Treatability tests on water from a low-level waste burial ground

International Nuclear Information System (INIS)

Taylor, P.A.

1990-01-01

Lab-scale treatability tests on trench water from a low-level waste burial ground have shown that the water can be successfully treated by existing wastewater treatment plants at Oak Ridge National Laboratory. Water from the four most highly contaminated trenches that had been identified to date was used in the treatability tests. The softening and ion exchange processes used in the Process Wastewater Treatment Plant removed Sr-90 from the trench water, which was the only radionuclide present at above the discharge limits. The air stripping and activated carbon adsorption processes used in the Nonradiological Wastewater Treatment Plant removed volatile and semi-volatile organics, which were the main contaminants in the trench water, to below detection limits. 6 refs., 2 figs., 7 tabs

Deep Vadose Zone Treatability Test of Soil Desiccation for the Hanford Central Plateau: Final Report

Energy Technology Data Exchange (ETDEWEB)

Truex, Michael J. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Chronister, Glen B. [CH2M Hill Plateau Remediation Co., Richland, WA (United States); Strickland, Christopher E. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Christian D. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Tartakovsky, Guzel D. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Oostrom, Martinus [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Clayton, Ray E. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Timothy C. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Freedman, Vicky L. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Rockhold, Mark L. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Greenwood, William J. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Peterson, John E. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Hubbard, Susan S. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Ward, Anderson L. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

2018-02-20

Some of the inorganic and radionuclide contaminants in the deep vadose zone at the Hanford Site are at depths where direct exposure pathways are not of concern, but may need to be remediated to protect groundwater. The Department of Energy developed a treatability test program for technologies to address Tc-99 and uranium in the deep vadose zone. These contaminants are mobile in the subsurface environment, have been detected at high concentrations deep in the vadose zone, and at some locations have reached groundwater. The treatability test of desiccation described herein was conducted as an element of the deep vadose zone treatability test program. Desiccation was shown to be a potentially effective vadose zone remediation technology to protect groundwater when used in conjunction with a surface infiltration barrier.

Demonstration testing and evaluation of in situ soil heating. Treatability study work plan (Revision 2)

International Nuclear Information System (INIS)

Sresty, G.C.

1994-01-01

A Treatability Study planned for the demonstration of the in situ electromagnetic (EM) heating process to remove organic solvents is described in this Work Plan. The treatability study will be conducted by heating subsurface vadose-zone soils in an organic plume adjacent to the Classified Burial Ground K-1070-D located at K-25 Site, Oak Ridge. The test is scheduled to start during the fourth quarter of FY94 and will be completed during the first quarter of FY95. Over the last nine years, a number of Government agencies (EPA, Army, AF, and DOE) and industries sponsored further development and testing of the in situ heating and soil decontamination process for the remediation of soils containing hazardous organic contaminants. In this process the soil is heated in situ using electrical energy. The contaminants are removed from the soil due to enhanced vaporization, steam distillation and stripping. IITRI will demonstrate the EM Process for in situ soil decontamination at K-25 Site under the proposed treatability study. Most of the contaminants of concern are volatile organics which can be removed by heating the soil to a temperature range of 85 degrees to 95 degrees C. The efficiency of the treatment will be determined by comparing the concentration of contaminants in soil samples. Samples will be obtained before and after the demonstration for a measurement of the concentration of contaminants of concern. This document is a Treatability Study Work Plan for the demonstration program. The document contains a description of the proposed treatability study, background of the EM heating process, description of the field equipment, and demonstration test design

Soil washing treatability study

International Nuclear Information System (INIS)

Krstich, M.

1995-12-01

Soil washing was identified as a viable treatment process option for remediating soil at the FEMP Environmental Management Project (FEMP). Little information relative to the specific application and potential effectiveness of the soil washing process exists that applies to the types of soil at the FEMP. To properly evaluate this process option in conjunction with the ongoing FEMP Remedial Investigation/Feasibility Study (RI/FS), a treatability testing program was necessary to provide a foundation for a detailed technical evaluation of the viability of the process. In August 1991, efforts were initiated to develop a work plan and experimental design for investigating the effectiveness of soil washing on FEMP soil. In August 1992, the final Treatability Study Work Plan for Operable Unit 5: Soil Washing (DOE 1992) was issued. This document shall be referenced throughout the remainder of this report as the Treatability Study Work Plan (TSWP). The purpose of this treatability study was to generate data to support initial screening and the detailed analysis of alternatives for the Operable Unit 5 FS

Firm contracts for treatability tests on contaminated soils

International Nuclear Information System (INIS)

Anon.

