevier Ltd. All rights reserved.

Manipulating the magnetic anisotropy and magnetization dynamics by stress: Numerical calculation and experiment

Science.gov (United States)

Correa, M. A.; Bohn, F.

2018-05-01

We perform a theoretical and experimental investigation of the magnetic properties and magnetization dynamics of a ferromagnetic magnetostrictive multilayer grown onto a flexible substrate and submitted to external stress. We calculate the magnetic behavior and magnetoimpedance effect for a trilayered system from an approach that considers a magnetic permeability model for planar geometry and a magnetic free energy density which takes into account induced uniaxial and magnetoelastic anisotropy contributions. We verify remarkable modifications of the magnetic anisotropy with external stress, as well as we show that the dynamic magnetic response is strongly affected by these changes. We discuss the magnetic features that lead to modifications of the frequency limits where distinct mechanisms are responsible by the magnetoimpedance variations, enabling us to manipulate the resonance fields. To test the robustness of the approach, we directly compare theoretical results with experimental data. Thus, we provide experimental evidence to confirm the validity of the theoretical approach, as well as to manipulate the resonance fields to tune the MI response according to real applications in devices.

Detailed solution to a complex kinematics chain manipulator

International Nuclear Information System (INIS)

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

1992-01-01

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

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

Directory of Open Access Journals (Sweden)

Roberd Saragih

2012-06-01

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

Development of an advanced robot manipulator system

International Nuclear Information System (INIS)

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

1991-01-01

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

Computer control of ET-RR-1 hot cell manipulators

International Nuclear Information System (INIS)

Effat, A.M.; Rahman, F.A.

1990-01-01

The hot cell designed for remote handling of radioactive materials are, in effect, integral systems of safety devices for attaining adequate radiological protection for the operating personnel. Their operation involve potential hazards that are sometimes of great magnitude. The effect of an incident or accident could thus be fatal. some of these incident are due to the collision of the manipulator slave side with the radioactive objectives. Therefore in order to minimize the probability of such type of incidents, the movement of the manipulators is suggested (in the present investigation) to be kept under computer control. A model have been developed to control the movement of the hot cell manipulators in the slave side for Egypt first research reactor ET-RR-1, specially in the hidden sectors. The model is based on the use of a microprocessor and some accessories fixed to the manipulators slave side in a special manner such that it prevents the manipulator from colliding with radioactive objects. This is achieved by a signal transmitted to a specially designed brake which controls the movement of the upper arm of the manipulator master side. The hardware design of the model as well as the software are presented in details

A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems

OpenAIRE

Tao, Yong; Zheng, Jiaqi; Lin, Yuanchang

2016-01-01

A sliding mode control method based on radial basis function (RBF) neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators. The RBF neural network based sliding mode control (RBFNN-SMC) has the ability to learn uncertain control actions. In the RBFNN-SMC scheme, the adaptive tuning algorithms for network par...

Dynamic modeling of the manipulator RD5NT

Directory of Open Access Journals (Sweden)

Eduardo Monteiro Aguiar

2015-05-01

Full Text Available This article presents the development of a dynamicmathematical model for the DIDACTA ITALIARD5NT manipulator. The model is intendedto be used in the development of strategies ofposition-trajectory control. The choice modelingtype aims at identifying the physical parametersof the manipulator.

The contribution of microbial biotechnology to mitigating coral reef degradation.

Science.gov (United States)

Damjanovic, Katarina; Blackall, Linda L; Webster, Nicole S; van Oppen, Madeleine J H

2017-09-01

The decline of coral reefs due to anthropogenic disturbances is having devastating impacts on biodiversity and ecosystem services. Here we highlight the potential and challenges of microbial manipulation strategies to enhance coral tolerance to stress and contribute to coral reef restoration and protection. © 2017 The Authors. Microbial Biotechnology published by John Wiley & Sons Ltd and Society for Applied Microbiology.

