WorldWideScience

Sample records for manipulation technologies subprogram

  1. The Strategic Technologies for Automation and Robotics (STEAR) program: Protection of materials in the space environment subprogram

    Energy Technology Data Exchange (ETDEWEB)

    Schmidt, L.R.; Francoeur, J.; Aguero, A.; Wertheimer, M.R.; Klemberg-Sapieha, J.E.; Martinu, L.; Blezius, J.W.; Oliver, M.; Singh, A. [Cametoid Advanced Technologies, Inc., Whitby, Ontario (Canada)]|[Ecole Polytechnique, Montreal, Quebec (Canada)]|[MPB Technologies, Inc., Pointe Claire, Quebec (Canada)]|[National Optics Inst., Ste-Foy, Quebec (Canada)

    1995-02-01

    Three projects are currently underway for the development of new coatings for the protection of materials in the space environment. These coatings are based on vacuum deposition technologies. The projects will go as far as the proof-of-concept stage when the commercial potential for the technology will be demonstrated on pilot-scale fabrication facilities in 1996. These projects are part of a subprogram to develop supporting technologies for automation and robotics technologies being developed under the Canadian Space Agency`s STEAR Program, part of the Canadian Space Station Program.

  2. Environmental impact assessment Geopressure Subprogram

    Energy Technology Data Exchange (ETDEWEB)

    None

    1977-07-01

    This environmental impact assessment (EIA) addresses the expected programmatic activities of the Geopressure Subprogram of the Division of Geothermal Energy. The goal of the Geopressure Subprogram is to stimulate development of geopressured resources as an economic, reliable, operationally safe, and environmentally acceptable energy source. The subprogram includes activities in the areas of engineering research and development; resource exploration, assessment, and development; resource utilization including pilot and demonstration facilities; and environmental research and control technology development. It should be recognized that most of the subprogram activities extend over several years and are in their early stages of implementation at this time. The zones of potential geopressure development are in the region located along the Texas and Louisiana Gulf Coasts extending up to 200 miles (300 km) inland. Geopressured zones are sedimentary basins where water is trapped at high pressures within or below thick, nearly impermeable shale sequences. The confined water supports most or all of the weight of the overburden. This inhibits sediment compaction and causes formation pore pressure to exceed hydrostatic pressure. in sedimentary basins that are underlain by thin oceanic crust, upward thermal conduction from the mantle heats geopressured fluids and sediments to abnormally high temperatures, often in excess of 260 C (500 F).

  3. Accurate manipulation using laser technology

    Science.gov (United States)

    Hoving, Willem

    1997-08-01

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

  4. BLAS- BASIC LINEAR ALGEBRA SUBPROGRAMS

    Science.gov (United States)

    Krogh, F. T.

    1994-01-01

    The Basic Linear Algebra Subprogram (BLAS) library is a collection of FORTRAN callable routines for employing standard techniques in performing the basic operations of numerical linear algebra. The BLAS library was developed to provide a portable and efficient source of basic operations for designers of programs involving linear algebraic computations. The subprograms available in the library cover the operations of dot product, multiplication of a scalar and a vector, vector plus a scalar times a vector, Givens transformation, modified Givens transformation, copy, swap, Euclidean norm, sum of magnitudes, and location of the largest magnitude element. Since these subprograms are to be used in an ANSI FORTRAN context, the cases of single precision, double precision, and complex data are provided for. All of the subprograms have been thoroughly tested and produce consistent results even when transported from machine to machine. BLAS contains Assembler versions and FORTRAN test code for any of the following compilers: Lahey F77L, Microsoft FORTRAN, or IBM Professional FORTRAN. It requires the Microsoft Macro Assembler and a math co-processor. The PC implementation allows individual arrays of over 64K. The BLAS library was developed in 1979. The PC version was made available in 1986 and updated in 1988.

  5. BLAS- BASIC LINEAR ALGEBRA SUBPROGRAMS

    Science.gov (United States)

    Krogh, F. T.

    1994-01-01

    The Basic Linear Algebra Subprogram (BLAS) library is a collection of FORTRAN callable routines for employing standard techniques in performing the basic operations of numerical linear algebra. The BLAS library was developed to provide a portable and efficient source of basic operations for designers of programs involving linear algebraic computations. The subprograms available in the library cover the operations of dot product, multiplication of a scalar and a vector, vector plus a scalar times a vector, Givens transformation, modified Givens transformation, copy, swap, Euclidean norm, sum of magnitudes, and location of the largest magnitude element. Since these subprograms are to be used in an ANSI FORTRAN context, the cases of single precision, double precision, and complex data are provided for. All of the subprograms have been thoroughly tested and produce consistent results even when transported from machine to machine. BLAS contains Assembler versions and FORTRAN test code for any of the following compilers: Lahey F77L, Microsoft FORTRAN, or IBM Professional FORTRAN. It requires the Microsoft Macro Assembler and a math co-processor. The PC implementation allows individual arrays of over 64K. The BLAS library was developed in 1979. The PC version was made available in 1986 and updated in 1988.

  6. A Review of Ultrasonic Nano Manipulation Technology

    Institute of Scientific and Technical Information of China (English)

    Junhui Hu∗

    2016-01-01

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

  7. Basic linear algebra subprograms for FORTRAN usage

    Science.gov (United States)

    Lawson, C. L.; Hanson, R. J.; Kincaid, D. R.; Krogh, F. T.

    1977-01-01

    A package of 38 low level subprograms for many of the basic operations of numerical linear algebra is presented. The package is intended to be used with FORTRAN. The operations in the package are dot products, elementary vector operations, Givens transformations, vector copy and swap, vector norms, vector scaling, and the indices of components of largest magnitude. The subprograms and a test driver are available in portable FORTRAN. Versions of the subprograms are also provided in assembly language for the IBM 360/67, the CDC 6600 and CDC 7600, and the Univac 1108.

  8. Computer Center CDC Libraries/NSRD (Subprograms).

    Science.gov (United States)

    1984-06-01

    TAKE> ARE 1 1 1 0. 9,02/10/84 2-162 LBYT -1 OF 2 -k F.’,, .𔄃 -I.*" *• SUBPROGRAMS REQUIRED PART OF LANGUAGE NONE OTHERS NONE AUTHOR FROM CDC KRONOS ...NONE AUTHOR: FROM CDC KRONOS SYSTEM DATE WRITTEN: DATE(S) REVISED 03/23/83 - RECOMPILE AT NOS/BE LEVEL 552 LOCATION OF DECKS a.-.-. SOURCE UPDATE

  9. Naturally Supervised Learning in Manipulable Technologies

    CERN Document Server

    Alicea, Bradly

    2011-01-01

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

  10. Aspect-Oriented Subprogram Synthesizes UML Sequence Diagrams

    Science.gov (United States)

    Barry, Matthew R.; Osborne, Richard N.

    2006-01-01

    The Rational Sequence computer program described elsewhere includes a subprogram that utilizes the capability for aspect-oriented programming when that capability is present. This subprogram is denoted the Rational Sequence (AspectJ) component because it uses AspectJ, which is an extension of the Java programming language that introduces aspect-oriented programming techniques into the language

  11. Parallel and Scalable Sparse Basic Linear Algebra Subprograms

    DEFF Research Database (Denmark)

    Liu, Weifeng

    Sparse basic linear algebra subprograms (BLAS) are fundamental building blocks for numerous scientific computations and graph applications. Compared with Dense BLAS, parallelization of Sparse BLAS routines entails extra challenges due to the irregularity of sparse data structures. This thesis...

  12. Parallel and Scalable Sparse Basic Linear Algebra Subprograms

    DEFF Research Database (Denmark)

    Liu, Weifeng

    Sparse basic linear algebra subprograms (BLAS) are fundamental building blocks for numerous scientific computations and graph applications. Compared with Dense BLAS, parallelization of Sparse BLAS routines entails extra challenges due to the irregularity of sparse data structures. This thesis...

  13. Two dimensional basic linear algebra communication subprograms

    Energy Technology Data Exchange (ETDEWEB)

    Dongarra, J.J.; Whaley, R.C. [Univ. of Tennessee, Knoxville, TN (United States); Geijn, R.A. van de [Univ. of Texas, Austin, TX (United States)

    1993-12-31

    This paper describes a package of linear algebra communication routines for manipulating and communicating data structures that are distributed among the memories of a distributed memory MIMD computer. The motivation for the BLACS is to increase portability, efficiency and modularity at a high level. The audience of the BLACS are mathematical software experts and people with large scale scientific computation to perform.

  14. A set of Level 3 Basic Linear Algebra Subprograms

    Energy Technology Data Exchange (ETDEWEB)

    Dongarra, J.J. (Univ. of Tennessee, Knoxville, TN (United States) Oak Ridge National Lab., TN (United States)); Du Croz, J.; Hammarling, S. (Numerical Algorithms Group Ltd., Oxford (United Kingdom)); Duff, I. (Harwell Lab., Oxfordshire (United Kingdom))

    1990-03-01

    This paper describes a set of Level 3 Basic Linear Algebra Subprograms (Level 3 BLAS). The Level 3 BLAS are targeted at matrix-matrix operations, with the aim of providing more efficient, but portable, implementations of algorithms on high-performance computers, especially those with hierarchical memory and parallel processing capability.

  15. SOCIAL MECHANISMS AND TECHNOLOGIES OF MANIPULATIVE MANAGEMENT OF THE PERSON

    Directory of Open Access Journals (Sweden)

    N. G. Osipova

    2016-01-01

    Full Text Available The article analyzes the different points of view on individual and social conditioning of the individual exposure to manipulative influences. The special attention paid to broad social context of modern transformations when the increasing stream of the information and the new forms of its giving which literally has fallen upon the person. In last decades it conducts to the “incoherence” of sensations, when the confidence and the fixed standards were replaced by uncertainty, incite to superficial perception of things, to sensation of the feeling immediacy of life and to negation of historical regularities. Authors assert that in such situation activity of the organizations and the separate persons which purpose is influence rendering on people, submission to their specific private interests is especially stirred up. The main element of the manipulative influence is the ability to impose their own solutions of urgent problems or engage in manipulation of networks of people who are predisposed to it. This article analyzes the concepts that explain susceptibility to manipulative influences of congenital mental qualities of the person; discusses the theory of “patterns”, launched by domestic explorer V.V. Krasikov. Authors allocate concrete socially-psychological mechanisms which allow people to be subjected to manipulative management, as well as the proven fact of socially conditioned cultivation conformal thinking in a certain social, economic and political circumstances. 

  16. New graphene technologies of manipulation with molecular objects

    Science.gov (United States)

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

    2016-06-01

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

  17. Light-Driven Droplet Manipulation Technologies for Lab-on-a-Chip Applications

    Directory of Open Access Journals (Sweden)

    Sung-Yong Park

    2011-01-01

    Full Text Available Droplet-based (digital microfluidics has been demonstrated in many lab-on-a-chip applications due to its free cross-contamination and no dispersion nature. Droplet manipulation mechanisms are versatile, and each has unique advantages and limitations. Recently, the idea of manipulating droplets with light beams either through optical forces or light-induced physical mechanisms has attracted some interests, since light can achieve 3D addressing, carry high energy density for high speed actuation, and be patterned and dynamically reconfigured to generate a large number of light beams for massively parallel manipulation. This paper reviews recent developments of various optical technologies for droplet manipulation and their applications in lab-on-a-chip.

  18. Proposal for an extended set of Fortran Basic Linear Algebra Subprograms

    Energy Technology Data Exchange (ETDEWEB)

    Dongarra, J.J.; Du Croz, J.; Hammarling, S.; Hanson, R.J.

    1984-12-01

    This paper describes an extension to the set of Basic Linear Algebra Subprograms. The extensions proposed are targeted at matrix vector operations which should provide for more efficient and portable implementations of algorithms for high performance computers.

  19. Space flight manipulator technologies and requirements for the NASA Flight Telerobotic Servicer (FTS)

    Science.gov (United States)

    Chladek, John T.; Craver, William M.

    1994-01-01

    NASA Headquarters' Office of Advanced Concepts and Technology (OACT) joined efforts with Johnson Space Center's (JSC) Automation and Robotics Division and Langley Research Center's (LaRC) Information Systems Division to capture the technologies developed during the cancelled NASA Flight Telerobotic Servicer (FTS) program planned for use on Space Station Freedom. The recent FTS technology capture effort completed the build and testing of one flight qualifiable FTS manipulator, deliverable to JSC's Automation & Robotics Division for environmental testing. The many robotic technologies developed to meet the 30 year space environment design requirements are discussed in this paper. The manipulator properties were to allow positioning control to one thousandths of an inch, with zero actuator backlash over a temperature range of -50 to +95 C, and were to include impedance control and inertial decoupling. Safety and reliability requirements are discussed that were developed to allow a thirty year life in space with minimum maintenance. The system had to meet the safety requirements for hazardous payloads for operation in the shuttle payload bay during demonstration test flights prior to station use. A brief description is contained on an orbiter based robotic experiment and operational application using the dexterous FTS manipulator operating on the end of the shuttle remote manipulator systems (SRMS) from ground control.

  20. Commercialization of JPL Virtual Reality calibration and redundant manipulator control technologies

    Science.gov (United States)

    Kim, Won S.; Seraji, Homayoun; Fiorini, Paolo; Brown, Robert; Christensen, Brian; Beale, Chris; Karlen, James; Eismann, Paul

    1994-01-01

    Within NASA's recent thrust for industrial collaboration, JPL (Jet Propulsion Laboratory) has recently established two technology cooperation agreements in the robotics area: one on virtual reality (VR) calibration with Deneb Robotics, Inc., and the other on redundant manipulator control with Robotics Research Corporation (RRC). These technology transfer cooperation tasks will enable both Deneb and RRC to commercialize enhanced versions of their products that will greatly benefit both space and terrestrial telerobotic applications.

  1. Integrative technology of massage manipulations in physical rehabilitation of students with backbone pathology

    Directory of Open Access Journals (Sweden)

    Kotelevskiy V.I.

    2016-06-01

    Full Text Available Purpose: to analyze effectiveness of massage manipulations’ integrative technology in physical rehabilitation of higher educational establishments’ students with backbone pathology. Material: in the research 195 students of 19-20 years’ age participated. All students had periodical initial neurological symptoms of functional pathology and first stage osteochondrosis in different parts of backbone. We conducted a course of 10 sessions of therapeutic massage. Results: the sense of massage integrative technology is that every specialist shall have certain optimal set of skills and knowledge in technique of manipulation sessions of massage. Integrative technology of massage manipulations consists of psycho-corrective and manipulation parts. It considers psycho-somatic, mechanical and reflex rehabilitation aspects of patho-genesis of backbone functional disorders and vertebral osteochondrosis. Conclusions: depending on pathological process or backbone functional state of every person (peculiarities of his (her psycho-somatic status or, even, his (her bents. Individual approach in choice of strategy, tactic and methodological provisioning of massage session shall be used.

  2. The post-humanist embryo: genetic manipulation, assisted reproductive technologies and the Principle of Procreative Beneficence.

    Science.gov (United States)

    Güell Pelayo, Francisco

    2014-01-01

    Drawing from Julian Savulescu's argument for the obligation to use technological interventions for the enhancement human life, the Principle of Procreative Beneficence (PPB) states that parents have a moral obligation to use available reproductive technologies, including techniques of genetic manipulation, to create children who have the best chance of enjoying the best possible life. The aim of this study is to analyse the extent to which the possibility of using genetic manipulation to promote specific personality traits and thereby enhance human life is actually supported by current scientific knowledge and to determine whether the techniques employed in embryo selection comply with the PPB. In light of this analysis, the importance of involving the scientific community in the enhancement debate will be made clear. Moreover, when current knowledge of genetic and epigenetic processes and evidence of the risks of assisted reproductive technologies are taken into account, we find sufficient reason - even when guided by the PPB - to abstain from the use of current techniques of genetic manipulation and embryonic selection.

  3. Targeted Gene Manipulation in Plants Using the CRISPR/Cas Technology.

    Science.gov (United States)

    Zhang, Dandan; Li, Zhenxiang; Li, Jian-Feng

    2016-05-20

    The CRISPR/Cas technology is emerging as a revolutionary genome editing tool in diverse organisms including plants, and has quickly evolved into a suite of versatile tools for sequence-specific gene manipulations beyond genome editing. Here, we review the most recent applications of the CRISPR/Cas toolkit in plants and also discuss key factors for improving CRISPR/Cas performance and strategies for reducing the off-target effects. Novel technical breakthroughs in mammalian research regarding the CRISPR/Cas toolkit will also be incorporated into this review in hope to stimulate prospective users from the plant research community to fully explore the potential of these technologies.

  4. Advanced technologies for genetically manipulating the silkworm Bombyx mori, a model Lepidopteran insect.

    Science.gov (United States)

    Xu, Hanfu; O'Brochta, David A

    2015-07-07

    Genetic technologies based on transposon-mediated transgenesis along with several recently developed genome-editing technologies have become the preferred methods of choice for genetically manipulating many organisms. The silkworm, Bombyx mori, is a Lepidopteran insect of great economic importance because of its use in silk production and because it is a valuable model insect that has greatly enhanced our understanding of the biology of insects, including many agricultural pests. In the past 10 years, great advances have been achieved in the development of genetic technologies in B. mori, including transposon-based technologies that rely on piggyBac-mediated transgenesis and genome-editing technologies that rely on protein- or RNA-guided modification of chromosomes. The successful development and application of these technologies has not only facilitated a better understanding of B. mori and its use as a silk production system, but also provided valuable experiences that have contributed to the development of similar technologies in non-model insects. This review summarizes the technologies currently available for use in B. mori, their application to the study of gene function and their use in genetically modifying B. mori for biotechnology applications. The challenges, solutions and future prospects associated with the development and application of genetic technologies in B. mori are also discussed.

  5. Technology to Market Fact Sheet

    Energy Technology Data Exchange (ETDEWEB)

    None

    2016-02-01

    This fact sheet is an overview of the Technology to Market subprogram at the U.S. Department of Energy SunShot Initiative. The SunShot Initiative’s Technology to Market subprogram builds on SunShot’s record of moving groundbreaking and early-stage technologies and business models through developmental phases to commercialization. Technology to Market targets two known funding gaps: those that occur at the prototype commercialization stage and those at the commercial scale-up stage.

  6. A proposal for a set of Level 3 Basic Linear Algebra Subprograms

    Energy Technology Data Exchange (ETDEWEB)

    Dongarra, J.; Du Croz, J.; Duff, I.; Hammarling, S.

    1987-04-01

    This paper describes a proposal for Level 3 Basic Linear Algebra Subprograms (Level 3 BLAS). The Level 3 BLAS are targeted at matrix-matrix operations with the aim of providing more efficient, but portable, implementations of algorithms on high-performance computers, especially those with hierarchical memory and parallel processing capability.

  7. Data Fusion Based on Optical Technology for Observation of Human Manipulation

    Science.gov (United States)

    Falco, Pietro; De Maria, Giuseppe; Natale, Ciro; Pirozzi, Salvatore

    2012-01-01

    The adoption of human observation is becoming more and more frequent within imitation learning and programming by demonstration approaches (PbD) to robot programming. For robotic systems equipped with anthropomorphic hands, the observation phase is very challenging and no ultimate solution exists. This work proposes a novel mechatronic approach to the observation of human hand motion during manipulation tasks. The strategy is based on the combined use of an optical motion capture system and a low-cost data glove equipped with novel joint angle sensors, based on optoelectronic technology. The combination of the two information sources is obtained through a sensor fusion algorithm based on the extended Kalman filter (EKF) suitably modified to tackle the problem of marker occlusions, typical of optical motion capture systems. This approach requires a kinematic model of the human hand. Another key contribution of this work is a new method to calibrate this model.

  8. Development of capsule design support subprograms for 3-dimensional temperature calculation using FEM Code NISA

    Energy Technology Data Exchange (ETDEWEB)

    Tobita, Masahiro; Matsui, Yoshinori [Japan Atomic Energy Research Inst., Oarai, Ibaraki (Japan). Oarai Research Establishment

    2003-03-01

    Prediction of irradiation temperature is one of the important issues in the design of the capsule for irradiation test. Many kinds of capsules with complex structure have been designed for recent irradiation requests, and three-dimensional (3D) temperature calculation becomes inevitable for the evaluation of irradiation temperature. For such 3D calculation, however, many works are usually needed for input data preparation, and a lot of time and resources are necessary for parametric studies in the design. To improve such situation, JAERI introduced 3D-FEM (finite element method) code NISA (Numerically Integrated elements for System Analysis) and developed several subprograms, which enabled to support input preparation works in the capsule design. The 3D temperature calculation of the capsule are able to carried out in much easier way by the help of the subprograms, and specific features in the irradiation tests such as non-uniform gamma heating in the capsule, becomes to be considered. (author)

  9. Chained lightning, part II: neurosurgical principles, radiosurgical technology, and the manipulation of energy beam delivery.

    Science.gov (United States)

    Hoh, Daniel J; Liu, Charles Y; Chen, Joseph C T; Pagnini, Paul G; Yu, Cheng; Wang, Michael Y; Apuzzo, Michael L J

    2007-09-01

    The fundamental principle in the radiosurgical treatment of neurological conditions is the delivery of energy to a lesion with minimal injury to surrounding structures. The development of radiosurgical techniques from Leksell's original design has focused on the refinement of various methodologies to achieve energy containment within a target. This article is the second in a series reviewing the evolution of radiosurgical instruments with respect to issues of energy beam generation and delivery for improved conformal therapy. Continuing with concepts introduced in an earlier article, this article examines specific aspects of beam delivery and the emergence of stereotactic radiosurgery as a measure for focusing energy beams within a target volume. The application of stereotactic principles and devices to gamma ray and linear accelerator-based energy sources provides the methodology by which energy beams are generated and targeted precisely in a focal lesion. Advanced technological systems are reviewed, including fixed beams, dynamic radiosurgery, multileaf collimation, beam shaping, and robotics as various approaches for manipulating beam delivery. Radiosurgical instruments are also compared with regard to mechanics, geometry, and dosimetry. Finally, new radiosurgical designs currently on the horizon are introduced. In exploring the complex history of radiosurgery, it is evident that the discovery and rediscovery of ideas invariably leads to the development of innovative technology for the next generation.

  10. Healthcare Information Technology Backsourcing, Problematic Outsourcing Manipulations, and Multisupplier Backsourcing Methodologies

    Science.gov (United States)

    Garske, Steven Ray

    2010-01-01

    Backsourcing is the act of an organization changing an outsourcing relationship through insourcing, vendor change, or elimination of the outsourced service. This study discovered numerous problematic outsourcing manipulations conducted by suppliers, and identified backsourcing methodologies to correct these manipulations across multiple supplier…

  11. Technology's Impact on Fraction Learning: An Experimental Comparison of Virtual and Physical Manipulatives

    Science.gov (United States)

    Mendiburo, Maria; Hasselbring, Ted

    2014-01-01

    This study examines the relative instructional efficiency of virtual and physical fraction manipulatives. More specifically, this study uses a randomized experiment to determine if differences in students' knowledge of fractions magnitude exist when students use virtual rather than physical manipulatives to learn basic fraction concepts.…

  12. An extended set of Fortran Basic Linear Algebra Subprograms: model implementation and test programs

    Energy Technology Data Exchange (ETDEWEB)

    Dongarra, J.J.; Du Croz, J.; Hammarling, S.; Hanson, R.J.

    1987-01-01

    This paper describes a model implementation and test software for the Level 2 Basic Linear Algebra Subprograms (Level 2 BLAS). The Level 2 BLAS are targeted at matrix-vector operations with the aim of providing more efficient, but portable, implementations of algorithms on high-performance computers. The model implementation provides a portable set of Fortran 77 Level 2 BLAS for machines where specialized implementations do not exist or are not required. The test software aims to verify that specialized implementations meet the specification of the Level 2 BLAS and that implementations are correctly installed.

  13. DETEC, a Subprogram for Simulation of the Fast-Neutron Detection Process in a Hydro-Carbonous Plastic Scintillator

    Energy Technology Data Exchange (ETDEWEB)

    Gustafsson, B.; Aspelund, O.

    1966-07-15

    A description is given of the subprogram DETEC, which for energies below 5 MeV simulates the detection process of a fast-neutron within a large cylindrical plastic scintillator. DETEC has been coded in FORTRAN IV, and consists of a subroutine and a BLOCK-DATA subprogram. The latter is in its present form adapted to the dimensions 5 cm diam. x 8 cm of the scintillating materials NE102 and NE102A. The character of DETEC as a subprogram is manifest through the requirement of a main routine for generation of the following input parameters: 1. fast-neutron position; 2. direction; 3. energy; 4. entrance time; 5. input weight (all referred to the detector surface), and 6. the discriminator threshold. When these are provided, the virtues of DETEC are recording of the detected weight and the time elapsed prior to the detection event. The merits of DETEC are finally demonstrated in two typical applications.

  14. Technology's Impact on Fraction Learning: An Experimental Comparison of Virtual and Physical Manipulatives

    Science.gov (United States)

    Mendiburo, Maria; Hasselbring, Ted

    2011-01-01

    Fractions are among the most difficult mathematical concepts for elementary school students to master (Behr, Harel, Post, & Lesh, 1992; Bezuk & Cramer, 1989; Moss & Case, 1999). Research indicates that manipulatives (e.g. fractions circles, fractions strips) positively impact students' conceptual and procedural understanding of…

  15. Learning Mathematics with Technology: The Influence of Virtual Manipulatives on Different Achievement Groups

    Science.gov (United States)

    Moyer-Packenham, Patricia; Suh, Jennifer

    2012-01-01

    This study examined the influence of virtual manipulatives on different achievement groups during a teaching experiment in four fifth-grade classrooms. During a two-week unit focusing on two rational number concepts (fraction equivalence and fraction addition with unlike denominators) one low achieving, two average achieving, and one high…

  16. PB-BLAS: A set of parallel block basic linear algebra subprograms

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Jaeyoung [Tennessee Univ., Knoxville, TN (United States). Dept. of Computer Science; Dongarra, J. [Oak Ridge National Lab., TN (United States)]|[Tennessee Univ., Knoxville, TN (United States). Dept. of Computer Science; Walker, D.W. [Oak Ridge National Lab., TN (United States)

    1994-12-31

    We propose a new library of routines for performing dense linear algebra computations on block-partitioned matrices. The routines are referred to as the Block Basic Linear Algebra Subprograms, and their use is restricted to computations in which one or more of the matrices involved consists of a single row or column of blocks, and in which no more than one of the matrices consists of an unrestricted two-dimensional array of blocks. The functionality of the block BLAS routines can also be provided by Level 2 and 3 BLAS routines. However, for Non-Uniform Memory Access machines the use of the block BLAS permit certain optimizations in memory access to be taken advantage of. This is particularly true for distributed memory machines, for which the block BLAS are referred to as the Parallel Block Basic Linear Algebra Subprograms (PB-BLAS). The PB-BLAS are the main focus of this paper, and for a block-cyclic data distribution, a single row or column of blocks lies in a single row or column of the processor template. The PB-BLAS consist of calls to the sequential BLAS for local computations, and calls to the BLACS for communication. The PB-BLAS are the building blocks for implementing ScaLAPACK, the distributed-memory version of LAPACK, and provide the same ease-of-use and portability for ScaLAPACK that the BLAS provide for LAPACK. The PB-BLAS consists of all nine Level 3 BLAS routines, four of the Level-2 BLAS routines, and 2 auxiliary transpose routines. The PB-BLAS are currently available for all numeric data types, i.e., single and double precision real and complex.

  17. Manipulation of insect behavior with Specialized Pheromone & Lure Application Technology (SPLAT®)

    Science.gov (United States)

    Agenor Mafra-Neto; Frédérique M. de Lame; Christopher J. Fettig; A. Steven Munson; Thomas M. Perring; Lukasz L. Stelinski; Lyndsie Stoltman; Leandro E.J. Mafra; Rafael Borges; Roger I. Vargas

    2013-01-01

    SPLAT® (Specialized Pheromone and Lure Application Technology) emulsion is a unique controlled-release technology that can be adapted to dispense and protect a wide variety of compounds from degradation, including semiochemicals, pesticides, and phagostimulants, in diverse environments. ISCA Technologies, Inc., in collaboration with colleagues in academia, government,...

  18. Basic linear algebra subprograms for FORTRAN usage. [BLAS, in FORTRAN and assembly language for IBM 360/67, CDC 6600 and 7600, and Univac 1108

    Energy Technology Data Exchange (ETDEWEB)

    Lawson, C.L.; Hanson, R.J.; Kincaid, D.R.; Krogh, F.T.

    1977-10-01

    A package of 38 low-level subprograms for many of the basic operations of numerical linear algebra is presented. The package is intended to be used with FORTRAN. The operations in the package are dot products, elementary vector operations, Givens transformations, vector copy and swap, vector norms, vector scaling, and the indices of components of largest magnitude. The subprograms and a test driver are available in portable FORTRAN. Versions of the subprograms are also provided in assembly language for the IBM 360/67, the CDC 6600 and CDC 7600, and the Univac 1108.

  19. Feasibility of remotely manipulated welding in space. A step in the development of novel joining technologies

    Science.gov (United States)

    Masubuchi, K.; Agapakis, J. E.; Debiccari, A.; Vonalt, C.

    1983-01-01

    In order to establish permanent human presence in space technologies of constructing and repairing space stations and other space structures must be developed. Most construction jobs are performed on earth and the fabricated modules will then be delivered to space by the Space Shuttle. Only limited final assembly jobs, which are primarily mechanical fastening, will be performed on site in space. Such fabrication plans, however, limit the designs of these structures, because each module must fit inside the transport vehicle and must withstand launching stresses which are considerably high. Large-scale utilization of space necessitates more extensive construction work on site. Furthermore, continuous operations of space stations and other structures require maintenance and repairs of structural components as well as of tools and equipment on these space structures. Metal joining technologies, and especially high-quality welding, in space need developing.

  20. Non-human Primate Models for Brain Disorders - Towards Genetic Manipulations via Innovative Technology.

    Science.gov (United States)

    Qiu, Zilong; Li, Xiao

    2017-04-01

    Modeling brain disorders has always been one of the key tasks in neurobiological studies. A wide range of organisms including worms, fruit flies, zebrafish, and rodents have been used for modeling brain disorders. However, whether complicated neurological and psychiatric symptoms can be faithfully mimicked in animals is still debatable. In this review, we discuss key findings using non-human primates to address the neural mechanisms underlying stress and anxiety behaviors, as well as technical advances for establishing genetically-engineered non-human primate models of autism spectrum disorders and other disorders. Considering the close evolutionary connections and similarity of brain structures between non-human primates and humans, together with the rapid progress in genome-editing technology, non-human primates will be indispensable for pathophysiological studies and exploring potential therapeutic methods for treating brain disorders.

  1. Environmental Assessment: Geothermal Energy Geopressure Subprogram. Gulf Coast Well Testing Activity, Frio Formation, Texas and Louisiana

    Energy Technology Data Exchange (ETDEWEB)

    None

    1978-02-01

    This Environmental Assessment (EA) has been prepared to provide the environmental input into the Division of Geothermal Energy's decisions to expand the geothermal well testing activities to include sites in the Frio Formation of Texas and Louisiana. It is proposed that drilling rigs be leased before they are removed from sites in the formation where drilling for gas or oil exploration has been unsuccessful and that the rigs be used to complete the drilling into the geopressured zone for resource exploration. This EA addresses, on a regional basis, the expected activities, affected environment, and the possible impacts in a broad sense as they apply to the Gulf Coast well testing activity of the Geothermal Energy Geopressure Subprogram of the Department of Energy. Along the Texas and Louisiana Gulf Coast (Plate 1 and Overlay, Atlas) water at high temperatures and high pressures is trapped within Gulf basin sediments. The water is confined within or below essentially impermeable shale sequences and carries most or all of the overburden pressure. Such zones are referred to as geopressured strata. These fluids and sediments are heated to abnormally high temperatures (up to 260 C) and may provide potential reservoirs for economical production of geothermal energy. The obvious need in resource development is to assess the resource. Ongoing studies to define large-sand-volume reservoirs will ultimately define optimum sites for drilling special large diameter wells to perform large volume flow production tests. in the interim, existing well tests need to be made to help define and assess the resource.

  2. Sound visualization and manipulation

    CERN Document Server

    Kim, Yang-Hann

    2013-01-01

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

  3. Impact of the FY 2009 Building Technologies Program on United States Employment and Earned Income

    Energy Technology Data Exchange (ETDEWEB)

    Livingston, Olga V.; Scott, Michael J.; Hostick, Donna J.; Dirks, James A.; Cort, Katherine A.

    2008-06-17

    The Department of Energy (DOE) Office of Energy Efficiency and Renewable Energy (EERE) is interested in assessing the potential economic impacts of its portfolio of subprograms on national employment and income. A special purpose input-output model called ImSET is used in this study of 14 Building Technologies Program subprograms in the EERE final FY 2009 budget request to the Office of Management and Budget in February 2008. Energy savings, investments, and impacts on U.S. national employment and earned income are reported by subprogram for selected years to the year 2025. Energy savings and investments from these subprograms have the potential of creating a total of 258,000 jobs and about $3.7 billion in earned income (2007$) by the year 2025.

  4. 空间机械臂技术发展综述%Review of Space Manipulator Technology

    Institute of Scientific and Technical Information of China (English)

    刘宏; 蒋再男; 刘业超

    2015-01-01

    介绍了国外载人航天中的航天飞机、国际空间站上的典型空间机械臂系统,概述了用于我国空间站建造和维护任务的空间站机械臂系统,详述了其中核心舱机械臂和实验舱机械臂的任务要求和基本方案,重点阐述了实验舱机械臂的关节、末端作用器、控制器以及遥操作子系统的方案、组成和主要功能,并对我国未来空间机械臂技术的发展提出了建议.%The typical space manipulators for the space shuttle and the International Space Station were summarized in this paper. The Chinese space station remote manipulator system for the on-or-bit construction and maintenance mission was introduced. The mission requirements and basic solu-tion for the core module manipulator and experimental module manipulator were introduced in detail. The technical proposal, composition and main features of the joint, the end effector, the controller and the teleoperation for experimental module manipulator were elaborated. The development pro-posal for our space manipulator was also made in this paper.

  5. Manifesto of Technological Culture: a Critically Annotated Defense of Technepolitanism and The Hollow Revolution: Alienation and Manipulation in the Digital Age

    OpenAIRE

    Dagenais, Christopher

    2013-01-01

    Manifesto of Technological Culture: a Critically Annotated Defense of Technepolitanism- A critical analysis of our emerging technocracy unfolds through an annotated commentary on an imagined technocrat’s manifesto. The essay contrasts the romanticization of technology’s liberating qualities with a sober warning about its tendency towards oppression.The Hollow Revolution: Alienation and Manipulation in the Digital Age- Approximately one third of the world’s population uses the Internet. It is ...

  6. Research on critical technology of micro/nano bioparticles manipulation platform based on light-induced dielectrophoresis

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    On the basis of the research on the status and problems of micro/nano bio-particles manipulation using dielectrophoresis, the theoretical basis and the model simulation of micro/nano bio-particles manipu-lation using light-induced dielectrophoresis were discussed. The space distribution of electric field and dielectrophoresis forces in different heights were also obtained. On this basis, the core component of the micro manipulation system, that is, photoconductive layer of the chip, was completed in the mate-rial selection, fabricating process and performance analysis testing. Then the voltage drop of the sus-pension and the effective voltage frequency spectrum were obtained. Finally, by combining the machine vision detection with real-time tracking system, the micro/nano bio-particles manipulation platform based on the light-induced dielectrophoreisis was established, and then the manipulations for micro/nano bio-particles, such as quick collection, transport, separation, were implemented. This provided a basis for rapid, accurate, and low-cost detection of serious diseases based on the micro-fluidic biochip and early diagnosis.

  7. A high-throughput liquid bead array-based screening technology for Bt presence in GMO manipulation.

    Science.gov (United States)

    Fu, Wei; Wang, Huiyu; Wang, Chenguang; Mei, Lin; Lin, Xiangmei; Han, Xueqing; Zhu, Shuifang

    2016-03-15

    The number of species and planting areas of genetically modified organisms (GMOs) has been rapidly developed during the past ten years. For the purpose of GMO inspection, quarantine and manipulation, we have now devised a high-throughput Bt-based GMOs screening method based on the liquid bead array. This novel method is based on the direct competitive recognition between biotinylated antibodies and beads-coupled antigens, searching for Bt presence in samples if it contains Bt Cry1 Aa, Bt Cry1 Ab, Bt Cry1 Ac, Bt Cry1 Ah, Bt Cry1 B, Bt Cry1 C, Bt Cry1 F, Bt Cry2 A, Bt Cry3 or Bt Cry9 C. Our method has a wide GMO species coverage so that more than 90% of the whole commercialized GMO species can be identified throughout the world. Under our optimization, specificity, sensitivity, repeatability and availability validation, the method shows a high specificity and 10-50 ng/mL sensitivity of quantification. We then assessed more than 1800 samples in the field and food market to prove capacity of our method in performing a high throughput screening work for GMO manipulation. Our method offers an applicant platform for further inspection and research on GMO plants.

  8. Application of asynchronous subprograms function in Siemens 840D system%西门子840D系统异步子程序功能的应用

    Institute of Scientific and Technical Information of China (English)

    张宝生

    2012-01-01

    With asynchronous subprograms in Siemens 840D system to realize manual tool shift of CNC lathe. And simplify PLC program so as to easily access to manual tool shift.%利用西门子840D系统的异步子程序来实现数控车床的刀架手动换刀功能,简化PLC程序的编制,使手动换刀更为方便和准确.