1989-01-01

Geosafe Corporation, a Pacific Northwest-headquartered hazardous waste remediation company, announced that is has successfully completed treatability testing of contaminated soils under contract with Woodward Clyde Consultants of Denver, Colorado, the prime contractor for a major hazardous waste site in the Western United States. The tests are being conducted at the University of Washington with Geosafe's specially-designed test equipment. The recently concluded testing confirms the ability of Geosafe's patented in situ vitrification (ISV) technology to treat soils containing a variety of organic and inorganic contaminants. ISV, for which Geosafe has worldwide rights, is the only technology available today that will fully comply with the Superfund Amendments and Reauthorization Act. The ability of ISV to treat mixtures of organic, inorganic and radioactive wastes in situ, in a single process, offers distinct advantages over excavation, transportation and incineration. During the ISV process, organic contaminants are pyrolized and the inorganics present are chemically incorporated into the molten soil which, when cooled, resembles naturally-occurring obsidian

Hydraulic testing plan for the Bear Creek Valley Treatability Study, Oak Ridge Y-12 Plant, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1997-09-01

The Bear Creek Valley (BCV) Treatability Study is intended to provide site-specific data defining potential treatability technologies applicable to contaminated groundwater and surface water. The ultimate goal of this effort is to install a treatment system that will remove uranium, technetium, nitrate, and several metals from groundwater before it reaches Bear Creek. This project directly supports the BCV Feasibility Study. Part of the Treatability Study, Phase II Hydraulic Performance Testing, will produce hydraulic and treatment performance data required to design a long-term treatment system. This effort consists of the installation and testing of two groundwater collection systems: a trench in the vicinity of GW-835 and an angled pumping well adjacent to NT-1. Pumping tests and evaluations of gradients under ambient conditions will provide data for full-scale design of treatment systems. In addition to hydraulic performance, in situ treatment chemistry data will be obtained from monitoring wells installed in the reactive media section of the trench. The in situ treatment work is not part of this test plan. This Hydraulic Testing Plan describes the location and installation of the trench and NT-1 wells, the locations and purpose of the monitoring wells, and the procedures for the pumping tests of the trench and NT-1 wells

Manipulator comparative testing program

International Nuclear Information System (INIS)

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

1986-01-01

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

In situ respiration testing: A field treatability test for bioventing

International Nuclear Information System (INIS)

Kittel, J.A.; Hinchee, R.E.; Miller, R.; Vogel, C.; Hoeppel, R.

1993-01-01

Bioventing is the process of aerating subsurface soils to stimulate in situ biological activity and promote bioremediation. Bioventing differs from soil venting in remedial approach. Soil venting is designed and operated to maximize the volatilization of low-molecular-weight compounds, with some biodegradation occurring. In contrast, bioventing is designed to maximize biodegradation of aerobically biodegradable compounds, regardless of their molecular weight, with some volatilization occurring. Bioventing is gaining wide acceptance as a remediation alternative at petroleum-contaminated sites. However, site variability usually requires that a short term treatability test be conducted in situ at potential sites to determine the applicability of bioventing. Battelle has worked with the US Air Force and the US Navy to develop a simple and inexpensive field test to evaluate bioventing potential-contaminated sites. This test has been used to evaluate the applicability of bioventing at over 50 sites. The in situ respiration test consists of injecting air and an inert tracer gas (helium) over a 24-hour period to aerate soils at an oxygen-deficient, petroleum-contaminated site. Soil vapor samples are collected to determine oxygen utilization rates and carbon dioxide production rates. The stoichiometric relationship for the oxidation of hexane is used to calculate the biodegradation rate. The tracer gas is monitored to estimate the effect of diffusion on changes in soil-gas concentrations

Evaporative oxidation treatability test report

International Nuclear Information System (INIS)