Manipulating electromagnetic waves with metamaterials: Concept and microwave realizations

International Nuclear Information System (INIS)

He Qiong; Xiao Shi-Yi; Li Xin; Song Zheng-Yong; Sun Wu-Jiong; Zhou Lei; Sun Shu-Lin

2014-01-01

Our recent efforts in manipulating electromagnetic (EM) waves using metamaterials (MTMs) are reviewed with emphasis on 1) manipulating wave polarization and transporting properties using homogeneous MTMs, 2) manipulating surface-wave properties using plasmonic MTMs, and 3) bridging propagating and surface waves using inhomogeneous meta-surfaces. For all these topics, we first illustrate the physical concepts and then present several typical practical realizations and applications in the microwave regime. (topical review - plasmonics and metamaterials)

Development of one body α-γ type manipulator for hot cell facility

International Nuclear Information System (INIS)

Jung, S. K.; Lee, S. B.; Lee, E. P.

2004-01-01

To handle the high level radioactive materials in a sealed type hot cell, our company has developed the one body alpha-gamma type manipulator and this is an improved model compared with the previously developed beta-gamma and separated alpha-gamma type manipulators. The successful development of one body alpha-gamma type manipulator means our company has a whole capacity to design and fabricate all kinds of manipulators using in hot cells. Until now most of the manipulators in Korea were imported from other countries. The development of Korean manipulators gives us the easier maintenance and lower price compared to the foreign products. It is also possible to export the Korean manipulators to overseas

Billing and coding for osteopathic manipulative treatment.

Science.gov (United States)

Snider, Karen T; Jorgensen, Douglas J

2009-08-01

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

FY04 IRAD-funded GSFC Lambda Network (L-Net) Web Pages and Related Presentations

Science.gov (United States)

Gary, J. Patrick

2005-01-01

This presentation discusses the advances in Networking Technology combining the Global Lambda Integrated Facility (GLIF) cooperation with the National Lambda Rail (NLR) implementation. It also focuses on New NASA science needing Gigbit per second networks (Gbps) with coordinated Earth Observing Program, hurricane predictions, global aerosols, remote viewing and manipulation of large Earth Science Data Sets, integration of laser and radar topographic data with land cover data.

High degree-of-freedom dynamic manipulation

Science.gov (United States)

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

2012-06-01

The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal, we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are utilized to optimize for several criteria such as payload capability and task completion speed while also obeying constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased payload capacity is accomplished through coordinated body motion.

Planning Robotic Manipulation Strategies for Sliding Objects

Science.gov (United States)

Peshkin, Michael A.

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

A Comparison of Geographic Information Systems, Complex Networks, and Other Models for Analyzing Transportation Network Topologies

Science.gov (United States)

Alexandrov, Natalia (Technical Monitor); Kuby, Michael; Tierney, Sean; Roberts, Tyler; Upchurch, Christopher

2005-01-01

This report reviews six classes of models that are used for studying transportation network topologies. The report is motivated by two main questions. First, what can the "new science" of complex networks (scale-free, small-world networks) contribute to our understanding of transport network structure, compared to more traditional methods? Second, how can geographic information systems (GIS) contribute to studying transport networks? The report defines terms that can be used to classify different kinds of models by their function, composition, mechanism, spatial and temporal dimensions, certainty, linearity, and resolution. Six broad classes of models for analyzing transport network topologies are then explored: GIS; static graph theory; complex networks; mathematical programming; simulation; and agent-based modeling. Each class of models is defined and classified according to the attributes introduced earlier. The paper identifies some typical types of research questions about network structure that have been addressed by each class of model in the literature.

Transforming Musical Signals through a Genre Classifying Convolutional Neural Network

Science.gov (United States)

Geng, S.; Ren, G.; Ogihara, M.

2017-05-01

Convolutional neural networks (CNNs) have been successfully applied on both discriminative and generative modeling for music-related tasks. For a particular task, the trained CNN contains information representing the decision making or the abstracting process. One can hope to manipulate existing music based on this 'informed' network and create music with new features corresponding to the knowledge obtained by the network. In this paper, we propose a method to utilize the stored information from a CNN trained on musical genre classification task. The network was composed of three convolutional layers, and was trained to classify five-second song clips into five different genres. After training, randomly selected clips were modified by maximizing the sum of outputs from the network layers. In addition to the potential of such CNNs to produce interesting audio transformation, more information about the network and the original music could be obtained from the analysis of the generated features since these features indicate how the network 'understands' the music.