  9. Underwater manipulator

    Science.gov (United States)

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

    1993-04-20

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

  10. Buildings R&D Breakthroughs. Technologies and Products Supported by the Building Technologies Program

    Energy Technology Data Exchange (ETDEWEB)

    none,

    2012-04-01

    This report identifies and characterizes commercially available products and emerging (near-commercial) technologies that benefited from the support of the Building Technologies Program (BTP) within the U.S. Department of Energy’s Office of Energy Efficiency and Renewable Energy. The investigation specifically focused on technology-oriented research and development (R&D) projects sponsored by BTP’s Emerging Technologies subprogram from 2005-2009.

  11. Buildings R&D Breakthroughs: Technologies and Products Supported by the Building Technologies Program

    Energy Technology Data Exchange (ETDEWEB)

    Weakley, Steven A. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

    2012-04-01

    The purpose of the project described in this report is to identify and characterize commercially available products and emerging (near-commercial) technologies that benefited from the support of the Building Technologies Program (BTP) within the U.S. Department of Energy’s Office of Energy Efficiency and Renewable Energy. The investigation specifically focused on technology-oriented research and development (R&D) projects funded by BTP’s Emerging Technologies subprogram from 2005-2011.

  12. Buildings R&D Breakthroughs: Technologies and Products Supported by the Building Technologies Program

    Energy Technology Data Exchange (ETDEWEB)

    Weakley, Steven A.

    2012-04-15

    The purpose of the project described in this report is to identify and characterize commercially available products and emerging (near-commercial) technologies that benefited from the support of the Building Technologies Program (BTP) within the U.S. Department of Energy’s Office of Energy Efficiency and Renewable Energy. The investigation specifically focused on technology-oriented research and development (R&D) projects funded by BTP’s Emerging Technologies subprogram from 2005-2011.

  13. Summary of NREL's FY13-FY15 Photovoltaic Subprogram

    Energy Technology Data Exchange (ETDEWEB)

    2017-03-31

    In this report, you will find summaries of the completed FY13-FY15 Photovoltaic projects that were funded within NREL. The summaries describe the initial motivation for the project; significant achievements, including publications, intellectual property, and collaborations; and remaining challenges. Among the NREL projects, you will find research of almost every major PV technology - from the next generation of silicon PV to relatively new organic PVs - as well as projects advancing PV module durability and characterization. Each of these projects was designed to support SunShot's goals, putting the United States one step closer to widespread use of low-cost, clean electricity.

  14. 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.

  15. Conceptual Soundness, Metric Development, Benchmarking, and Targeting for PATH Subprogram Evaluation

    Energy Technology Data Exchange (ETDEWEB)

    Mosey. G.; Doris, E.; Coggeshall, C.; Antes, M.; Ruch, J.; Mortensen, J.

    2009-01-01

    The objective of this study is to evaluate the conceptual soundness of the U.S. Department of Housing and Urban Development (HUD) Partnership for Advancing Technology in Housing (PATH) program's revised goals and establish and apply a framework to identify and recommend metrics that are the most useful for measuring PATH's progress. This report provides an evaluative review of PATH's revised goals, outlines a structured method for identifying and selecting metrics, proposes metrics and benchmarks for a sampling of individual PATH programs, and discusses other metrics that potentially could be developed that may add value to the evaluation process. The framework and individual program metrics can be used for ongoing management improvement efforts and to inform broader program-level metrics for government reporting requirements.

  16. Genetic manipulation in biotechnology

    Energy Technology Data Exchange (ETDEWEB)

    Sherwood, R.; Atkinson, T.

    1981-04-04

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

  17. Force-controlled spatial manipulation of viable mammalian cells and micro-organisms by means of FluidFM technology

    Science.gov (United States)

    Dörig, Pablo; Stiefel, Philipp; Behr, Pascal; Sarajlic, Edin; Bijl, Daniel; Gabi, Michael; Vörös, János; Vorholt, Julia A.; Zambelli, Tomaso

    2010-07-01

    The FluidFM technology uses microchanneled atomic force microscope cantilevers that are fixed to a drilled atomic force microscope cantilevers probeholder. A continuous fluidic circuit is thereby achieved extending from an external liquid reservoir, through the probeholder and the hollow cantilever to the tip aperture. In this way, both overpressure and an underpressure can be applied to the liquid reservoir and hence to the built-in fluidic circuit. We describe in this letter how standard atomic force microscopy in combination with regulated pressure differences inside the microchanneled cantilevers can be used to displace living organisms with micrometric precision in a nondestructive way. The protocol is applicable to both eukaryotic and prokaryotic cells (e.g., mammalian cells, yeasts, and bacteria) in physiological buffer. By means of this procedure, cells can also be transferred from one glass slide to another one or onto an agar medium.

  18. Optoelectrofluidic Manipulation of Nanoparticles and Biomolecules

    Directory of Open Access Journals (Sweden)

    Hyundoo Hwang

    2011-01-01

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

  19. Geothermal energy geopressure subprogram

    Energy Technology Data Exchange (ETDEWEB)

    1981-02-01

    The proposed action will consist of drilling one geopressured-geothermal resource fluid well for intermittent production testing over the first year of the test. During the next two years, long-term testing of 40,000 BPD will be flowed. A number of scenarios may be implemented, but it is felt that the total fluid production will approximate 50 million barrels. The test well will be drilled with a 22 cm (8.75 in.) borehole to a total depth of approximately 5185 m (17,000 ft). Up to four disposal wells will provide disposal of the fluid from the designated 40,000 BPD test rate. The following are included in this assessment: the existing environment; probable environmental impacts-direct and indirect; probable cumulative and long-term environmental impacts; accidents; coordination with federal, state, regional, and local agencies; and alternative actions. (MHR)

  20. Societal, Economic, Ethical and Legal Challenges of the Digital Revolution: From Big Data to Deep Learning, Artificial Intelligence, and Manipulative Technologies

    CERN Document Server

    Helbing, Dirk

    2015-01-01

    In the wake of the on-going digital revolution, we will see a dramatic transformation of our economy and most of our societal institutions. While the benefits of this transformation can be massive, there are also tremendous risks to our society. After the automation of many production processes and the creation of self-driving vehicles, the automation of society is next. This is moving us to a tipping point and to a crossroads: we must decide between a society in which the actions are determined in a top-down way and then implemented by coercion or manipulative technologies (such as personalized ads and nudging) or a society, in which decisions are taken in a free and participatory way and mutually coordinated. Modern information and communication systems (ICT) enable both, but the latter has economic and strategic benefits. The fundaments of human dignity, autonomous decision-making, and democracies are shaking, but I believe that they need to be vigorously defended, as they are not only core principles of l...

  1. Retrospective Benefit-Cost Evaluation of U.S. DOE Vehicle Combustion Engine R&D Investments: Impacts of a Cluster of Energy Technologies

    Energy Technology Data Exchange (ETDEWEB)

    Link, Albert N. [Univ. of North Carolina, Greensboro, NC (United States)

    2010-05-01

    Advanced Combustion Engine R&D (ACE R&D) is one of the subprograms within DOE's Vehicle Technologies Office. The ACE subprogram's R&D is conducted in cooperation with the DOE Combustion Research Facility (CRF). This report summarizes the findings from a retrospective study of the net benefits to society from investments by DOE (both EERE and cooperative CRF efforts) in laser diagnostic and optical engine technologies and combustion modeling for heavy-duty diesel engines.

  2. (Fuel, fission product, and graphite technology)

    Energy Technology Data Exchange (ETDEWEB)

    Stansfield, O.M.

    1990-07-25

    Travel to the Forschungszentrum (KFA) -- Juelich described in this report was for the purpose of participating in the annual meeting of subprogram managers for the US/DOE Umbrella Agreement for Fuel, Fission Product, and Graphite Technology. At this meeting the highlights of the cooperative exchange were reviewed for the time period June 1989 through June 1990. The program continues to contribute technology in an effective way for both countries. Revision 15 of the Subprogram Plan will be issued as a result of the meeting. There was interest expressed by KFA management in the level of support received from the NPR program and in potential participation in the COMEDIE loop experiment being conducted at the CEA.

  3. Department of Energy Small-Scale Hydropower Program: Feasibility assessment and technology development summary report

    Energy Technology Data Exchange (ETDEWEB)

    Rinehart, B.N.

    1991-06-01

    This report summarizes two subprograms under the US Department of Energy's Small-Scale Hydroelectric Power Program. These subprograms were part of the financial assistance activities and included the Program Research and Development Announcement (PRDA) feasibility assessments and the technology development projects. The other major subprograms included engineering research and development, legal and institutional aspects, and technology transfer. These other subprograms are covered in their respective summary reports. The problems of energy availability and increasing costs of energy led to a national effort to develop economical and environmental attractive alternative energy resources. One such alternative involved the utilization of existing dams with hydraulic heads of <65 ft and the capacity to generate hydroelectric power of 15 MW or less. Thus, the PRDA program was initiated along with the Technology Development program. The purpose of the PRDA feasibility studies was to encourage development of renewable hydroelectric resources by providing engineering, economic, environmental, safety, and institutional information. Fifty-five feasibility studies were completed under the PRDA. This report briefly summarizes each of those projects. Many of the PRDA projects went on to become technology development projects. 56 refs., 1 fig., 2 tabs.

  4. Electric energy gun technology: status of the french-german-netherlands programme

    NARCIS (Netherlands)

    Kolkert, W.J.; Jamet, F.

    1999-01-01

    Research and technology development is being performed jointly in six subprograms. Next to operational aspects and system studies, railgun, coilgun and electrothermal gun launch is investigated. To power these future gun weapon systems, research on both energy storage, switching, pulse forming

  5. Electric energy gun technology: status of the french-german-netherlands programme

    NARCIS (Netherlands)

    Kolkert, W.J.; Jamet, F.

    1999-01-01

    Research and technology development is being performed jointly in six subprograms. Next to operational aspects and system studies, railgun, coilgun and electrothermal gun launch is investigated. To power these future gun weapon systems, research on both energy storage, switching, pulse forming netwo

  6. Electric energy gun technology: status of the french-german-netherlands programme

    NARCIS (Netherlands)

    Kolkert, W.J.; Jamet, F.

    1999-01-01

    Research and technology development is being performed jointly in six subprograms. Next to operational aspects and system studies, railgun, coilgun and electrothermal gun launch is investigated. To power these future gun weapon systems, research on both energy storage, switching, pulse forming netwo

  7. Spatial manipulation with microfluidics

    Directory of Open Access Journals (Sweden)

    Benjamin eLin

    2015-04-01

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

  8. The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

  9. Fiscal 1997 R and D project on industrial science and technology under a consignment from NEDO. R and D of the ultimate manipulation technology of atoms and molecules; 1997 nendo sangyo kagaku gijutsu kenkyu kaihatsu jigyo Shin energy Sangyo gijutsu Sogo Kaihatsu Kiko itaku. Genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu seika hokokusho (genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu)

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    This paper describes R and D of the ultimate manipulation technology of atoms and molecules (atom technology). The R and D aims at establishment of observation/manipulation technology of atoms and molecules as common basic technology in various industrial fields such as new material, electronics, bio-technology and chemistry. The R and D thus aims at establishment of observation/manipulation of solid surfaces and DNA organic molecules, formation of fine structures of atomic surface arrangement, and calculation/ simulation for predicting a reaction theorem of atom and molecule surfaces. In fiscal 1997, research was made on improvement and development of computer simulation environment, and description of an excited state of electrons by Green function. Establishment of a construction method and computation code is under investigation for pseudo- potential dependent on excitation energy. Survey was made on research trends of the atom technology by visiting overseas academic societies and institutions. International Symposium on Atom Technology was also held in Tokyo in Nov. 1997

  10. Interpersonal Communicational Manipulations

    Directory of Open Access Journals (Sweden)

    Ştefan VLĂDUŢESCU

    2014-11-01

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

  11. Master-Slave Manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Goertz, R.C.

    1949-03-07

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

  12. Achievement report for fiscal 1998. Research and development of ultimate atom/molecule manipulating technologies (Development of technology for formation of advanced function materials for use under power generation environment); 1998 nendo genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu seika hokokusho. Hatsuden kankyoyo kokino sozai keisei gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-01

    The aim is to establish atom/molecule observing and manipulating technologies commonly applicable as basic technologies to industrial fields of new materials, electronics, biotechnology, chemistry, etc. The technologies to be established involve atom level observation and manipulation by mechanically probing into organic molecules such as those of solid surface DNA, microstructure formation with atoms arbitrarily arranged by use of a microfine electron beam and surface chemical properties, simulation by the first principle calculation for the theoretical prediction atom/mole surface application in a process, and new materials to replace semiconductors. The subjects of research and development selected for this fiscal year are the study of silicon nanostructure formation and physical properties, study of nanostructure formation technology based on cluster manipulation, study of nanostructure formation processes using chemical reaction control and local structure analysis, study of new properties of correlation-intensive electron based new materials, study of spin measuring technology, and the study of theoretical analysis of atom/molecule dynamic processes. (NEDO)

  13. 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...

  14. Progress in nonprehensile manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Mason, M.T.

    1999-11-01

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

  15. Planejamento participativo no subprograma QEQ do PADCT Joint strategic planning in the chemistry and chemical engineering subprogram of PADCT

    Directory of Open Access Journals (Sweden)

    Eucler B. Paniago

    2007-12-01

    Full Text Available The development of the Brazilian chemistry sector, during the last 30 years, is nowadays being attributed to PADCT (Science and Technology Development Program. Since the seventies, the Government took notice of the importance of research in chemistry for the Brazilian economy, therefore creating PADCT to support chemistry and chemical engineering among other areas of science and technology. Planning and implementation of the second phase of this program represented a real joint strategic planning. Since then, academic research and human resources education have experienced significant improvements. However, in the chemical trade, the deficit continues to grow, in spite of an almost constant ratio between importation costs and export revenues. Continued investments for research in the area remain necessary.

  16. Optical manipulation of valley pseudospin

    Science.gov (United States)

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

    2017-01-01

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

  17. Giant optical manipulation.

    Science.gov (United States)

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

    2010-09-10

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

  18. Hydraulic Robotic Surgical Tool Changing Manipulator.

    Science.gov (United States)

    Pourghodrat, Abolfazl; Nelson, Carl A; Oleynikov, Dmitry

    2017-03-01

    Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform "scarless" abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments.

  19. FY2015 Electric Drive Technologies Annual Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2016-02-29

    The Electric Drive Technologies research and development (R&D) subprogram within the DOE Vehicle Technologies Office (VTO) provides support and guidance for many cutting-edge automotive technologies under development. Research is focused on developing power electronics (PE), electric motor, and traction drive system (TDS) technologies that will reduce system cost and improve their efficiency in transforming battery energy to useful work. The R&D is also aimed at better understanding and improving how various components of tomorrow’s automobiles will function as a unified system to improve fuel efficiency.

  20. FY2014 Electric Drive Technologies Annual Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    None

    2014-12-01

    The Electric Drive Technologies research and development (R&D) subprogram within the DOE Vehicle Technologies Office (VTO) provides support and guidance for many cutting-edge automotive technologies under development. Research is focused on developing power electronics (PE), electric motor, and traction drive system (TDS) technologies that will reduce system cost and improve their efficiency in transforming battery energy to useful work. The R&D is also aimed at better understanding and improving how various components of tomorrow’s automobiles will function as a unified system to improve fuel efficiency.

  1. 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.

  2. In praise of manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

    2008-01-01

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

  3. 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

  4. Actuability of Underactuated Manipulators

    Science.gov (United States)

    1994-06-01

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

  5. Cell manipulation in microfluidics.

    Science.gov (United States)

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

    2013-06-01

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

  6. Osteopathic Manipulative Treatment

    Science.gov (United States)

    Campbell, Shannon M.; Walkowski, Stevan

    2012-01-01

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

  7. Giant voltage manipulation of MgO-based magnetic tunnel junctions via localized anisotropic strain: A potential pathway to ultra-energy-efficient memory technology

    Science.gov (United States)

    Zhao, Zhengyang; Jamali, Mahdi; D'Souza, Noel; Zhang, Delin; Bandyopadhyay, Supriyo; Atulasimha, Jayasimha; Wang, Jian-Ping

    2016-08-01

    Voltage control of magnetization via strain in piezoelectric/magnetostrictive systems is a promising mechanism to implement energy-efficient straintronic memory devices. Here, we demonstrate giant voltage manipulation of MgO magnetic tunnel junctions (MTJ) on a Pb(Mg1/3Nb2/3)0.7Ti0.3O3 piezoelectric substrate with (001) orientation. It is found that the magnetic easy axis, switching field, and the tunnel magnetoresistance (TMR) of the MTJ can be efficiently controlled by strain from the underlying piezoelectric layer upon the application of a gate voltage. Repeatable voltage controlled MTJ toggling between high/low-resistance states is demonstrated. More importantly, instead of relying on the intrinsic anisotropy of the piezoelectric substrate to generate the required strain, we utilize anisotropic strain produced using a local gating scheme, which is scalable and amenable to practical memory applications. Additionally, the adoption of crystalline MgO-based MTJ on piezoelectric layer lends itself to high TMR in the strain-mediated MRAM devices.

  8. Manipulating the Biosynthesis of Bioactive Compound Alkaloids for Next-Generation Metabolic Engineering in Opium Poppy Using CRISPR-Cas 9 Genome Editing Technology.

    Science.gov (United States)

    Alagoz, Yagiz; Gurkok, Tugba; Zhang, Baohong; Unver, Turgay

    2016-08-03

    Clustered regularly interspaced short palindromic repeats (CRISPR)/CRISPR-associated9 (Cas9) endonuclease system is a powerful RNA-guided genome editing tool. CRISPR/Cas9 has been well studied in model plant species for targeted genome editing. However, few studies have been reported on plant species without whole genome sequence information. Currently, no study has been performed to manipulate metabolic pathways using CRISPR/Cas9. In this study, the type II CRISPR/SpCas9 system was used to knock out, via nonhomologous end-joining genome repair, the 4'OMT2 in opium poppy (Papaver somniferum L.), a gene which regulates the biosythesis of benzylisoquinoline alkaloids (BIAs). For sgRNA transcription, viral-based TRV and synthetic binary plasmids were designed and delivered into plant cells with a Cas9 encoding-synthetic vector by Agrobacterium-mediated transformation. InDels formed by CRISPR/Cas9 were detected by sequence analysis. Our results showed that the biosynthesis of BIAs (e.g. morphine, thebaine) was significantly reduced in the transgenic plants suggesting that 4'OMT2 was efficiently knocked-out by our CRISPR-Cas9 genome editing approach. In addition, a novel uncharacterized alkaloid was observed only in CRISPR/Cas9 edited plants. Thus, the applicabilitiy of the CRISPR/Cas9 system was demonstrated for the first time for medicinal aromatic plants by sgRNAs transcribed from both synthetic and viral vectors to regulate BIA metabolism and biosynthesis.

  9. The Ethics/ Skills Interface in Image Manipulation

    Directory of Open Access Journals (Sweden)

    Jenny Webber

    2000-05-01

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

  10. Efficient genetic manipulation of the NOD-Rag1-/-IL2RgammaC-null mouse by combining in vitro fertilization and CRISPR/Cas9 technology.

    Science.gov (United States)

    Li, Feng; Cowley, Dale O; Banner, Debra; Holle, Eric; Zhang, Liguo; Su, Lishan

    2014-06-17

    Humanized mouse models have become increasingly important and widely used in modeling human diseases in biomedical research. Immunodeficient mice such as NOD-Rag1-/-IL2RgammaC-null (NRG) or NOD-SCID-IL2RgammaC-null (NSG) mice are critical for efficient engraftment of human cells or tissues. However, their genetic modification remains challenging due to a lack of embryonic stem cells and difficulty in the collection of timed embryos after superovulation. Here, we report the generation of gene knockout NRG mice by combining in vitro fertilization (IVF) and CRISPR/Cas9 technology. Sufficient numbers of fertilized embryos were produced through IVF, and a high rate of Fah gene targeting was achieved with microinjection of Cas9 mRNA, gRNA and single strand oligonucleotide DNA (ssDNA) into the embryos. The technology paves the way to construct NRG or NSG mutant mice to facilitate new humanized mouse models. The technology can also be readily adapted to introduce mutations in other species such as swine and non-human primates.

  11. Data-Base Software For Tracking Technological Developments

    Science.gov (United States)

    Aliberti, James A.; Wright, Simon; Monteith, Steve K.

    1996-01-01

    Technology Tracking System (TechTracS) computer program developed for use in storing and retrieving information on technology and related patent information developed under auspices of NASA Headquarters and NASA's field centers. Contents of data base include multiple scanned still images and quick-time movies as well as text. TechTracS includes word-processing, report-editing, chart-and-graph-editing, and search-editing subprograms. Extensive keyword searching capabilities enable rapid location of technologies, innovators, and companies. System performs routine functions automatically and serves multiple users.

  12. Manipulation by physiotherapists.

    Science.gov (United States)

    Cyriax, J

    1970-03-01

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

  13. Dielectrophoresis for Bioparticle Manipulation

    Directory of Open Access Journals (Sweden)

    Cheng Qian

    2014-10-01

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

  14. 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.

  15. Clermont Ferrand uterine manipulator.

    Science.gov (United States)

    Nassif, Joseph; Wattiez, Arnaud

    2010-10-01

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

  16. Environmental Assessment -- Hydrothermal Geothermal Subprogram

    Energy Technology Data Exchange (ETDEWEB)

    None

    1979-06-01

    This environmental impact assessment addresses the design, construction, and operation of an electric generating plant (3 to 4 MWe) and research station (Hawaii Geothermal Research Station (HGRS)) in the Puna district on the Island of Hawaii. The facility will include control and support buildings, parking lots, cooling towers, settling and seepage ponds, the generating plant, and a visitors center. Research activities at the facility will evaluate the ability of a successfully flow-tested well (42-day flow test) to provide steam for power generation over an extended period of time (two years). In future expansion, research activities may include direct heat applications such as aquaculture and the effects of geothermal fluids on various plant components and specially designed equipment on test modules. Construction-related impacts would be relatively minor. Construction of the facility will require the distance of about 1.7 ha (4.1 acres). No further disturbance is anticipated, unless it becomes necessary to replace the seepage pond with an injection well, because the production well is in service and adjacent roads and transmission lines are adequate. Disruption of competing land uses will be minimal, and loss of wildlife habitat will be acceptable. Noise should not significantly affect wildlife and local residents; the most noise activities (well drilling and flow testing) have been completed. Water use during construction will not be large, and impacts on competing uses are unlikely. Socio-economic impacts will be small because the project will not employ a large number of local residents and few construction workers will need to find local housing.

  17. 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...

  18. 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.

  19. Flexible robotics applications to multiscale manipulations

    CERN Document Server

    Grossard , Mathieu; Regnier, Stephane

    2013-01-01

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

  20. 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.

  1. 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…

  2. Microrobots to Manipulate Cells

    DEFF Research Database (Denmark)

    Glückstad, Jesper

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

  3. IMPLEMENTATION OF INDUSTRIAL ROBOT-MANIPULATOR SETUPS IN EDUCATIONAL PROCESS

    Directory of Open Access Journals (Sweden)

    A. A. Bobtsov

    2013-01-01

    Full Text Available The article deals with the most important aspects of industrial robot-manipulator setups implementation as an educational tool for the workshop part of advanced technologies in robotics and control engineering courses.

  4. 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.

  5. Cryopreservation of manipulated embryos: tackling the double jeopardy.

    Science.gov (United States)

    Dinnyes, A; Nedambale, T L

    2009-01-01

    The aim of the present review is to provide information to researchers and practitioners concerning the reasons for the altered viability and the medium- and long-term consequences of cryopreservation of manipulated mammalian embryos. Embryo manipulation is defined herein as the act or process of manipulating mammalian embryos, including superovulation, AI, IVM, IVF, in vitro culture, intracytoplasmic sperm injection, embryo biopsy or splitting, somatic cell nuclear transfer cloning, the production of sexed embryos (by sperm sexing), embryo cryopreservation, embryo transfer or the creation of genetically modified (transgenic) embryos. With advances in manipulation technologies, the application of embryo manipulation will become more frequent; the proper prevention and management of the resulting alterations will be crucial in establishing an economically viable animal breeding technology.

  6. Manipulation of quantum evolution

    Science.gov (United States)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

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

  7. Computer aided manipulator control

    Science.gov (United States)

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

    1980-01-01

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

  8. Endocavity Ultrasound Probe Manipulators.

    Science.gov (United States)

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

    2013-06-01

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

  9. Cuspidal and Noncuspidal Robot Manipulators

    CERN Document Server

    Wenger, Philippe

    2010-01-01

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

  10. The evolution of teleoperated manipulators at ORNL

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-12-31

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

  11. A History of Manipulative Therapy

    OpenAIRE

    Pettman, Erland

    2007-01-01

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

  12. Linear- rubbing Manipulation

    Institute of Scientific and Technical Information of China (English)

    SHEN Guo-quan; XIAO Yuan-chun

    2003-01-01

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

  13. Performance measurement of mobile manipulators

    Science.gov (United States)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

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

  14. 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.

  15. Manipulation with molecules

    Directory of Open Access Journals (Sweden)

    M.D Barnes

    2002-09-01

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

  16. Interactive protein manipulation

    Energy Technology Data Exchange (ETDEWEB)

    SNCrivelli@lbl.gov

    2003-07-01

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

  17. How to manipulate polls

    Directory of Open Access Journals (Sweden)

    Balăşescu. M.

    2011-01-01

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

  18. The Personal Mobility and Manipulation Appliance (PerMMA): a robotic wheelchair with advanced mobility and manipulation.

    Science.gov (United States)

    Wang, Hongwu; Grindle, Garrett G; Candiotti, Jorge; Chung, Chengshiu; Shino, Motoki; Houston, Elaine; Cooper, Rory A

    2012-01-01

    The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot developed to provide people with disabilities and older adults enhanced assistance in both mobility and manipulation, which are two fundamental components for independently activities of daily life performing, community participation, and quality of life. Technologies to assist with mobility and manipulation are among the most important tools for clinicians, end users and caregivers; however, there are currently few systems that provide practical and coordinated assistance with mobility and manipulation tasks. The PerMMA was not only developed and evaluated to provide users and caregivers enhanced mobility and manipulation options, but also as a clinical tool as well as research platform. The development and evaluation of PerMMA are presented in the paper.

  19. The manipulation of online newspapers

    OpenAIRE

    CONSTANTIN SCHIFIRNEŢ

    2008-01-01

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

  20. Inverse Dynamics of Flexible Manipulators

    OpenAIRE

    Moberg, Stig; Hanssen, Sven

    2010-01-01

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

  1. Manipulation hardware for microgravity research

    Energy Technology Data Exchange (ETDEWEB)

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

    1990-01-01

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

  2. Non-manipulation quantitative designs.

    Science.gov (United States)

    Rumrill, Phillip D

    2004-01-01

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

  3. Advanced real-time manipulation of video streams

    CERN Document Server

    Herling, Jan

    2014-01-01

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

  4. Integration of Mobile Manipulators in an Industrial Production

    DEFF Research Database (Denmark)

    Madsen, Ole; Bøgh, Simon; Schou, Casper

    2015-01-01

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

  5. Manipulating and Visualizing Proteins

    Energy Technology Data Exchange (ETDEWEB)

    Simon, Horst D.

    2003-12-05

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

  6. Microtechnology for cell manipulation and sorting

    CERN Document Server

    Tseng, Peter; Carlo, Dino

    2017-01-01

    This book delves into the recent developments in the microscale and microfluidic technologies that allow manipulation at the single and cell aggregate level. Expert authors review the dominant mechanisms that manipulate and sort biological structures, making this a state-of-the-art overview of conventional cell sorting techniques, the principles of microfluidics, and of microfluidic devices. All chapters highlight the benefits and drawbacks of each technique they discuss, which include magnetic, electrical, optical, acoustic, gravity/sedimentation, inertial, deformability, and aqueous two-phase systems as the dominant mechanisms utilized by microfluidic devices to handle biological samples. Each chapter explains the physics of the mechanism at work, and reviews common geometries and devices to help readers decide the type of style of device required for various applications. This book is appropriate for graduate-level biomedical engineering and analytical chemistry students, as well as engineers and scientist...

  7. Development of A Deep Ocean Electric Autonomous Manipulator

    Institute of Scientific and Technical Information of China (English)

    XIAO Zhi-hu; XU Guo-hua; PENG Fu-yuan; TANG Guo-yuan; SHEN Xiong; YANG Bo

    2011-01-01

    This paper describes an underwater 3500 m electric manipulator(named Huahai-4E,stands for four functions deep ocean electric manipulator in China),which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology(HUST)for a test bed of studying of deep ocean manipulation technologies.The manipulator features modular integration joints, and layered architecture control system.The oil-filled,pressure-compensated joint is compactly designed and integrated of a permanent magnet(PM)brushless motor,a drive circuit,a harmonic gear and an angular feedback potentiometer.The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control,task plan and target sensor respectively.They communicate through User Datagram Protocol(UDP)multicast communication in Vxworks OS.A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system.Furthermore,the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera.Autonomous grasp strategy based multi-sensor is studied.The results of watertight test in 40 MPa,joint's efficiency test and autonomous grasp experiments in tank are also presented.

  8. Elementary School Teachers' Manipulative Use

    Science.gov (United States)

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

    2010-01-01

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

  9. Ideological Manipulation in Translation Practice

    Institute of Scientific and Technical Information of China (English)

    张靖

    2011-01-01

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

  10. Thermoelectrical manipulation of nanomagnets

    Science.gov (United States)

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

    2010-06-01

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

  11. Genetic Manipulations in Dermatophytes.

    Science.gov (United States)

    Alshahni, Mohamed Mahdi; Yamada, Tsuyoshi

    2017-02-01

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

  12. Building technologies program. 1995 annual report

    Energy Technology Data Exchange (ETDEWEB)

    Selkowitz, S.E.

    1996-05-01

    The 1995 annual report discusses laboratory activities in the Building Technology Program. The report is divided into four categories: windows and daylighting, lighting systems, building energy simulation, and advanced building systems. The objective of the Building Technologies program is to assist the U.S. building industry in achieving substantial reductions in building-sector energy use and associated greenhouse gas emissions while improving comfort, amenity, health, and productivity in the building sector. Past efforts have focused on windows and lighting, and on the simulation tools needed to integrate the full range of energy efficiency solutions into achievable, cost-effective design solutions for new and existing buildings. Current research is based on an integrated systems and life-cycle perspective to create cost-effective solutions for more energy-efficient, comfortable, and productive work and living environments. Sixteen subprograms are described in the report.

  13. The Manipulative Discourse of Gandalf

    Directory of Open Access Journals (Sweden)

    Farid Mohammadi

    2014-07-01

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

  14. Micro-nanorobotic manipulation systems and their applications

    CERN Document Server

    Fukuda, Toshio; Nakajima, Masahiro

    2013-01-01

    Micro/Nano Robotics and Automation technologies have rapidly grown associated with the growth of Micro and Nanotechnologies. This book presents a summary of fundamentals in micro-nano scale engineering and the current state of the art of these technologies. “Micro-Nanorobotic Manipulation Systems and their Applications” introduces these advanced technologies from the basics and applications aspects of Micro/Nano-Robotics and Automation from the prospective micro/nano-scale manipulation. The book is organized in 9 chapters including an overview chapter of Micro/Nanorobotics and Automation technology from the historical view and important related research works. Further chapters are devoted to the physics of micro-nano fields as well as to material and science, microscopes, fabrication technology, importance of biological cell, and control techniques. Furthermore important examples, applications and a concise summary of Micro-Nanorobotics and Automation technologies are given.    

  15. Omnidirectional Analysis of Spatial Manipulator

    Directory of Open Access Journals (Sweden)

    Yuquan Leng

    2015-01-01

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

  16. Technology.

    Science.gov (United States)

    Online-Offline, 1998

    1998-01-01

    Focuses on technology, on advances in such areas as aeronautics, electronics, physics, the space sciences, as well as computers and the attendant progress in medicine, robotics, and artificial intelligence. Describes educational resources for elementary and middle school students, including Web sites, CD-ROMs and software, videotapes, books,…

  17. Manipulator control by exact linearization

    Science.gov (United States)

    Kruetz, K.

    1987-01-01

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

  18. Ion manipulation and precision measurements at JYFLTRAP

    Energy Technology Data Exchange (ETDEWEB)

    Jokinen, A.; Eronen, T.; Hager, U.; Hakala, J.; Kopecky, S.; Rinta-Antila, S.; Aeystoe, J. [University of Jyvaeskylae, Department of Physics, Jyvaeskylae (Finland); Nieminen, A. [University of Manchester, Schuster Laboratory, Manchester (United Kingdom)

    2005-09-01

    Various ion manipulation tools based on ion trapping technologies have been implemented at the IGISOL-facility in JYFL. An RFQ ion cooler and buncher is used to enhance the sensitivity of collinear laser spectroscopy and as an injector to the Penning trap. Penning traps are utilized both in nuclear spectroscopy and for precision mass measurements, as explained in the paper. Atomic masses of neutron-rich Zr, Mo and Sr isotopes were found to be in disagreement with the Atomic-Mass Evaluation and two-neutron separation energies imply strong nuclear structure effects at the neutron number N=60. (orig.)

  19. Manipulation complexity in primates coevolved with brain size and terrestriality.

    Science.gov (United States)

    Heldstab, Sandra A; Kosonen, Zaida K; Koski, Sonja E; Burkart, Judith M; van Schaik, Carel P; Isler, Karin

    2016-04-14

    Humans occupy by far the most complex foraging niche of all mammals, built around sophisticated technology, and at the same time exhibit unusually large brains. To examine the evolutionary processes underlying these features, we investigated how manipulation complexity is related to brain size, cognitive test performance, terrestriality, and diet quality in a sample of 36 non-human primate species. We categorized manipulation bouts in food-related contexts into unimanual and bimanual actions, and asynchronous or synchronous hand and finger use, and established levels of manipulative complexity using Guttman scaling. Manipulation categories followed a cumulative ranking. They were particularly high in species that use cognitively challenging food acquisition techniques, such as extractive foraging and tool use. Manipulation complexity was also consistently positively correlated with brain size and cognitive test performance. Terrestriality had a positive effect on this relationship, but diet quality did not affect it. Unlike a previous study on carnivores, we found that, among primates, brain size and complex manipulations to acquire food underwent correlated evolution, which may have been influenced by terrestriality. Accordingly, our results support the idea of an evolutionary feedback loop between manipulation complexity and cognition in the human lineage, which may have been enhanced by increasingly terrestrial habits.

  20. 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.

  1. Electric and Magnetic Manipulation of Biological Systems

    Science.gov (United States)

    Lee, H.; Hunt, T. P.; Liu, Y.; Ham, D.; Westervelt, R. M.

    2005-06-01

    New types of biological cell manipulation systems, a micropost matrix, a microelectromagnet matrix, and a microcoil array, were developed. The micropost matrix consists of post-shaped electrodes embedded in an insulating layer. With a separate ac voltage applied to each electrode, the micropost matrix generates dielectrophoretic force to trap and move individual biological cells. The microelectromagnet matrix consists of two arrays of straight wires aligned perpendicular to each other, that are covered with insulating layers. By independently controlling the current in each wire, the microelectromagnet matrix creates versatile magnetic fields to manipulate individual biological cells attached to magnetic beads. The microcoil array is a set of coils implemented in a foundry using a standard silicon fabrication technology. Current sources to the coils, and control circuits are integrated on a single chip, making the device self-contained. Versatile manipulation of biological cells was demonstrated using these devices by generating optimized electric or magnetic field patterns. A single yeast cell was trapped and positioned with microscopic resolution, and multiple yeast cells were trapped and independently moved along the separate paths for cell-sorting.

  2. 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.

  3. Towards MRI guided surgical manipulator.

    Science.gov (United States)

    Chinzei, K; Miller, K

    2001-01-01

    The advantages of surgical robots and manipulators are well recognized in the clinical and technical community. Precision, accuracy and the potential for telesurgery are the prime motivations in applying advanced robot technology in surgery. In this paper critical interactions between Magnetic Resonance Imaging equipment and mechatronic devices are discussed and a novel Magnetic Resonance compatible surgical robot is described. Experimental results of the effects from several passive (metallic materials) and active (ultrasound motors) mechanical elements are demonstrated. The design principles for Magnetic Resonance compatible robots are established and the compatibility of the proposed robot is assessed by comparing images taken with and without the robot's presence within Signa SP/I GE Medical Systems scanner. The results showed that, in principle, it is possible to construct precision mechatronic devices intended to operate inside MR scanner. Use of such a device will not cause image shift or significant degradation of signal-to-noise-ratio. An MR compatible surgical assist robot was designed and constructed. The robot is not affected by the presence of strong magnetic fields and is able to manoeuvre during imaging without compromising the quality of images. A novel image-guided robot control scheme was proposed. As a part of the control scheme, biomechanics-based organ deformation model was constructed and validated by in-vivo experiment. It has been recognised that for robust control of an image guided surgical robot the precise knowledge of the mechanical properties of soft organs operated on must be known. As an illustration, results in mathematical modelling and computer simulation of brain deformation are given. The novel MR compatible robot was designed to position and direct an axisymmetric tool, such as a laser pointer or a biopsy catheter. New Robot control system based on the prediction of soft organ deformation was proposed.