1995-04-01

In 1992, Congress passed the Federal Facilities Compliance Act that requires the U.S. Department of Energy (DOE) to treat and dispose of its mixed waste in accordance with the Resource Conservation and Recovery Act (RCRA) land disposal restrictions (LDRs). In response to the need for mixed-waste treatment capacity where available off-site commercial treatment facilities do not exist or cannot be used, the DOE Albuquerque Operations Office (DOE-AL) organized a Treatment Selection Team to match mixed wastes with treatment options and develop a strategy for treatment of its mixed wastes. DOE-AL manages operations at nine sites with mixed-waste inventories. The Treatment Selection Team determined a need to develop mobile treatment capacity to treat wastes at the sites where the wastes are generated. Treatment processes used for mixed waste not only must address the hazardous component (i.e., meet LDRs) but also must contain the radioactive component in a form that allows final disposal while protecting workers, the public, and the environment. On the basis of recommendations of the Treatment Selection Team, DOE-AL assigned projects to the sites to bring mixed-waste treatment capacity on-line. The three technologies assigned to the DOE Grand Junction Projects Office (GJPO) are evaporative oxidation, thermal desorption, and treated wastewater evaporation. Rust Geotech, the DOE-GJPO prime contractor, was assigned to design and fabricate mobile treatment units (MTUs) for these three technologies and to deliver the MTUs to selected DOE-AL sites. To conduct treatability tests at the GJPO, Rust leased a pilot-scale evaporative oxidation unit from the Clemson Technical Center (CTC), Anderson, South Carolina. The purpose of this report is to document the findings and results of tests performed using this equipment

In situ vitrification program treatability investigation progress report

International Nuclear Information System (INIS)

Arrenholz, D.A.

1991-02-01

This document presents a summary of the efforts conducted under the in situ vitrification treatability study during the period from its initiation in FY-88 until FY-90. In situ vitrification is a thermal treatment process that uses electrical power to convert contaminated soils into a chemically inert and stable glass and crystalline product. Contaminants present in the soil are either incorporated into the product or are pyrolyzed during treatment. The treatability study being conducted at the Idaho National Engineering Laboratory by EG ampersand G Idaho is directed at examining the specific applicability of the in situ vitrification process to buried wastes contaminated with transuranic radionuclides and other contaminants found at the Subsurface Disposal Area of the Radioactive Waste Management Complex. This treatability study consists of a variety of tasks, including engineering tests, field tests, vitrified product evaluation, and analytical models of the in situ vitrification process. 6 refs., 4 figs., 3 tabs

Soil washing treatability testing for rad-waste material

International Nuclear Information System (INIS)

Leis, K.S.; Lear, P.R.

1997-01-01

Soil washing treatability testing was successfully completed on soil contaminated with Ra-226 and Th-232. The objective of the soil washing study was to determine if the radiologically contaminated fraction of the soil could be separated from the bulk of the soil material. The cleanup criteria was 38 microm) fraction was allowed to settle and was washed to separate it from the highly contaminated fine (< 38 microm) fraction. The clean coarse fraction comprised 85.7% of the total solids and had less than 15 pCi/g of Ra-226 and Th-232. This material was to be disposed at a RCRA Subtitle D disposal facility. The suspended fines were flocculated and dewatered to minimize the amount of highly contaminated material produced by the soil washing. The dewatered fines would require disposal at a low-level radiological disposal facility. Mass balance calculations were made to determine production rates and chemical and equipment requirements for the full-scale soil washing treatment

Laboratory treatability studies preparatory to field testing a resting-cell in situ microbial filter bioremediation strategy

International Nuclear Information System (INIS)

Taylor, R.T.; Hanna, M.L.

1995-04-01

Prior to a down-hole-column treatability test of a Methylosinus trichosporium OB3b attached-resting-cell in situ biofilter strategy, a set of three sequential laboratory experiments were carried out to define several key operational parameters and to evaluate the likely degree of success at a NASA Kennedy Space Center site. They involved the cell attachment to site-specific sediments, the intrinsic resting-cell biotransformation capacities for the contaminants of interest plus their time-dependent extents of biodegradative removal at the concentrations of concern, and a scaled in situ mini-flow-through-column system that closely mimics the subsurface conditions during a field-treatability or pilot test of an emplaced resting-cell filter. These experiments established the conditions required for the complete metabolic removal of a vinyl chloride (VC), cis-dichlororthylene (cis-DCE) and trichloroethylene (TCE) mixture. However, the gas chromatographic (GC) procedures that we utilized and the mini-flow-through column data demonstrated that, at most, only about 50--70% of the site-water VC, cis-DCE, and TCE would be biodegraded. This occurred because of a limiting level of dissolved oxygen, which was exacerbated by the simultaneous presence of several additional previously unrecognized groundwater components, especially methane, that are also competing substrates for the whole-cell soluble methane monooxygenase (sMMO) enzyme complex. Irrespective, collectively the simplicity of the methods that we have developed and the results obtainable with them appear to provide relevant laboratory-based test-criteria before taking our microbial filter strategy to an in situ field treatability or pilot demonstration stage at other sites in the future

LABORATORY SCALE STEAM INJECTION TREATABILITY STUDIES

Science.gov (United States)

Laboratory scale steam injection treatability studies were first developed at The University of California-Berkeley. A comparable testing facility has been developed at USEPA's Robert S. Kerr Environmental Research Center. Experience has already shown that many volatile organic...