Articular dysfunction patterns in patients with mechanical neck pain: a clinical algorithm to guide specific mobilization and manipulation techniques.

Science.gov (United States)

Dewitte, Vincent; Beernaert, Axel; Vanthillo, Bart; Barbe, Tom; Danneels, Lieven; Cagnie, Barbara

2014-02-01

In view of a didactical approach for teaching cervical mobilization and manipulation techniques to students as well as their use in daily practice, it is mandatory to acquire sound clinical reasoning to optimally apply advanced technical skills. The aim of this Masterclass is to present a clinical algorithm to guide (novice) therapists in their clinical reasoning to identify patients who are likely to respond to mobilization and/or manipulation. The presented clinical reasoning process is situated within the context of pain mechanisms and is narrowed to and applicable in patients with a dominant input pain mechanism. Based on key features in subjective and clinical examination, patients with mechanical nociceptive pain probably arising from articular structures can be categorized into specific articular dysfunction patterns. Pending on these patterns, specific mobilization and manipulation techniques are warranted. The proposed patterns are illustrated in 3 case studies. This clinical algorithm is the corollary of empirical expertise and is complemented by in-depth discussions and knowledge exchange with international colleagues. Consequently, it is intended that a carefully targeted approach contributes to an increase in specificity and safety in the use of cervical mobilizations and manipulation techniques as valuable adjuncts to other manual therapy modalities. Copyright © 2013 Elsevier Ltd. All rights reserved.

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

International Nuclear Information System (INIS)

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

1998-03-01

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

Supervised learning in spiking neural networks with FORCE training.

Science.gov (United States)

Nicola, Wilten; Clopath, Claudia

2017-12-20

Populations of neurons display an extraordinary diversity in the behaviors they affect and display. Machine learning techniques have recently emerged that allow us to create networks of model neurons that display behaviors of similar complexity. Here we demonstrate the direct applicability of one such technique, the FORCE method, to spiking neural networks. We train these networks to mimic dynamical systems, classify inputs, and store discrete sequences that correspond to the notes of a song. Finally, we use FORCE training to create two biologically motivated model circuits. One is inspired by the zebra finch and successfully reproduces songbird singing. The second network is motivated by the hippocampus and is trained to store and replay a movie scene. FORCE trained networks reproduce behaviors comparable in complexity to their inspired circuits and yield information not easily obtainable with other techniques, such as behavioral responses to pharmacological manipulations and spike timing statistics.

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

Directory of Open Access Journals (Sweden)

Yasmin Ansari

2017-03-01

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

Manipulation of microfluidic droplets by electrorheological fluid

KAUST Repository

Zhang, Menying

2009-09-01

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

Female directors and real activities manipulation: Evidence from China

Directory of Open Access Journals (Sweden)

Jin-hui Luo

2017-06-01

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

Robotic design analysis based on teleoperated manipulator data collection

International Nuclear Information System (INIS)

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

1985-01-01

Extensive data collection was performed on a servomanipulator system (TeleOperator Systems SM-229) to determine the motion range and mechanical power usage of the manipulator under direct human control. More than 50 hours of various manipulation operations were performed while joint positions and motor currents were recorded. Reduction of these data yielded histograms of the manipulator usage patterns revealing areas where future manipulator motion ranges and drive systems could be optimized. This report develops a graphical representation of mechanical power usage that relates torque and velocity to the total usage time. Methods of interpreting this representation are discussed and generalized for use in analyzing robotic systems. The resulting technique will allow designers to reevaluate an operating system and determine how to improve that system's design

Dual arm master controller for a bilateral servo-manipulator

Science.gov (United States)

Kuban, Daniel P.; Perkins, Gerald S.