  4. FY 1998 annual summary report on manipulation of atomic and molecular extremes. Development of technologies for high-efficiency analysis/manipulation of DNA and the like; 1998 nendo genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu seika hokokusho. DNA nado kokoritsu kaiseki sosa gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-01

    The objectives are set to establish the techniques for observation/manipulation of atoms and molecules, as the common basic techniques for various industrial areas, e.g., new materials, electronics, biotechnology and chemical. Development of atomic field and scanning tunneling microscopes working under extreme conditions has been pursued, in order to manipulate complex systems, such as living body. For identification of molecular species, laser-excited fluorescence is combined with scanning mechanical probing to further refine the single molecule detection/identification techniques, and the objectives are set to develop a new method for evaluating molecules in a living body using a scanning probe microscope, and also to develop a novel scanning probe microscope for molecules in a living body. The other efforts were directed to R and D of the techniques for observing structures of organic molecules and the like through the measurements of adsorption process of organic molecules and clusters on semiconductor substrates and their surface reactions, and precision measurements of vibrational conditions of adsorbed molecular species reacting in the solid-liquid interfaces by high-sensitivity Raman spectroscopy to elucidate the catalysis mechanisms at the molecular level. (NEDO)

  5. Dominating Manipulations in Voting with Partial Information

    CERN Document Server

    Conitzer, Vincent; Xia, Lirong

    2011-01-01

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

  6. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

    Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry...... Manipulation (AIMM)....

  7. Manipulating scattering features by metamaterials

    Directory of Open Access Journals (Sweden)

    Lu Cui

    2016-01-01

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

  8. Manipulating scattering features by metamaterials

    Directory of Open Access Journals (Sweden)

    Lu Cui

    2016-01-01

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

  9. Technology

    Directory of Open Access Journals (Sweden)

    Xu Jing

    2016-01-01

    Full Text Available The traditional answer card reading method using OMR (Optical Mark Reader, most commonly, OMR special card special use, less versatile, high cost, aiming at the existing problems proposed a method based on pattern recognition of the answer card identification method. Using the method based on Line Segment Detector to detect the tilt of the image, the existence of tilt image rotation correction, and eventually achieve positioning and detection of answers to the answer sheet .Pattern recognition technology for automatic reading, high accuracy, detect faster

  10. 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.

  11. SELF-RECONFIGURATION OF UNDERACTUATED REDUNDANT MANIPULATORS WITH OPTIMIZING THE FLEXIBILITY ELLIPSOID

    Institute of Scientific and Technical Information of China (English)

    He Guangping; Lu Zhen

    2005-01-01

    The multi-modes feature, the measure of the manipulating flexibility, and self-reconfiguration control method of the underactuated redundant manipulators are investigated based on the optimizing technology. The relationship between the configuration of the joint space and the manipulating flexibility of the underactuated redundant manipulator is analyzed, a new measure of manipulating flexibility ellipsoid for the underactuated redundant manipulator with passive joints in locked mode is proposed, which can be used to get the optimal configuration for the realization of the self-reconfiguration control. Furthermore, a time-varying nonlinear control method based on harmonic inputs is suggested for fulfilling the self-reconfiguration. A simulation example of a three-DOFs underactuated manipulator with one passive joint features some aspects of the investigations.

  12. A Case against Computer Symbolic Manipulation in School Mathematics Today.

    Science.gov (United States)

    Waits, Bert K.; Demana, Franklin

    1992-01-01

    Presented are two reasons discouraging computer symbol manipulation systems use in school mathematics at present: cost for computer laboratories or expensive pocket computers; and impracticality of exact solution representations. Although development with this technology in mathematics education advances, graphing calculators are recommended to…

  13. In Situ Remediation Integrated Program, Evaluation and assessment of containment technology

    Energy Technology Data Exchange (ETDEWEB)

    Gerber, M.A.; Fayer, M.J.

    1994-04-01

    The In Situ Remediation Integrated Program (ISRIP) was established by the US Department of Energy (DOE) to advance the state-of-the art of innovative in situ remediation technologies to the point of demonstration and to broaden the applicability of these technologies to the widely varying site remediation requirements throughout the DOE complex. This program complements similar ongoing integrated demonstration programs being conducted at several DOE sites. The ISRIP has been conducting baseline assessments on in situ technologies to support program planning. Pacific Northwest Laboratory conducted an assessment and evaluation of subsurface containment barrier technology in support of ISRIP`s Containment Technology Subprogram. This report summarizes the results of that activity and provides a recommendation for priortizing areas in which additional research and development is needed to advance the technology to the point of demonstration in support of DOE`s site restoration activities.

  14. Selective Manipulation of Neural Circuits.

    Science.gov (United States)

    Park, Hong Geun; Carmel, Jason B

    2016-04-01

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

  15. 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…

  16. Advanced manipulation for autonomous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

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

    1986-01-01

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

  17. 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

  18. Adaptive output stabilization of manipulators

    Energy Technology Data Exchange (ETDEWEB)

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

    1994-12-31

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

  19. Manipulating complex light with metamaterials.

    Science.gov (United States)

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

    2013-10-02

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

  20. 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.

  1. New techniques on embryo manipulation.

    Science.gov (United States)

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

    2002-01-01

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

  2. 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.

  3. Direct manipulation of virtual objects

    Science.gov (United States)

    Nguyen, Long K.

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

  4. Assessing the impact of image manipulation on users' perceptions of deception

    NARCIS (Netherlands)

    Conotter, V.; Dang-Nguyen, D.T.; Boato, G.; Menendez, M.; Larson, M.

    2014-01-01

    Generally, we expect images to be an honest reflection of reality. However, this assumption is undermined by the new image editing technology, which allows for easy manipulation and distortion of digital contents. Our understanding of the implications related to the use of a manipulated data is lagg

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

    NARCIS (Netherlands)

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

    2011-01-01

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

  6. KINEMATIC ANALYSIS OF MODULAR, TRUSS-BASED MANIPULATOR UNITS

    Energy Technology Data Exchange (ETDEWEB)

    Salerno, R. J.

    1994-06-01

    Decontamination and Dismantling (D&D) activities within the U.S. Department of Energy (DOE) require a long reach manipulator with a large load capacity. Variable Geometry Trusses (VGTs) are a unique class of mechanical structures which allow the advantages of truss structures for large scale applications to be applied to large robotic manipulators. Individual VGT units may be assembled to create a modular, long-reach, truss-type manipulator. Each module of such a manipulator system is either a static truss section or one of several possible VGT geometries. While many potential applications exist for this technology, the present work is largely motivated by the need for generic robotic systems for remote manipulation. A manipulator system based on VGT modules provides several advantages. The reconfigurable nature of the manipulator system allows it to be adapted on site to unforeseen conditions. The kinematic redundancy of the manipulator enables it to work effectively even in a highly obstructed workspace. The parallel structure of the truss modules enables the manipulator to be withdrawn in the event of a structural failure. Finally, the open framework of the modules provides a clear, protected passageway for control and power cabling, waste conveyance, or other services required at the end effector. As is implied in a truss structure, all primary members of a VGT are ideally loaded in pure tension or compression. This results in an extremely stiff and strong manipulator system with minimal overall weight. Careful design of the joints of a VGT is very important to the overall stiffness and accuracy of the structure, as several links (as many as six) are joined together at each joint. The greatest disadvantage to this approach to manipulator design has traditionally been that the kinematics of VGT structures are complex and poorly understood. This report specifically addresses the kinematics of several possible geometries for the individual VGT units. Equations and

  7. Ultrasound assisted particle and cell manipulation on-chip.

    Science.gov (United States)

    Mulvana, Helen; Cochran, Sandy; Hill, Martyn

    2013-11-01

    Ultrasonic fields are able to exert forces on cells and other micron-scale particles, including microbubbles. The technology is compatible with existing lab-on-chip techniques and is complementary to many alternative manipulation approaches due to its ability to handle many cells simultaneously over extended length scales. This paper provides an overview of the physical principles underlying ultrasonic manipulation, discusses the biological effects relevant to its use with cells, and describes emerging applications that are of interest in the field of drug development and delivery on-chip. © 2013.

  8. Inverse kinematics model of parallel macro-micro manipulator system

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    An improved design, which employs the integration of optic, mechanical and electronic technologies for the next generation large radio telescope, is presented in this note. The authors propose the concept of parallel macro-micro manipulator system from the feed support structure with a rough tuning subsystem based on a cable structure and a fine tuning subsystem based on the Stewart platform. According to the requirement of astronomical observation, the inverse kinematics model of this parallel macro-micro manipulator system is deduced. This inverse kinematics model is necessary for the computer-controlled motion of feed.

  9. Mapping and Manipulating Facial Expression

    Science.gov (United States)

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

    2009-01-01

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

  10. How to manipulate the microbiota

    NARCIS (Netherlands)

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

    2016-01-01

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

  11. Manipulating Genetic Material in Bacteria

    Science.gov (United States)

    1998-01-01

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

  12. How to manipulate the microbiota

    NARCIS (Netherlands)

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

    2016-01-01

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

  13. Teaching Integration Applications Using Manipulatives

    Science.gov (United States)

    Bhatia, Kavita; Premadasa, Kirthi; Martin, Paul

    2014-01-01

    Calculus students' difficulties in understanding integration have been extensively studied. Research shows that the difficulty lies with students understanding of the definition of the definite integral as a limit of a Riemann sum and with the idea of accumulation inherent in integration. We have created a set of manipulatives and activities…

  14. Adaptive Control Of Remote Manipulator

    Science.gov (United States)

    Seraji, Homayoun

    1989-01-01

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

  15. DYMAFLEX: DYnamic Manipulation FLight EXperiment

    Science.gov (United States)

    2013-09-03

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

  16. FY 2007 Progress Report for Advanced Combustion Engine Technologies

    Energy Technology Data Exchange (ETDEWEB)

    None, None

    2007-12-01

    Advanced combustion engines have great potential for achieving dramatic energy efficiency improvements in light-duty vehicle applications, where it is suited to both conventional and hybrid- electric powertrain configurations. Light-duty vehicles with advanced combustion engines can compete directly with gasoline engine hybrid vehicles in terms of fuel economy and consumer-friendly driving characteristics; also, they are projected to have energy efficiencies that are competitive with hydrogen fuel cell vehicles when used in hybrid applications.Advanced engine technologies being researched and developed by the Advanced Combustion Engine R&D Sub-Program will also allow the use of hydrogen as a fuel in ICEs and will provide an energy-efficient interim hydrogen-based powertrain technology during the transition to hydrogen/fuelcell-powered transportation vehicles.

  17. MULTIPLE IMAGING TECHNIQUES DEMONSTRATE THE MANIPULATION OF SURFACES TO REDUCE BACTERIAL CONTAMINATION

    Science.gov (United States)

    Surface imaging techniques were combined to determine appropriate manipulation of technologically important surfaces for commercial applications. Stainless steel surfaces were engineered to reduce bacterial contamination, biofilm formation, and corrosion during product processing...

  18. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

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

  19. Atomic and molecular manipulation with the scanning tunneling microscope.

    Science.gov (United States)

    Stroscio, J A; Eigler, D M

    1991-11-29

    The prospect of manipulating matter on the atomic scale has fascinated scientists for decades. This fascination may be motivated by scientific and technological opportunities, or from a curiosity about the consequences of being able to place atoms in a particular location. Advances in scanning tunneling microscopy have made this prospect a reality; single atoms can be placed at selected positions and structures can be built to a particular design atom-by-atom. Atoms and molecules may be manipulated in a variety of ways by using the interactions present in the tunnel junction of a scanning tunneling microscope. Some of these recent developments and some of the possible uses of atomic and molecular manipulation as a tool for science are discussed.

  20. Manipulation and cutting of carbon nanotubes

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    Nanomanipulation plays an important role in nanofabrication, it is also a technology necessary in exploring the secrets of nanoworld, and it thus beco mesa start point to research future nanomachine. In this study, manipulation and cutting of carbon nanotubes have been conducted in order to examine whether we can move a nanocomponent from one site to another by using the tip of atomic fo rce microscope (AFM). The technique may also be valuable for providing the const ructive materials of nanofabrication. While exploring the method for manipulatin g and cutting of nanotubes, some new phenomena have been observed during the process. Results show that carbon nanotubes present a feature of deformation combin ing bending and distortion when subjected to large mechanical forces exerted by the tip of AFM. In special cases, long carbon nanotubes can be cut into two part s, by which we can remove the part where crystal lattice is flawed, and therefor e a perfect nanocomponent can be obtained.

  1. Engineered cell manipulation for biomedical application

    CERN Document Server

    Akashi, Misturu; Matsusaki, Michiya

    2014-01-01

    This book is the first to summarize new technologies for engineered cell manipulation. The contents focus on control of cellular functions by nanomaterials and control of three-dimensional cell-cell interactions. Control of cellular functions is important for cell differentiation, maturation, and activation, which generally are controlled by the addition of soluble cytokines or growth factors into cell culture dishes. Target antigen molecules can be efficiently delivered to the cytosol of the dendritic cells using the nanoparticle technique described here, and cellular functions such as dendritic cell maturation can be controlled easily and with precision. This book describes basic preparation of the nanoparticles, activation control of dendritic cells, immune function control, and in vivo application for various vaccination systems. The second type of control,that of cell-cell interaction, is important for tissue engineering in order to develop three-dimensional cellular constructs. To achieve in vitro engin...

  2. De la manipulation des images 3D

    Directory of Open Access Journals (Sweden)

    Geneviève Pinçon

    2012-04-01

    Full Text Available Si les technologies 3D livrent un enregistrement précis et pertinent des graphismes pariétaux, elles offrent également des applications particulièrement intéressantes pour leur analyse. À travers des traitements sur nuage de points et des simulations, elles autorisent un large éventail de manipulations touchant autant à l’observation qu’à l’étude des œuvres pariétales. Elles permettent notamment une perception affinée de leur volumétrie, et deviennent des outils de comparaison de formes très utiles dans la reconstruction des chronologies pariétales et dans l’appréhension des analogies entre différents sites. Ces outils analytiques sont ici illustrés par les travaux originaux menés sur les sculptures pariétales des abris du Roc-aux-Sorciers (Angles-sur-l’Anglin, Vienne et de la Chaire-à-Calvin (Mouthiers-sur-Boëme, Charente.If 3D technologies allow an accurate and relevant recording of rock art, they also offer several interesting applications for its analysis. Through spots clouds treatments and simulations, they permit a wide range of manipulations concerning figurations observation and study. Especially, they allow a fine perception of their volumetry. They become efficient tools for forms comparisons, very useful in the reconstruction of graphic ensemble chronologies and for inter-sites analogies. These analytical tools are illustrated by the original works done on the sculptures of Roc-aux-Sorciers (Angles-sur-l’Anglin, Vienne and Chaire-à-Calvin (Mouthiers-sur-Boëme, Charente rock-shelters.

  3. Introduction to autonomous manipulation case study with an underwater robot, SAUVIM

    CERN Document Server

    Marani, Giacomo

    2014-01-01

    “Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environment...

  4. Computer Center CDC Libraries/NSRDC (Subprograms).

    Science.gov (United States)

    1981-02-01

    TAKE> ARE 1 1 1 0. LANGUAGE: CDC 6000 COMPASS CM REQUIRED: 16B AUTHOR FROM CDC KRONOS SYSTEM DATE WRIJ TEN: DATE(S) REVISED LOCATION OF DECKS SOURCE...4444B LANGUAGE: CDC 6000 COMPASS CM REQUIRED: 20B AUTHOR: FROM CDC KRONOS SYSTEM DATE WRITTEN: LOCATION OF DECKS SOURCE: UPDATE LIBRARY: NSRDCPLID=CSYS

  5. Custom electronic subsystems for the laboratory telerobotic manipulator

    Science.gov (United States)

    Glassell, R. L.; Butler, P. L.; Rowe, J. C.; Zimmermann, S. D.

    1990-01-01

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

  6. Deep-well ultrafast manipulation of a SQUID flux qubit

    Energy Technology Data Exchange (ETDEWEB)

    Castellano, M G; Chiarello, F; Mattioli, F; Torrioli, G [Istituto Fotonica e Nanotecnologie-CNR, Roma (Italy); Carelli, P [Dip. Ingegneria Elettrica e dell' Informazione, Universita dell' Aquila, L' Aquila (Italy); Cosmelli, C, E-mail: mgcastellano@ifn.cnr.i [Dip. Fisica, Sapienza Universita di Roma (Italy)

    2010-04-15

    Superconducting devices based on the Josephson effect are effectively used for the implementation of qubits and quantum gates. The manipulation of superconducting qubits is generally performed by using microwave pulses with frequencies from 5 to 15 GHz, obtaining a typical operating frequency from 100 MHz to 1 GHz. A manipulation based on simple pulses in the absence of microwaves is also possible. In our system, a magnetic flux pulse modifies the potential of a double SQUID qubit from a symmetric double well to a single deep-well condition. By using this scheme with a Nb/AlO{sub x}/Nb system, we obtained coherent oscillations with sub-nanosecond period (tunable from 50 to 200 ps), very fast with respect to other manipulating procedures, and with a coherence time up to 10 ns, of the order of that obtained with similar devices and technologies but using microwave manipulation. We introduce ultrafast manipulation, presenting experimental results, new issues related to this approach (such as the use of a compensation procedure for canceling the effect of 'slow' fluctuations) and open perspectives, such as the possible use of RSFQ logic for qubit control.

  7. Genetic manipulation of Francisella tularensis

    Directory of Open Access Journals (Sweden)

    Xhavit eZogaj

    2011-01-01

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

  8. List manipulation in Turbo Prolog

    Directory of Open Access Journals (Sweden)

    V.Cotelea

    1995-06-01

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

  9. 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.

  10. Fiscal 1997 R and D project on industrial science and technology under a consignment from NEDO. R and D of the ultimate manipulation technology of atoms and molecules (R and D of the formation of advanced materials for power generation environment); 1997 nendo sangyo kagaku gijutsu kenkyu kaihatsu jigyo Shin energy Sangyo Gijutsu Sogo Kaihatsu Kiko itaku. Genshi bunshi kyokugen sosa gijutsu no kenkyu kaihatsu seika hokokusho (hatsuden kankyoyo kokino sozai keisei gijutsu kaihatsu)

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    This paper describes R and D of the ultimate manipulation technology of atoms and molecules (atom technology). Ten nanoscale Ge islands were successfully formed in proper positions on an Si substrate surface by using mask technology of nanoscale atomic layers. Growth of less-defect ZnSe films on a GaAs(110) surface was possible under various conditions. The magnetic transfer mechanism of Mn oxide with huge reluctance was clarified. Through study on selective-area deposition of Si on plasma-oxidized ultrathin SiO2 mask layers patterned by direct electron-beam exposure and an idea of SiO2/SiNx bilayer mask, direct use of the ultrathin mask layer as insulating layer in device structure was achieved. The superior property as electron beam resist of methano- fullerene composed of fullerene C60 with side chains including oxygen was clarified. The initial oxidation process of an Si(100) surface was analyzed, and the observation result by SREM was theoretically explained. Development of a high-resolution spin polarization electron microscope was also mentioned. 48 refs., 145 figs., 20 tabs.

  11. 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...

  12. Additive manufacturing of patient-specific tubular continuum manipulators

    Science.gov (United States)

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

    2015-03-01

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

  13. Search versus Decision for Election Manipulation Problems

    OpenAIRE

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

    2012-01-01

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

  14. Robotic manipulation with flexible link fingers

    OpenAIRE

    Sur, Sudipto

    1997-01-01

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

  15. 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...

  16. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2003-01-01

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

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

    Science.gov (United States)

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

    2016-03-01

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

  18. Distribution of control decisions in remote manipulation

    Science.gov (United States)

    Bejczy, A. K.

    1975-01-01

    The particular characteristics of the problem of distributing control decisions between man and computer in remotely controlled manipulation are discussed. State of the art is reviewed from two viewpoints: (1) specifications of both control commands and control context of sensor signals the operator inputs to the manipulator control computer; (2) operations the manipulator control computer performs on operator commands and realtime sensor signals to control the manipulator for a specified task. JPL breadboard systems, system components, and control experiments are described related to the development and evaluation of manipulator control systems with capabilities of distributing control decisions between man and computer.

  19. Microstructure Functional Devices-Effectively Manipulate Terahertz Waves

    Institute of Scientific and Technical Information of China (English)

    Fei Fan; Ji-Ning Li; Sai Chen; Sheng-Jiang Chang

    2014-01-01

    Terahertz (THz) technology promises important applications including imaging, spectroscopy, and communications. However, one of limitations at present for advancing THz applications is the lack of efficient devices to manipulate THz waves. Here, our recent important progresses in THz functional devices based on artificial microstructures, such as photonic crystal, metamaterial, and plasmonic structures, have been reviewed in this paper, involving the THz modulator, isolator, and sensor. These THz microstructure functional devices exhibit great promising potential in THz application systems.

  20. How to Create and Manipulate Radar Range-Doppler Plots

    Science.gov (United States)

    2014-12-01

    set of wave fronts with constant wavelength, direction, and relative phase. Electromagnetic waves produced by radar transmitters and lasers are... radars . The Matlab function fft orders its DFT amplitudes in a way that renders negative frequencies positive and greater than the Nyquist frequency. I...UNCLASSIFIED How to Create and Manipulate Radar Range–Doppler Plots Don Koks Cyber & Electronic Warfare Division Defence Science and Technology

  1. Wave Manipulation by Topology Optimization

    DEFF Research Database (Denmark)

    Andkjær, Jacob Anders

    Sound and light propagate as waves and are scattered, reflected and change direction when encountering other media and obstacles. By optimizing the spatial placement and distribution of the media, which the waves encounter, one can obtain useful and interesting effects. This thesis describes how...... topology optimization can be used to design structures for manipulation of the electromagnetic and acoustic waves. The wave problems considered here fall within three classes. The first class concerns the design of cloaks, which when wrapped around an object will render the object undetectable...

  2. Querying and Manipulating Temporal Databases

    Directory of Open Access Journals (Sweden)

    Mohamed Mkaouar

    2011-03-01

    Full Text Available Many works have focused, for over twenty five years, on the integration of the time dimension indatabases (DB. However, the standard SQL3 does not yet allow easy definition, manipulation andquerying of temporal DBs. In this paper, we study how we can simplify querying and manipulatingtemporal facts in SQL3, using a model that integrates time in a native manner. To do this, we proposenew keywords and syntax to define different temporal versions for many relational operators andfunctions used in SQL. It then becomes possible to perform various queries and updates appropriate totemporal facts. We illustrate the use of these proposals on many examples from a real application.

  3. Oak Ridge National Laboratory Annual Progress Report for the Electric Drive Technologies Program

    Energy Technology Data Exchange (ETDEWEB)

    Ozpineci, Burak [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

    2015-10-01

    The US Department of Energy (DOE) announced in May 2011 a new cooperative research effort comprising DOE, the US Council for Automotive Research (composed of automakers Ford Motor Company, General Motors Company, and Chrysler Group), Tesla Motors, and representatives of the electric utility and petroleum industries. Known as U.S. DRIVE (Driving Research and Innovation for Vehicle efficiency and Energy sustainability), it represents DOE’s commitment to developing public–private partnerships to fund high-risk–high-reward research into advanced automotive technologies. The new partnership replaces and builds upon the partnership known as FreedomCAR (derived from “Freedom” and “Cooperative Automotive Research”) that ran from 2002 through 2010 and the Partnership for a New Generation of Vehicles initiative that ran from 1993 through 2001. Oak Ridge National Laboratory’s (ORNL’s) Electric Drive Technologies (EDT) subprogram within the DOE Vehicle Technologies Office (VTO) provides support and guidance for many cutting-edge automotive technologies now under development. Research is focused on developing revolutionary new power electronics (PE), electric motor (EM), and traction drive system (TDS) technologies that will leapfrog current on-the-road technologies, leading to lower cost and better efficiency in transforming battery energy to useful work. The research and development (R&D) is also aimed at achieving a greater understanding of and improvements in the way the various new components of tomorrow’s automobiles will function as a unified system to improve fuel efficiency through research in more efficient TDSs. In supporting the development of advanced vehicle propulsion systems, the EDT subprogram fosters the development of technologies that will significantly improve efficiency, costs, and fuel economy

  4. Genetic manipulation of Methanosarcina spp.

    Directory of Open Access Journals (Sweden)

    Petra Regine Adelheid Kohler

    2012-07-01

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

  5. VIMS: toward an adaptive and versatile video manipulation server

    Science.gov (United States)

    Lee, John C.; Li, Qing; Xiong, Wei

    1996-09-01

    Recently, there has been much research on video manipulation in the area of video-on-demand and video databases. Most of the recent work has so far focused on video classification, feature extraction, spatial reasoning and image retrieval; little work has been done on supporting adaptive video editing and production activities, nor has there been much work done on providing facilities for building a versatile video manipulation server. In this paper, we describe the development of an experimental video manipulation server called 'VIMS', which has been implemented at the Hong Kong University of Science and Technology. VIMS consists of two fundamental components: i) a video classification components (VCC) for the generation of effective indices necessary for structuring the video data, and ii) a conceptual clustering mechanism (CCM) having advanced object-oriented features and techniques. The former supports video structuring through camera break detection, shot classification using domain knowledge, as well as content-based retrieval through interactive learning, whereas the latter enables users to form, among other things, video programs form existing objects based on semantic features/index terms dynamically and adaptively. By tightly coupling CCM techniques together with VCC;s, the VIMS further allows the user to perform annotation-based and content-based retrieval in a well integrated and interleaved manner, which we regard as essential for a versatile video manipulation server. A prototype of VIMS embodying VCC and CCM has recently been constructed, running on the PC Pentium platform.

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

    Energy Technology Data Exchange (ETDEWEB)

    Muhammad, Ali, E-mail: ali.muhammad@vtt.fi [VTT, Technical Research Center of Finland, P.O. Box 1300, FI-33101 Tampere (Finland); Mattila, Jouni; Vilenius, Matti [Department of Intelligent Hydraulics and Automation, Tampere University of Technology, P.O. Box 589, FI-33101 Tampere (Finland); Siuko, Mikko [VTT, Technical Research Center of Finland, P.O. Box 1300, FI-33101 Tampere (Finland); Semeraro, Luigi [F4E, Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain)

    2011-10-15

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

  7. Planar Serial Manipulator Motion Synthesis

    Institute of Scientific and Technical Information of China (English)

    Yanhui Wei; Han Han; Zepeng Wang; Xin Liu; Guangchun Li

    2015-01-01

    This paper deals with the universal serial manipulator on the inverse kinematics problem of plane type, the fast working space solution method, and the obstacle avoidance path planning method. With the vector projection as the main constraint condition of the target, it proposes a general form of the inverse kinematics solution which does not depend on the robot configuration of freedom degree. By identifying the target vector direction maximum and minimum workspace boundary and determining the destination vector by thick search on the workspace boundary method, an expressing method of the polar coordinate form of work space is then introduced. Finally, according to the form of plane trajectory planning for obstacle avoidance problem, the method of solving the inverse kinematics solution of the concave and convex forms of the safe obstacle avoidance area is improved. The simulation results verify that the proposed method has feasibility and generality.

  8. Task Space Tracking for Manipulators

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1985-04-01

    Full Text Available For the purpose of controlling a manipulator in the task space, a linear model with task space position and velocity as state variables can be developed. This is done by means of exact compensation of the state-space model non-linearities using non-linear feedback. In this paper, feedback control for this linear state space model is developed using optimal control theory. Integral action is included to compensate for unmodeled forces and torques. In the resulting control system, the problem of transforming the task space trajectory to the joint space is avoided, and the controller parameters can be chosen to satisfy requirements specified in the task space. Simulation experiments show promising results.

  9. Incretin manipulation in diabetes management

    Institute of Scientific and Technical Information of China (English)

    2015-01-01

    Incretin-based therapies have revolutionized the medicalmanagement of type 2 diabetes mellitus (T2DM)in the 21st century. Glucagon-like peptide-1 (GLP-1)suppresses appetite and gastric motility, and has trophiceffects on pancreas, cardio-protective and renal effects.GLP-1 analogues and dipeptidyl peptidase-4 inhibitorsform the incretin-based therapies. Significant reductionof hemoglobin A1c when used as monotherapy andin combination regimens, favorable effects on bodyweight, and low risk of hypoglycemia are their uniquetherapeutic benefits. Their safety and tolerability arecomparable to other anti-diabetic medications. Concernabout elevated risk of pancreatitis has been discardedby two recent meta-analyses. This article discussesthe therapeutic manipulation of incretin system for themanagement of T2DM.

  10. 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.

  11. Combined method for parallel manipulator configuration design

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    Configuration design is an essential, creative and decision-making step in parallel manipulator design process, in which modeling and assembly are iterative and trivial. Combined approach with automatic parametric modeling and automatic assembly is proposed for parallel manipulator configuration design. The design process and key techniques, such as configuration design, configuration verification, poses calculation of all parts in parallel manipulator, virtual assembly and etc., are discussed and demonstrated by an example. A software package is developed for parallel manipulator configuration design based on the proposed method with Visual C+ + and UG/OPEN on Unigraphics.

  12. Nano-manipulation of single DNA molecules

    Institute of Scientific and Technical Information of China (English)

    HU Jun; L(U) Jun-Hong; LI Hai-Kuo; AN Hong-Jie; WANG Guo-Hua; WANG Ying; LI Min-Qian; ZHANG Yi; LI Bin

    2004-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Mads Hvilshoj

    2011-06-01

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

  14. Protozoa manipulation by ultrasound Bionota: Manipulación de protozoos por ultrasonido

    OpenAIRE

    Duarte Julio Enrique; Fernández Morales Flavio Humberto; Porras Rodríguez Yancy Milena; Pedraza Díaz Omar Alexander

    2004-01-01

    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 microorg...

  15. Acquisition and manipulation of computed tomography images of the maxillofacial region for biomedical prototyping

    Energy Technology Data Exchange (ETDEWEB)

    Meurer, Maria Ines [Universidade Federal de Santa Catarina (UFSC), Florianopolis, SC (Brazil). Dept. of Pathology]. E-mail: emaninha@gmail.com; Meurer, Eduardo [Universidade do Sul de Santa Catarina (UNISUL), Tubarao, SC (Brazil); Silva, Jorge Vicente Lopes da; Santa Barbara, Ailton [Centro de Pesquisa Renato Archer (CenPRA), Campinas, SP (Brazil); Nobre, Luiz Felipe [Universidade Federal de Santa Catarina (UFSC), Florianopolis, SC (Brazil). Dept. of Clinical Practice; Oliveira, Marilia Gerhardt de [Pontificia Universidade Catolica do Rio Grande do Sul (PUCRS), Porto Alegre, RS (Brazil). Dept. of Surgery; Silva, Daniela Nascimento [Pontificia Universidade Catolica do Rio Grande do Sul (PUCRS), Porto Alegre, RS (Brazil). Faculdade de Odontologia. Dept. of Surgery

    2008-01-15

    Biomedical prototyping has resulted from a merger of rapid prototyping and imaging diagnosis technologies. However, this process is complex, considering the necessity of interaction between biomedical sciences and engineering. Good results are highly dependent on the acquisition of computed tomography images and their subsequent manipulation by means of specific software. The present study describes the experience of a multidisciplinary group of researchers in the acquisition and manipulation of computed tomography images of the maxillofacial region aiming at biomedical prototyping for surgical purposes. (author)

  16. Dynamical manipulation of Cosine-Gauss beams in a graphene plasmonic waveguide.

    Science.gov (United States)

    He, Xueqing; Ning, Tigang; Li, Rujiang; Pei, Li; Zheng, Jingjing; Li, Jing

    2017-06-12

    In this paper, we theoretically propose for the first time that graphene monolayer can be used to manipulate the Cosine-Gauss beams (CGBs). We show that both the transverse oscillation period and propagation length of a CGB can be dynamically manipulated by utilizing the tunability of the graphene's chemical potential. The graphene-based planar plasmonic waveguide provides a good platform to investigate the propagation properties of CGBs, which is potentially compatible to the microelectronic technology.

  17. Human-like Manipulation Planning for Articulated Manipulator

    Institute of Scientific and Technical Information of China (English)

    Yahui Gan; Xianzhong Dai

    2012-01-01

    A new method based on human-likeness assessment and optimization concept to solve the problem of human-like manipulation planning for articulated robot is proposed in this paper.This method intrinsically formulates the problem as a constrained optimization problem in robot configuration space.The robot configuration space is divided into different subregions by human likeness assessment.A widely used strategy,Rapid Upper Limb Assessment (RULA) in applied ergonomics,is adopted here to evaluate the human likeness of robot configuration.A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem.Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented.Further applications to a humanoid industrial robot SDA10D are also presented.The reasonable planning results for these applications assert the effectiveness of our method.

  18. Altering the SNR by noise manipulation

    Science.gov (United States)

    Rafailov, Michael K.

    2000-12-01

    Irradiation of a photodetector by very short pulses is presented as the primary and perhaps the only remote technology for altering the SNR. Such noise manipulation will decrease the SNR value for certain types of common MIR and LWIR photodetectors. The effect is based on the differences between carrier lifetime, detector material heat transfer rate and altering pulse dwell time. When the pulse width is much less than photodetector rise time, most of the photons cannot generate free carriers, but only heat. Since the heat transfer rate in semiconductors is much slower than carrier's lifetime, high temperature will affect the detector much longer than common input signal correlation length or frame period. We describe thermal, radiometric and electronic circuit models developed to simulate the transfer of short pulses of time-dependent radiant and electrical signals through a photodetector during the alteration. The models are developed to provide an analysis tool for evaluating the time-dependent radiometric sensitivity for the remote gain control of IR photodetectors.

  19. Modeling and control for micro and nano manipulation

    Science.gov (United States)

    Wejinya, Uchechukwu C.

    handling and deposition of micro and nano entities such as carbon nanotubes (CNT), DNA, and for droplet control. The novel microfluidic end effector system with force sensing can significantly improve the success rate for handling/depositing micro/nano entities in the case of carbon nanotubes between micro electrodes. The design, calibration, and experimental implementation of the novel microfluidic end effector is carried out in this research. The experimental results show the success rate for carbon nanotube(s) deposition between micro electrodes can reach close to 80%. Furthermore, carbon nanotubes are of particular interest because they are good candidates for many electronics and sensing applications. The interests in using carbon nanotubes to manufacture electronics and sensors have increased in recent years because of the increase need for making electronics smaller, and their excellent electrical and mechanical properties. These potentials can be achieved if CNTs with semiconducting and metallic band structure can be successfully deposited and separated. The use of dielectrophoresis (DEP) has been established as a course towards the efficient deposition and separation of metallic carbon nanotubes from semiconducting carbon nanotubes. For this reason, this research presents a new mathematical model for dielectrophoresis and electrorotation of carbon nanotubes. Simulation results are presented in this research to validate the developed model. The combination of both the micro robotic manipulation system and the atomic force microscopy (AFM) based nano-robotic system will provide a powerful tool for micro and nano manipulation. Additional applications of this research are endless considering the rapid development of micro and nano technologies.

  20. Error Modeling and Design Optimization of Parallel Manipulators

    DEFF Research Database (Denmark)

    Wu, Guanglei

    challenges due to their highly nonlinear behaviors, thus, the parameter and performance analysis, especially the accuracy and stiness, are particularly important. Toward the requirements of robotic technology such as light weight, compactness, high accuracy and low energy consumption, utilizing optimization...... technique in the design procedure is a suitable approach to handle these complex tasks. As there is no unied design guideline for the parallel manipulators, the study described in this thesis aims to provide a systematic analysis for this type of mechanisms in the early design stage, focusing on accuracy...... analysis and design optimization. The proposed approach is illustrated with the planar and spherical parallel manipulators. The geometric design, kinematic and dynamic analysis, kinetostatic modeling and stiness analysis are also presented. Firstly, the study on the geometric architecture and kinematic...

  1. Long distance manipulation of a levitated nanoparticle in high vacuum

    CERN Document Server

    Mestres, Pau; Spasenović, Marko; Gieseler, Jan; Novotny, Lukas; Quidant, Romain

    2015-01-01

    Accurate delivery of small targets in high vacuum is a pivotal task in many branches of science and technology. Beyond the different strategies developed for atoms, proteins, macroscopic clusters and pellets, the manipulation of neutral particles over macroscopic distances still poses a formidable challenge. Here we report a novel approach based on a mobile optical trap operated under feedback control that enables long range 3D manipulation of a silica nanoparticle in high vacuum. We apply this technique to load a single nanoparticle into a high-finesse optical cavity through a load-lock vacuum system. We foresee our scheme to benefit the field of optomechanics with levitating nano-objects as well as ultrasensitive detection and monitoring.

  2. Integration of Mobile Manipulators in an Industrial Production

    DEFF Research Database (Denmark)

    Madsen, Ole; Bøgh, Simon; Schou, Casper

    2015-01-01

    , it was possible to program both robots to perform the production scenario in collaboration. Despite the success, the experiment clearly demonstrated several topics in need of further research before the technology can be made available to the industry: robustness and cycle time, safety investigations and possibly...... reports from such a real-world industrial experiment with two mobile manipulators. Design/methodology/approach – In the experiment, autonomous industrial mobile manipulators are integrated into the actual manufacturing environment of the pump manufacturer Grundfos. The two robots together solve the task...... of producing rotors; a task constituted by several sub-tasks ranging from logistics to complex assembly. With a total duration of 10 days, the experiment includes workspace adaptation, safety regulations, rapid robot instruction and running production. Findings – With a setup time of less than one day...

  3. Spinal manipulative therapy in sports medicine.

    Science.gov (United States)

    Haldeman, S

    1986-04-01

    Spinal manipulation or manual therapy is becoming an increasingly popular method of treating athletes with spinal problems. The primary theoretic basis for the claimed beneficial results of manipulation is the restoration of motion with subsequent effect on ligamentous adhesions, muscle spasm, disk nutrition, and central nervous system endorphin systems. The concept of joint barriers has been developed to differentiate among exercise therapy, mobilization, and manipulation. Research trials suggest that spinal manipulation is beneficial in relieving or reducing the duration of acute low back pain and acute neck pain but has much less effect on chronic low back pain and neck pain. There is evidence that manipulation increases certain parameters of motion of the spine but this evidence is not yet conclusive. There are a wide variety of manipulative procedures that are utilized to manipulate the spine to increase range of motion, and the selection of the procedures is based on manual diagnostic skills. Manipulation, however, is not a benign procedure and has been implicated in the aggravation of disk herniation or bony fractures as well as the precipitation of vertebrobasilar artery occlusion.

  4. Manipulation or Mobilisation for Neck Pain

    NARCIS (Netherlands)

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

    2010-01-01

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

  5. Manipulation performance in interactive virtual environments

    NARCIS (Netherlands)

    Werkhoven, P.J.; Groen, J.

    1998-01-01

    We have studied manipulation performance in virtual environments using two types of controllers: virtual hand control and 3D mouse-cursor control. These manipulation methods were tested under monoscopic and stereoscopic viewing conditions. Participants were asked to discriminate, grasp, pitch, roll

  6. 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...

  7. Outcome manipulation in corporate prediction markets

    DEFF Research Database (Denmark)

    Ottaviani, Marco; Sørensen, Peter Norman

    2007-01-01

    This paper presents a framework for applying prediction markets to corporate decision-making. The analysis is motivated by the recent surge of interest in markets as information aggregation devices and their potential use within firms. We characterize the amount of outcome manipulation that results...... in equilibrium and the impact of this manipulation on market prices...

  8. Manipulating Language: A Strategy for Teaching Literature.

    Science.gov (United States)

    Byers, Prudence P.

    Literary artists manipulate language. If educators could develop in their students the same sense that language is manipulable, they could help them to better appreciate literature. Emily Dickinson's poem "I Like to See It Lap the Miles" could be approached by changing it on several levels--graphics, phonics, syntax, and semantics--and…

  9. Manipulating Language: A Strategy for Teaching Literature.

    Science.gov (United States)

    Byers, Prudence P.

    Literary artists manipulate language. If educators could develop in their students the same sense that language is manipulable, they could help them to better appreciate literature. Emily Dickinson's poem "I Like to See It Lap the Miles" could be approached by changing it on several levels--graphics, phonics, syntax, and semantics--and…

  10. Microcrystal manipulation with laser tweezers

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-07-01

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

  11. Workspace of Translation 3-UPU Parallel Manipulators

    Institute of Scientific and Technical Information of China (English)

    罗友高; 郑相周; 宾鸿赞

    2005-01-01

    To determine workspace and relationship between the workspace and geometry of parallel manipulator is important for optimum design of parallel manipulators. In this paper, the workspace and the relationship between the workspace and the geometry of 3-UPU parallel manipulators with pure translation axe investigated. Geometric and non-geometric constraints are defined and taken account of in determining the workspace of the translation 3-UPU manipulators. A direct average condition number is used as the global performance index of the workspace. This research shows that there exists an optimal value of the direct average condition number favorable for a good design of parallel mechanisms. The results presented in this paper are useful for the optimum design of 3-UPU parallel manipulators.

  12. Simulation and analysis of flexibly jointed manipulators

    Science.gov (United States)

    Murphy, Steve H.; Wen, John T.; Saridis, George M.

    1990-01-01

    Modeling, simulation, and analysis of robot manipulators with non-negligible joint flexibility are studied. A recursive Newton-Euler model of the flexibly jointed manipulator is developed with many advantages over the traditional Lagrange-Euler methods. The Newton-Euler approach leads to a method for the simulation of a flexibly jointed manipulator in which the number of computations grows linearly with the number of links. Additionally, any function for the flexibility between the motor and link may be used permitting the simulation of nonlinear effects, such as backlash, in a uniform manner for all joints. An analysis of the control problems for flexibly jointed manipulators is presented by converting the Newton-Euler model to a Lagrange-Euler form. The detailed structure available in the model is used to examine linearizing controllers and shows the dependency of the control on the choice of flexible model and structure of the manipulator.

  13. Confining continuous manipulations of accelerator beamline optics

    CERN Document Server

    Amstutz, Philipp; Bödewadt, Jörn; Lechner, Christoph; Plath, Tim; Vogt, Mathias

    2016-01-01

    Altering the optics in one section of a linear accelerator beamline will in general cause an alteration of the optics in all downstream sections. In circular accelerators, changing the optical properties of any beamline element will have an impact on the optical functions throughout the whole machine. In many cases, however, it is desirable to change the optics in a certain beamline section without disturbing any other parts of the machine. Such a local optics manipulation can be achieved by adjusting a number of additional corrector magnets that restore the initial optics after the manipulated section. In that case, the effect of the manipulation is confined in the region between the manipulated and the correcting beamline elements. Introducing a manipulation continuously, while the machine is operating, therefore requires continuous correction functions to be applied to the correcting quadrupole magnets. In this paper we present an analytic approach to calculate such continuous correction functions for six ...

  14. 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...

  15. EVALUATION OF STATE-OF-THE-ART MANIPULATORS AND REQUIREMENTS FOR DOE ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    BLACK, DEREK; GRUPINSKI, STEPHEN

    1998-10-08

    This report provides an overview of applications within the DOE complex which could benefit from the use of modular robotics technology during remediation operations. Each application area contains one or more specific tasks which are presently conducted by humans under hazardous conditions or which are deemed highly impractical, or are altogether impossible without automation. Five major areas were investigated for specific needs with respect to automation. Information was collected on Mixed Waste Operations, Contaminant Automated Analysis, Tanks, Decontamination and Dismantlement and Automated Plutonium Processing. During this investigation, information was gathered from available literature, telephone interviews with informed personnel and on-site visits. This data serves to provide design requirements and guidelines for the design of a family of modular actuators, which will be used to construct manipulators suited to each task. In addition, a survey of existing modular manipulator designs is presented. This survey addresses modular manipulators developed inside government labs and in universities for such applications as space exploration or controls research. It also addresses efforts at commercially viable industrial manipulators which have been built. This survey of robotic systems provides the reader with a glimpse into what technology currently exists in the way of modular manipulator automation and, to a degree, where this technology may be applicable or, more often, where these systems are unsuited to EM applications. From the information gathered during this study, it is possible to sufficiently define the requirements of one manipulator system which can be used to conduct automated transfer operations within Plutonium gloveboxes. This manipulator will be constructed from ARM Automation actuator modules and will provide this application with a viable option for automation within these gloveboxes. The design issues surrounding this manipulator and its

  16. HYBRID POSITION/FORCE MANIPULATION OF MULTIFINGERED HAND

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

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

  17. 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.

  18. Fuzzy logic control of telerobot manipulators

    Science.gov (United States)

    Franke, Ernest A.; Nedungadi, Ashok

    1992-01-01

    Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

  19. Downhole water management and robotic valve manipulation on electric wireline

    Energy Technology Data Exchange (ETDEWEB)

    Schwanitz, Brian [Welltec, Alleroed (Denmark); Petersen, Erik; Farias, Eduardo [Welltec do Brasil Ltda., Rio de Janeiro, RJ (Brazil)

    2008-07-01

    Due to high operating cost and challenging environments, the oil and gas industry is facing an increasing demand to identify areas where new intervention solutions can be applied. Down hole water management and robotic valve manipulation are some of the areas where new approaches are finding critical success. A new technology has enabled increased recovery rates by managing produced water and allowing remote mechanical manipulation of down hole valves on wireline. These services are possible when applying a robotic stroking device and a wireline key tool.This paper will examine the challenges and present case histories illustrating how advanced technological solutions were applied to overcome operational problem in order to enhance reservoir performance and well productivity. Specifically the paper will illustrate both how isolating sliding side door and setting bridge plug in high x-flow using wireline stroker and tractor technologies water cut were reduced from 85% to 5% and from 90% to 45% respectively and shifting isolation sleeve and open and close sliding sleeve replacing conventional methods with a solution that runs on electrical wireline meant a revolution within the oil and gas industry. (author)

  20. In Situ Redox Manipulation Field Injection Test Report - Hanford 100-H Area

    Energy Technology Data Exchange (ETDEWEB)

    Fruchter, J.S.; Amonette, J.E.; Cole, C.R. [and others

    1996-11-01

    This report presents results of an In Situ Redox Manipulation (ISRM) Field Injection Withdrawal Test performed at the 100-H Area of the US. Department of Energy`s (DOE`s) Hanford Site in Washington State in Fiscal Year 1996 by researchers at Pacific Northwest National Laboratory (PNNL). The test is part of the overall ISRM project, the purpose of which is to determine the potential for remediating contaminated groundwater with a technology based on in situ manipulation of subsurface reduction-oxidation (redox) conditions. The ISRM technology would be used to treat subsurface contaminants in groundwater zones at DOE sites.

  1. MENDING THE IN SITU MANIPULATION BARRIER

    Energy Technology Data Exchange (ETDEWEB)

    PETERSEN, S.W.

    2006-02-06

    In early 2004, the U.S. Department of Energy (DOE) Richland and Fluor Hanford requested technical assistance from the DOE Headquarters EM-23 Technical Assistance Program to provide a team of technical experts to develop recommendations for mending the In Situ Redox Manipulation (ISRM) Barrier in the 100-D Area of the Hanford Site in Washington State. To accommodate this request, EM-23 provided support to convene a group of technical experts from industry, a national laboratory, and a DOE site to participate in a 2 1/2-day workshop with the objective of identifying and recommending options to enhance the performance of the 100-D Area reactive barrier and of a planned extension to the northeast. This report provides written documentation of the team's findings and recommendations. In 1995, a plume of dissolved hexavalent chromium [Cr(VI)], which resulted from operation of the D/DR Reactors at the Hanford site, was discovered along the Columbia River shoreline and in the 100-D Area. Between 1999 and 2003, a reactive barrier using the In Situ Redox Manipulation (ISRM) technology, was installed a distance of 680 meters along the river to reduce the Cr(VI) in the groundwater. The ISRM technology creates a treatment zone within the aquifer by injection of sodium dithionite, a strong reducing agent that scavenges dissolved oxygen (DO) from the aquifer and reduces ferric iron [Fe(III)], related metals, and oxy-ions. The reduction of Fe(III) to ferrous [Fe(II)] iron provides the primary reduction capacity to reduce Cr(VI) to the +3 state, which is less mobile and less toxic. Bench-scale and field-scale treatability tests were initially conducted to demonstrate proof-of principle and to provide data for estimation of barrier longevity. These calculations estimated barrier longevity in excess of twenty years. However, several years after initial and secondary treatment, groundwater in a number of wells has been found to contain elevated chromium (Cr) concentrations

  2. MENDING THE IN SITU MANIPULATION BARRIER

    Energy Technology Data Exchange (ETDEWEB)

    PETERSEN, S.W.

    2006-02-06

    In early 2004, the U.S. Department of Energy (DOE) Richland and Fluor Hanford requested technical assistance from the DOE Headquarters EM-23 Technical Assistance Program to provide a team of technical experts to develop recommendations for mending the In Situ Redox Manipulation (ISRM) Barrier in the 100-D Area of the Hanford Site in Washington State. To accommodate this request, EM-23 provided support to convene a group of technical experts from industry, a national laboratory, and a DOE site to participate in a 2 1/2-day workshop with the objective of identifying and recommending options to enhance the performance of the 100-D Area reactive barrier and of a planned extension to the northeast. This report provides written documentation of the team's findings and recommendations. In 1995, a plume of dissolved hexavalent chromium [Cr(VI)], which resulted from operation of the D/DR Reactors at the Hanford site, was discovered along the Columbia River shoreline and in the 100-D Area. Between 1999 and 2003, a reactive barrier using the In Situ Redox Manipulation (ISRM) technology, was installed a distance of 680 meters along the river to reduce the Cr(VI) in the groundwater. The ISRM technology creates a treatment zone within the aquifer by injection of sodium dithionite, a strong reducing agent that scavenges dissolved oxygen (DO) from the aquifer and reduces ferric iron [Fe(III)], related metals, and oxy-ions. The reduction of Fe(III) to ferrous [Fe(II)] iron provides the primary reduction capacity to reduce Cr(VI) to the +3 state, which is less mobile and less toxic. Bench-scale and field-scale treatability tests were initially conducted to demonstrate proof-of principle and to provide data for estimation of barrier longevity. These calculations estimated barrier longevity in excess of twenty years. However, several years after initial and secondary treatment, groundwater in a number of wells has been found to contain elevated chromium (Cr) concentrations

  3. W-026, acceptance test report manipulator system

    Energy Technology Data Exchange (ETDEWEB)

    Watson, T.L.

    1997-04-15

    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.

  4. Osteopathic manipulative medicine for carpal tunnel syndrome.

    Science.gov (United States)

    Siu, Gilbert; Jaffe, J Douglas; Rafique, Maryum; Weinik, Michael M

    2012-03-01

    Carpal tunnel syndrome (CTS) is 1 of the most common peripheral nerve entrapment disorders. Osteopathic manipulative medicine can be invaluable in diagnosing and managing CTS. Combined with a patient's history and a standard physical examination, an osteopathic structural examination can facilitate localizing the nerve entrapment, diagnosing CTS, and monitoring the disease process. Osteopathic manipulative treatment is noninvasive and can be used to supplement traditional CTS treatment methods. The authors also review the relevant anatomy involving CTS and the clinical efficacy of osteopathic manipulative medicine in the management of this disorder.

  5. Magnetic Micro/Nano Structures for Biological Manipulation

    Science.gov (United States)

    Huang, Chen-Yu; Hsieh, Teng-Fu; Chang, Wei-Chieh; Yeh, Kun-Chieh; Hsu, Ming-Shinn; Chang, Ching-Ray; Chen, Jiann-Yeu; Wei, Zung-Hang

    2016-05-01

    Biomanipulation based on micro/nano structures is an attractive approach for biotechnology. To manipulate biological systems by magnetic forces, the magnetic labeling technology utilized magnetic nanoparticles (MNPs) as a common rule. Ferrofluid, well-dispersed MNPs, can be used for magnetic modification of the surface or as molds to form organized microstructures. For magnetic-based micro/nano structures, different methods to modulate magnetic field at the microscale have been developed. Specifically, this review focused on a new strategy which uses the concept of micromagnetism of patterned magnetic thin film with specific domain walls configurations to generate stable magnetic poles for cell patterning.

  6. Molecular manipulation of microstructures: biomaterials, ceramics, and semiconductors.

    Science.gov (United States)

    Stupp, S I; Braun, P V

    1997-08-29

    Organic molecules can alter inorganic microstructures, offering a very powerful tool for the design of novel materials. In biological systems, this tool is often used to create microstructures in which the organic manipulators are a minority component. Three groups of materials-biomaterials, ceramics, and semiconductors-have been selected to illustrate this concept as used by nature and by synthetic laboratories exploring its potential in materials technology. In some of nature's biomaterials, macromolecules such as proteins, glycoproteins, and polysaccharides are used to control nucleation and growth of mineral phases and thus manipulate microstructure and physical properties. This concept has been used synthetically to generate apatite-based materials that can function as artificial bone in humans. Synthetic polymers and surfactants can also drastically change the morphology of ceramic particles, impart new functional properties, and provide new processing methods for the formation of useful objects. Interesting opportunities also exist in creating semiconducting materials in which molecular manipulators connect quantum dots or template cavities, which change their electronic properties and functionality.

  7. Impact of genetic manipulation on society and medicine.

    Science.gov (United States)

    Motulsky, A G

    1983-01-14

    Human beings have been manipulating the genetic characteristics plants and animals since the introduction of agriculture indirect manipulation of human genes occurred with widespread use of public health and medical measures that preserve genes causing disease. The production of biologicals by DNA technology raises few ethical problems. Predictive medicine in which genetic markers (including DNA variants) are used for antenatal and preclinical diagnosis of genetic diseases and susceptibilities poses new questions of confidentiality, private versus societal goals, and self-determination. When normal DNA is used to treat the somatic cells of patients with hemoglobinopathies and other genetic diseases, no new ethical problems arise beyond those presented by an novel theory. In contrast, manipulation of DNA in human fertilized eggs would constitute a qualitative departure from previous therapies since this would affect future generations. In order to be able to make wise decisions on these matters the public must be well informed. Thus, formal and informal education in human biology and genetics must be improved at all levels.

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

    DEFF Research Database (Denmark)

    Bøgh, Simon; Schou, Casper; Rühr, Thomas

    2014-01-01

    This paper presents a large-scale research experiment carried out within the TAPAS project, where multiple mobile manipulators were integrated and assessed in an industrial context. We consider an industrial scenario in which mobile manipulators naturally extend automation of logistic tasks towards...... assistive ones. In the experiment, we included tasks such as preparatory and post-processing work, e.g. pre-assembly or machine tending with inherent quality control. In the experiment, we deployed the two heterogeneous mobile manipulators Little Helper and omniRob in a production scenario at Grundfos A....../S, a manufacturer of water circulation pumps, in Denmark. The experiment showed that mobile manipulation is at a level of technology readiness that will allow industrial application in the near future. Despite challenges indicated later in the paper, the research efforts presented do show that research...

  9. Three-dimensional Mid-air Acoustic Manipulation by Ultrasonic Phased Arrays

    CERN Document Server

    Ochiai, Yoichi; Rekimoto, Jun

    2013-01-01

    The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in conventional studies was parallel to the gravitational force, and the levitated objects were manipulated along the fixed axis (i.e. one-dimensionally) by controlling the phases or frequencies of bolted Langevin-type transducers. In the present study, we considered extended acoustic manipulation whereby millimetre-sized particles were levitated and moved three-dimensionally by localised ultrasonic standing waves, which were generated by ultrasonic phased arrays. Our manipulation system has two original features. One is the direction of the ultrasound beam, which is arbitrary because the force acting toward its centre is also utilised. The other is the manipulation principle by which a localised standing wave is generated at an arbitrary position and moved three-dimensionally by oppose...

  10. Research advances in contact model and mechanism configuration for nut shelling manipulation based on metamorphic method

    Directory of Open Access Journals (Sweden)

    Xiulan BAO

    2017-04-01

    Full Text Available Nuts are the important economic forest tree species of China. De-shell is the key operation of nut deep processing. There are some problems in the current nut cracking devices such as the low decorticating rate, the high nuts losses rate and nutmeat integrity problems, etc.. The foundation of force analysis is to establish contact model for nut and mechanical. The nut surface is rough and irregular, so the contact area cannot be modeled as regular shape. How to set up contact constraint model is the key problem to accomplish non-loss shelling. In order to study the shell-breaking mechanism and structural design of the nut shelling manipulation, a multi-fingered metamorphic manipulator is presented. An overview of the nut shelling technology and the contact manipulator modeling are proposed. The origin and application of metamorphic mechanisms are introduced. Then the research contents and development prospects of nut shelling manipulator are described.

  11. Intuitive control of robotic manipulators

    Science.gov (United States)

    Rusbarsky, David; Gray, Jeremy; Peters, Douglas

    2011-05-01

    Under a research effort sponsored by the U.S. Army Tank Automotive Research, Development, and Engineering Center (TARDEC), we are exploring technologies that can be used to provide an operator with the ability to more intuitively control high-degree of freedom arms while providing the operator with haptic feedback to more effectively interact with the environment. This paper highlights the results of the research as well as early test results on a number of prototype systems currently in development. We will demonstrate advantages and disadvantages of some of the leading approaches to intuitive control and haptic feedback.

  12. Autonomous intelligent robotic manipulator for on-orbit servicing

    Science.gov (United States)

    Larouche, Benoit P.

    The doctoral research is to develop an autonomous intelligent robotic manipulator technology for on-orbit servicing (OOS). More specifically, the research is focused on one of the most critical tasks in OOS- the capture of a non-cooperative object whilst minimizing impact forces and accelerations. The objective of the research is: the development of a vision-based control theory, and the implementation and testing of the developed theory by designing and constructing a custom non-redundant holonomic robotic manipulator. The research validated the newly developed control theory and its ability to (i) capture a moving target autonomously and (ii) minimize unfavourable contact dynamics during the most critical parts of the capture operations between the capture satellite and a non-cooperative/tumbling object. A custom robotic manipulator functional prototype has been designed, assembled, constructed, and programmed from concept to completion in order to provide full customizability and controllability in both the hardware and the software. Based on the test platform, a thorough experimental investigation has been conducted to validate the newly developed control methodologies to govern the behaviour of the robotic manipulators (RM) in an autonomous capture. The capture itself is effected on non-cooperative targets in zero-gravity simulated environment. The RM employs a vision system, force sensors, and encoders in order to sense its environment. The control is effected through position and pseudo-torque inputs to three stepper motors and three servo motors. The controller is a modified hybrid force/neural network impedance controller based on N. Hogan's original work. The experimental results demonstrate the set objectives of this thesis have been successfully achieved.

  13. Materials Centered Science and Manipulative Skill

    Science.gov (United States)

    Struve, Nancy L.; And Others

    1974-01-01

    Evaluated were effects of experience with two physical science units adapted for use by the visually impaired on the manipulative skills of 14 visually impaired low income students from 9 to 19 years of age. (DB)

  14. ARC Code TI: Geometry Manipulation Protocol (GMP)

    Data.gov (United States)

    National Aeronautics and Space Administration — The Geometry Manipulation Protocol (GMP) is a library which serializes datatypes between XML and ANSI C data structures to support CFD applications. This library...

  15. 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.

  16. 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.

  17. White House: China not Manipulating Money

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

      The Bush administration determined that China was not manipulating its currency to gain economic advantages but still pressed Chinese to move more quickly to allowthe yuan's value to be set by market forces.……

  18. White House: China not Manipulating Money

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    @@ The Bush administration determined that China was not manipulating its currency to gain economic advantages but still pressed Chinese to move more quickly to allowthe yuan's value to be set by market forces.

  19. The Frankfurt School's Theory of Manipulation

    Science.gov (United States)

    Petryszak, Nicholas

    1977-01-01

    Discusses the critical sociology of communication of the Frankfurt School suggesting that theorists such as Lowenthal, Adorno, and Habermas have outlined both the political economics of manipulation and the social psychological interaction between the audience and the media. (MH)

  20. The modelling of industrial robot manipulator vibration

    Energy Technology Data Exchange (ETDEWEB)

    Marcham, L.J.; Rao, B.K.N.; Noroozi, S.; Penson, R.P. [Southampton Inst. (United Kingdom). Systems Engineering Research Centre

    1996-11-01

    The work reported in this paper addresses the modelling of robot manipulator vibration, with the specific aim of producing a model suitable to be employed within an active compensation controller. An overview of existing work on the modelling of robot dynamics, both mathematically and empirically, is reported. A model of the dynamics of an industrial manipulator, inclusive of vibration, derived using Lagrangian mechanics is presented and further developed through the application of experimental modal analysis, by which the position dependent modal parameters of an industrial robot manipulator are determined. The model results are compared with experimental vibration data taken from the end-effector of a PUMA562C industrial manipulator using laser interferometry. Control of an end-effector located, active compensator for vibration suppression, based upon the derived model is discussed and recommendations which form the basis of further investigations, currently being undertaken, are presented.

  1. The Frankfurt School's Theory of Manipulation

    Science.gov (United States)

    Petryszak, Nicholas

    1977-01-01

    Discusses the critical sociology of communication of the Frankfurt School suggesting that theorists such as Lowenthal, Adorno, and Habermas have outlined both the political economics of manipulation and the social psychological interaction between the audience and the media. (MH)

  2. A framework for evaluation of technology transfer programs. Volume 2

    Energy Technology Data Exchange (ETDEWEB)

    1993-07-01

    The objective of this volume is to describe a framework with which DOE can develop a program specific methodology to evaluate it`s technology transfer efforts. This approach could also be applied to an integrated private sector technology transfer organization. Several benefits will be realized from the application of this work. While the immediate effect will be to assist program managers in evaluating and improving program performance, the ultimate benefits will accrue to the producing industry, the states, and the nation in the form of sustained or increased domestic oil production. This benefit depends also, of course, on the effectiveness of the technology being transferred. The managers of the Technology Transfer program, and the larger federal oil and gas R&D programs, will be provided with a means to design and assess the effectiveness of program efforts as they are developed, tested and performed. The framework allows deficiencies in critical aspects of the program to be quickly identified, allowing for timely corrections and improvements. The actual process of developing the evaluation also gives the staff of the Oil R&D Program or Technology Transfer subprogram the opportunity to become oriented to the overall program goals. The structure and focus imposed by the evaluation paradigm will guide program staff in selecting activities which are consistent with achieving the goals of the overall R&D program.

  3. Trading networks, abnormal motifs and stock manipulation

    OpenAIRE

    2012-01-01

    We study trade-based manipulation of stock prices from the perspective of complex trading networks constructed by using detailed information of trades. A stock trading network consists of nodes and directed links, where every trader is a node and a link is formed from one trader to the other if the former sells shares to the latter. Specifically, three abnormal network motifs are investigated, which are found to be formed by a few traders, implying potential intention of price manipulation. W...

  4. Dynamics of 3-DOF Hybrid Robot Manipulator

    Institute of Scientific and Technical Information of China (English)

    周兵; 毛泰祥; 杨汝清

    2004-01-01

    This paper introduces a 3-dof hybrid robotic manipulator which is constructed by combming a parallel mechanism and a pantograph to increase stiffness as well as workspace. And by analyzing its kinematics and dynamics with Lagrange's method, the dynamic model is obtained which is essential for feed-forward control of the manipulator. An explicit solution is given out. Finally, a simulation test is carried out on computers.

  5. Identifying Image Manipulation Software from Image Features

    Science.gov (United States)

    2015-03-26

    an overview of the DCT based encoding process [5]. When an image is processed by lossless compression, a file’s size is reduced while still...IDENTIFYING IMAGE MANIPULATION SOFTWARE FROM IMAGE FEATURES THESIS Devlin T. Boyter, CPT, USA AFIT-ENG-MS-15-M-051 DEPARTMENT OF THE AIR FORCE AIR...to copyright protection in the United States. AFIT-ENG-MS-15-M-051 IDENTIFYING IMAGE MANIPULATION SOFTWARE FROM IMAGE FEATURES THESIS Presented to

  6. Osteopathic manipulative treatment for colonic inertia.

    Science.gov (United States)

    Cohen-Lewe, Adam

    2013-03-01

    Surgical treatment options for patients with colonic inertia are costly and do not always relieve the pain associated with the condition. The author describes a case of a 41-year-old woman with colonic inertia who received osteopathic manipulative treatment targeted at the neuromusculoskeletal and gastrointestinal systems. The patient reported temporary improvement in pain and bowel function without pharmacotherapy or surgical intervention. Osteopathic manipulative treatment should be considered in patients with visceral as well as neuromusculoskeletal symptoms.

  7. Autonomous Environment Recognition by Robotic Manipulators

    OpenAIRE

    Senda, Kei; Okano, Yuzo

    2001-01-01

    This paper discusses methods of autonomus environment recognition and action by a robotic manipulator working with dynamic interaction to the enviroment, e.g., assembling. A method automatically recognizes the contacting situation with the work site from the sensor outputs and the robotic manipulator motion. The autonomous recognition then discriminates the constraint conditions at manopulator hand using the self-organizing map that is a kind of unsupervisedlearning of neural networks. The di...

  8. Manipulating atoms using scanning probe microscopy

    OpenAIRE

    Norris, Andrew Christopher

    2009-01-01

    Manipulating species using Scanning Probe Microscopy (SPM) is an important discipline in the field of bottom-up fabrication, which facilitates nano-mechanics and electron dynamics investigations. Previous low temperature manipulation highlights include the construction of quantum dots, nano-wires and quantum corrals, all of which began in 1989 with Don Eigler’s iconic writing of I-B-M using 35 xenon atoms. Since then, the field has developed, and we now push, pull, hop, excite, desorb, rotate...

  9. Plasma applications for biochip technology

    Energy Technology Data Exchange (ETDEWEB)

    Ichiki, T.; Sugiyama, Y.; Taura, R.; Koidesawa, T.; Horiike, Y

    2003-07-01

    Biochip technology has emerged from the fusion of biotechnology and micro/nanofabrication technology. Biochips enable us to realize revolutionary new bioanalysis systems that can directly manipulate and analyze the micro/nano-scale world of biomolecules, organelles and cells. This paper describes a few bioanalysis systems and the microfabrication technology being developed as examples of the application of plasma technologies for upcoming nanobiotechnology. Deep dry etching of glass plates has been developed and applied to fabricate microfluidic devices that can manipulate biological cells. Moreover, ultra-high-rate localized etching of silicon wafers has been developed using a microplasma jet apparatus for rapid micromachining.

  10. Intelligent modular manipulation for mobile robots

    Science.gov (United States)

    Culbertson, John

    2008-04-01

    As mobile robots continue to gain acceptance across a variety of applications within the defense and civilian markets, the number of tasks that these robot platforms are expected to accomplish are expanding. Robot operators are asked to do more with the same platforms - from EOD missions to reconnaissance and inspection operations. Due to the fact that a majority of missions are dangerous in nature, it is critical that users are able to make remote adjustments to the systems to ensure that they are kept out of harm's way. An efficient way to expand the capabilities of existing robot platforms, improve the efficiency of robot missions, and to ultimately improve the operator's safety is to integrate JAUS-enabled Intelligent Modular Manipulation payloads. Intelligent Modular Manipulation payloads include both simple and dexterous manipulator arms with plug-and-play end-effector tools that can be changed based on the specific mission. End-effectors that can be swapped down-range provide an added benefit of decreased time-on-target. The intelligence in these systems comes from semi-autonomous mobile manipulation actions that enable the robot operator to perform manipulation task with the touch of a button on the OCU. RE2 is supporting Unmanned Systems Interoperability by utilizing the JAUS standard as the messaging protocol for all of its manipulation systems. Therefore, they can be easily adapted and integrated onto existing JAUS-enabled robot platforms.

  11. Control of two Wheeled Welding Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    M. D. Ngo

    2008-11-01

    Full Text Available A three-linked manipulator mounted on a two-wheeled mobile platform is used to weld a long curved welding path. A welding torch mounted at the end of a manipulator of the welding mobile manipulator (WMM must be controlled for tracking a welding path with constant velocity and constant welding angle of torch. In this paper, a decentralized control method is applied to control the WMM considered as two separate subsystems such as a mobile platform and a manipulator. Two decentralized motion controllers are designed to control two subsystems of WMM, respectively. Firstly, based on a tracking error vector of the manipulator and a feedback motion of the mobile platform, a kinematic controller is designed for manipulator. Secondly, based on an another tracking error vector of the mobile platform and a feedback angular velocities of revolution joints of three-link, a sliding mode controller is designed for the mobile platform. These controllers are obtained based on the Lyapunov's function and its stability condition to ensure for the tracking error vectors to be asymptotically stable. Furthermore, simulation and experimental results are presented to illustrate the effectiveness of the proposed algorithm.

  12. Properties of Single Molecules: Manipulation, Dissociation and Synthesis with the Scanning Tunneling Microscope

    Science.gov (United States)

    Braun, Kai-Felix; Hla, Saw-Wai

    The fascinating advances in the manipulation of single atoms and molecules with the scanning tunneling microscope tip allow scientists to build atomic scale structures and to probe chemical and physical properties of matters at an atomic level. Due to these advances, the basic steps of a catalyzed chemical reaction such as dissociation, diffusion, adsorption, re-adsorption and bond formation processes can be performed by using the STM-tip. Here a short review of these steps and the techniques involved is presented. The lateral manipulation is used for the controlled positioning of atoms/molecules whereby only the tip- atom/molecule forces are employed. By measuring the tip-height signal during the manipulation, different modes of motion of the adparticle can be distinguished. Lower corrugated surfaces exhibit more complex motions than higher corrugated surfaces where the adparticle movement is confined to one dimension. Molecules have more degrees of freedom which allow a rotational motion or change in configuration. Even internal degrees of freedom can be detected and manipulated. The vertical manipulation not only allows the pick-up of adparticles and the subsequent transfer back to the surface, but also the manipulation of fragments of larger molecules. Effects due to the tunneling curent can be used for a controlled dissociation of chemical bonds as well as for the formation of new bonds. The combination of these manipulation techniques can induce chemical reactions at a single molecule level and construct new molecules. These achievements in STM manipulation of molecules open up new opportunities in nanochemistry and nanochemical technology. In this article, various STM manipulation techniques used for the single molecule reaction process are reviewed, and their impact on the future of nanoscience and nanotechnology is discussed.

  13. Modelling and Performance Analysis of a Flexible Manipulator System Using Symbolic Manipulation

    OpenAIRE

    Z. Mohamed; Tokhi, M.O.

    2001-01-01

    This paper presents a symbolic manipulation approach for modelling and performance analysis of a flexible manipulator system using finite element methods. A constrained planar single-link flexible manipulator is considered. A symbolic algorithm characterising the dynamic behaviour of the system is developed using a symbolic language. Using this approach, the system transfer functions are obtained in symbolic forms. Analyses and investigations in terms of system stability, time response to an ...

  14. Manipulating and assembling metallic beads with Optoelectronic Tweezers

    Science.gov (United States)

    Zhang, Shuailong; Juvert, Joan; Cooper, Jonathan M.; Neale, Steven L.

    2016-09-01

    Optoelectronic tweezers (OET) or light-patterned dielectrophoresis (DEP) has been developed as a micromanipulation technology for controlling micro- and nano-particles with applications such as cell sorting and studying cell communications. Additionally, the capability of moving small objects accurately and assembling them into arbitrary 2D patterns also makes OET an attractive technology for microfabrication applications. In this work, we demonstrated the use of OET to manipulate conductive silver-coated Poly(methyl methacrylate) (PMMA) microspheres (50 μm diameter) into tailored patterns. It was found that the microspheres could be moved at a max velocity of 3200 μm/s, corresponding to 4.2 nano-newton (10-9 N) DEP force, and also could be positioned with high accuracy via this DEP force. The underlying mechanism for this strong DEP force is shown by our simulations to be caused by a significant increase of the electric field close to the particles, due to the interaction between the field and the silver shells coating the microspheres. The associated increase in electrical gradient causes DEP forces that are much stronger than any previously reported for an OET device, which facilitates manipulation of the metallic microspheres efficiently without compromise in positioning accuracy and is important for applications on electronic component assembling and circuit construction.

  15. [Application of finite element analysis in Chinese cervical manipulation biomechanics].

    Science.gov (United States)

    Wang, Huihao; Chen, Bo; Zhan, Hongsheng; Wang, Huihao; Chen, Bo; Zhan, Hongsheng

    2013-10-01

    Clinical advantages of Chinese spinal manipulation therapy (CSMT) were recognized for spinal chronic lesions of soft tissues and bones, such as cervical spondylosis, etc. However, the security of CSMT and the hypotheses of practice mechanisms were questioned for lacking of the relevant basic researches. Researches have proved that these methods could be used to observe the dynamic effects of spine with application of finite element analysis (FEA) computer technology. Combining with other biomechanical experimental methods and applying advanced FEA technology for mechanical problems of CSMT, we may not only find the mechanisms of action and provide theoretical supports for the traditional Chinese therapy, but also standardize the key techniques and optimize the treatment options improving clinical outcomes, and even promote spreading of CSMT. Computer models are ideally suited for studying phenomena that cannot be satisfactorily investigated with other models. However, computer models of CSMT practice remain to be further refined. The results which had been acquired so far not only verified some of the traditional points of view, but also revised and specified some perspectives of the past. This paper intends to review FEA studies with Chinese cervical manipulation therapy (CCMT) for cervical spinal chronic lesions of soft tissues and bones, involving different effects for cervical spine joints (pulling/traction and thrusting) with practice techniques and cervical spine soft tissues (including vessels and its hemodynamics, muscles and fasciae, etc).

  16. Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

    Science.gov (United States)

    Malachowski, M. J.

    1990-01-01

    Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

  17. Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

    Science.gov (United States)

    Rajay Vedaraj, I. S.; Jain, Ritika; Rao, B. V. A.

    2014-07-01

    After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator

  18. Online Collaboration in Design Education: An Experiment in Real-Time Manipulation of Prototypes and Communication

    Science.gov (United States)

    Dreamson, Neal

    2017-01-01

    The features of collaboration in design education include effective and efficient communication and reflection, and feasible manipulation of design objects. For collaborative design, information and communication technology offers educators the possibility to change design pedagogy. However, there is a paucity of literature on relative advantages…

  19. Examining Computational Skills in Prekindergarteners: The Effects of Traditional and Digital Manipulatives in a Prekindergarten Classroom

    Science.gov (United States)

    Mattoon, Cassandra; Bates, Alan; Shifflet, Rena; Latham, Nancy; Ennis, Sarah

    2015-01-01

    The authors investigated benefits of digital technology compared with traditional manipulatives in relation to preschoolers' development and learning of computational skills. The sample consisted of twenty four 4-and 5-year old children who attended a half-day prekindergarten program five times a week in a university laboratory school in the…

  20. Confining continuous manipulations of accelerator beamline optics

    Energy Technology Data Exchange (ETDEWEB)

    Amstutz, P.; Lechner, C.; Plath, T. [Hamburg Univ. (Germany). Dept. of Physics; Ackermann, S.; Boedewadt, J.; Vogt, M. [Deutsches Elektronen-Synchrotron (DESY), Hamburg (Germany)

    2016-04-15

    Altering the optics in one section of a linear accelerator beamline will in general cause an alteration of the optics in all downstream sections. In circular accelerators, changing the optical properties of any beamline element will have an impact on the optical functions throughout the whole machine. In many cases, however, it is desirable to change the optics in a certain beamline section without disturbing any other parts of the machine. Such a local optics manipulation can be achieved by adjusting a number of additional corrector magnets that restore the initial optics after the manipulated section. In that case, the effect of the manipulation is confined in the region between the manipulated and the correcting beamline elements. Introducing a manipulation continuously, while the machine is operating, therefore requires continuous correction functions to be applied to the correcting quadrupole magnets. In this paper we present an analytic approach to calculate such continuous correction functions for six quadrupole magnets by means of a homotopy method. Besides a detailed derivation of the method, we present its application to an algebraic example, as well as its implementation at the seeding experiment sFLASH at the free-electron laser FLASH located at DESY in Hamburg.