1989-01-01

A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

Heralded wave packet manipulation and storage of a frequency-converted pair photon at telecom wavelength

Science.gov (United States)

Kroh, Tim; Ahlrichs, Andreas; Sprenger, Benjamin; Benson, Oliver

2017-09-01

Future quantum networks require a hybrid platform of dissimilar quantum systems. Within the platform, joint quantum states have to be mediated either by single photons, photon pairs or entangled photon pairs. The photon wavelength has to lie within the telecommunication band to enable long-distance fibre transmission. In addition, the temporal shape of the photons needs to be tailored to efficiently match the involved quantum systems. Altogether, this requires the efficient coherent wavelength-conversion of arbitrarily shaped single-photon wave packets. Here, we demonstrate the heralded temporal filtering of single photons as well as the synchronisation of state manipulation and detection as key elements in a typical experiment, besides of delaying a photon in a long fibre. All three are realised by utilising commercial telecommunication fibre-optical components which will permit the transition of quantum networks from the lab to real-world applications. The combination of these renders a temporally filtering single-photon storage in a fast switchable fibre loop possible.

Review conclusions by Ernst and Canter regarding spinal manipulation refuted

Directory of Open Access Journals (Sweden)

Evans Roni

2006-08-01

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

How plants connect pollination and herbivory networks and their contribution to community stability.

Science.gov (United States)

Sauve, Alix M C; Thébault, Elisa; Pocock, Michael J O; Fontaine, Colin

2016-04-01

Pollination and herbivory networks have mainly been studied separately, highlighting their distinct structural characteristics and the related processes and dynamics. However, most plants interact with both pollinators and herbivores, and there is evidence that both types of interaction affect each other. Here we investigated the way plants connect these mutualistic and antagonistic networks together, and the consequences for community stability. Using an empirical data set, we show that the way plants connect pollination and herbivory networks is not random and promotes community stability. Analyses of the structure of binary and quantitative networks show different results: the plants' generalism with regard to pollinators is positively correlated to their generalism with regard to herbivores when considering binary interactions, but not when considering quantitative interactions. We also show that plants that share the same pollinators do not share the same herbivores. However, the way plants connect pollination and herbivory networks promotes stability for both binary and quantitative networks. Our results highlight the relevance of considering the diversity of interaction types in ecological communities, and stress the need to better quantify the costs and benefits of interactions, as well as to develop new metrics characterizing the way different interaction types are combined within ecological networks.

Social network data analytics

CERN Document Server

Aggarwal, Charu C

2011-01-01

Social network analysis applications have experienced tremendous advances within the last few years due in part to increasing trends towards users interacting with each other on the internet. Social networks are organized as graphs, and the data on social networks takes on the form of massive streams, which are mined for a variety of purposes. Social Network Data Analytics covers an important niche in the social network analytics field. This edited volume, contributed by prominent researchers in this field, presents a wide selection of topics on social network data mining such as Structural Pr

Environmental manipulation for edible insect procurement: a historical perspective

Science.gov (United States)

2012-01-01

Throughout history humans have manipulated their natural environment for an increased predictability and availability of plant and animal resources. Research on prehistoric diets increasingly includes small game, but edible insects receive minimal attention. Using the anthropological and archaeological literature we show and hypothesize about the existence of such environmental manipulations related to the procurement of edible insects. As examples we use eggs of aquatic Hemiptera in Mexico which are semi-cultivated by water management and by providing egg laying sites; palm weevil larvae in the Amazon Basin, tropical Africa, and New Guinea of which the collection is facilitated by manipulating host tree distribution and abundance and which are semi-cultivated by deliberately cutting palm trees at a chosen time at a chosen location; and arboreal, foliage consuming caterpillars in sub-Saharan Africa for which the collection is facilitated by manipulating host tree distribution and abundance, shifting cultivation, fire regimes, host tree preservation, and manually introducing caterpillars to a designated area. These manipulations improve insect exploitation by increasing their predictability and availability, and most likely have an ancient origin. PMID:22264307

Environmental manipulation for edible insect procurement: a historical perspective.