  1. Distinguishing manipulated stocks via trading network analysis

    Science.gov (United States)

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

    2011-10-01

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

  2. Blade manipulators in turbulent channel flow

    Science.gov (United States)

    Vasudevan, B.; Prabhu, A.; Narasimha, R.

    1992-01-01

    We report here the results of a series of careful experiments in turbulent channel flow, using various configurations of blade manipulators suggested as optimal in earlier boundary layer studies. The mass flow in the channel could be held constant to better than 0.1%, and the uncertainties in pressure loss measurements were less than 0.1 mm of water; it was therefore possible to make accurate estimates of the global effects of blade manipulation of a kind that are difficult in boundary layer flows. The flow was fully developed at the station where the blades were mounted, and always relaxed to the same state sufficiently far downstream. It is found that, for a given mass flow, the pressure drop to any station downstream is always higher in the manipulated than in the unmanipulated flow, demonstrating that none of the blade manipulators tried reduces net duct losses. However the net increase in duct losses is less than the drag of the blade even in laminar flow, showing that there is a net reduction in the total skin friction drag experienced by the duct, but this relief is only about 20% of the manipulator drag at most.

  3. Metaoptics for Spectral and Spatial Beam Manipulation

    Science.gov (United States)

    Raghu Srimathi, Indumathi

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

  4. Automated transportation of single cells using robot-tweezer manipulation system.

    Science.gov (United States)

    Hu, Songyu; Sun, Dong

    2011-08-01

    Manipulation of biological cells becomes increasingly important in biomedical engineering to address challenge issues in cell-cell interaction, drug discovery, and tissue engineering. Significant demand for both accuracy and productivity in cell manipulation highlights the need for automated cell transportation with integrated robotics and micro/nano manipulation technologies. Optical tweezers, which use highly focused low-power laser beams to trap and manipulate particles at micro/nanoscale, have emerged as an essential tool for manipulating single cells. In this article, we propose to use a robot-tweezer manipulation system to solve the problem of automatic transportation of biological cells, where optical tweezers function as special robot end effectors. Dynamics equation of the cell in optical tweezers is analyzed. A closed-loop controller is designed for transporting and positioning cells. Experiments are performed on live cells to demonstrate the effectiveness of the proposed approach in effective cell positioning. Copyright © 2011 Society for Laboratory Automation and Screening. Published by Elsevier Inc. All rights reserved.

  5. Innovative surface decontamination using a manipulator-deployed laser system

    Energy Technology Data Exchange (ETDEWEB)

    Bremmer, J.; Gentes, S. [Karlsruhe Institute of Technology (KIT), Karlsruhe (Germany). Inst. for Technology and Management in Construction Technology and Management for the Decommissioning of Nuclear Facilities; Littwin, R.; Hurtado, A.; Lippmann, W. [Dresden Univ. of Technology (TUD) (Germany). Chair of Hydrogen Technology and Nuclear Power Engineering

    2010-05-15

    The successful decommissioning and dismantlement of nuclear facilities requires a great number and variety of processes and actions. These include, inter alia, the qualified decontamination of surfaces. The associated tasks are manifold, ranging from simple cleaning to complete surface ablation. The latter is particularly challenging due to the multitude of surfaces in nuclear facilities which, to complicate things further, are made of the most diverse materials. Consequently, besides pure surfaces of concrete, plaster or masonry, it is also necessary to ablate coatings such as protective paints. These can be found both on mineral and metallic constructional components. A crucial factor in surface decontamination work is the effectiveness and economic efficiency of the methods used. The same applies to the avoidance of cross contamination and secondary waste. Only few of the currently available processes fully meet all these criteria and are suited for this kind of task. Due to the increasing number of decommissioning projects in Germany and the small number of processes available to accomplish them, there is a rising demand for suitable and efficient decommissioning systems. An innovative system for manipulator-controlled laser ablation of surfaces that fully meets these criteria is currently being developed under the research project MANOLA (manipulatorgesteuerter Abtrag von Oberflaechen durch Lasertechnologie = manipulator-controlled laser ablation of surfaces), a joint project of the Chair of Hydrogen Technology and Power Engineering of the Dresden University of Technology and the Chair of Technology and Management of the Decommissioning of Nuclear Facilities at the Karlsruhe Institute of Technology (KIT), funded by the German Federal Ministry of Education and Research (BMBF). The objective of this research project is to ablate contaminated surfaces by means of a manipulator-deployed laser head. It was shown by numerous experiments in the preceding research

  6. 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...... collaboration system, but focuses on the shared nanoManipulator (nM) application. To be readily accepted by users, the shared nM application had to have the same high level of interactivity as the single-user system and include all the functions of the single-user system. In addition the application had...... to support a user's ability to interleave working privately and working collaboratively. Based on our experience developing the CnM, we present: a method of analyzing applications to characterize the concurrency requirements for sharing data between collaborating sites, examples of data structures...

  7. 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.

  8. Complexity in Climate Change Manipulation Experiments

    DEFF Research Database (Denmark)

    Kreyling, Juergen; Beier, Claus

    2014-01-01

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

  9. Topics in Semantics-based Program Manipulation

    DEFF Research Database (Denmark)

    Grobauer, Bernt

    Programming is at least as much about manipulating existing code as it is about writing new code. Existing code is modified, for example to make inefficient code run faster, or to accommodate for new features when reusing code; existing code is analyzed, for example to verify certain program...... properties, or to use the analysis information for code modifications. Semanticsbased program manipulation addresses methods for program modifications and program analyses that are formally defined and therefore can be verified with respect to the programming-language semantics. This dissertation comprises...... four articles in the field of semantics-based techniques for program manipulation: three articles are about partial evaluation, a method for program specialization; the fourth article treats an approach to automatic cost analysis. Partial evaluation optimizes programs by specializing them with respect...

  10. Manipulation of microfluidic droplets by electrorheological fluid.

    Science.gov (United States)

    Zhang, Menying; Gong, Xiuqing; Wen, Weijia

    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.

  11. Manipulating cyanobacteria: Spirulina for potential CELSS diet

    Science.gov (United States)

    Tadros, Mahasin G.; Smith, Woodrow; Mbuthia, Peter; Joseph, Beverly

    1989-01-01

    Spirulina sp. as a bioregenerative photosynthetic and an edible alga for spacecraft crew in a CELSS, was characterized for the biomass yield in batch cultures, under various environmental conditions. The partitioning of the assimalitory products (proteins, carbohydrates, lipids) were manipulated by varying the environmental growth conditions. Experiments with Spirulina have shown that under stress conditions (i.e., high light 160 uE/sq m/s, temperature 38 C, nitrogen or phosphate limitation; 0.1 M sodium chloride) carbohydrates increased at the expense of proteins. In other experiments, where the growth media were sufficient in nutrients and incubated under optimum growth conditions, the total of the algal could be manipulated by growth conditions. These results support the feasibility of considering Spirulina as a subsystem in CELSS because of the ease with which its nutrient content can be manipulated.

  12. Manipulativeness Degree as a Function of the Dichotomy “Oral Speech – Written Speech”

    Directory of Open Access Journals (Sweden)

    Getsov A.

    2013-01-01

    Full Text Available The article discusses mechanisms of manipulative influence on a theoretical basis of suggestion and on the actual material of Bulgarian press. The author supposes that adequate research requires integrated approach with symbiosis of techniques of cognitive science, linguistic pragmatics, psycholinguistics and the theory of speech activity. Manipulative action takes place not only through language (explicit and implicit, but also non-verbal instruments that have different range, different pragmatic potential, etc. The necessity of a comprehensive analysis of the hidden manipulative influence on psyche which is implemented through a flexible system of complex-integrated manipulative pragmatic acts is stated. This system is projected to complete, hierarchically organized and fast changing communication technology which has the following form: cognitive and psychological basis of audience → intention of the adresser → communication strategy → verbal tactics → instruments → perlocutionary effect. Herewith the form of speech is one of the pragmatic factors having great value for actualizing manipulative potential. Communication in form of direct dialog, typical only for oral speech, has a significant resources to counter planned suggestion. Furthermore the author compares the usage of the same suggestive influence patterns in oral and written speech. So the monologue tactic is supposed to be optimal for planning and control of communicative intention, which may include the use of instruments and mechanisms with manipulative potential. Addresser has sufficient time for careful selection of communication strategies and tactics of speech, as well as for creative combination and skillful concealing of manipulativeness manifestations. The author concludes that the regularity, according to which one monologue makes manipulativeness “tolerant” and dialogue “discredit” it, reflects differently in different monologue and dialogue tactics that

  13. Online Learning of Industrial Manipulators' Dynamics Models

    DEFF Research Database (Denmark)

    Polydoros, Athanasios

    2017-01-01

    The robotics industry has introduced light-weight compliant manipulators to increase the safety during human-robot interaction. This characteristic is achieved by replacing the stiff actuators of the traditional robots with compliant ones which creates challenges in the analytical derivation...... 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...

  14. On manipulator control by exact linearization

    Science.gov (United States)

    Kreutz, Kenneth

    1989-01-01

    Comments are given on the application to rigid-link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory, and the essential unity of these techniques for externally linearizing and decoupling end-effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid-link manipulator is positive definite, and the fact that there is an independent input for each degree of freedom, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular.

  15. Reconfigurable metamaterials for terahertz wave manipulation

    Science.gov (United States)

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

    2017-09-01

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

  16. Dhyana-thumb-pus hing Manipulation

    Institute of Scientific and Technical Information of China (English)

    SHEN Guo-quan; CUI Xue-jun

    2003-01-01

    @@ The dhyana-thumb-pushing manipulation is the chief one inthe Dhyana Thumb Tuina School; it's also a characteristic manipulation and plays an important role in the TCM Tuina teaching and clinical treatment. The name came from Jingdechuanzhonglu() and was used in the Chan sect of Buddhism. According to the book, in Song Dynansty, Judi Buddhist Monk asked Tianlong Buddhist Monk for the dhyana. Tianlong erected a finger but said nothing, Judi deeply comprehended the dhyana. Later on, if someone asked him for the Buddhism doctrine, he did the same act. Before Judi died, he said: "I accepted a thumb Dhyana from Tianlong and benefited from it all my life."

  17. Complementary Skyrmion Racetrack Memory With Voltage Manipulation

    Science.gov (United States)

    Kang, Wang; Zheng, Chentian; Huang, Yangqi; Zhang, Xichao; Zhou, Yan; Lv, Weifeng; Zhao, Weisheng

    2016-07-01

    Magnetic skyrmion holds promise as information carriers in the next-generation memory and logic devices, owing to the topological stability, small size and extremely low current needed to drive it. One of the most potential applications of skyrmion is to design racetrack memory (RM), named Sk-RM, instead of utilizing domain wall (DW). However, current studies face some key design challenges, e.g., skyrmion manipulation, data representation and synchronization etc. To address these challenges, we propose here a complementary Sk-RM structure with voltage manipulation. Functionality and performance of the proposed design are investigated with micromagnetic simulations.

  18. Textual Manipulation for SQL Injection Attacks

    Directory of Open Access Journals (Sweden)

    Hussein AlNabulsi

    2013-11-01

    Full Text Available SQL injection attacks try to use string or text manipulations to access illegally websites and their databases. This is since using some symbols or characters in SQL statements may trick the authentication system to incorrectly allow such SQL statements to be processed or executed. In this paper, we highlighted several examples of such text manipulations that can be successfully used in SQL injection attacks. We evaluated the usage of those strings on several websites and web pages using SNORT open source. We also conducted an extensive comparison study of some relevant papers.

  19. Concurrent Manipulation of Expanded AVL Trees

    Institute of Scientific and Technical Information of China (English)

    章寅; 许卓群

    1998-01-01

    The concurrent manipulation of an expanded AVL tree(EAVL tree)s considered in this paper.The presented system can support any number of concurrent processes which perform searching,insertion and deletion on the tree.Simulation results indicate the high performance of the system.Elaborate techniques are used to achieve such a system unavailable based on any known algorithms.Methods developed in this paper may provide new insights into other problems in the area of concurrent search structure manipulation.

  20. Comparing the Effectiveness of Virtual and Concrete Manipulatives to Teach Algebra to Secondary Students with Learning Disabilities

    Science.gov (United States)

    Satsangi, Rajiv; Bouck, Emily C.; Taber-Doughty, Teresa; Bofferding, Laura; Roberts, Carly A.

    2016-01-01

    A sizable body of literature exists studying various technologies and pedagogical practices for teaching secondary mathematics curriculum to students with a learning disability in mathematics. However, with the growing footprint of computer-based technologies in today's classrooms, some areas of study, such as the use of virtual manipulatives,…

  1. Phonon manipulation with phononic crystals.

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-01-01

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

  2. Effects of Tools Inserted through Snake-like Surgical Manipulators

    OpenAIRE

    Murphy, Ryan J.; Otake, Yoshito; Wolfe, Kevin C.; TAYLOR, RUSSELL H.; Armand, Mehran

    2014-01-01

    Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally- and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and wit...

  3. Is manipulative therapy more effective than sham manipulation in adults?: A systematic review and meta-analysis

    NARCIS (Netherlands)

    G.G.M. Scholten-Peeters (Gwendolijne); E.J. Thoomes (Erik); S. Konings (Sophie); M. Beijer (Michelle); K. Verkerk (Karin); B.W. Koes (Bart); A.P. Verhagen (Arianne)

    2013-01-01

    textabstractBackground: Manipulative therapy is widely used in the treatment of spinal disorders. Manipulative techniques are under debate because of the possibility of adverse events. To date, the efficacy of manipulations compared to sham manipulations is unclear. The purpose of the study is: to a

  4. Focus on Technologies: Worry or Technology?

    Directory of Open Access Journals (Sweden)

    Saulius Kanišauskas

    2015-10-01

    Full Text Available The paper analyses different attitudes towards technologies in contemporary philosophical discourses. It points out that classical notion of technology formulated by Martin Heidegger seems to be more and more often questioned and even forgotten. As a result, it is being replaced by the theory of determinism, according to which the change of technologies determines the changes in social systems, the human being including. This happens this way and not vice versa. Nowadays technē, or “technika” (in English: technology is mostly understood in the instrumental meaning or in the meaning of power. It is considered to be a powerful means, tool or mechanism to influence, change, control and manipulate human consciousness and human feelings. Despite the fact that technologies have already been tamed, the problem of huge responsibility for using and developing them arises. It is questioned whether the increasing society’s attention to modern technologies is not a particular “technology” of the postmodern capitalism to manipulate social consciousness. In parallel with “yes” answer to this question, Albert Borgmann’s idea that the causes of technological development have an ontological dimension, i.e. the causes are rooted in the nature of human beings themselves and their desire to adore own creativity, is discussed. Thus, it becomes necessary to probe deeper into the nature of creativity.

  5. Virally mediated gene manipulation in the adult CNS

    Directory of Open Access Journals (Sweden)

    Efrat eEdry

    2011-12-01

    Full Text Available Understanding how the CNS functions poses one of the greatest challenges in modern life science and medicine. Studying the brain is especially challenging because of its complexity, the heterogeneity of its cellular composition, and the substantial changes it undergoes throughout its life-span. The complexity of adult-brain neural networks results also from the diversity of properties and functions of neuronal cells, governed, inter alia, by temporally and spatially differential expression of proteins in mammalian brain cell populations. Hence, research into the biology of CNS activity and its implications to human and animal behavior must use novel scientific tools. One source of such tools is the field of molecular genetics – recently utilized more and more frequently in neuroscience research. Transgenic approaches in general, and gene targeting in rodents have become fundamental tools for elucidating gene function in the CNS. Although spectacular progress has been achieved over recent decades by using these approaches, it is important to note that they face a number of restrictions. One of the main challenges is presented by the temporal and spatial regulation of introduced genetic manipulations. Viral vectors provide an alternative approach to temporally regulated, localized delivery of genetic modifications into neurons. In this review we describe available technologies for gene transfer into the adult mammalian CNS that use both viral and non-viral tools. We discuss viral vectors frequently used in neuroscience, with emphasis on lentiviral vector (LV systems. We consider adverse effects of LVs, and the use of LVs for temporally and spatially controllable manipulations. Especially, we highlight the significance of viral vector-mediated genetic manipulations in studying learning and memory processes, and how they may be effectively used to separate out the various phases of learning: acquisition, consolidation, retrieval, and maintenance.

  6. Remote manipulators and mobile robots in the CEA; Telemanipulation et robotique mobile au CEA

    Energy Technology Data Exchange (ETDEWEB)

    Detriche, J.M. [CEA Centre d`Etudes de Saclay, 91 - Gif-sur-Yvette (France). Dept. des Procedes et Systemes Avances

    1995-05-01

    Thanks to Jean Vertut`s works in the seventies, the CEA has been a pioneer in nuclear remote manipulation and mobile robots conception and has developed innovating systems in response to industry request. During the nineties, improvements in computer control systems have led to the realization of functional demonstrators. In 1995, advances in technology have allowed to consider the first industrial applications of nuclear remote manipulators and robots. This paper gives a review of the development and research works carried out by the CEA in this domain since the seventies, and also some future prospects. (J.S.). 10 figs.

  7. Money, Manipulation and Misunderstanding on Manus Island

    DEFF Research Database (Denmark)

    Wallis, Joanne; Dalsgaard, Steffen

    2016-01-01

    Island, on domestic affairs in PNG, and on the relationship between PNG and Australia. Overall, it concludes that the costs arising from the money, manipulation and misunderstanding generated by the centre seem likely to outweigh the purported benefits, particularly for Manusians and other ordinary Papua...

  8. Microbial manipulation of host sex determination

    NARCIS (Netherlands)

    Beukeboom, Leo W.

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

  9. Features of accounts manipulations in Croatia

    Directory of Open Access Journals (Sweden)

    Željana Aljinović Barać

    2006-12-01

    Full Text Available Investors and other users of financial statements seek for the information that is less likely to be affected by possibilities of financial number games. Accounts manipulations have become an issue of critical importance in today’s capital markets and have been subject of many researches in several countries. However, their featuresin Croatia are still quite unexplored.In this paper a survey was made with auditors about most frequent areas of accounts manipulations in Croatia. The questionnaire was sent to 274 auditors, but only 54 of them filled it out correctly and return it back. After that, obtained results were compared with archival data extracted from auditor reports published in abbreviateprospects of listing public companies. Prospects of 238 companies listing on the Zagreb Stock Exchange and Varaždin Stock Exchange were reviewed, but only 136 or 57.14% of them provided all data necessary for the analysis.The evidence shows that accounting manipulations are very common praxis in Croatia, especially in area of depreciation policy, write-off of accounts receivable, asset impairments and long-term investments in financial instruments. Beside above mentioned items, auditors pointed out taxes, inventories, revenues, provisions and revalorization as very frequent areas of accounts manipulations

  10. Topics in Semantics-based Program Manipulation

    DEFF Research Database (Denmark)

    Grobauer, Bernt

    Programming is at least as much about manipulating existing code as it is about writing new code. Existing code is modified, for example to make inefficient code run faster, or to accommodate for new features when reusing code; existing code is analyzed, for example to verify certain program prop...

  11. Constraint solving for direct manipulation of features

    NARCIS (Netherlands)

    Lourenco, D.; Oliveira, P.; Noort, A.; Bidarra, R.

    2006-01-01

    In current commercial feature modeling systems, support for direct manipulation of features is not commonly available. This is partly due to the strong reliance of such systems on constraints, but also to the lack of speed of current constraint solvers. In this paper, an approach to the optimization

  12. Interaction Force Estimation During Manipulation of Microparticles

    NARCIS (Netherlands)

    Khalil, I.S.M.; Metz, R.M.P.; Abelmann, L.; Misra, S.

    2012-01-01

    This work investigates the utilization of microparticles for the wireless sensing of interaction forces in magneticbased manipulation systems. The proposed force estimation approach allows for using microparticles in sensing the interaction forces at hard-to-reach regions to avoid the mechanical and

  13. Using Concrete Manipulatives in Mathematical Instruction

    Science.gov (United States)

    Jones, Julie P.; Tiller, Margaret

    2017-01-01

    Concrete, Representational, Abstract (CRA) instruction is a process for teaching and learning mathematical concepts. Starting with manipulation of concrete materials (counters, beans, Unifix cubes), the process moves students to the representational level (tallies, dots, stamps), and peaks at the abstract level, at which numbers and symbols are…

  14. Ideas on Manipulative Math for Young Children.

    Science.gov (United States)

    Murray, Anne

    2001-01-01

    Presents a case study of one kindergarten class in which the mathematics center is the popular area in the room. Focuses on how math is best understood if activities follow the five-C formula: collaborative, concrete, comprehensive, connecting, and cavorting. Describes how children used manipulatives to construct mathematics concepts…

  15. Nano Robotic Manipulation inside Electron Microscopes

    Science.gov (United States)

    Fukuda, Toshio; Nakajima, Masahiro; Liu, Pou

    We report nanomanipulation and nanoassembly through nanorobotic manipulation inside electron microscopes. A hybrid nanorobotic manipulation system, which is integrated with a nanorobotic manipulator inside a transmission electron microscope (TEM) and nanorobotic manipulators inside a scanning electron microscope (SEM), is used. The elasticity of a multi-walled CNT (MWNT) is measured inside a TEM. The telescoping MWNT is fabricated by peeling off outer layers through destructive fabrication process. The electrostatic actuation of telescoping MWNT is directly observed by a TEM. A cutting technique for CNTs assisted by the presence of oxygen gas is also presented. The cutting procedure was conducted in less than 1 minute using a low-energy electron beam inside a scanning electron microscope. A bending technique of a CNT assisted by the presence of oxygen gas is also applied for the 3-D fabrication of nanosturucture. We expect that these techniques will be applied for the rapid prototyping nanoassembly of various CNT nanodevices. For the nano-biological applications, environmental-SEM (E-SEM) nanomanipulation system is also presented with the direct observation of the hydroscopic samples with non-drying treatment.

  16. Mechanical Analysis of high precision manipulator

    Directory of Open Access Journals (Sweden)

    O.J. Elle

    1995-10-01

    Full Text Available It is of great importance that high precision manipulators are well designed from a mechanical point of view. A thorough analysis of all mechanical aspects concerning an accurate manipulator will make a good basis for further design. This paper presents a new approach to mechanical analysis of high-precision manipulators. A typical six axis anthropomorphic manipulator configuration is chosen as a model for the analysis. The paper is divided into two main parts; static deformation analysis and dynamic analysis. The static deformation analysis consists of three sub-parts; link deformation, joint deformation and total mechanical deformation. A simple fixed beam deformation model is used to simulate every link. Both specific gravity and a load attached at the end of the beam is considered. By varying material, outer dimensions and wall thickness it is possible to determine optimal values. Looking at the whole structure with an attacking force at the end, it is possible to select appropriate motor/transmission combinations. Each combination represents compliance and combined with the arm compliance the total deformation can be found. The result shows that deformation due to compliance in the joints represents 97

  17. Nanoresonator based dielectric surfaces for light manipulation

    NARCIS (Netherlands)

    Silvestri, F.; Pisano, E.; Gerini, G.; Lancellotti, V.; Galdi, V.

    2015-01-01

    In the last years, increasing interest has grown on the synthesis of light-weight, miniaturized surfaces for light manipulation based on metamaterials. These surfaces can be easily integrated in photonic systems and they can be used as high numerical aperture lenses, light-deflection surfaces and

  18. Opto-electrokinetic manipulation technique for highperformance

    Energy Technology Data Exchange (ETDEWEB)

    Kwon, Jae-Sung [Purdue University; Ravindranath, Sandeep [Purdue University; Kumar, Aloke [ORNL; Irudayaraj, Joseph [Purdue University; Wereley, Steven T. [Purdue University

    2012-01-01

    This communication first demonstrates bio-compatibility of a recently developed opto-electrokinetic manipulation technique, using microorganisms. Aggregation, patterning, translation, trapping and size-based separation of microorganisms performed with the technique firmly establishes its usefulness for development of a high-performance on-chip bioassay system.

  19. Impedance Control of a Redundant Parallel Manipulator

    DEFF Research Database (Denmark)

    Méndez, Juan de Dios Flores; Schiøler, Henrik; Madsen, Ole

    2017-01-01

    This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matr...

  20. Is Computational Complexity a Barrier to Manipulation?

    CERN Document Server

    Walsh, Toby

    2010-01-01

    When agents are acting together, they may need a simple mechanism to decide on joint actions. One possibility is to have the agents express their preferences in the form of a ballot and use a voting rule to decide the winning action(s). Unfortunately, agents may try to manipulate such an election by misreporting their preferences. Fortunately, it has been shown that it is NP-hard to compute how to manipulate a number of different voting rules. However, NP-hardness only bounds the worst-case complexity. Recent theoretical results suggest that manipulation may often be easy in practice. To address this issue, I suggest studying empirically if computational complexity is in practice a barrier to manipulation. The basic tool used in my investigations is the identification of computational "phase transitions". Such an approach has been fruitful in identifying hard instances of propositional satisfiability and other NP-hard problems. I show that phase transition behaviour gives insight into the hardness of manipula...

  1. Automatic camera tracking for remote manipulators

    Energy Technology Data Exchange (ETDEWEB)

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

    1984-04-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-01-01

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

  3. Microbial manipulation of host sex determination

    NARCIS (Netherlands)

    Beukeboom, Leo W.

    2012-01-01

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

  4. Multimodal Electrothermal Silicon Microgrippers for Nanotube Manipulation

    DEFF Research Database (Denmark)

    Nordström Andersen, Karin; Petersen, Dirch Hjorth; Carlson, Kenneth

    2009-01-01

    Microgrippers that are able to manipulate nanoobjects reproducibly are key components in 3-D nanomanipulation systems. We present here a monolithic electrothermal microgripper prepared by silicon microfabrication, and demonstrate pick-and-place of an as-grown carbon nanotube from a 2-D array onto...

  5. Redefining trade-based market manipulation

    NARCIS (Netherlands)

    Nelemans, Matthijs

    2008-01-01

    Trade-based market manipulation, which is usually described as trading shares to initiate a price change or to cause an artificial price, has received wide attention in policy and academic discussions, although the behavior is still poorly defined in both legal and economic literature. This Article

  6. End-Point Control of Flexible Manipulators.

    Science.gov (United States)

    1986-09-01

    to develop a universal robot end effector, capable of performing generic manipulation functions. This research focuses on the following advances toward...Tncrease the speed and precision of performing "slew arid touch" tasks by a flexible robot arri and second, to develop a universal robot end effector

  7. Nonholonomic Motion Planning Strategy for Underactuated Manipulator

    Directory of Open Access Journals (Sweden)

    Liang Li

    2014-01-01

    Full Text Available This paper develops nonholonomic motion planning strategy for three-joint underactuated manipulator, which uses only two actuators and can be converted into chained form. Since the manipulator was designed focusing on the control simplicity, there are several issues for motion planning, mainly including transformation singularity, path estimation, and trajectory robustness in the presence of initial errors, which need to be considered. Although many existing motion planning control laws for chained form system can be directly applied to the manipulator and steer it to desired configuration, coordinate transformation singularities often happen. We propose two mathematical techniques to avoid the transformation singularities. Then, two evaluation indicators are defined and used to estimate control precision and linear approximation capability. In the end, the initial error sensitivity matrix is introduced to describe the interference sensitivity, which is called robustness. The simulation and experimental results show that an efficient and robust resultant path of three-joint underactuated manipulator can be successfully obtained by use of the motion planning strategy we presented.

  8. A spatial impedance controller for robotic manipulation

    NARCIS (Netherlands)

    Fasse, Ernest D.; Broenink, Jan F.

    1997-01-01

    Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic manipulator control practice. This is due in part to the

  9. Text Manipulation Judgment Accuracy: An Exploratory Study

    Science.gov (United States)

    2003-03-25

    reduce, or divert attention from information. Eckman (1985) argues that concealments alone may be used to deceive; however, it is often the case...this study focuses on distortion of existing information, and in agreement with Eckman , some original portions of the information were replaced or...13 Information Manipulation Theory The English language philosopher Paul Grice (1975) proposes that in ordinary conversation, speakers and

  10. Motion planning for gantry mounted manipulators

    DEFF Research Database (Denmark)

    Olsen, Anders Lau; Petersen, Henrik Gordon

    2007-01-01

    We present a roadmap based planner for finding robot motions for gantry mounted manipulators for a line welding application at Odense Steel Shipyard (OSS). The robot motions are planned subject to constraints on when the gantry may be moved. We show that random sampling of gantry configurations...

  11. Manipulation of molecular structures with magnetic fields

    NARCIS (Netherlands)

    Boamfa, M.I.

    2003-01-01

    The present thesis deals with the use of magnetic fields as a handle to manipulate matter at a molecular level and as a tool to probe molecular properties or inter molecular interactions. The work consists of in situ optical studies of (polymer) liquid crystals and molecular aggregates in high magne

  12. Manipulation of enteric flora in ulcerative colitis

    Institute of Scientific and Technical Information of China (English)

    Mario Guslandi

    2005-01-01

    @@ TO THE EDITOR Reviewing the available therapeutic options in the medical treatment of ulcerative colitis, Xu et al.[1], have omitted to mention an important aspect in the pharmacological management of the disease, namely the possibility to promote clinical and endoscopic improvement by manipulating the enteric flora.

  13. Identity and incentives: impact on accounting manipulation

    NARCIS (Netherlands)

    Abernethy, M.A.; Bouwens, J.; Kroos, P.

    2012-01-01

    This study examines how individual characteristics of managers influence the incidence of accounting manipulation. We examine one particular characteristic argued to reduce agency costs, namely the extent to which an individual identifies with the firm (OI). Drawing on a database collected from fina

  14. Flexible manipulator control experiments and analysis

    Science.gov (United States)

    Yurkovich, S.; Ozguner, U.; Tzes, A.; Kotnik, P. T.

    1987-01-01

    Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches.

  15. Redefining trade-based market manipulation

    NARCIS (Netherlands)

    Nelemans, Matthijs

    2008-01-01

    Trade-based market manipulation, which is usually described as trading shares to initiate a price change or to cause an artificial price, has received wide attention in policy and academic discussions, although the behavior is still poorly defined in both legal and economic literature. This Article

  16. Perception and manipulation of game control

    NARCIS (Netherlands)

    Plass - Oude Bos, D.; van de Laar, B.L.A.; Reuderink, B.; Poel, Mannes; Nijholt, Antinus; Reidsma, Dennis; Choi, Insook; Bargar, Robin

    Brain-computer interfaces do not provide perfect recognition of user input, for similar reasons as natural input modalities. How well can users assess the amount of control they have, and how much control do they need? We describe an experiment where we manipulated the control users had in a

  17. Interaction Force Estimation During Manipulation of Microparticles

    NARCIS (Netherlands)

    Khalil, I.S.M.; Metz, R.M.P.; Abelmann, Leon; Misra, Sarthak

    2012-01-01

    This work investigates the utilization of microparticles for the wireless sensing of interaction forces in magneticbased manipulation systems. The proposed force estimation approach allows for using microparticles in sensing the interaction forces at hard-to-reach regions to avoid the mechanical and

  18. A problem-oriented approach for DEM data management and manipulation

    Science.gov (United States)

    Huang, Fengru; Fang, Yu; Chen, Bin

    2009-10-01

    For the last decades, GIS software technologies have made tremendous development and applied to many special fields when their targets are relevant to geographical locations. But the basis of cartographic mapping of GIS is a restriction for more development in GIS data modelling, storage and manipulation. Recently, much attention is being paid on ORDBMS(Object Relational Database Management System) to represent and manage GIS Data. New approaches have earned acceptance in many research communities and several proposals have emerged in commercial software for solving the management and manipulation on GIS vector data. Though the storage and management of field-based model data(e.g. raster, DEM, TIN) have got less achievement and people still use files and procedural ways to manipulation field-based GIS data in common applications. In this paper a new structure model using ORDBMS technology for field-based data's storage and management was proposed on the basis of full discussion on several GIS data management technologies, then a problem-oriented approach for DEM data management and manipulation was designed and implemented through open source software systems PostgreSQL and Python language. Experimental examples of different DEM data souces were stored, managed and used by using the extended spatial database system. The experiments illustrated that this solution would be a useful supplement to spatial database and it provided an effective way to DEM data management and analysis, and support the interoperability between vector data and field data.

  19. 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.

  20. Nanobiotechnology for the capture and manipulation of circulating tumor cells.

    Science.gov (United States)

    Hughes, Andrew D; King, Michael R

    2012-01-01

    A necessary step in metastasis is the dissemination of malignant cells into the bloodstream, where cancer cells travel throughout the body as circulating tumor cells (CTC) in search of an opportunity to seed a secondary tumor. CTC represent a valuable diagnostic tool: evidence indicates that the quantity of CTC in the blood has been shown to relate to the severity of the illness, and samples are readily obtained through routine blood draws. As such, there has been a push toward developing technologies to reliably detect CTC using a variety of molecular and immunocytochemical techniques. In addition to their use in diagnostics, CTC detection systems that isolate CTC in such a way that the cells remain viable will allow for the performance of live-cell assays to facilitate the development of personalized cancer therapies. Moreover, techniques for the direct manipulation of CTC in circulation have been developed, intending to block metastasis in situ. We review a number of current and emerging micro- and nanobiotechnology approaches for the detection, capture, and manipulation of rare CTC aimed at advancing cancer treatment.

  1. Intelligent Control of a Novel Hydraulic Forging Manipulator

    Directory of Open Access Journals (Sweden)

    J. Wang

    2011-01-01

    Full Text Available The increased demand for large-size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavy-duty forging manipulator with robot features by means of combination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The feasibility of the control method has been verified by the experiments on a real prototype of the novel hydraulic forging manipulator in our institute. The intelligent control of the forging manipulator is performed with programmable logic controller which is suitable for industrial applications.

  2. Micro-particle manipulation by single beam acoustic tweezers based on hydrothermal PZT thick film

    Directory of Open Access Journals (Sweden)

    Benpeng Zhu

    2016-03-01

    Full Text Available Single-beam acoustic tweezers (SBAT, used in laboratory-on-a-chip (LOC device has promising implications for an individual micro-particle contactless manipulation. In this study, a freestanding hydrothermal PZT thick film with excellent piezoelectric property (d33 = 270pC/N and kt = 0.51 was employed for SBAT applications and a press-focusing technology was introduced. The obtained SBAT, acting at an operational frequency of 50MHz, a low f-number (∼0.9, demonstrated the capability to trap and manipulate a micro-particle sized 10μm in the distilled water. These results suggest that such a device has great potential as a manipulator for a wide range of biomedical and chemical science applications.

  3. Micro-particle manipulation by single beam acoustic tweezers based on hydrothermal PZT thick film

    Science.gov (United States)

    Zhu, Benpeng; Xu, Jiong; Li, Ying; Wang, Tian; Xiong, Ke; Lee, Changyang; Yang, Xiaofei; Shiiba, Michihisa; Takeuchi, Shinichi; Zhou, Qifa; Shung, K. Kirk

    2016-01-01

    Single-beam acoustic tweezers (SBAT), used in laboratory-on-a-chip (LOC) device has promising implications for an individual micro-particle contactless manipulation. In this study, a freestanding hydrothermal PZT thick film with excellent piezoelectric property (d33 = 270pC/N and kt = 0.51) was employed for SBAT applications and a press-focusing technology was introduced. The obtained SBAT, acting at an operational frequency of 50MHz, a low f-number (∼0.9), demonstrated the capability to trap and manipulate a micro-particle sized 10μm in the distilled water. These results suggest that such a device has great potential as a manipulator for a wide range of biomedical and chemical science applications. PMID:27014504

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

    Energy Technology Data Exchange (ETDEWEB)

    Lew, J.Y. [Pacific Northwest Lab., Richland, WA (United States); Cannon, D.W.; Magee, D.P.; Book, W.J. [Georgia Institute of Technology, Atlanta, GA (United States)

    1995-09-01

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

  5. Micro-particle manipulation by single beam acoustic tweezers based on hydrothermal PZT thick film

    Energy Technology Data Exchange (ETDEWEB)

    Zhu, Benpeng, E-mail: benpengzhu@hust.edu.cn [School of Optical and Electronic Information, Huazhong University of Science and Technology, Wuhan 430074 (China); State Key Laboratory of Transducer Technology, Chinese Academy of Sciences, Shanghai 200050 (China); Xu, Jiong; Yang, Xiaofei [School of Optical and Electronic Information, Huazhong University of Science and Technology, Wuhan 430074 (China); Li, Ying; Lee, Changyang; Zhou, Qifa; Shung, K. Kirk [Department of Biomedical Engineering and NIH Transducer Resource Center, University of Southern California, Los Angeles, California 90089-1111 (United States); Wang, Tian; Xiong, Ke [Department of Physics and Key Laboratory of Acoustic and Photonic Materials and Devices of Ministry of Education, Wuhan University, Wuhan 430072 (China); Shiiba, Michihisa; Takeuchi, Shinichi [Medical Engineering Course, Graduate School of Engineering, Toin University of Yokohama, Yokohama 225-8501 (Japan)

    2016-03-15

    Single-beam acoustic tweezers (SBAT), used in laboratory-on-a-chip (LOC) device has promising implications for an individual micro-particle contactless manipulation. In this study, a freestanding hydrothermal PZT thick film with excellent piezoelectric property (d{sub 33} = 270 pC/N and k{sub t} = 0.51) was employed for SBAT applications and a press-focusing technology was introduced. The obtained SBAT, acting at an operational frequency of 50 MHz, a low f-number (∼0.9), demonstrated the capability to trap and manipulate a micro-particle sized 10μm in the distilled water. These results suggest that such a device has great potential as a manipulator for a wide range of biomedical and chemical science applications.