Science.gov (United States)

Van Itterbeeck, Joost; van Huis, Arnold

2012-01-21

Throughout history humans have manipulated their natural environment for an increased predictability and availability of plant and animal resources. Research on prehistoric diets increasingly includes small game, but edible insects receive minimal attention. Using the anthropological and archaeological literature we show and hypothesize about the existence of such environmental manipulations related to the procurement of edible insects. As examples we use eggs of aquatic Hemiptera in Mexico which are semi-cultivated by water management and by providing egg laying sites; palm weevil larvae in the Amazon Basin, tropical Africa, and New Guinea of which the collection is facilitated by manipulating host tree distribution and abundance and which are semi-cultivated by deliberately cutting palm trees at a chosen time at a chosen location; and arboreal, foliage consuming caterpillars in sub-Saharan Africa for which the collection is facilitated by manipulating host tree distribution and abundance, shifting cultivation, fire regimes, host tree preservation, and manually introducing caterpillars to a designated area. These manipulations improve insect exploitation by increasing their predictability and availability, and most likely have an ancient origin.

Environmental manipulation for edible insect procurement: a historical perspective

Directory of Open Access Journals (Sweden)

Van Itterbeeck Joost

2012-01-01

Full Text Available Abstract Throughout history humans have manipulated their natural environment for an increased predictability and availability of plant and animal resources. Research on prehistoric diets increasingly includes small game, but edible insects receive minimal attention. Using the anthropological and archaeological literature we show and hypothesize about the existence of such environmental manipulations related to the procurement of edible insects. As examples we use eggs of aquatic Hemiptera in Mexico which are semi-cultivated by water management and by providing egg laying sites; palm weevil larvae in the Amazon Basin, tropical Africa, and New Guinea of which the collection is facilitated by manipulating host tree distribution and abundance and which are semi-cultivated by deliberately cutting palm trees at a chosen time at a chosen location; and arboreal, foliage consuming caterpillars in sub-Saharan Africa for which the collection is facilitated by manipulating host tree distribution and abundance, shifting cultivation, fire regimes, host tree preservation, and manually introducing caterpillars to a designated area. These manipulations improve insect exploitation by increasing their predictability and availability, and most likely have an ancient origin.

Heating networks and domestic central heating systems

Energy Technology Data Exchange (ETDEWEB)

Kamler, W; Wasilewski, W

1976-08-01

This is a comprehensive survey of the 26 contributions from 8 European countries submitted to the 3rd International District Heating Conference in Warsaw held on the subject 'Heating Networks and Domestic Central Heating Systems'. The contributions are grouped according to 8 groups of subjects: (1) heat carriers and their parameters; (2) system of heating networks; (3) calculation and optimization of heating networks; (4) construction of heating networks; (5) operation control and automation; (6) operational problems; (7) corrosion problems; and (8) methods of heat accounting.

NASF transposition network: A computing network for unscrambling p-ordered vectors

Science.gov (United States)

Lim, R. S.

1979-01-01

The viewpoints of design, programming, and application of the transportation network (TN) is presented. The TN is a programmable combinational logic network that connects 521 memory modules to 512 processors. The unscrambling of p-ordered vectors to 1-ordered vectors in one cycle is described. The TN design is based upon the concept of cyclic groups from abstract algebra and primitive roots and indices from number theory. The programming of the TN is very simple, requiring only 20 bits: 10 bits for offset control and 10 bits for barrel switch shift control. This simple control is executed by the control unit (CU), not the processors. Any memory access by a processor must be coordinated with the CU and wait for all other processors to come to a synchronization point. These wait and synchronization events can be a degradation in performance to a computation. The TN application is for multidimensional data manipulation, matrix processing, and data sorting, and can also perform a perfect shuffle. Unlike other more complicated and powerful permutation networks, the TN cannot, if possible at all, unscramble non-p-ordered vectors in one cycle.