  6. Manipulating DNA repair for improved genetic engineering in Aspergillus

    DEFF Research Database (Denmark)

    Nødvig, Christina Spuur

    engineering strategies. Chapter 1 gives an introduction to the genus Aspergillus and some of the tools relevant to fungal genetic engineering. It also contains a short introduction to DNA repair and its interplay with gene targeting and finally an overview over the different genome editing technologies......Aspergillus is a genus of filamentous fungi, which members includes industrial producers of enzymes, organic acids and secondary metabolites, important pathogens and a model organism. As such no matter the specific area of interest there are many reasons to perform genetic engineering, whether...... it is metabolic engineering to create better performing cell factory, elucidating pathways to study secondary metabolism etc. In this thesis, the main focus is on different ways to manipulate DNA repair for optimizing gene targeting, ultimately improving the methods available for faster and better genetic...

  7. Free-Space Nanometer Wiring via Nanotip Manipulation

    Science.gov (United States)

    Kizuka, Tokushi; Ashida, Shin

    2015-08-01

    Relentless efforts in semiconductor technology have driven nanometer-scale miniaturization of transistors, diodes, and interconnections in electronic chips. Free-space writing enables interconnections of stacked modules separated by an arbitrary distance, leading to ultimate integration of electronics. We have developed a free-space method for nanometer-scale wiring on the basis of manipulating a metallic nanotip while applying a bias voltage without radiative heating, lithography, etching, or electrodeposition. The method is capable of fabricating wires with widths as low as 1-6 nm and lengths exceeding 200 nm with a breakdown current density of 8 TA/m2. Structural evolution and conduction during wire formation were analyzed by direct atomistic visualization using in situ high-resolution transmission electron microscopy.

  8. Computer Aided Design of a Hyper-redundant Manipulator

    Directory of Open Access Journals (Sweden)

    MARGHITU, D.

    2013-11-01

    Full Text Available Bioinspired solution can support significant improvements across various fields of robotics, offering solutions to basic problems such as locomotion and manipulation in unstructured environments. This paper deals with the problem of using a bioinspired solution in building a hyper-redundant robotic arm. In the recent period, were developed an important number of application using like an octopus or like snake or like a trunk of elephant solutions for robotic arms. Such kind of projects must solve difficult problems on the way from design to implementation. The problems are mainly linked with the actuation solution, with the control of the structure, with sensors to close the control loop, technology for the implementation. In this paper we focus on the process of modelling, simulating, and designing of hyper-redundant robotic arm.

  9. Therapeutic implications of manipulating and mining the microbiota.

    LENUS (Irish Health Repository)

    Shanahan, Fergus

    2009-09-01

    The gut microbiota is increasingly recognized as a health asset but occasionally is a contributor to the pathogenesis of both gastrointestinal and certain extra-intestinal disorders. This is driving research interest, the pace of which has been greatly facilitated by new molecular technologies for studying mixed microbial populations, including the non-cultivable sector. In addition, it appears that elements of a modern lifestyle such as diet, domestic hygiene, urbanization, antibiotic usage and family size, may represent proxy markers of environmental influence on the composition of the microbiota colonizing the host in early life. While manipulation of the microbiota has become a therapeutic strategy in certain clinical disorders, the prospect of mining host-microbe-dietary interactions for novel drug discovery may become an even more intriguing reality.

  10. Mobile robot and mobile manipulator research towards ASTM standards development

    Science.gov (United States)

    Bostelman, Roger; Hong, Tsai; Legowik, Steven

    2016-05-01

    Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.

  11. Addressed qubit manipulation in radio-frequency dressed lattices

    Science.gov (United States)

    Sinuco-León, G. A.; Garraway, B. M.

    2016-03-01

    Precise control over qubits encoded as internal states of ultracold atoms in arrays of potential wells is a key element for atomtronics applications in quantum information, quantum simulation and atomic microscopy. Here we theoretically study atoms trapped in an array of radio-frequency dressed potential wells and propose a scheme for engineering fast and high-fidelity single-qubit gates with low error due to cross-talk. In this proposal, atom trapping and qubit manipulation relies exclusively on long-wave radiation making it suitable for atom-chip technology. We demonstrate that selective qubit addressing with resonant microwaves can be programmed by controlling static and radio-frequency currents in microfabricated conductors. These results should enable studies of neutral-atom quantum computing architectures, powered by low-frequency electromagnetic fields with the benefit of simple schemes for controlling individual qubits in large ensembles.

  12. Fluorescence cell imaging and manipulation using conventional halogen lamp microscopy.

    Directory of Open Access Journals (Sweden)

    Kazuo Yamagata

    Full Text Available Technologies for vitally labeling cells with fluorescent dyes have advanced remarkably. However, to excite fluorescent dyes currently requires powerful illumination, which can cause phototoxic damage to the cells and increases the cost of microscopy. We have developed a filter system to excite fluorescent dyes using a conventional transmission microscope equipped with a halogen lamp. This method allows us to observe previously invisible cell organelles, such as the metaphase spindle of oocytes, without causing phototoxicity. Cells remain healthy even after intensive manipulation under fluorescence observation, such as during bovine, porcine and mouse somatic cell cloning using nuclear transfer. This method does not require expensive epifluorescence equipment and so could help to reduce the science gap between developed and developing countries.

  13. Chronotherapeutic strategy: Rhythm monitoring, manipulation and disruption.

    Science.gov (United States)

    Ohdo, Shigehiro

    2010-07-31

    Mammalians circadian pacemaker resides in the paired suprachiasmatic nuclei (SCN) and influences a multitude of biological processes, including the sleep-wake rhythm. Clock genes are the genes that control the circadian rhythms in physiology and behavior. 24h rhythm is demonstrated for the function of physiology and the pathophysiology of diseases. The effectiveness and toxicity of many drugs vary depending on dosing time. Such chronopharmacological phenomena are influenced by not only the pharmacodynamics but also pharmacokinetics of medications. The underlying mechanisms are associated with 24h rhythms of biochemical, physiological and behavioral processes under the control of circadian clock. Thus, the knowledge of 24h rhythm in the risk of disease plus evidence of 24h rhythm dependencies of drug pharmacokinetics, effects, and safety constitutes the rationale for pharmacotherapy. Chronotherapy is especially relevant, when the risk and/or intensity of the symptoms of disease vary predictably over time as exemplified by allergic rhinitis, arthritis, asthma, myocardial infarction, congestive heart failure, stroke, and peptic ulcer disease. Morning once-daily administration of corticosteroid tablet medications results in little adrenocortical suppression, while the same daily dose split into four equal administrations to coincide with daily meals and bedtime results in significant hypothalamus-pituitary-adrenal (HPA) axis suppression. However, the drugs for several diseases are still given without regard to the time of day. Identification of a rhythmic marker for selecting dosing time will lead to improved progress and diffusion of chronopharmacotherapy. To monitor the rhythmic marker such as clock genes it may be useful to choose the most appropriate time of day for administration of drugs that may increase their therapeutic effects and/or reduce their side effects. Furthermore, to produce new rhythmicity by manipulating the conditions of living organs by using

  14. The effect of surface conductivity and adhesivity on the electrostatic manipulation condition for dielectric microparticles using a single probe

    Science.gov (United States)

    Fujiwara, Ryo; Hemthavy, Pasomphone; Takahashi, Kunio; Saito, Shigeki

    2016-05-01

    By clarifying the effect of surface conductivity and adhesivity on the electrostatic manipulation condition, a dielectric particle made of any material can be manipulated with surface conductivity. The manipulation system consists of three elements: a conductive probe as a manipulator, a conductive plate as a substrate, and a dielectric particle as the target object for manipulation. The particle can be successfully picked up/placed if a rectangular pulse voltage is applied between the probe and the plate. Four kinds of particle materials are used in the experiment: silica, soda-lime glass, polymethyl methacrylate coated by conductive polymer, and polystyrene coated by surfactant. The radius of each particle is 15 μm. A first-order resistor-capacitor (RC) circuit model is adopted to describe the effect of surface conductivity and adhesivity on the manipulation condition. The manipulation system is modeled as a series circuit consisting of a resistor and a capacitor by considering the surface conductivity. A detachment voltage is defined as the capacitance voltage to detach the particle adhered to the plate or probe. Parameters of the RC model, surface resistance, surface capacitance and detachment voltage are identified by a simulation and measurements. To verify the RC model, the particle’s behavior is observed by a high-speed camera, and the electrical current is measured by an electrometer. A manipulation experiment is demonstrated to show the effectiveness of the model. The particle reaction is observed for each duration and magnitude of the pulse voltage for the manipulation. The optimum pulse voltage for successful manipulation is determined by the parameters of the RC model as the standard. This knowledge is expected to expand the possibility of micro-fabrication technology.

  15. Development of an autonomous biological cell manipulator with single-cell electroporation and visual servoing capabilities.

    Science.gov (United States)

    Sakaki, Kelly; Dechev, Nikolai; Burke, Robert D; Park, Edward J

    2009-08-01

    Studies of single cells via microscopy and microinjection are a key component in research on gene functions, cancer, stem cells, and reproductive technology. As biomedical experiments become more complex, there is an urgent need to use robotic systems to improve cell manipulation and microinjection processes. Automation of these tasks using machine vision and visual servoing creates significant benefits for biomedical laboratories, including repeatability of experiments, higher throughput, and improved cell viability. This paper presents the development of a new 5-DOF robotic manipulator, designed for manipulating and microinjecting single cells. This biological cell manipulator (BCM) is capable of autonomous scanning of a cell culture followed by autonomous injection of cells using single-cell electroporation (SCE). SCE does not require piercing the cell membrane, thereby keeping the cell membrane fully intact. The BCM features high-precision 3-DOF translational and 2-DOF rotational motion, and a second z-axis allowing top-down placement of a micropipette tip onto the cell membrane for SCE. As a technical demonstration, the autonomous visual servoing and microinjection capabilities of the single-cell manipulator are experimentally shown using sea urchin eggs.

  16. Three-dimensional mid-air acoustic manipulation by ultrasonic phased arrays.

    Directory of Open Access Journals (Sweden)

    Yoichi Ochiai

    Full Text Available The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in conventional studies was parallel to the gravitational force, and the levitated objects were manipulated along the fixed axis (i.e. one-dimensionally by controlling the phases or frequencies of bolted Langevin-type transducers. In the present study, we considered extended acoustic manipulation whereby millimetre-sized particles were levitated and moved three-dimensionally by localised ultrasonic standing waves, which were generated by ultrasonic phased arrays. Our manipulation system has two original features. One is the direction of the ultrasound beam, which is arbitrary because the force acting toward its centre is also utilised. The other is the manipulation principle by which a localised standing wave is generated at an arbitrary position and moved three-dimensionally by opposed and ultrasonic phased arrays. We experimentally confirmed that expanded-polystyrene particles of 0.6 mm, 1 mm, and 2 mm in diameter could be manipulated by our proposed method.

  17. genepopedit: a simple and flexible tool for manipulating multilocus molecular data in R.

    Science.gov (United States)

    Stanley, Ryan R E; Jeffery, Nicholas W; Wringe, Brendan F; DiBacco, Claudio; Bradbury, Ian R

    2017-01-01

    Advances in genetic sequencing technologies and techniques have made large, genome-wide data sets comprised of hundreds or even thousands of individuals and loci the norm rather than the exception even for nonmodel organisms. While such data present new opportunities for evaluating population structure and demographic processes, the large size of these genomic data sets brings new computational challenges for researchers needing to parse, convert and manipulate data often into a variety of software-specific formats required of genomic analyses. We developed genepopedit as a flexible tool for the manipulation of multilocus molecular data sets. Functionality can be divided among diagnostic-, manipulation-, sampling-, simulation-, and transformation-based tools. Metadata from large genomic data sets can be efficiently extracted, without the need to view data in a text-editing program. genepopedit provides tools to manipulate loci, individual samples and populations included in genomic data sets, in addition to the ability to convert directly to a variety of software formats. Functions are compiled as an R package, which can integrate into existing analysis workflows. Importantly, genepopedit provides a simple yet robust code-based tool for repeatable genomic data manipulation, which has been proven to be stable for data sets in excess of 200 000 SNPs. The latest version of the package and associated documentation are available on Github (github.com/rystanley/genepopedit). © 2016 John Wiley & Sons Ltd.

  18. A review of microfabrication techniques and dielectrophoretic microdevices for particle manipulation and separation

    Science.gov (United States)

    Li, M.; Li, W. H.; Zhang, J.; Alici, G.; Wen, W.

    2014-02-01

    The development of lab-on-a-chip (LOC) devices over the past decade has attracted growing interest. LOC devices aim to achieve the miniaturization, integration, automation and parallelization of biological and chemical assays. One of the applications, the ability to effectively and accurately manipulate and separate micro- and nano-scale particles in an aqueous solution, is particularly appealing in biological, chemical and medical fields. Among the technologies that have been developed and implemented in microfluidic microsystems for particle manipulation and separation (such as mechanical, inertial, hydrodynamic, acoustic, optical, magnetic and electrical methodologies), dielectrophoresis (DEP) may prove to be the most popular because of its label-free nature, ability to manipulate neutral bioparticles, analyse with high selectivity and sensitivity, compatibility with LOC devices, and easy and direct interface with electronics. The required spatial electric non-uniformities for the DEP effect can be generated by patterning microelectrode arrays within microchannels, or placing insulating obstacles within a microchannel and curving the microchannels. A wide variety of electrode- and insulator-based DEP microdevices have been developed, fabricated, and successfully employed to manipulate and separate bioparticles (i.e. DNA, proteins, bacteria, viruses, mammalian and yeast cells). This review provides an overview of the state-of-the-art of microfabrication techniques and of the structures of dielectrophoretic microdevices aimed towards different applications. The techniques used for particle manipulation and separation based on microfluidics are provided in this paper. In addition, we also present the theoretical background of DEP.

  19. Three-dimensional mid-air acoustic manipulation by ultrasonic phased arrays.

    Science.gov (United States)

    Ochiai, Yoichi; Hoshi, Takayuki; Rekimoto, Jun

    2014-01-01

    The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in conventional studies was parallel to the gravitational force, and the levitated objects were manipulated along the fixed axis (i.e. one-dimensionally) by controlling the phases or frequencies of bolted Langevin-type transducers. In the present study, we considered extended acoustic manipulation whereby millimetre-sized particles were levitated and moved three-dimensionally by localised ultrasonic standing waves, which were generated by ultrasonic phased arrays. Our manipulation system has two original features. One is the direction of the ultrasound beam, which is arbitrary because the force acting toward its centre is also utilised. The other is the manipulation principle by which a localised standing wave is generated at an arbitrary position and moved three-dimensionally by opposed and ultrasonic phased arrays. We experimentally confirmed that expanded-polystyrene particles of 0.6 mm, 1 mm, and 2 mm in diameter could be manipulated by our proposed method.

  20. Digital Microfluidics with Bubble Manipulations by Dielectrophoresis

    Directory of Open Access Journals (Sweden)

    Shih-Kang Fan

    2012-03-01

    Full Text Available This paper presents basic bubble manipulations, including transporting, splitting, and merging, by dielectrophoresis (DEP in an oil environment. In our presented method, bubbles are placed between parallel plates in an oil medium of a low vapor pressure, which eliminates the possibility of changing the gaseous composition of the bubble caused by evaporation of the medium. DEP has been previously investigated to actuate dielectric droplets and is adopted here to drive the oil environment as well as the immersed bubbles between parallel plates. In our experiment, air bubbles of 0.3 ml were successfully transported in a 20 cSt silicone oil medium between a 75 mm-high parallel plate gap. In addition, 0.6 ml air bubbles were successfully split into two 0.3 ml air bubbles, and then merged again by DEP. These successful manipulations make digital gaseous lab-on-a-chip a reality.

  1. Analyzing Array Manipulating Programs by Program Transformation

    Science.gov (United States)

    Cornish, J. Robert M.; Gange, Graeme; Navas, Jorge A.; Schachte, Peter; Sondergaard, Harald; Stuckey, Peter J.

    2014-01-01

    We explore a transformational approach to the problem of verifying simple array-manipulating programs. Traditionally, verification of such programs requires intricate analysis machinery to reason with universally quantified statements about symbolic array segments, such as "every data item stored in the segment A[i] to A[j] is equal to the corresponding item stored in the segment B[i] to B[j]." We define a simple abstract machine which allows for set-valued variables and we show how to translate programs with array operations to array-free code for this machine. For the purpose of program analysis, the translated program remains faithful to the semantics of array manipulation. Based on our implementation in LLVM, we evaluate the approach with respect to its ability to extract useful invariants and the cost in terms of code size.

  2. Repetitive control of electrically driven robot manipulators

    Science.gov (United States)

    Fateh, Mohammad Mehdi; Ahsani Tehrani, Hojjat; Karbassi, Seyed Mehdi

    2013-04-01

    This article presents a novel robust discrete repetitive control of electrically driven robot manipulators for tracking of a periodic trajectory. We propose a novel model, which presents the highly non-linear dynamics of robot manipulator in the form of linear discrete-time time-varying system. Based on the proposed model, we develop a two-term control law. The first term is an ordinary time-optimal and minimum-norm (TOMN) control by employing parametric controllers to guarantee stability. The second term is a novel robust control to improve the control performance in the face of uncertainties. The robust control estimates and compensates uncertainties including the parametric uncertainty, unmodelled dynamics and external disturbances. Performance of the proposed method is compared with two discrete methods, namely the TOMN control and an adaptive iterative learning (AIL) control. Simulation results confirm superiority of the proposed method in terms of the convergence speed and precision.

  3. Partner manipulation stabilises a horizontally transmitted mutualism.

    Science.gov (United States)

    Heil, Martin; Barajas-Barron, Alejandro; Orona-Tamayo, Domancar; Wielsch, Natalie; Svatos, Ales

    2014-02-01

    Mutualisms require protection from non-reciprocating exploiters. Pseudomyrmex workers that engage in an obligate defensive mutualism with Acacia hosts feed exclusively on the sucrose-free extrafloral nectar (EFN) that is secreted by their hosts, a behaviour linking ant energy supply directly to host performance and thus favouring reciprocating behaviour. We tested the hypothesis that Acacia hosts manipulate this digestive specialisation of their ant mutualists. Invertase (sucrose hydrolytic) activity in the ant midguts was inhibited by chitinase, a dominant EFN protein. The inhibition occurred quickly in cell-free gut liquids and in native gels and thus likely results from an enzyme-enzyme interaction. Once a freshly eclosed worker ingests EFN as the first diet available, her invertase becomes inhibited and she, thus, continues feeding on host-derived EFN. Partner manipulation acts at the phenotypic level and means that one partner actively controls the phenotype of the other partner to enhance its dependency on host-derived rewards.

  4. Treating patellar tendinopathy with Fascial Manipulation.

    Science.gov (United States)

    Pedrelli, Alessandro; Stecco, Carla; Day, Julie Ann

    2009-01-01

    According to Fascial Manipulation theory, patellar tendon pain is often due to uncoordinated quadriceps contraction caused by anomalous fascial tension in the thigh. Therefore, the focus of treatment is not the patellar tendon itself, but involves localizing the cause of this incoordination, considered to be within the muscular fascia of the thigh region. Eighteen patients suffering from patellar tendon pain were treated with the Fascial Manipulation technique. Pain was assessed (in VAS) before (VAS 67.8/100) and after (VAS 26.5/100) treatment, plus a follow-up evaluation at 1 month (VAS 17.2/100). Results showed a substantial decrease in pain immediately after treatment (p<0.0001) and remained unchanged or improved in the short term. The results show that the patellar tendon may be only the zone of perceived pain and that interesting results can be obtained by treating the muscular fascia of the quadriceps muscle, whose alteration may cause motor incoordination and subsequent pathology.

  5. Beam Techniques - Beam Control and Manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Minty, Michiko G

    2003-04-24

    We describe commonly used strategies for the control of charged particle beams and the manipulation of their properties. Emphasis is placed on relativistic beams in linear accelerators and storage rings. After a brief review of linear optics, we discuss basic and advanced beam control techniques, such as transverse and longitudinal lattice diagnostics, matching, orbit correction and steering, beam-based alignment, and linac emittance preservation. A variety of methods for the manipulation of particle beam properties are also presented, for instance, bunch length and energy compression, bunch rotation, changes to the damping partition number, and beam collimation. The different procedures are illustrated by examples from various accelerators. Special topics include injection and extraction methods, beam cooling, spin transport and polarization.

  6. Resolution of dacryostenosis after osteopathic manipulative treatment.

    Science.gov (United States)

    Apoznanski, Theresa E; Abu-Sbaih, Reem; Terzella, Michael J; Yao, Sheldon

    2015-02-01

    Dacryostenosis is an obstruction of the nasolacrimal duct and is the most common cause of epiphora and ocular discharge in newborns. Whereas most cases resolve spontaneously, invasive treatment may become necessary if symptoms persist past age 6 to 12 months. In the present case, a 9-month-old boy with persistent dacryostenosis was scheduled for lacrimal duct probing after first-line treatments failed. After a single session of osteopathic manipulative treatment, the patient's epiphora and other symptoms resolved, and he no longer needed surgical probing. A review of the literature highlights key pathophysiologic processes, management options, and musculoskeletal aspects of dacryostenosis. Physicians should consider osteopathic manipulative treatment in the management of dacryostenosis.

  7. Bone manipulation procedures in dental implants.

    Science.gov (United States)

    Mittal, Yuvika; Jindal, Govind; Garg, Sandeep

    2016-01-01

    The use of dental implants for the rehabilitation of missing teeth has broadened the treatment options for patients and clinicians equally. As a result of advances in research in implant design, materials, and techniques, the use of dental implants has increased dramatically in the past two decades and is expected to expand further in the future. Success of dental implants depends largely on the quality and quantity of the available bone in the recipient site. This however may be compromised or unavailable due to tumor, trauma, periodontal disease, etc., which in turn necessitates the need for additional bone manipulation. This review outlines the various bone manipulation techniques that are used to achieve a predictable long-term success of dental implants.

  8. Extended SQL for manipulating clinical warehouse data.

    Science.gov (United States)

    Johnson, S B; Chatziantoniou, D

    1999-01-01

    Health care institutions are beginning to collect large amounts of clinical data through patient care applications. Clinical data warehouses make these data available for complex analysis across patient records, benefiting administrative reporting, patient care and clinical research. Data gathered for patient care purposes are difficult to manipulate for analytic tasks; the schema presents conceptual difficulties for the analyst, and many queries perform poorly. An extension to SQL is presented that enables the analyst to designate groups of rows. These groups can then be manipulated and aggregated in various ways to solve a number of useful analytic problems. The extended SQL is concise and runs in linear time, while standard SQL requires multiple statements with polynomial performance. The extensions are extremely powerful for performing aggregations on large amounts of data, which is useful in clinical data mining applications.

  9. OPTIMAL TRAJECTORY PLANNING OF MANIPULATORS: A REVIEW

    Directory of Open Access Journals (Sweden)

    ATEF A. ATA

    2007-04-01

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

  10. Manipulation of inclusions with optical tweezers

    Science.gov (United States)

    Škarabot, Miha

    In this chapter the basic techniques and underlaying concepts of trapping and manipulation of microparticles in liquid crystal (LC) systems are presented. The laser trapping in LCs is extremely efficient and it is based on different principles than laser trapping in isotropic solvents. In addition to conventional laser trapping, the laser light can reorient LC molecules and at high powers also heat the LC in isotropic phase. Due to these optical and thermal effects of laser tweezers on LC different trapping mechanisms are possible at different rate of laser power and all are presented qualitatively and quantitatively by measuring the trapping forces. Besides trapping and manipulation of single inclusions, laser tweezers are also used for assisted self-assembly of variety of periodic 2D and 3D colloidal structures, while most of them can not be assembled without help of laser tweezers. The concepts and different techniques of laser assisted assembly are presented.

  11. Manipulator Controlled since a Smartphone by Bluetooth

    Science.gov (United States)

    Sánchez-Niño, F.; Rodríguez Pedroza, G.; Castillo Baldivia, E. G.

    2015-01-01

    We present the design of transmitter interface of data between a microcontroller and Smartphone to control a robot. We used a Bluetooth module to send the commands to control the moving of the manipulator. The system is formed by three parts: the first part, the program made in Android. It is run on the Smartphone that controls the position of the robot. The second part is the reception board based in the PIC18F4550 that energizes the joints of the manipulator. The last part is the driver. It use an integrated circuit L293D that is configured in two full bridges H. This system is a good tool for learning of programing, sensors, actuators, robotic, electronic and design electronic.

  12. Optical Manipulation with Speckle Light Fields

    CERN Document Server

    Volpe, Giorgio; Gigan, Sylvain

    2014-01-01

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

  13. Dynamical pixel manipulation of metasurfaces (Conference Presentation)

    Science.gov (United States)

    Zhong, Jin-Qian

    2017-05-01

    Two-dimensional (2D) metamaterials or known as metasurfaces have attracted researchers' attention due to their capability to manipulate the amplitudes, phases and polarization states of incident electromagnetic waves by conferring extra phase different phase at different positions through a super cell that is composed of different oriented structures. In other words, metasurfaces can achieve beam steering and wave shaping by imparting local, gradient phase shift to the incoming waves. With these abilities, metasurfaces can be applied to applications such as ultrathin invisibility cloaks, metasurface holograms, planar lenses and a vortex generator. With the above mentioned advantages and applications of metasurfaces, yet, all the demonstrated metasurfaces possess a main insufficiency that once the metasurfaces are designed and fabricated, their optical properties are then fixed without any chance for further manipulation, which limits their versatility in practical applications. Moreover, although some researchers employed dynamically changeable materials to achieve an active metasurface, such manipulation can only change the overall performance such as an operating frequency instead of changing the provided phase on each pixel of a metasurface. To solve this issue, we employ liquid crystal integrated with a metasurface and the combination could be thus be dynamically tuned via electric bias on each pixel of liquid crystals. Through this setup, we can alter the polarization state of the incident electromagnetic wave dynamically and thus manipulate the extra phase provided by each pixel. In this combination, liquid crystal is employed to change the incident polarization from 0 to 360-degree and the metasurface is designed to achieve four different output signals including phase modulated linear- and circular-polarized light and amplitude-modulated linear- and circular-polarized light. Meanwhile, the metasurfaces could also control the transmission efficiency of the

  14. IMp: The customizable LEGO® Pinned Insect Manipulator

    Directory of Open Access Journals (Sweden)

    Steen Dupont

    2015-02-01

    Full Text Available We present a pinned insect manipulator (IMp constructed of LEGO® building bricks with two axes of movement and two axes of rotation. In addition we present three variants of the IMp to emphasise the modular design, which facilitates resizing to meet the full range of pinned insect specimens, is fully customizable, collapsible, affordable and does not require specialist tools or knowledge to assemble.

  15. Magnus force effect in optical manipulation

    Science.gov (United States)

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

    2011-07-01

    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.

  16. Nucleotide Manipulatives to Illustrate the Central Dogma

    Directory of Open Access Journals (Sweden)

    Sonja B. Yung

    2015-08-01

    Full Text Available The central dogma is a core concept that is critical for introductory biology and microbiology students to master. However, students often struggle to conceptualize the processes involved, and fail to move beyond simply memorizing the basic facts. To encourage critical thinking, we have designed a set of magnetic nucleotide manipulatives that allow students to model DNA structure, along with the processes of replication, transcription, and translation.

  17. Biological cell manipulation by magnetic nanoparticles

    Directory of Open Access Journals (Sweden)

    Frederick Gertz

    2016-02-01

    Full Text Available We report a manipulation of biological cells (erythrocytes by magnetite (Fe3O4 nanoparticles in the presence of a magnetic field. The experiment was accomplished on the top of a micro-electromagnet consisting of two magnetic field generating contours. An electric current flowing through the contour(s produces a non-uniform magnetic field, which is about 1.4 mT/μm in strength at 100 mA current in the vicinity of the current-carrying wire. In responses to the magnetic field, magnetic nanoparticles move towards the systems energy minima. In turn, magnetic nanoparticles drag biological cells in the same direction. We present experimental data showing cell manipulation through the control of electric current. This technique allows us to capture and move cells located in the vicinity (10-20 microns of the current-carrying wires. One of the most interesting results shows a periodic motion of erythrocytes between the two conducting contours, whose frequency is controlled by an electric circuit. The obtained results demonstrate the feasibility of non-destructive cell manipulation by magnetic nanoparticles with micrometer-scale precision.

  18. Manipulation and imaging of Kryptolebias marmoratus embryos.

    Science.gov (United States)

    Mourabit, Sulayman; Kudoh, Tetsuhiro

    2012-12-01

    The self-fertilizing mangrove killifish, Kryptolebias marmoratus, is an upcoming model species for a range of biological disciplines. To further establish this model in the field of developmental biology, we examined several techniques for embryonic manipulation and for imaging that can be used in an array of experimental designs. These methodological approaches can be divided into two categories: handling of embryos with and without their chorionic membrane. Embryos still enclosed in their chorion can be manipulated using an agarose bed or a methyl cellulose system, holding them in place and allowing their rotation to more specific angles and positions. Using these methods, we demonstrate microinjection of embryos and monitoring of fluorescent yolk syncytial nuclei (YSN) using both stereo and compound microscopes. For higher magnification imaging using compound microscopes as well as time-lapse analyses, embryos were dechorionated and embedded in low-melting-point agarose. To demonstrate this embedding technique, we further examined fluorescent YSN and also analyzed the yolk surface of K. marmoratus embryos. The latter was observed to provide an excellent imaging platform for study of the behavior and morphology of cells during embryonic development, for various types of cells. Our data demonstrate that K. marmoratus is an excellent model species for research in developmental biology, as methodological approaches for the manipulation and imaging of embryos are efficient and readily available.

  19. Genetic Manipulation of Human Embryonic Stem Cells.

    Science.gov (United States)

    Eiges, Rachel

    2016-01-01

    One of the great advantages of embryonic stem (ES) cells over other cell types is their accessibility to genetic manipulation. They can easily undergo genetic modifications while remaining pluripotent, and can be selectively propagated, allowing the clonal expansion of genetically altered cells in culture. Since the first isolation of ES cells in mice, many effective techniques have been developed for gene delivery and manipulation of ES cells. These include transfection, electroporation, and infection protocols, as well as different approaches for inserting, deleting, or changing the expression of genes. These methods proved to be extremely useful in mouse ES cells, for monitoring and directing differentiation, discovering unknown genes, and studying their function, and are now being extensively implemented in human ES cells (HESCs). This chapter describes the different approaches and methodologies that have been applied for the genetic manipulation of HESCs and their applications. Detailed protocols for generating clones of genetically modified HESCs by transfection, electroporation, and infection will be described, with special emphasis on the important technical details that are required for this purpose. All protocols are equally effective in human-induced pluripotent stem (iPS) cells.

  20. Vehicle Technologies and Fuel Cell Technologies Program: Prospective Benefits Assessment Report for Fiscal Year 2016

    Energy Technology Data Exchange (ETDEWEB)

    Stephens, T. S. [Argonne National Lab. (ANL), Argonne, IL (United States); Taylor, C. H. [TA Engineering, Inc., Catonsville, MD (United States); Moore, J. S. [TA Engineering, Inc., Catonsville, MD (United States); Ward, J. [United States Department of Energy, Washington, DC (United States). Office of Energy Efficiency and Renewable Energy

    2016-02-23

    Under a diverse set of programs, the Vehicle Technologies and Fuel Cell Technologies offices of DOE’s Office of Energy Efficiency and Renewable Energy invest in research, development, demonstration, and deployment of advanced vehicle, hydrogen production, delivery and storage, and fuel cell technologies. This report estimates the benefits of successfully developing and deploying these technologies (a “Program Success” case) relative to a base case (the “No Program” case). The Program Success case represents the future with completely successful deployment of Vehicle Technologies Office (VTO) and Fuel Cell Technologies Office (FCTO) technologies. The No Program case represents a future in which there is no contribution after FY 2016 by the VTO or FCTO to these technologies. The benefits of advanced vehicle, hydrogen production, delivery and storage, and fuel cell technologies were estimated on the basis of differences in fuel use, primary energy use, and greenhouse gas (GHG) emissions from light-, medium- and heavy-duty vehicles, including energy and emissions from fuel production, between the base case and the Program Success case. Improvements in fuel economy of various vehicle types, growth in the stock of fuel cell vehicles and other advanced technology vehicles, and decreased GHG intensity of hydrogen production and delivery in the Program Success case over the No Program case were projected to result in savings in petroleum use and GHG emissions. Benefits were disaggregated by individual program technology areas, which included the FCTO program and the VTO subprograms of batteries and electric drives; advanced combustion engines; fuels and lubricants; materials (for reduction in vehicle mass, or “lightweighting”); and, for medium- and heavy-duty vehicles, reduction in rolling and aerodynamic resistance. Projections for the Program Success case indicate that by 2035, the average fuel economy of on-road, light-duty vehicle stock could be 47% to 76

  1. EVA robotics for Space Station Freedom: Dextrous Manipulator Development (DEMAND)

    Science.gov (United States)

    Williams, Robert L., II

    1992-01-01

    The topics are presented in viewgraph form and include: dextrous manipulator development (DMD), projected extravehicular activity (EVA) backlog, potential Special Purpose Dextrous Manipulator (SPDM) tasks, DMD Laboratory FY 1992-94, and program goals.

  2. 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.

  3. CHAMP: A bespoke integrated system for mobile manipulation

    CSIR Research Space (South Africa)

    Van Eden, B

    2014-11-01

    Full Text Available Mobile manipulation is a robotics paradigm with the potential to make major contributions to a number of important domain areas. Although some mobile manipulators are commercially available, bespoke systems can be assembled from existing...

  4. Manipulating Tournaments in Cup and Round Robin Competitions

    CERN Document Server

    Russell, Tyrel; 10.1007/978-3-642-04428-1_3

    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 manipulation remains polynomial.

  5. Mechatronic design of a robotic manipulator for unmanned aerial vehicles

    NARCIS (Netherlands)

    Fumagalli, M.; Stramigioli, S.; Carloni, R.

    2016-01-01

    The paper focuses on the mechatronic design of a robotic manipulator that is meant to be mounted on an Unmanned Aerial Vehicle (UAV) and to be used in industrial applications, for both aerial inspection by contact and aerial manipulation. The combination of an UAV and the robotic manipulator realize

  6. An Embedded and Embodied Cognition Review of Instructional Manipulatives

    Science.gov (United States)

    Pouw, Wim T. J. L.; van Gog, Tamara; Paas, Fred

    2014-01-01

    Recent literature on learning with instructional manipulatives seems to call for a moderate view on the effects of perceptual and interactive richness of instructional manipulatives on learning. This "moderate view" holds that manipulatives' perceptual and interactive richness may compromise learning in two ways: (1) by imposing a…

  7. A study of nanoparticle manipulation using ultrasonic standing waves

    NARCIS (Netherlands)

    Neer, P.L.M.J. van; Rasidovic, A.; Volker, A.W.F.

    2013-01-01

    There has been considerable interest in the noninvasive manipulation of particles in dispersions during the last 15 years. The manipulation techniques based on acoustic radiation forces are particularly interesting as they allow for the manipulation of particles based on their density, compressibili

  8. An Embedded and Embodied Cognition Review of Instructional Manipulatives

    Science.gov (United States)

    Pouw, Wim T. J. L.; van Gog, Tamara; Paas, Fred

    2014-01-01

    Recent literature on learning with instructional manipulatives seems to call for a moderate view on the effects of perceptual and interactive richness of instructional manipulatives on learning. This "moderate view" holds that manipulatives' perceptual and interactive richness may compromise learning in two ways: (1) by imposing a…

  9. Investigating Preservice Mathematics Teachers' Manipulative Material Design Processes

    Science.gov (United States)

    Sandir, Hakan

    2016-01-01

    Students use concrete manipulatives to form an imperative affiliation between conceptual and procedural knowledge (Balka, 1993). Hence, it is necessary to design specific mathematics manipulatives that focus on different mathematical concepts. Preservice teachers need to know how to make and use manipulatives that stimulate students' thinking as…

  10. Mechatronic design of a robotic manipulator for unmanned aerial vehicles

    NARCIS (Netherlands)

    Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

    2016-01-01

    The paper focuses on the mechatronic design of a robotic manipulator that is meant to be mounted on an Unmanned Aerial Vehicle (UAV) and to be used in industrial applications, for both aerial inspection by contact and aerial manipulation. The combination of an UAV and the robotic manipulator

  11. Physical versus Virtual Manipulative Experimentation in Physics Learning

    Science.gov (United States)

    Zacharia, Zacharias C.; Olympiou, Georgios

    2011-01-01

    The aim of this study was to investigate whether physical or virtual manipulative experimentation can differentiate physics learning. There were four experimental conditions, namely Physical Manipulative Experimentation (PME), Virtual Manipulative Experimentation (VME), and two sequential combinations of PME and VME, as well as a control condition…

  12. The Effects on Students’ Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives Within a Physical Manipulatives-Oriented Curriculum

    NARCIS (Netherlands)

    Zacharia, Zacharias C.; de Jong, Anthonius J.M.