Shapley ratings in brain networks

Directory of Open Access Journals (Sweden)

Rolf Kötter

2007-11-01

Full Text Available Recent applications of network theory to brain networks as well as the expanding empirical databases of brain architecture spawn an interest in novel techniques for analyzing connectivity patterns in the brain. Treating individual brain structures as nodes in a directed graph model permits the application of graph theoretical concepts to the analysis of these structures within their large-scale connectivity networks. In this paper, we explore the application of concepts from graph and game theory toward this end. Specifically, we utilize the Shapley value principle, which assigns a rank to players in a coalition based upon their individual contributions to the collective profit of that coalition, to assess the contributions of individual brain structures to the graph derived from the global connectivity network. We report Shapley values for variations of a prefrontal network, as well as for a visual cortical network, which had both been extensively investigated previously. This analysis highlights particular nodes as strong or weak contributors to global connectivity. To understand the nature of their contribution, we compare the Shapley values obtained from these networks and appropriate controls to other previously described nodal measures of structural connectivity. We find a strong correlation between Shapley values and both betweenness centrality and connection density. Moreover, a stepwise multiple linear regression analysis indicates that approximately 79% of the variance in Shapley values obtained from random networks can be explained by betweenness centrality alone. Finally, we investigate the effects of local lesions on the Shapley ratings, showing that the present networks have an immense structural resistance to degradation. We discuss our results highlighting the use of such measures for characterizing the organization and functional role of brain networks.

An overview of the Accident Response Mobile Manipulation System (ARMMS)

International Nuclear Information System (INIS)

Morse, W.D.; Hayward, D.R.; Jones, D.P.; Sanchez, A.; Shirey, D.L.

1993-01-01

The development of a high mobility platform integrated with high strength manipulation is under development at Sandia National Laboratories. The mobility platform used is a High Mobility Multipurpose Wheeled Vehicle (HMMWV). Manipulation is provided by two Titan 7F Schilling manipulators integrated onboard the HMMWV. The current state of development is described and future plans are discussed

Electrostatic Transport and Manipulation of Lunar Soil and Dust

International Nuclear Information System (INIS)

Kawamoto, Hiroyuki

2008-01-01

Transport and manipulation technologies of lunar soil and dust are under development utilizing the electrostatic force. Transport of particles is realized by an electrostatic conveyer consisting of parallel electrodes. Four-phase traveling electrostatic wave was applied to the electrodes to transport particles upon the conveyer and it was demonstrated that particles were efficiently transported under conditions of low frequency, high voltage, and the application of rectangular wave. Not only linear but also curved and closed transport was demonstrated. Numerical investigation was carried out with a three-dimensional hard-sphere model of the Distinct Element Method to clarify the mechanism of the transport and to predict performances in the lunar environment. This technology is expected to be utilized not only for the transport of bulk soil but also for the cleaning of a solar panel and an optical lens. Another technology is an electrostatic manipulation system to manipulate single particle. A manipulator consisted of two parallel pin electrodes. When voltage was applied between the electrodes, electrophoresis force generated in non-uniform electrostatic field was applied to the particle near the tip of the electrode. The particle was captured by the application of the voltage and released from the manipulator by turning off the voltage. It was possible to manipulate not only insulative but also conductive particles. Three-dimensional electrostatic field calculation was conducted to calculate the electrophoresis force and the Coulomb force

PNNI routing support for ad hoc mobile networking: The multilevel case

Energy Technology Data Exchange (ETDEWEB)

Martinez, L.; Sholander, P.; Tolendino, L.

1998-01-01

This contribution extends the Outside Nodal Hierarchy List (ONHL) procedures described in ATM Forum Contributions 97-0766 and 97-0933. These extensions allow multiple mobile networks to form either an ad hoc network or an extension of a fixed PNNI infrastructure. A previous contribution (97-1073) covered the simplest case where the top-most Logical Group Nodes (LGNs), in those mobile networks, all resided at the same level in a PNNI hierarchy. This contribution covers the more general case wherein those top-most LGNs may reside at different PNNI hierarchy levels. Both of the SNL contributions consider flat ad hoc network architectures in the sense that each mobile network always participates in the PNNI hierarchy at the pre-configured level of its top-most LGN.