    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

  13. The Effects on Students’ Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives Within a Physical Manipulatives-Oriented Curriculum

    NARCIS (Netherlands)

    Zacharia, Zacharias C.; Jong, de 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

  14. An On-Line Path Planner for Industrial Manipulators

    Directory of Open Access Journals (Sweden)

    Fabrizio Padula

    2013-03-01

    Full Text Available In this paper, an on‐line path planner for an industrial manipulator is presented. The proposed control architecture is capable of driving the manipulator in its environment while avoiding collisions. Potential fields are used in order to control the joint velocities in such a way that the robot avoids the obstacles. We also propose a new weighted pseudoinverse matrix that improves the manipulator capability of finding feasible paths to move around obstacles and pass through narrow corridors without relying on the manipulator dynamic model. The proposed technique fits to both redundant and non‐redundant manipulators. Experimental results show the effectiveness of the proposed solution.

  15. Cartesian Trajectory Tracking for Manipulators Using Optimal Control Theory

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1987-07-01

    Full Text Available A Cartesian trajectory tracking system for manipulators is developed using optimal control theory. By including the Cartesian position in the state vector, transformation of the trajectory from Cartesian space to manipulator joint space is avoided, and the Jacobian matrix need not be inverted. The tracking system may also be applied to kinematically redundant manipulators. For this type of manipulator, singularities are avoided by choosing a suitable performance index in the optimal control problem. Simulation using a simple kinematically redundant manipulator shows that a small tracking error can be achieved with low motor torques.

  16. Rapid cell separation with minimal manipulation for autologous cell therapies

    Science.gov (United States)

    Smith, Alban J.; O’Rorke, Richard D.; Kale, Akshay; Rimsa, Roberts; Tomlinson, Matthew J.; Kirkham, Jennifer; Davies, A. Giles; Wälti, Christoph; Wood, Christopher D.

    2017-02-01

    The ability to isolate specific, viable cell populations from mixed ensembles with minimal manipulation and within intra-operative time would provide significant advantages for autologous, cell-based therapies in regenerative medicine. Current cell-enrichment technologies are either slow, lack specificity and/or require labelling. Thus a rapid, label-free separation technology that does not affect cell functionality, viability or phenotype is highly desirable. Here, we demonstrate separation of viable from non-viable human stromal cells using remote dielectrophoresis, in which an electric field is coupled into a microfluidic channel using shear-horizontal surface acoustic waves, producing an array of virtual electrodes within the channel. This allows high-throughput dielectrophoretic cell separation in high conductivity, physiological-like fluids, overcoming the limitations of conventional dielectrophoresis. We demonstrate viable/non-viable separation efficacy of >98% in pre-purified mesenchymal stromal cells, extracted from human dental pulp, with no adverse effects on cell viability, or on their subsequent osteogenic capabilities.

  17. Rapid cell separation with minimal manipulation for autologous cell therapies

    Science.gov (United States)

    Smith, Alban J.; O’Rorke, Richard D.; Kale, Akshay; Rimsa, Roberts; Tomlinson, Matthew J.; Kirkham, Jennifer; Davies, A. Giles; Wälti, Christoph; Wood, Christopher D.

    2017-01-01

    The ability to isolate specific, viable cell populations from mixed ensembles with minimal manipulation and within intra-operative time would provide significant advantages for autologous, cell-based therapies in regenerative medicine. Current cell-enrichment technologies are either slow, lack specificity and/or require labelling. Thus a rapid, label-free separation technology that does not affect cell functionality, viability or phenotype is highly desirable. Here, we demonstrate separation of viable from non-viable human stromal cells using remote dielectrophoresis, in which an electric field is coupled into a microfluidic channel using shear-horizontal surface acoustic waves, producing an array of virtual electrodes within the channel. This allows high-throughput dielectrophoretic cell separation in high conductivity, physiological-like fluids, overcoming the limitations of conventional dielectrophoresis. We demonstrate viable/non-viable separation efficacy of >98% in pre-purified mesenchymal stromal cells, extracted from human dental pulp, with no adverse effects on cell viability, or on their subsequent osteogenic capabilities. PMID:28150746

  18. A robotized surface workstation for manipulation, filling and closing of packaging containers for spent nuclear fuel

    Energy Technology Data Exchange (ETDEWEB)

    Bartos, Pavel [FITE a.s., Ostrava-Marianske Hory (Czech Republic); Haladova, Petra [Robotsystem, LLC/Moravian Research, LLC, Ostrava-Moravska (Czech Republic); Otcenasek, Petr

    2016-01-15

    Options for the handling of spent nuclear fuel are described and a packaging cask for an underground repository is presented as also a robotic surface workplace for the repository. The potential for the closing the nuclear fuel cycle is discussed. Currently, a team of Czech experts is developing a project of fully robotic technology for manipulation and storage of packaging casks for spent nuclear fuel in host rock of underground repository.

  19. Particle Manipulation by Miniaturised Dielectrophoretic Devices

    Directory of Open Access Journals (Sweden)

    Francis E.H. Tay

    2009-11-01

    Full Text Available This paper presents a review of dielectrophoresis (DEP devices which provide an effective way to manipulate and separate micro- or nano-bioparticles automatically and quickly by polarisation effects in a nonuniform electric field. A detailed review for designs and operation principles of various microfabricated DEP devicesis given and some advantages and disadvantages of current devices are noted to the final system to attain the unprecedented levels of performance.Defence Science Journal, 2009, 59(6, pp.595-604, DOI:http://dx.doi.org/10.14429/dsj.59.1564

  20. Active control of robot manipulator compliance

    Science.gov (United States)

    Nguyen, C. C.; Pooran, F. J.

    1986-01-01

    Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability.

  1. Experimental verification of a large flexible manipulator

    Science.gov (United States)

    Lee, Jac Won; Huggins, James D.; Book, Wayne J.

    1988-01-01

    A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure, such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. A verification of the modeling using the assumed mode method is presented. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator is verified.

  2. Manipulation of Terahertz Radiation Using Vanadium Dioxide

    Institute of Scientific and Technical Information of China (English)

    Qi-Ye Wen

    2014-01-01

    Vanadium dioxide (VO2) is a phase transition material which undergoes a reversible metal-insulator transition (MIT) when triggered by thermal, photo, electrical, and even stress. The huge conduction change of VO2 renders it a promising material for terahertz (THz) manipulation. In this paper, some interesting works concerning the growth and characteristics of the VO2 film are selectively reviewed. A switching of THz radiation by photo-driven VO2 film is demonstrated. Experiments indicate an ultrafast optical switching to THz transmission within 8 picoseconds, and a switching ratio reaches to over 80%during a wide frequency range from 0.3 THz to 2.5 THz.

  3. Diffraction manipulation by four-wave mixing

    CERN Document Server

    Katzir, Itay; Firstenberg, Ofer

    2014-01-01

    We suggest a scheme to manipulate paraxial diffraction by utilizing the dependency of a four-wave mixing process on the relative angle between the light fields. A microscopic model for four-wave mixing in a Lambda-type level structure is introduced and compared to recent experimental data. We show that images with feature size as low as 10 micrometers can propagate with very little or even negative diffraction. The inherent gain prevents loss and allows for operating at high optical depths. Our scheme does not rely on atomic motion and is thus applicable to both gaseous and solid media.

  4. Compound droplet manipulations on fiber arrays

    CERN Document Server

    Weyer, Floriane; Dreesen, Laurent; Vandewalle, Nicolas

    2015-01-01

    Recent works demonstrated that fiber arrays may constitue the basis of an open digital microfluidics. Various processes, such as droplet motion, fragmentation, trapping, release, mixing and encapsulation, may be achieved on fiber arrays. However, handling a large number of tiny droplets resulting from the mixing of several liquid components is still a challenge for developing microreactors, smart sensors or microemulsifying drugs. Here, we show that the manipulation of tiny droplets onto fiber networks allows for creating compound droplets with a high complexity level. Moreover, this cost-effective and flexible method may also be implemented with optical fibers in order to develop fluorescence-based biosensor.

  5. Genetic manipulation of lignocellulosic biomass for bioenergy.

    Science.gov (United States)

    Wang, Peng; Dudareva, Natalia; Morgan, John A; Chapple, Clint

    2015-12-01

    Lignocellulosic biomass represents an abundant and sustainable raw material for biofuel production. The recalcitrance of biomass to degradation increases the estimated cost of biofuel production and limits its competitiveness in the market. Genetic engineering of lignin, a major recalcitrance factor, improves saccharification and thus the potential yield of biofuels. Recently, our understanding of lignification and its regulation has been advanced by new studies in various systems, all of which further enhances our ability to manipulate the biosynthesis and deposition of lignin in energy crops for producing cost-effective second generation biofuels.

  6. Efficient human hand kinematics for manipulation tasks

    OpenAIRE

    Cobos Guzmán, Salvador; Ferre Perez, Manuel; Sanchez-Uran Gonzalez, Miguel Angel; Ortego la Moneda, Javier; Peña, César

    2008-01-01

    This work is focused on obtaining efficient human hand models that are suitable for manipulation tasks. A 24 DoF kinematic model of the human hand is defined to realistic movements. This model is based on the human skeleton. Dynamic and Static constraints have been included in order to improve the movement realism. Two simplified hand models with 9 and 6 DoF have been developed according to the constraints predefined. These simplified models involve some errors in reconstructing the hand post...

  7. Adaptive supervisory control of remote manipulation

    Science.gov (United States)

    Ferrell, W. R.

    1977-01-01

    The command language by which an operator exerts supervisory control over a general purpose remote manipulator should be designed to accommodate certain characteristics of human performance if there is to be effective communication between the operator and the machine. Some of the ways in which people formulate tasks, use language, learn and make errors are discussed and design implications are drawn. A general approach to command language design is suggested, based on the notion matching the operator's current task schema or context by appropriate program structures or 'frames' in the machine.

  8. Square Root - Type Control for Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Fernando Reyes

    2013-01-01

    Full Text Available This paper addresses the problem of position control for robot manipulators. A new control structure with compensation for global position is presented. The main contribution of this paper is to prove that the closed loop system of the nonlinear robot dynamics model and the proposed control algorithm is globally, asymptotically stable and in agreement with Lyapunov’s direct method and LaSalle’s invariance principle. Besides this, the theoretical results in a real‐time experimental comparison are also presented to show a comparison of the performance between the square root type controller and simple PD scheme on a three degrees‐of‐freedom direct‐drive robot.

  9. Robust force control of a robot manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Dawson, D.M. (Clemson Univ., SC (United States)); Lewis, F.L. (Univ. of Texas, Fort Worth (United States)); Dorsey, J.F. (Georgia Inst. of Tech., Atlanta (United States))

    1992-08-01

    In this article, the authors develop a robust position/force controller based on the impedance approach without requiring exact knowledge of the robot dynamics. The controller is constructed so that a desired positional trajectory can be followed along the surface of the environment while the forces exerted on the environmental surface are regulated according to a target impedance. A global uniform ultimate boundedness result is obtained for the position tracking error and the force regulation error (i.e., the error between the actual manipulator impedance and desired target impedance). The controller only requires measurement of the end-effector force, joint velocity, and joint position.

  10. Square Root - Type Control for Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Fernando Reyes

    2013-01-01

    Full Text Available This paper addresses the problem of position control for robot manipulators. A new control structure with compensation for global position is presented. The main contribution of this paper is to prove that the closed loop system of the nonlinear robot dynamics model and the proposed control algorithm is globally, asymptotically stable and in agreement with Lyapunov's direct method and LaSalle's invariance principle. Besides this, the theoretical results in a real-time experimental comparison are also presented to show a comparison of the performance between the square root type controller and simple PD scheme on a three degrees-of-freedom direct-drive robot.

  11. Haptic rendering for simulation of fine manipulation

    CERN Document Server

    Wang, Dangxiao; Zhang, Yuru

    2014-01-01

    This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in man

  12. Control and manipulation of electron beams

    Energy Technology Data Exchange (ETDEWEB)

    Piot, Philippe; /NICADD, DeKalb /Northern Illinois U. /Fermilab

    2008-09-01

    The concepts of the advanced accelerators and light source rely on the production of bright electron beams. The rms areas of the beam phase space often need to be tailored to the specific applications. Furthermore, a new class of the forefront research calls for detailed specific distribution such as the particle density in the time coordinate. Several groups are tackling these various challenges and in this report we attempt to give a review of the state-of-the-art of the control and manipulation of the electron beams.

  13. The Borda count and agenda manipulation

    OpenAIRE

    Michael Dummett

    1998-01-01

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

  14. Osiris: a medical image-manipulation system.

    Science.gov (United States)

    Ligier, Y; Ratib, O; Logean, M; Girard, C

    1994-01-01

    We designed a general-purpose computer program, Osiris, for the display, manipulation, and analysis of digital medical images. The program offers an intuitive, window-based interface with direct access to generic tools. Characterized by user-friendliness, portability, and extensibility, Osiris is compatible with both Unix-based and Macintosh-based platforms. It is readily modified and can be used to develop new tools. It is able to monitor the entries made during a work session and thus provide data on its use. Osiris and its source code are being distributed, free of charge, to universities and research groups around the world.

  15. The risk associated with spinal manipulation

    DEFF Research Database (Denmark)

    Nielsen, Sabrina Mai; Tarp, Simon; Christensen, Robin

    2017-01-01

    BACKGROUND: Spinal manipulative therapy (SMT) is a widely used manual treatment, but many reviews exist with conflicting conclusions about the safety of SMT. We performed an overview of reviews to elucidate and quantify the risk of serious adverse events (SAEs) associated with SMT. METHODS: We...... communicating that SMT is safe and meeting the requirements for each AMSTAR item, were calculated. RESULTS: We identified 283 eligible reviews, but only 118 provided data for synthesis. The most frequently described adverse events (AEs) were stroke, headache, and vertebral artery dissection. Fifty-four reviews...

  16. Uniqueness Domains in the Workspace of Parallel Manipulators

    CERN Document Server

    Wenger, Philippe

    1997-01-01

    This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case of parallel manipulators with only one inverse kinematic solution. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the forward kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. An additional set of surfaces, namely the characteristic surfaces, are characterized which divide the workspace into basic regions and yield new uniqueness domains. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator. An oc...

  17. On the design of fault-tolerant robotic manipulator systems

    Science.gov (United States)

    Tesar, Delbert

    1993-01-01

    Robotic systems are finding increasing use in space applications. Many of these devices are going to be operational on board the Space Station Freedom. Fault tolerance has been deemed necessary because of the criticality of the tasks and the inaccessibility of the systems to maintenance and repair. Design for fault tolerance in manipulator systems is an area within robotics that is without precedence in the literature. In this paper, we will attempt to lay down the foundations for such a technology. Design for fault tolerance demands new and special approaches to design, often at considerable variance from established design practices. These design aspects, together with reliability evaluation and modeling tools, are presented. Mechanical architectures that employ protective redundancies at many levels and have a modular architecture are then studied in detail. Once a mechanical architecture for fault tolerance has been derived, the chronological stages of operational fault tolerance are investigated. Failure detection, isolation, and estimation methods are surveyed, and such methods for robot sensors and actuators are derived. Failure recovery methods are also presented for each of the protective layers of redundancy. Failure recovery tactics often span all of the layers of a control hierarchy. Thus, a unified framework for decision-making and control, which orchestrates both the nominal redundancy management tasks and the failure management tasks, has been derived. The well-developed field of fault-tolerant computers is studied next, and some design principles relevant to the design of fault-tolerant robot controllers are abstracted. Conclusions are drawn, and a road map for the design of fault-tolerant manipulator systems is laid out with recommendations for a 10 DOF arm with dual actuators at each joint.

  18. A Ground Experiment System of a Free-Floating Robot for Fine Manipulation

    Directory of Open Access Journals (Sweden)

    Houde Liu

    2012-11-01

    Full Text Available Robotic systems are expected to play an increasingly important role in future space activities with the development of space technology. One broad area of application is in the servicing, construction and maintenance of satellites and large space structures in orbit. Fine manipulation technology is very important for space robots to be able to perform these tasks, since it must ensure safe and reliable interaction with objects or the environment. In order to assure the task is accomplished successfully, ground experimentations are required in order to verify key planning and control algorithms before the space robot is launched. In this paper, based on the concept of a hybrid approach combining the mathematical model with the physical model, a ground experiment system is set up, which is composed of two industrial robots, global and hand‐eye visual equipment, six‐axis force/torquesensors, guide rail and four computers. Many control approaches of fine manipulation, such as compliance control, impedance control, hybrid force/position control, intelligent control and so on, can be verified using this system. As an example, a contour curves tracking experiment based on the compliance control strategy is performed. Experiment results show that the ground system is very useful for verifying the dexterous manipulation technology of space robots.

  19. Sensing qualitative events to control manipulation

    Science.gov (United States)

    Pook, Polly K.; Ballard, Dana H.

    1992-11-01

    Dexterous robotic hands have numerous sensors distributed over a flexible high-degree-of- freedom framework. Control of these hands often relies on a detailed task description that is either specified a priori or computed on-line from sensory feedback. Such controllers are complex and may use unnecessary precision. In contrast, one can incorporate plan cues that provide a contextual backdrop in order to simplify the control task. To demonstrate, a Utah/MIT dexterous hand mounted on a Puma 760 arm flips a plastic egg, using the finger tendon tensions as the sole control signal. The completion of each subtask, such as picking up the spatula, finding the pan, and sliding the spatula under the egg, is detected by sensing tension states. The strategy depends on the task context but does not require precise positioning knowledge. We term this qualitative manipulation to draw a parallel with qualitative vision strategies. The approach is to design closed-loop programs that detect significant events to control manipulation but ignore inessential details. The strategy is generalized by analyzing the robot state dynamics during teleoperated hand actions to reveal the essential features that control each action.

  20. Lycaenid Caterpillar Secretions Manipulate Attendant Ant Behavior.

    Science.gov (United States)

    Hojo, Masaru K; Pierce, Naomi E; Tsuji, Kazuki

    2015-08-31

    Mutualistic interactions typically involve the exchange of different commodities between species. Nutritious secretions are produced by a number of insects and plants in exchange for services such as defense. These rewards are valuable metabolically and can be used to reinforce the behavior of symbiotic partners that can learn and remember them effectively. We show here novel effects of insect exocrine secretions produced by caterpillars in modulating the behavior of attendant ants in the food-for-defense interaction between lycaenid butterflies and ants. Reward secretions from the dorsal nectary organ (DNO) of Narathura japonica caterpillars function to reduce the locomotory activities of their attendant ants, Pristomyrmex punctatus workers. Moreover, workers that feed from caterpillar secretions are significantly more likely to show aggressive responses to eversion of the tentacle organs of the caterpillars. Analysis of the neurogenic amines in the brains of workers that consumed caterpillar secretions showed a significant decrease in levels of dopamine compared with controls. Experimental treatments in which reserpine, a known inhibitor of dopamine in Drosophila, was fed to workers similarly reduced their locomotory activity. We conclude that DNO secretions of lycaenid caterpillars can manipulate attendant ant behavior by altering dopaminergic regulation and increasing partner fidelity. Unless manipulated ants also receive a net nutritional benefit from DNO secretions, this suggests that similar reward-for-defense interactions that have been traditionally considered to be mutualisms may in fact be parasitic in nature. Copyright © 2015 Elsevier Ltd. All rights reserved.

  1. [Deqi and application and manipulation of Deqi].

    Science.gov (United States)

    Wang, Pei-qing

    2007-05-01

    Deqi is the key for therapeutic effect of acupuncture therapy. In the present paper, the significance of Deqi, and how to differentiate qi and how to induce Deqi are preliminarily studied. Deqi is concrete response of acupuncturist and the patient during acupuncture. Arrival of qi is like bobbing on water when the fish swallows the fishhook; no arrival of qi is like the deep valley with shallow sensation. For differentiation of qi, the vital-qi (essence derived from food), pathogenic factor, deficiency and excess, cold and heat need to be differentiated. For manipulation, the 14 methods of Yang Ji-zhou are used as guiding principle. In brief, massage along channel induces qi, on-the-point pressing promotes flow of qi, circling method regulates qi. And reinforcing and reducing by puncturing along and against the direction of channels respectively are explained, and how to induce Deqi is preliminarily expounded from methods of inserting the needle, manipulating the needle and withdrawing the needle.

  2. 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.

  3. Human-Manipulator Interface Using Particle Filter

    Directory of Open Access Journals (Sweden)

    Guanglong Du

    2014-01-01

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

  4. Kinematics and trajectory synthesis of manipulation robots

    CERN Document Server

    Vukobratović, Miomir

    1986-01-01

    A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con­ trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha­ nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono­ graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro­ bots, respectively. They form the first part of the series which has a certain topic...

  5. The Manipulation of Pace within Endurance Sport

    Science.gov (United States)

    Skorski, Sabrina; Abbiss, Chris R.

    2017-01-01

    In any athletic event, the ability to appropriately distribute energy is essential to prevent premature fatigue prior to the completion of the event. In sport science literature this is termed “pacing.” Within the past decade, research aiming to better understand the underlying mechanisms influencing the selection of an athlete's pacing during exercise has dramatically increased. It is suggested that pacing is a combination of anticipation, knowledge of the end-point, prior experience and sensory feedback. In order to better understand the role each of these factors have in the regulation of pace, studies have often manipulated various conditions known to influence performance such as the feedback provided to participants, the starting strategy or environmental conditions. As with all research there are several factors that should be considered in the interpretation of results from these studies. Thus, this review aims at discussing the pacing literature examining the manipulation of: (i) energy expenditure and pacing strategies, (ii) kinematics or biomechanics, (iii) exercise environment, and (iv) fatigue development. PMID:28289392

  6. Human-manipulator interface using particle filter.

    Science.gov (United States)

    Du, Guanglong; Zhang, Ping; Wang, Xueqian

    2014-01-01

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

  7. Placebo manipulations reduce hyperalgesia in neuropathic pain.

    Science.gov (United States)

    Petersen, Gitte Laue; Finnerup, Nanna Brix; Nørskov, Kathrine Næsted; Grosen, Kasper; Pilegaard, Hans K; Benedetti, Fabrizio; Price, Donald D; Jensen, Troels Staehelin; Vase, Lene

    2012-06-01

    Several studies have shown that placebo analgesia effects can be obtained in healthy volunteers, as well as patients suffering from acute postoperative pain and chronic pain conditions such as irritable bowel syndrome. However, it is unknown whether placebo analgesia effects can be elicited in chronic pain conditions with a known pathophysiology such as a nerve injury. Nineteen patients who had developed neuropathic pain after thoracotomy were exposed to a placebo manipulation in which they received either open or hidden administrations of lidocaine. Before the treatment, the patients rated their levels of spontaneous pain and expected pain and completed a questionnaire on their emotional feelings (Positive Affect Negative Affect Schedule) and went through quantitative sensory testing of evoked pain (brush and cold allodynia, heat pain tolerance, area of pinprick hyperalgesia, wind-up-like pain after pinprick stimulation). The placebo manipulation significantly reduced the area of pinprick hyperalgesia (P=.027), and this placebo effect was significantly related to low levels of negative affect (P=.008; R(2)=0.362) but not to positive affect or expected pain levels. No placebo effect was observed in relation to spontaneous pain or evoked pain, which is most likely due to low pain levels resulting in floor effects. This is the first study to demonstrate a placebo effect in neuropathic pain. The possible mechanisms underlying the placebo effects in hyperalgesia are discussed, and implications for treatment are outlined.

  8. Behavior-Based Assists for Telerobotic Manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Noakes, Mark W [ORNL; Hamel, Dr. William R. [University of Tennessee, Knoxville (UTK)

    2008-01-01

    Teleoperated manipulation has been a critical tool in hazardous operations where the presence of humans has been precluded since the early days of nuclear material handling. Performance levels and limitations were understood and accepted. However, in the current era of decontamination and decommissioning (D&D) of facilities owned by the U.S. Department of Energy, there has been criticism that traditional remote systems are too expensive, too slow, and too difficult to use by cost-driven demolition companies. Previous research in telerobotics has attempted to alleviate some of these issues; however, it has been difficult to get capabilities generated in the research lab into the field. One major difficulty is the severely unstructured environments found in real D&D type environments. Behavior-based robotics (BBR) is based on concepts specifically designed to permit autonomous robots to function in unstructured environments. BBR schemes use sensor data to interact with the world directly rather than to generate models that are manipulated. Because the robot is immersed in its environment and since sensors are mounted on the robot, sensing and motion are inherently calibrated with respect to the robot. This paper presents a behavior-based approach and architecture for executing telerobotic D&D type tooling tasks.

  9. Investigations on the dynamic coupling in AUV-manipulator system and the manipulator trajectory errors using bond graph method

    Science.gov (United States)

    Periasamy, T.; Asokan, T.; Singaperumal, M.

    2012-06-01

    This article presents the modelling and simulation of the dynamic coupling in an autonomous underwater vehicle (AUV)-manipulator system, used for subsea intervention tasks. Bond graph, a powerful tool in multi-domain dynamic system modelling, is used for the first time to model the coupled dynamics of the AUV-manipulator system. This method enables the development of the system model in a modular form by creating sub-system models and connecting these models together at energy interactions ports, thus overcoming many of the computational difficulties encountered in conventional modelling methods. The effects of gravity, buoyancy, added mass and fluid drag on the dynamics of a 3 degrees of freedom (DoF) manipulator mounted on a 6 DoF AUV are analysed. The manipulator trajectory errors due to the interaction forces and moments between the vehicle and the manipulator have also been investigated and the results are presented. The dynamic model predicts the reaction forces on the vehicle under various operating conditions of the manipulator and their influence on the manipulator trajectory. The percentage errors of manipulator tip trajectory for different initial configurations and operating conditions are analysed. The estimation of resulting errors in the manipulator path due to dynamic coupling effect on the manipulator trajectory helps in the design of suitable trajectory controller for the system. Cartesian space transpose Jacobian controller for trajectory control of manipulator has been implemented and results are presented.

  10. Contribution of manipulable and non-manipulable environmental factors to trapping efficiency of invasive sea lamprey

    Science.gov (United States)

    Dawson, Heather A.; Bravener, Gale; Beaulaurier, Joshua; Johnson, Nicholas S.; Twohey, Michael; McLaughlin, Robert L.; Brenden, Travis O.

    2017-01-01

    We identified aspects of the trapping process that afforded opportunities for improving trap efficiency of invasive sea lamprey (Petromyzon marinus) in a Great Lake's tributary. Capturing a sea lamprey requires it to encounter the trap, enter, and be retained until removed. Probabilities of these events depend on the interplay between sea lamprey behavior, environmental conditions, and trap design. We first tested how strongly seasonal patterns in daily trap catches (a measure of trapping success) were related to nightly rates of trap encounter, entry, and retention (outcomes of sea lamprey behavior). We then tested the degree to which variation in rates of trap encounter, entry, and retention were related to environmental features that control agents can manipulate (attractant pheromone addition, discharge) and features agents cannot manipulate (water temperature, season), but could be used as indicators for when to increase trapping effort. Daily trap catch was most strongly associated with rate of encounter. Relative and absolute measures of predictive strength for environmental factors that managers could potentially manipulate were low, suggesting that opportunities to improve trapping success by manipulating factors that affect rates of encounter, entry, and retention are limited. According to results at this trap, more sea lamprey would be captured by increasing trapping effort early in the season when sea lamprey encounter rates with traps are high. The approach used in this study could be applied to trapping of other invasive or valued species.

  11. 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 or the gradient of the slope being traversed by the platform. This paper presents the model of a tracked mobile manipulator for tipover stability analysis in stope mining environments. The Force Angle stability measure is used to compute the stability index...

  12. Controlled motion in an elastic world. Research project: Manipulation strategies for massive space payloads

    Science.gov (United States)

    Book, Wayne J.

    1992-01-01

    The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.

  13. Effects of Tools Inserted through Snake-like Surgical Manipulators

    Science.gov (United States)

    Murphy, Ryan J.; Otake, Yoshito; Wolfe, Kevin C.; Taylor, Russell H.; Armand, Mehran

    2015-01-01

    Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally- and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and without a tool inserted in its lumen, images were recorded from an overhead camera in conjunction with actuation cable tension and length. To investigate the accuracy, the estimated manipulator configuration from the model and the ground-truth configuration measured from the image were compared. Additional analysis focused on the response differences for the manipulator with and without a tool inserted through the lumen. Results indicate that the energy minimization model predicts manipulator configuration with an error of 0.24 ± 0.22mm without tools in the lumen and 0.24 ± 0.19mm with tools in the lumen (no significant difference, p = 0.81). Moreover, tools did not introduce noticeable perturbations in the manipulator trajectory; however, there was an increase in requisite force required to reach a configuration. These results support the use of the proposed estimation method for calculating the shape of the manipulator with an tool inserted in its lumen when an accuracy range of at least 1mm is required. PMID:25571571

  14. Effects of tools inserted through snake-like surgical manipulators.

    Science.gov (United States)

    Murphy, Ryan J; Otake, Yoshito; Wolfe, Kevin C; Taylor, Russell H; Armand, Mehran

    2014-01-01

    Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally-and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and without a tool inserted in its lumen, images were recorded from an overhead camera in conjunction with actuation cable tension and length. To investigate the accuracy, the estimated manipulator configuration from the model and the ground-truth configuration measured from the image were compared. Additional analysis focused on the response differences for the manipulator with and without a tool inserted through the lumen. Results indicate that the energy minimization model predicts manipulator configuration with an error of 0.24 ± 0.22mm without tools in the lumen and 0.24 ± 0.19mm with tools in the lumen (no significant difference, p = 0.81). Moreover, tools did not introduce noticeable perturbations in the manipulator trajectory; however, there was an increase in requisite force required to reach a configuration. These results support the use of the proposed estimation method for calculating the shape of the manipulator with an tool inserted in its lumen when an accuracy range of at least 1mm is required.

  15. Design of a High Power Robotic Manipulator for Emergency Response to the Nuclear Accidents

    Energy Technology Data Exchange (ETDEWEB)

    Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2016-10-15

    An accident in a nuclear facility causes a great social cost. To prevent an unexpected nuclear accident from spreading to the catastrophic disaster, emergency response action in early stage is required. However, high radiation environment has been proved as a challenging obstacle for human workers to access to the accident site and take an action in previous accident cases. Therefore, emergency response robotic technology to be used in a nuclear accident site instead of human workers are actively conducted in domestically and internationally. Robots in an accident situation are required to carry out a variety of tasks depend on the types and patterns of accidents. An emergency response usually includes removing of debris, make an access road to a certain place and handling valves. These tasks normally involve high payload handling. A small sized high power robotic manipulator can be an appropriate candidate to deal with a wide spectrum of tasks in an emergency situation. In this paper, we discuss about the design of a high power robotic manipulator, which is capable of handling high payloads for an initial response action to the nuclear facility accident. In this paper, we presented a small sized high power robotic manipulator design. Actuator types of manipulator was selected and mechanical structure was discussed. In the future, the servo valve and hydraulic pump systems will be determined. Furthermore, control algorithms and test bed experiments will be also conducted.

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

    Science.gov (United States)

    Gołda, G.; Kampa, A.

    2017-08-01

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

  17. Photonic quantum technologies (Presentation Recording)

    Science.gov (United States)

    O'Brien, Jeremy L.

    2015-09-01

    The impact of quantum technology will be profound and far-reaching: secure communication networks for consumers, corporations and government; precision sensors for biomedical technology and environmental monitoring; quantum simulators for the design of new materials, pharmaceuticals and clean energy devices; and ultra-powerful quantum computers for addressing otherwise impossibly large datasets for machine learning and artificial intelligence applications. However, engineering quantum systems and controlling them is an immense technological challenge: they are inherently fragile; and information extracted from a quantum system necessarily disturbs the system itself. Of the various approaches to quantum technologies, photons are particularly appealing for their low-noise properties and ease of manipulation at the single qubit level. We have developed an integrated waveguide approach to photonic quantum circuits for high performance, miniaturization and scalability. We will described our latest progress in generating, manipulating and interacting single photons in waveguide circuits on silicon chips.

  18. Ponderomotive manipulation of cold subwavelength plasmas

    CERN Document Server

    Smorenburg, P W; Luiten, O J

    2012-01-01

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

  19. Optical Manipulation of Single Flux Quanta

    CERN Document Server

    Veshchunov, I S; Mironov, S V; Godin, A G; Trebbia, J -B; Buzdin, A I; Tamarat, Ph; Lounis, B

    2016-01-01

    Magnetic field can penetrate into type-II superconductors in the form of Abrikosov vortices, which are magnetic flux tubes surrounded by circulating supercurrents often trapped at defects referred to as pinning sites. Although the average properties of the vortex matter can be tuned with magnetic fields, temperature or electric currents, handling of individual vortices remains challenging and has been demonstrated only with sophisticated magnetic force, superconducting quantum interference device or strain-induced scanning local probe microscopies. Here, we introduce a far-field optical method based on local heating of the superconductor with a focused laser beam to realize a fast, precise and non-invasive manipulation of individual Abrikosov vortices, in the same way as with optical tweezers. This simple approach provides the perfect basis for sculpting the magnetic flux profile in superconducting devices like a vortex lens or a vortex cleaner, without resorting to static pinning or ratchet effects. Since a ...

  20. Model Manipulation for End-User Modelers

    DEFF Research Database (Denmark)

    Acretoaie, Vlad

    of these proposals. To achieve its first goal, the thesis presents the findings of a Systematic Mapping Study showing that human factors topics are scarcely and relatively poorly addressed in model transformation research. Motivated by these findings, the thesis explores the requirements of end-user modelers......End-user modelers are domain experts who create and use models as part of their work. They are typically not Software Engineers, and have little or no programming and meta-modeling experience. However, using model manipulation languages developed in the context of Model-Driven Engineering often...... requires such experience. These languages are therefore only used by a small subset of the modelers that could, in theory, benefit from them. The goals of this thesis are to substantiate this observation, introduce the concepts and tools required to overcome it, and provide empirical evidence in support...

  1. Improving information filtering via network manipulation

    CERN Document Server

    Zhang, Fuguo

    2012-01-01

    Recommender system is a very promising way to address the problem of overabundant information for online users. Though the information filtering for the online commercial systems received much attention recently, almost all of the previous works are dedicated to design new algorithms and consider the user-item bipartite networks as given and constant information. However, many problems for recommender systems such as the cold-start problem (i.e. low recommendation accuracy for the small degree items) are actually due to the limitation of the underlying user-item bipartite networks. In this letter, we propose a strategy to enhance the performance of the already existing recommendation algorithms by directly manipulating the user-item bipartite networks, namely adding some virtual connections to the networks. Numerical analyses on two benchmark data sets, MovieLens and Netflix, show that our method can remarkably improve the recommendation performance. Specifically, it not only improve the recommendations accur...

  2. Droplet Manipulations in Two Phase Flow Microfluidics

    Directory of Open Access Journals (Sweden)

    Arjen M. Pit

    2015-11-01

    Full Text Available Even though droplet microfluidics has been developed since the early 1980s, the number of applications that have resulted in commercial products is still relatively small. This is partly due to an ongoing maturation and integration of existing methods, but possibly also because of the emergence of new techniques, whose potential has not been fully realized. This review summarizes the currently existing techniques for manipulating droplets in two-phase flow microfluidics. Specifically, very recent developments like the use of acoustic waves, magnetic fields, surface energy wells, and electrostatic traps and rails are discussed. The physical principles are explained, and (potential advantages and drawbacks of different methods in the sense of versatility, flexibility, tunability and durability are discussed, where possible, per technique and per droplet operation: generation, transport, sorting, coalescence and splitting.

  3. Diffraction manipulation by four-wave mixing.

    Science.gov (United States)

    Katzir, Itay; Ron, Amiram; Firstenberg, Ofer

    2015-03-09

    We suggest a scheme to manipulate paraxial diffraction by utilizing the dependency of a four-wave mixing process on the relative angle between the light fields. A microscopic model for four-wave mixing in a Λ-type level structure is introduced and compared to recent experimental data. We show that images with feature size as low as 10 μm can propagate with very little or even negative diffraction. The mechanism is completely different from that conserving the shape of spatial solitons in nonlinear media, as here diffraction is suppressed for arbitrary spatial profiles. At the same time, the gain inherent to the nonlinear process prevents loss and allows for operating at high optical depths. Our scheme does not rely on atomic motion and is thus applicable to both gaseous and solid media.

  4. [Suicide with a manipulated hand grenade].

    Science.gov (United States)

    Preuss-Wössner, Johanna; Kroll, Jürgen

    2010-01-01

    Explosion injuries in civilians are rare. An uncommon case of suicide with a manipulated hand grenade is presented. The findings at the scene and on the body (i.a. massive soot blackening of the skin, singeing, size and number of splinters) gave reason to doubt the use of trinitrotoluene (TNT), the usual explosive charge in hand grenades. Further investigations showed that parts of several hand grenades and black powder from standard fire-crackers commercially available without legal restriction had been used as propelling charge. The victim, who was in a sitting position, held the hand grenade in the left hand and triggered it with the right. He bled to death due to a fracture of the right femur and lacerations of the liver. The chronological course and total circumstances of the case suggested suicide in a strongly intoxicated condition (BAC 2.5 per mille). In the flat, a larger number of unlicensed weapons and weapon parts were found.

  5. Culture and manipulation of insect facultative symbionts.

    Science.gov (United States)

    Pontes, Mauricio H; Dale, Colin

    2006-09-01

    Insects from many different taxonomic groups harbor maternally transmitted bacterial symbionts. Some of these associations are ancient in origin and obligate in nature whereas others originated more recently and are facultative. Previous research focused on the biology of ancient obligate symbionts with essential nutritional roles in their insect hosts. However, recent important advances in understanding the biology of facultative associations have been driven by the development of techniques for the culture, genetic modification and manipulation of facultative symbionts. In this review, we examine these available experimental techniques and illustrate how they have provided fascinating new insight into the nature of associations involving facultative symbionts. We also propose a rationale for future research based on the integration of genomics and experimentation.