Manipulation in political stock markets: Preconditions and evidence

OpenAIRE

Hansen, Jan; Schmidt, Carsten; Strobel, Martin

2001-01-01

Political stock markets (PSM) are sometimes seen as substitutes for opinion polls. On the bases of a behavioral model, specific preconditions were drawn out under which manipulation in PSM can weaken this argument. Evidence for manipulation is reported from the data of two separate PSM during the Berlin 99 state elections.

Beliefs in the population about cracking sounds produced during spinal manipulation.

Science.gov (United States)

Demoulin, Christophe; Baeri, Damien; Toussaint, Geoffrey; Cagnie, Barbara; Beernaert, Axel; Kaux, Jean-François; Vanderthommen, Marc

2018-03-01

To examine beliefs about cracking sounds heard during high-velocity low-amplitude (HVLA) thrust spinal manipulation in individuals with and without personal experience of this technique. We included 100 individuals. Among them, 60 had no history of spinal manipulation, including 40 who were asymptomatic with or without a past history of spinal pain and 20 who had nonspecific spinal pain. The remaining 40 patients had a history of spinal manipulation; among them, 20 were asymptomatic and 20 had spinal pain. Participants attended a one-on-one interview during which they completed a questionnaire about their history of spinal manipulation and their beliefs regarding sounds heard during spinal manipulation. Mean age was 43.5±15.4years. The sounds were ascribed to vertebral repositioning by 49% of participants and to friction between two vertebras by 23% of participants; only 9% of participants correctly ascribed the sound to the formation of a gas bubble in the joint. The sound was mistakenly considered to indicate successful spinal manipulation by 40% of participants. No differences in beliefs were found between the groups with and without a history of spinal manipulation. Certain beliefs have documented adverse effects. This study showed a high prevalence of unfounded beliefs regarding spinal manipulation. These beliefs deserve greater attention from healthcare providers, particularly those who practice spinal manipulation. Copyright © 2017 Société française de rhumatologie. Published by Elsevier SAS. All rights reserved.

Soft Manipulators and Grippers: A Review

Directory of Open Access Journals (Sweden)

Josie Hughes

2016-11-01

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

Online Networks as Societies : User Behaviors and Contribution Incentives

NARCIS (Netherlands)

Jia, L.

2013-01-01

Online networks like email, Facebook, LinkedIn, Wikipedia, eBay, and BitTorrent-like Peer-to-Peer (P2P) systems have become popular and powerful infrastructures for communication. They involve potentially large numbers of humans with their collective inputs and decisions, and they often rely on the

Combined long reach and dexterous manipulation for waste storage tank applications

International Nuclear Information System (INIS)

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

1991-01-01

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

Two-probe atomic-force microscope manipulator and its applications

Science.gov (United States)

Zhukov, A. A.; Stolyarov, V. S.; Kononenko, O. V.

2017-06-01

We report on a manipulator based on a two-probe atomic force microscope (AFM) with an individual feedback system for each probe. This manipulator works under an upright optical microscope with 3 mm focal distance. The design of the microscope helps us tomanipulate nanowires using the microscope probes as a two-prong fork. The AFM feedback is realized based on the dynamic full-time contact mode. The applications of the manipulator and advantages of its two-probe design are presented.

Multilink manipulator computer control: experience in development and commissioning

International Nuclear Information System (INIS)

Holt, J.E.

1988-11-01

This report describes development which has been carried out on the multilink manipulator computer control system. The system allows the manipulator to be driven using only two joysticks. The leading link is controlled and the other links follow its path into the reactor, thus avoiding any potential obstacles. The system has been fully commissioned and used with the Sizewell ''A'' reactor 2 Multilink T.V. manipulator. Experience of the use of the system is presented, together with recommendations for future improvements. (author)

Dual arm master controller for a bilateral servo-manipulator

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1989-01-01

A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences there between. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed. 13 figs