  6. Manipulating bubbles with secondary Bjerknes forces

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-11-23

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

  7. Atomic metasurfaces for manipulation of single photons

    CERN Document Server

    Zhou, Ming; Kats, Mikhail; Yu, Zongfu

    2016-01-01

    Metasurfaces are an emerging platform for the manipulation of light on a two-dimensional plane. Existing metasurfaces comprise arrays of optical resonators such as plasmonic antennas or high-index nanoparticles. In this letter, we describe a new type of metasurface based on electronic transitions in two-level systems (TLSs). Specifically, we investigated a sheet of rubidium (Rb) atoms, whose energy levels can be tuned with structured illumination from a control laser, which enables dynamically tunable single-photon steering. These metasurface elements are lossless and orders of magnitude smaller than conventional optical resonators, which allows for the overlapping of multiple metasurfaces in a single plane, enabling multi-band operation. We demonstrate that atomic metasurfaces can be passive optical elements, and can also be utilized for beaming of spontaneously emitted photons. Though conceptually similar to conventional metasurfaces, the use of TLSs, which are inherently Fermionic, will lead to numerous ne...

  8. Manipulation and control of a bichromatic lattice

    Science.gov (United States)

    Thomas, Claire; Barter, Thomas; Daiss, Severin; Leung, Zephy; Stamper-Kurn, Dan

    2015-05-01

    Recent experiments with ultracold atoms in optical lattices have had great success emulating the simple models of condensed matter systems. These experiments are typically performed with a single site per unit cell. We realize a lattice with up to four sites per unit cell by overlaying an attractive triangular lattice with a repulsive one at twice the wavelength. The relative displacement of the two lattices determines the particular structure. One available configuration is the kagome lattice, which has a flat energy band. In the flat band all kinetic energy states are degenerate, so we have the opportunity to explore a regime where interactions dominate. This bichromatic lattice requires careful stabilization, but offers an opportunity to manipulate the unit cell and band structure by perturbing the lattices relative to one another. I will discuss recent progress.

  9. Tuina Manipulation on Infantile Myogenic Torticollis

    Institute of Scientific and Technical Information of China (English)

    LU Jian-zhong

    2004-01-01

    With the knowledge handed down by his father, the author practices both acupuncture and Tuina and obtained good effects for infantile myogenic torticollis by Tuina manipulations, which relieved suffering of many kids and prevented them from the operative injury. Among 48 cases, the total effective rate reached 95.8% through the treatment of once everyday and 10 days a course.%笔者师承父学从事针灸,推拿临床工作,运用推拿手法治疗小儿肌性斜颈,每日1次,10d为1个疗程,在48例患儿中,总有效率95.8%,给众多的患儿解除了病痛,亦免于手术带来的创伤.

  10. BEAM MANIPULATION WITH AN RF DIPOLE.

    Energy Technology Data Exchange (ETDEWEB)

    BAI,M.

    1999-03-29

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

  11. Enhanced stiffness modeling of manipulators with passive joints

    CERN Document Server

    Pashkevich, Anatoly; Chablat, Damien

    2011-01-01

    The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a relevant numerical technique for its linearization and computing of the Cartesian stiffness matrix which allows rank-deficiency. Within the developed technique, the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints. Simulation examples are presented that deal with parallel manipulators of the Ortholide family and demonstrate the ability of the developed methodology to describe non-linear behavior of the manipulator structure such as a sudden change of the elastic instability properties (buckling).

  12. 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...

  13. PROPERTY IDENTIFICATION OF SINGULARITY LOCI OF GOUGH-STEWART MANIPULATOR

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    The problem of identifying the property of singularity loci of Gough-Stewart manipulators is addressed. After constructing the Jacobian matrix of the Gough-Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constantorientation singularity locus of the manipulator, is derived. Graphical representations of the singularity locus of the manipulator for different orientations are illustrated with examples. Further,the singularity locus of the manipulator in the principal-section, where the mobile platform lies, is analyzed. It shows that singularity loci of the manipulator in parallel pfincipal-sections are all quadratic expressions including a parabola, four pairs of intersecting straight lines and infinite hyperbolas. Their geometric and kinematic properties are also researched as well.

  14. Low manipulation prevalence following fast-track total knee arthroplasty

    DEFF Research Database (Denmark)

    Husted, Henrik; Jørgensen, Christoffer C.; Gromov, Kirill

    2015-01-01

    BACKGROUND AND PURPOSE: Postoperative joint stiffness following total knee arthroplasty (TKA) may compromise the outcome and necessitate manipulation. Previous studies have not been in a fast-track setting with optimized pain treatment, early mobilization, and short length of stay (LOS), which may...... have influenced the prevalence of joint stiffness and subsequent manipulation. We investigated the prevalence of manipulation following fast-track TKA and identified patients at risk of needing manipulation. PATIENTS AND METHODS: 3,145 consecutive unselected elective primary unilateral TKA patients...... operated in 6 departments with well-defined fast-track settings were included in the study. Demographic data, prevalence, type and timing of manipulation, and preoperative and postoperative ROM were recorded prospectively, ensuring complete 1-year follow-up. RESULTS: 70 manipulations were performed within...

  15. 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.

  16. Modelling and control for position-controlled modular robot manipulators

    OpenAIRE

    Shao, Zilong; Zheng, Gang; Efimov, Denis; Perruquetti, Wilfrid

    2015-01-01

    International audience; Modular Robot Manipulators are user-configurable manipulators which provide rapid design and inexpensive implementation. To be easy-use, smart actuators embedded with position input and position feedback controller are adopted, these local controllers render the manipulators position controlled, but also result in limited performance and precision. This paper targets the case that the built-in controller does not provide desirable precision for set-point regulation. Fi...

  17. Robust Control of Underactuated Manipulators: Analysis and Implementation

    Science.gov (United States)

    1994-05-01

    Y Control of mechanical systems with second-order nonholonomic constraints: underactuated manipulators. Proc. of the 30th Conference on Decision and...any of a series of controllers fully developed in the literature for mechanical manipulators. Because the control of such a system is fully dependent...robust controller for underactuated manipulators. The control of such systems can be extended to the control problem of fault-tolerant robots, space

  18. Achievement of a Sense of Operator Presence in Remote Manipulation.

    Science.gov (United States)

    1980-10-01

    Recently researchers at Oakrldge National Laboratory planned to use tactile sensors for remote manipulation of nuclear materials. The sensors were from...its research into improving perfor- mance in manipulation of nuclear materials. This manipulator has not been significantly modified in the past...amount and direction of movement of the compliant endpoint. The photosensi- tive array is produced by Reticon Company, and has a density of 256

  19. Manipulator for rotating and translating a sample holder

    Science.gov (United States)

    van de Water, Jeroen; van den Oetelaar, Johannes; Wagner, Raymond; Slingerland, Hendrik Nicolaas; Bruggers, Jan Willem; Ottevanger, Adriaan Huibert Dirk; Schmid, Andreas; Olson, Eric A.; Petrov, Ivan G.; Donchev, Todor I.; Duden, Thomas

    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.

  20. Type synthesis principle of minor-mobility parallel manipulators

    Institute of Scientific and Technical Information of China (English)

    黄真; 李秦川

    2002-01-01

    This paper originally presents a systematic general type synthesis principle of minor-mobility parallel manipulators. Based on the properties and geometrical conditions of structure constraint of minor-mobility parallel manipulators, this principle will be a cornerstone in solving the problem of type synthesis of minor-mobility parallel manipulators. Many mechanisms have been synthesized by this principle, which illustrated the validity and universality of this principle.

  1. 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.

  2. The Kinematics of Manipulators Built From Closed Planar Mechanisms

    CERN Document Server

    Slutski, Leonid; Angeles, Jorge

    1999-01-01

    The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of robotic manipulators. The structural features of this manipulator determine a number of its original properties that essentially simplify its control. These features allow the main control problems to be effectively overcome by application of the simple kinematic problems. The workspace and singular configurations of a basic planar manipulator are studied. By using a graphic simulation method, motions of the designed mechanism are examined. A prototype of this mechanism was implemented to verify the proposed approach.

  3. Atlas Based Kinematic Optimum Design of the Stewart Parallel Manipulator

    Institute of Scientific and Technical Information of China (English)

    SHAO Zhufeng; TANG Xiaoqiang; WANG Liping; SUN Dengfeng

    2015-01-01

    Optimum design is a key approach to make full use of potential advantages of a parallel manipulator. The optimum design of multi-parameter parallel manipulators(more than three design parameters), such as Stewart manipulator, relies on analysis based and algorithm based optimum design methods, which fall to be accurate or intuitive. To solve this problem and achieve both accurate and intuition, atlas based optimum design of a general Stewart parallel manipulator is established, with rational selection of design parameters. Based on the defined spherical usable workspace(SUW), primary kinematic performance indices of the Stewart manipulator, involving workspace and condition number are introduced and analyzed. Then, corresponding performance atlases are drawn with the established non-dimensional design space, and impact of joint distribution angles on the manipulator performance is analyzed and illustrated. At last, an example on atlas based optimum design of the Stewart manipulator is accomplished to illustrate the optimum design process, considering the end-effector posture. Deduced atlases can be flexibly applied to both quantitative and qualitative analysis to get the desired optimal design for the Stewart manipulator with respect to related performance requirements. Besides, the established optimum design method can be further applied to other multi-parameter parallel manipulators.

  4. Singularities Analysis of Paradoxical Mechanism and Parallel Manipulators

    Institute of Scientific and Technical Information of China (English)

    HAO Kuang-rong

    2006-01-01

    Parallel manipulator is associated with a set of functions defined by its closure constraints. In this paper, using Lie algebra method, we provide a study on the singularities of parallel manipulators, their relations with the second order of the closure functions, and the tangent space of the configuration space of the manipulator. The transverse condition criterion is applied to analyze the behavior of the singularities. This gives a downright explication why the 6R paradoxical mechanisms work in their singular configurations, and allows to gain insight on configuration space singularities and to choose the adequate design parameters for the parallel manipulator.

  5. Controlled manipulation of nanoparticles with an atomic force microscope

    Science.gov (United States)

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

    1995-06-01

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

  6. Hawaii geothermal resource assessment program: 1980 geophysics subprogram

    Energy Technology Data Exchange (ETDEWEB)

    Kauahikaua, J.; Ruscetta, C.A.; Foley, D. (eds.)

    The following are discussed: microearthquake location mapping, gravity and magnetic mapping, computer software development, dc resistivity sounding on Maui, electromagnetic and resistivity sounds on Hawaii, evaluation of VLF and EM loop-loop profiling as tools for rapid geothermal reconnaissance in Hawaii, and the application of statistical analysis to the determination of geothermal indicators. (MHR)

  7. FARMS: The Flexible Agricultural Robotics Manipulator

    Science.gov (United States)

    Gill, Paul S.

    1991-01-01

    A technology utilization project was established with the Marshall Space Flight Center and the University of Georgia to develop an Earth-based, robotic end effector to process live plant (geranium) material which will improve productivity and efficiency in agricultural systems such as commercial nurseries and greenhouse systems. The aim is to apply this technology to NASA's presence in space, including permanently manned space stations and manned planetary communities requiring large scale food production needs.

  8. Development of a long reach articulated manipulator for ITER in vessel inspection under vacuum and temperature

    Energy Technology Data Exchange (ETDEWEB)

    Perrot, Y. E-mail: yann.perrot@cea.fr; Cordier, J.J.; Friconneau, J.P.; Maisonnier, D.; Martin, E.; Palmer, J.D

    2003-09-01

    This project takes place in the EFDA Remote Handling (RH) activities for the fusion reactor International Thermonuclear Experimental Reactor (ITER). The aim of the R and D program is to demonstrate the feasibility of in-vessel RH intervention by a long reach, limited payload manipulator which penetrates the first wall using the six IVVS penetrations. Potential activities for this device include close inspection of the plasma facing surfaces and leak detection. The work includes the design, manufacture and testing of a demonstrator articulated manipulator called the In-Vessel Penetrator (IVP). The first part of this work concerned the analysis of the requirements and resulted in the development of the conceptual design of the overall manipulator, comprising a 5 module, 11 d.o.f robot based on a parallelogram structure. A scale one mock up of a representative segment was manufactured and tested. In parallel, a feasibility study of the IVP operation was made and provided recommendations to modify the design for intervention under vacuum and temperature. Some technologies were selected and analysed to determine their suitability to the IVP application and items identified for further validation. This paper presents the whole robot concept, the results of the test campaign on the prototype demonstrator and the vacuum and temperature technologies study.

  9. Pilot study on effectiveness of simulation for surgical robot design using manipulability.

    Science.gov (United States)

    Kawamura, Kazuya; Seno, Hiroto; Kobayashi, Yo; Fujie, Masakatsu G

    2011-01-01

    Medical technology has advanced with the introduction of robot technology, which facilitates some traditional medical treatments that previously were very difficult. However, at present, surgical robots are used in limited medical domains because these robots are designed using only data obtained from adult patients and are not suitable for targets having different properties, such as children. Therefore, surgical robots are required to perform specific functions for each clinical case. In addition, the robots must exhibit sufficiently high movability and operability for each case. In the present study, we focused on evaluation of the mechanism and configuration of a surgical robot by a simulation based on movability and operability during an operation. We previously proposed the development of a simulator system that reproduces the conditions of a robot and a target in a virtual patient body to evaluate the operability of the surgeon during an operation. In the present paper, we describe a simple experiment to verify the condition of the surgical assisting robot during an operation. In this experiment, the operation imitating suturing motion was carried out in a virtual workspace, and the surgical robot was evaluated based on manipulability as an indicator of movability. As the result, it was confirmed that the robot was controlled with low manipulability of the left side manipulator during the suturing. This simulation system can verify the less movable condition of a robot before developing an actual robot. Our results show the effectiveness of this proposed simulation system.

  10. Recent NASA aerospace medicine technology developments

    Science.gov (United States)

    Jones, W. L.

    1973-01-01

    Areas of life science are being studied to obtain baseline data, strategies, and technology to permit life research in the space environment. The reactions of the cardiovascular system to prolonged weightlessness are also being investigated. Particle deposition in the human lung, independent respiratory support system, food technology, and remotely controlled manipulators are mentioned briefly.

  11. Control and manipulation of a magnetic skyrmionium in nanostructures

    Science.gov (United States)

    Zhang, Xichao; Xia, Jing; Zhou, Yan; Wang, Daowei; Liu, Xiaoxi; Zhao, Weisheng; Ezawa, Motohiko

    2016-09-01

    A magnetic skyrmionium is a nontopological soliton, which has a doughnut-like out-of-plane spin texture in thin films, and can be phenomenologically viewed as a coalition of two topological magnetic skyrmions with opposite topological numbers. Due to its zero topological number (Q =0 ) and doughnut-like structure, the skyrmionium has its distinctive characteristics as compared to the skyrmion with Q =±1 . Here we systematically study the generation, manipulation, and motion of a skyrmionium in ultrathin magnetic nanostructures by applying a magnetic field or a spin-polarized current. It is found that the skyrmionium moves faster than the skyrmion when they are driven by the out-of-plane current, and their velocity difference is proportional to the driving force. However, the skyrmionium and skyrmion exhibit an identical current-velocity relation when they are driven by the in-plane current. It is also found that a moving skyrmionium is less deformed in the current-in-plane geometry compared with the skyrmionium in the current-perpendicular-to-plane geometry. Furthermore we demonstrate the transformation of a skyrmionium with Q =0 into two skyrmions with Q =+1 in a nanotrack driven by a spin-polarized current, which can be seen as the unzipping process of a skyrmionium. We illustrate the energy and spin structure variations during the skyrmionium unzipping process, where linear relations between the spin structure and energies are found. These results could have technological implications in the emerging field of skyrmionics.

  12. Cells and Stripes: A novel quantitative photo-manipulation technique.

    Science.gov (United States)

    Mistrik, Martin; Vesela, Eva; Furst, Tomas; Hanzlikova, Hana; Frydrych, Ivo; Gursky, Jan; Majera, Dusana; Bartek, Jiri

    2016-01-18

    Laser micro-irradiation is a technology widely used in the DNA damage response, checkpoint signaling, chromatin remodeling and related research fields, to assess chromatin modifications and recruitment of diverse DNA damage sensors, mediators and repair proteins to sites of DNA lesions. While this approach has aided numerous discoveries related to cell biology, maintenance of genome integrity, aging and cancer, it has so far been limited by a tedious manual definition of laser-irradiated subcellular regions, with the ensuing restriction to only a small number of cells treated and analyzed in a single experiment. Here, we present an improved and versatile alternative to the micro-irradiation approach: Quantitative analysis of photo-manipulated samples using innovative settings of standard laser-scanning microscopes. Up to 200 cells are simultaneously exposed to a laser beam in a defined pattern of collinear rays. The induced striation pattern is then automatically evaluated by a simple algorithm, which provides a quantitative assessment of various laser-induced phenotypes in live or fixed cells. Overall, this new approach represents a more robust alternative to existing techniques, and provides a versatile tool for a wide range of applications in biomedicine.

  13. "Plug-and-go" strategy to manipulate streptavidin valencies.

    Science.gov (United States)

    Sun, Xun; Montiel, Daniel; Li, Hao; Yang, Haw

    2014-08-20

    The streptavidin-biotin set is one of the most widely utilized conjugation pairs in biotechnological applications. The tetravalent nature of streptavidin and its homologues, however, tends to result in such undesirable complications as cross-linking or ill-defined stoichiometry. Here, we describe a mutagenesis-free strategy to manipulate the valencies of wild-type streptavidin that only requires commercially available reagents. The basic idea is simple: one obtains the desired streptavidin valency by blocking off unwanted binding sites using ancillary biotin ("plug"); this way, the extraordinary fM-biotin-binding affinity is fully retained for the remaining sites in streptavidin. In the present implementation, the ancillary biotin is attached to an auxiliary separation handle, negatively charged DNA or His-tagged protein, via a photochemically or enzymatically cleavable linker. Mixing streptavidin with the ancillary biotin construct produces a distribution of streptavidin valencies. The subsequent chromatographic separation readily isolates the construct of desired streptavidin valency, and the auxiliary handles are easily removed afterward ("go"). We demonstrate how this "plug-and-go" strategy allows a precise control for the compositions of streptavidin-biotin conjugates at the single-molecule level. This low-entry-barrier protocol could further expand the application scope of the streptavidin technology.

  14. Peltier-effect module for highly localized temperature manipulations

    Science.gov (United States)

    Huang, Lei; Wang, Wanjun; Murphy, Michael C.

    1999-11-01

    A Peltier-effect module suitable for applications that require manipulation of the temperature (cooling or heating) of microsized subjects or at a highly localized spot was developed. The module was constructed from a commercial electronic refrigeration device based on the Peltier effect with an array of microprobes attached to its top surface. The microprobes were fabricated using the LIGA (German acronym for lithographie, galvanoformung, abformung) process—one of the microelectromechanical systems technologies. The 1000-μm-tall microprobes were fabricated on a titanium plate and then bonded onto the top surface of a commercial Peltier device. When an electrical current was supplied to the Peltier device, the top surface (with microprobes) of the device was cooled and the other side was heated. Heat was conducted from a microsample on the tip of microprobe to the top surface of the Peltier device. A dynamic model of the module was developed and numerical simulation studies were conducted. The prototype module was tested and the experimental results matched well with those predicted by the numerical simulations. The maximum difference between the temperature of a microsample and that at the surface of the Peltier device was approximately 1 °C.

  15. Real-time depth map manipulation for 3D visualization

    Science.gov (United States)

    Ideses, Ianir; Fishbain, Barak; Yaroslavsky, Leonid

    2009-02-01

    One of the key aspects of 3D visualization is computation of depth maps. Depth maps enables synthesis of 3D video from 2D video and use of multi-view displays. Depth maps can be acquired in several ways. One method is to measure the real 3D properties of the scene objects. Other methods rely on using two cameras and computing the correspondence for each pixel. Once a depth map is acquired for every frame, it can be used to construct its artificial stereo pair. There are many known methods for computing the optical flow between adjacent video frames. The drawback of these methods is that they require extensive computation power and are not very well suited to high quality real-time 3D rendering. One efficient method for computing depth maps is extraction of motion vector information from standard video encoders. In this paper we present methods to improve the 3D visualization quality acquired from compression CODECS by spatial/temporal and logical operations and manipulations. We show how an efficient real time implementation of spatial-temporal local order statistics such as median and local adaptive filtering in 3D-DCT domain can substantially improve the quality of depth maps and consequently 3D video while retaining real-time rendering. Real-time performance is achived by utilizing multi-core technology using standard parallelization algorithms and libraries (OpenMP, IPP).

  16. Manipulating colloids with charges and electric fields

    Science.gov (United States)

    Leunissen, M. E.

    2007-02-01

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

  17. Intraoperative Manipulation for Flexion Contracture During Total Knee Arthroplasty.

    Science.gov (United States)

    Matsui, Yoshio; Minoda, Yukihide; Fumiaki, Inori; Nakagawa, Sigeru; Okajima, Yoshiaki; Kobayashi, Akio

    2016-11-01

    Joint gap balancing during total knee arthroplasty (TKA) is important for ensuring postoperative joint stability and range of motion. Although the joint gap should be balanced to ensure joint stability, it is not easy to achieve perfect balancing during TKA. In particular, relative extension gap shortening can induce flexion contracture. Intraoperative manipulation is often empirically performed. This study evaluated the tension required for this manipulation and investigated the influence of intraoperative manipulation on the joint gap in cadaveric knees. Total knee arthroplasty was performed in 6 cadaveric knees from whole body cadavers. Flexion contracture was induced using an insert that was 4 mm thicker than the extension gap, and intraoperative manipulation was performed. Study measurements included the changes in the joint gap after manipulation at 6 positions, with the knee bending from extension to 120° flexion, and the manipulation tension that was required to create a 4-mm increase in the gap. The manipulation tension needed to create a 4-mm increase in the extension gap was 303±17 N. The changes in the joint gap after manipulation were 0.4 mm, 0.6 mm, 0.2 mm, -0.2 mm, -0.4 mm, and -0.6 mm at 0°, 30°, 45°, 60°, 90°, and 120° flexion, respectively. Therefore, the joint gap was not significantly changed by the manipulation. Intraoperative manipulation does not resolve flexion contracture. Therefore, if flexion contracture occurs during TKA, treatment with additional bone cutting and soft tissue release is likely more appropriate than manipulation. [Orthopedics. 2016; 39(6):e1070-e1074.]. Copyright 2016, SLACK Incorporated.

  18. Taking behavioralism seriously: some evidence of market manipulation.

    Science.gov (United States)

    Hanson, J D; Kysar, D A

    1999-05-01

    Over the last ten to fifteen years, economists and legal scholars have become increasingly interested in and sensitive to behavioralist insights. In a companion article, Jon Hanson and Douglas Kysar argued that those scholars have nevertheless given short shrift to what is, at least for policymaking purposes, perhaps the most important lesson of the behavioralist research: individuals' perceptions and preferences are highly manipulable. According to Hanson and Kysar, one theoretical implication of that insight for products liability law is that manufacturers and marketers will manipulate the risk perceptions of consumers. Indeed, to survive in a competitive market, manufacturers and marketers must do so. In this Article, Hanson and Kysar present empirical evidence of market manipulation--a previously unrecognized source of market failure. The Article begins by surveying the extensive qualitative and quantitative marketing research and consumer behavioral studies that discern and influence consumer perceptions. It then provides evidence of market manipulation by reviewing common practices in everyday market settings, such as gas stations and supermarkets, and by examining familiar marketing approaches, such as environmentally oriented and fear-based advertising. Although consumers may be well-aware of those practices and approaches, they appear to be generally unaware of the extent to which those tactics are manipulative. The Article then focuses on the industry that has most depended upon market manipulation: the cigarette industry. Through decades of sophisticated marketing and public relations efforts, cigarette manufacturers have heightened consumer demand and lowered consumer risk perceptions. Because consumers are aware that smoking may pose significant health risks, the tobacco industry's success in manipulating risk perceptions constitutes especially strong evidence of the power of market manipulation. The Article concludes by arguing that the evidence of

  19. Bilateral and multiple cavitation sounds during upper cervical thrust manipulation

    Directory of Open Access Journals (Sweden)

    Dunning James

    2013-01-01

    Full Text Available Abstract Background The popping produced during high-velocity, low-amplitude (HVLA thrust manipulation is a common sound; however to our knowledge, no study has previously investigated the location of cavitation sounds during manipulation of the upper cervical spine. The primary purpose was to determine which side of the spine cavitates during C1-2 rotatory HVLA thrust manipulation. Secondary aims were to calculate the average number of pops, the duration of upper cervical thrust manipulation, and the duration of a single cavitation. Methods Nineteen asymptomatic participants received two upper cervical thrust manipulations targeting the right and left C1-2 articulation, respectively. Skin mounted microphones were secured bilaterally over the transverse process of C1, and sound wave signals were recorded. Identification of the side, duration, and number of popping sounds were determined by simultaneous analysis of spectrograms with audio feedback using custom software developed in Matlab. Results Bilateral popping sounds were detected in 34 (91.9% of 37 manipulations while unilateral popping sounds were detected in just 3 (8.1% manipulations; that is, cavitation was significantly (P Conclusions Cavitation was significantly more likely to occur bilaterally than unilaterally during upper cervical HVLA thrust manipulation. Most subjects produced 3–4 pops during a single rotatory HVLA thrust manipulation targeting the right or left C1-2 articulation; therefore, practitioners of spinal manipulative therapy should expect multiple popping sounds when performing upper cervical thrust manipulation to the atlanto-axial joint. Furthermore, the traditional manual therapy approach of targeting a single ipsilateral or contralateral facet joint in the upper cervical spine may not be realistic.

  20. A reliable and flexible gene manipulation strategy in posthatch zebra finch brain

    Science.gov (United States)

    Ahmadiantehrani, Somayeh; London, Sarah E.

    2017-01-01

    Songbird models meaningfully contribute to many fields including learned vocal communication, the neurobiology of social interactions, brain development, and ecology. The value of investigating gene-brain-behavior relationships in songbirds is therefore high. Viral infections typically used in other lab animals to deliver gene editing constructs have been less effective in songbirds, likely due to immune system properties. We therefore leveraged the in vivo electroporation strategy used in utero in rodents and in ovo in poultry, and apply it to posthatch zebra finch songbird chicks. We present a series of experiments with a combination of promoters, fluorescent protein genes, and piggyBac transposase vectors to demonstrate that this can be a reliable, efficient, and flexible strategy for genome manipulation. We discuss options for gene delivery experiments to test circuit and behavioral hypotheses using a variety of manipulations, including gene overexpression, CRISPR/Cas9 gene editing, inducible technologies, optogenetic or DREADD cellular control, and cell type-specific expression. PMID:28233828

  1. A perspective on the economic valorization of gene manipulated biotechnology: Past and future

    Directory of Open Access Journals (Sweden)

    Mirjam Knockaert

    2015-06-01

    Full Text Available Three distinct fields of gene manipulated biotechnology have so far been economically exploited: medical biotechnology, plant biotechnology and industrial biotechnology. This article analyzes the economic evolution and its drivers in the three fields over the past decades, highlighting strong divergences. Product and market characteristics, affecting firms’ financing options, are shown to be important enablers or inhibitors. Subsequently, the lack of commercialization in a fourth type of gene manipulated biotechnology, namely environmental biotechnology, is explained by the existence of strong barriers. Given the latter’s great promises for environmental sustainability, we argue for a need to push the commercial valorization of environmental biotechnology. Our research has strong implications for (technology management research in biotechnology, pointing to a need to control for and/or distinguish between different biotechnology fields.

  2. Precise Manipulation and Patterning of Protein Crystals for Macromolecular Crystallography Using Surface Acoustic Waves.

    Science.gov (United States)

    Guo, Feng; Zhou, Weijie; Li, Peng; Mao, Zhangming; Yennawar, Neela H; French, Jarrod B; Huang, Tony Jun

    2015-06-01

    Advances in modern X-ray sources and detector technology have made it possible for crystallographers to collect usable data on crystals of only a few micrometers or less in size. Despite these developments, sample handling techniques have significantly lagged behind and often prevent the full realization of current beamline capabilities. In order to address this shortcoming, a surface acoustic wave-based method for manipulating and patterning crystals is developed. This method, which does not damage the fragile protein crystals, can precisely manipulate and pattern micrometer and submicrometer-sized crystals for data collection and screening. The technique is robust, inexpensive, and easy to implement. This method not only promises to significantly increase efficiency and throughput of both conventional and serial crystallography experiments, but will also make it possible to collect data on samples that were previously intractable.

  3. 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.

  4. 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.

  5. Application of the zona-free manipulation technique to porcine somatic nuclear transfer

    DEFF Research Database (Denmark)

    Booth, P J; Tan, S J; Holm, P

    2001-01-01

    The recent demonstration of a successful zona-free manipulation technique for bovine somatic nuclear transfer (NT) that is both simpler and less labor intensive is of considerable benefit to advance the applications of this technology. Here, we describe that this method is also applicable...... that could conceivably contribute to halted development in a high proportion of embryos. The results indicate that the zona-free manipulation technique can be successfully applied to pig somatic NT. Although such zona-free early cleavage stage embryos cannot be transferred to recipients at present...... to porcine somatic NT. Porcine cumulus oocyte complexes were matured in TCM-199 medium before sequential removal of the cumulus and zonae. Zona-free oocytes were bisected using a microknife, and the halves containing the metaphase plate (as determined by Hoechst 33342 staining) were discarded. Each half...

  6. Molecular handles for the mechanical manipulation of single-membrane proteins in living cells.

    Science.gov (United States)

    Gorostiza, Pau; Tombola, Francesco; Verdaguer, Albert; Smith, Steven B; Bustamante, Carlos; Isacoff, Ehud Y

    2005-12-01

    We have developed a procedure to selectively biotinylate a specific membrane protein, enabling its attachment to external force probes and thus allowing its mechanical manipulation within its native environment. Using potassium channels as model membrane proteins in oocytes, we have found that Maleimide-PEG3400-biotin is the crosslinker with highest conjugation selectivity and accessibility to external probes. Neutravidin-coated beads provide for directed attachment while avoiding nonspecific interactions with the cell. The technology was successfully tested by mechanical manipulation of biotinylated extracellular residues of channels in oocytes using an atomic force microscope under conditions which preserve function of the channels. Binding forces of approximately 80 pN at 100 nN/s were measured.

  7. Flow Manipulation in Thread-Based Microfluidics by Tuning the Wettability of Wool.

    Science.gov (United States)

    Jeon, So-Hyoun; Hwang, Ki-Hwan; Jung, Won Suk; Seo, Hyeon-Jin; Nam, Sung Woo; Boo, Jin-Hyo; Yun, Sang H

    2015-02-01

    Recent progress in thread-based microfluidic devices has provided portable and inexpensive field-based technologies enabling medical diagnostics, environmental monitoring, and food safety analysis. However, capillary-driven liquid flow in a single thread, a crucial aspect of thread-based microfluidics, is difficult to control. Among potential materials, hydrophobic wool thread is an appropriate candidate for liquid flow control in thread-based microfluidics because its wettability can be readily tuned by the introduction of a natural color pigment, thereby manipulating flow. Thus, utilizing natural wool thread as a channel, we demonstrate here that liquid flow manipulations, such as microselecting and micromixing, can be achieved by coating the complex Al(III) (Alum) brazilein onto wool thread. In addition to enabling flow control, the coated wool channels consisting entirely of naturally occurring substances will be beneficial for biological sensing devices.

  8. Inner-Learning Mechanism Based Control Scheme for Manipulator with Multitasking and Changing Load

    Directory of Open Access Journals (Sweden)

    Fangzheng Xue

    2014-05-01

    Full Text Available With the rapid development of robot technology and its application, manipulators may face complex tasks and dynamic environments in the coming future, which leads to two challenges of control: multitasking and changing load. In this paper, a novel multicontroller strategy is presented to meet such challenges. The presented controller is composed of three parts: subcontrollers, inner-learning mechanism, and switching rules. Each subcontroller is designed with self-learning skills to fit the changing load under a special task. When a new task comes, switching rule reselects the most suitable subcontroller as the working controller to handle current task instead of the older one. Inner-learning mechanism makes the subcontrollers learn from the working controller when load changes so that the switching action causes smaller tracking error than the traditional switch controller. The results of the simulation experiments on two-degree manipulator show the proposed method effect.

  9. Multi-stimuli manipulation of antiferromagnetic domains assessed by second-harmonic imaging

    Science.gov (United States)

    Chauleau, J.-Y.; Haltz, E.; Carrétéro, C.; Fusil, S.; Viret, M.

    2017-08-01

    Among the variety of magnetic textures available in nature, antiferromagnetism is one of the most `discrete' because of the exact cancellation of its staggered internal magnetization. It is therefore very challenging to probe. However, its insensitivity to external magnetic perturbations, together with the intrinsic sub-picosecond dynamics, make it very appealing for tomorrow's information technologies. Thus, it is essential to understand the microscopic mechanisms governing antiferromagnetic domains to achieve accurate manipulation and control. Using optical second-harmonic generation, a unique and laboratory-available tool, we succeeded in imaging with sub-micrometre resolution both electric and antiferromagnetic orders in the model multiferroic BiFeO3. We show here that antiferromagnetic domains can be manipulated with low power consumption, using sub-coercive electric fields and sub-picosecond light pulses. Interestingly, we also show that antiferromagnetic and ferroelectric domains can behave independently, thus revealing that magneto-electric coupling can lead to various arrangements of the two orders.

  10. Bandwidth manipulation of quantum light by an electro-optic time lens

    CERN Document Server

    Karpinski, Michal; Wright, Laura J; Smith, Brian J

    2016-01-01

    The ability to manipulate the spectral-temporal waveform of optical pulses has enabled a wide range of applications from ultrafast spectroscopy to high-speed communications. Extending these concepts to quantum light has the potential to enable breakthroughs in optical quantum science and technology. However, filtering and amplifying often employed in classical pulse shaping techniques are incompatible with non-classical light. Controlling the pulsed mode structure of quantum light requires efficient means to achieve deterministic, unitary manipulation that preserves fragile quantum coherences. Here we demonstrate an electro-optic method for modifying the spectrum of non-classical light by employing a time lens. In particular we show highly-efficient wavelength-preserving six-fold compression of single-photon spectral intensity bandwidth, enabling over a two-fold increase of single-photon flux into a spectrally narrowband absorber. These results pave the way towards spectral-temporal photonic quantum informati...

  11. A Review on the Key Software and Hardware Technology of the Advanced Robotic Manipulator Used for Underwater Structures Repair%水下结构物修复用先进机械手软硬件关键技术综述

    Institute of Scientific and Technical Information of China (English)

    周灿丰; 孙潇; 高辉; 焦向东

    2015-01-01

    机器人进行水下结构物维修时,不仅处于非结构化环境,而且存在浮游碰撞危险,作业区域可达性差,水下环境识别困难等特殊问题,所以,进一步提升机器人智能化水平非常重要。英国GRL公司用于焊缝检验的先进海底机械手A RM系统采用先进的人机接口以及工厂用机器人的某些技术,实现了机械手的控制。以ARM的开发经验为基础,目前GRL公司正在研制更为先进的机器人控制系统Polecat ,该系统将用于ROV导航员的训练平台Rovsim以及一系列欧盟和商业项目之中,其适用场合不仅包括海洋工程,也包括核电和其他环境。%When a robot is to carry out underwater structure repair ,it works in an unstructured environment .More significantly , some special problems should be solved , such as collision hazard in floating ,bad accessibility to working areas ,and difficult registration in underwater en‐vironment ,so to improve the intelligence level of subsea robots is very important .This paper de‐scribes the development of the ARM System ,an advanced subsea manipulator for weld inspection made by GRL UK .ARM uses an advanced man‐machine interface and provides robotic control of the manipulator adopting techniques developed in factory robots . A more advanced robotic control system ,Polecat ,is currently being developed by GRL UK ,based on experience gained from ARM .Polecat will be used in an ROV pilot trainer ,Rovsim ,and a number of European Union projects and other commercial projects ,which can be used subsea or in the nuclear power field .

  12. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an ass

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

    Directory of Open Access Journals (Sweden)

    Michiel van Elk

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

  14. Design and Transmission Analysis of an Asymmetrical Spherical Parallel Manipulator

    DEFF Research Database (Denmark)

    Wu, Guanglei; Caro, Stéphane; Wang, Jiawei

    2015-01-01

    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 ...

  15. Intelligent Control of Flexible-Joint Robotic Manipulators

    Science.gov (United States)

    Colbaugh, R.; Gallegos, G.

    1997-01-01

    This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

  16. Developing an aerial manipulator prototype: physical interaction with the environment

    NARCIS (Netherlands)

    Fumagalli, Matteo; Naldi, Roberto; Macchelli, Alessandro; Forte, Francesco; Keemink, Arvid Q.L.; Stramigioli, Stefano; Carloni, Raffaella; Marconi, Lorenzo

    2014-01-01

    This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction

  17. Integrating Concrete and Virtual Manipulatives in Early Childhood Mathematics

    Science.gov (United States)

    Rosen, Dina; Hoffman, Jo

    2009-01-01

    Early childhood teachers around the country and the world guide children's mathematical learning through the use of manipulatives--pattern blocks, base blocks, geoboards, Unifx cubes, Cuisenaire rods, coins, clocks, and so on. Manipulatives allow concrete, hands-on exploration and representation of mathematical concepts. In the past few years,…

  18. 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

  19. Dynamic Coordination Of A Two-Arm Robotic Manipulator

    Science.gov (United States)

    Lee, Sukhan; Kim, Sungbok

    1994-01-01

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

  20. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an