Treatability Test Plan for 300 Area Uranium Stabilization through Polyphosphate Injection

International Nuclear Information System (INIS)

Vermeul, Vince R.; Williams, M. D.; Fritz, Brad G.; Mackley, Rob D.; Mendoza, Donaldo P.; Newcomer, Darrell R.; Rockhold, Mark L.; Williams, Bruce A.; Wellman, Dawn M.

2007-01-01

The U.S. Department of Energy has initiated a study into possible options for stabilizing uranium at the 300 Area using polyphosphate injection. As part of this effort, PNNL will perform bench- and field-scale treatability testing designed to evaluate the efficacy of using polyphosphate injections to reduced uranium concentrations in the groundwater to meet drinking water standards (30 (micro)g/L) in situ. This technology works by forming phosphate minerals (autunite and apatite) in the aquifer that directly sequester the existing aqueous uranium in autunite minerals and precipitates apatite minerals for sorption and long term treatment of uranium migrating into the treatment zone, thus reducing current and future aqueous uranium concentrations. Polyphosphate injection was selected for testing based on technology screening as part of the 300-FF-5 Phase III Feasibility Study for treatment of uranium in the 300-Area

Treatability Test Plan for 300 Area Uranium Stabilization through Polyphosphate Injection

Energy Technology Data Exchange (ETDEWEB)

Vermeul, Vincent R.; Williams, Mark D.; Fritz, Brad G.; Mackley, Rob D.; Mendoza, Donaldo P.; Newcomer, Darrell R.; Rockhold, Mark L.; Williams, Bruce A.; Wellman, Dawn M.

2007-06-01

The U.S. Department of Energy has initiated a study into possible options for stabilizing uranium at the 300 Area using polyphosphate injection. As part of this effort, PNNL will perform bench- and field-scale treatability testing designed to evaluate the efficacy of using polyphosphate injections to reduced uranium concentrations in the groundwater to meet drinking water standards (30 ug/L) in situ. This technology works by forming phosphate minerals (autunite and apatite) in the aquifer that directly sequester the existing aqueous uranium in autunite minerals and precipitates apatite minerals for sorption and long term treatment of uranium migrating into the treatment zone, thus reducing current and future aqueous uranium concentrations. Polyphosphate injection was selected for testing based on technology screening as part of the 300-FF-5 Phase III Feasibility Study for treatment of uranium in the 300-Area.

Demonstration testing and evaluation of in situ soil heating. Treatability study work plan, Revision 1

Energy Technology Data Exchange (ETDEWEB)

Sresty, G.C.

1994-07-07

A Treatability Study planned for the demonstration of the in situ electromagnetic (EM) heating process to remove organic solvents is described in this Work Plan. The treatability study will be conducted by heating subsurface vadose-zone soils in an organic plume adjacent to the Classified Burial Ground K-1070-D located at K-25 Site, Oak Ridge. The test is scheduled to start during the fourth quarter of FY94 and will be completed during the first quarter of FY95. The EM heating process for soil decontamination is based on volumetric heating technologies developed during the `70s for the recovery of fuels from shale and tar sands by IIT Research Institute (IITRI) under a co-operative program with the US Department of Energy (DOE). Additional modifications of the technology developed during the mid `80s are currently used for the production of heavy oil and waste treatment. Over the last nine years, a number of Government agencies (EPA, Army, AF, and DOE) and industries sponsored further development and testing of the in situ heating and soil decontamination process for the remediation of soils containing hazardous organic contaminants. In this process the soil is heated in situ using electrical energy. The contaminants are removed from the soil due to enhanced vaporization, steam distillation and stripping. IITRI will demonstrate the EM Process for in situ soil decontamination at K-25 Site under the proposed treatability study. Most of the contaminants of concern are volatile organics which can be removed by heating the soil to a temperature range of 85 to 95 C. The efficiency of the treatment will be determined by comparing the concentration of contaminants in soil samples. Samples will be obtained before and after the demonstration for a measurement of the concentration of contaminants of concern.

Treatability study sample exemption: update

International Nuclear Information System (INIS)

1997-01-01

This document is a RCRA Information Brief intended to update the information in the 1991 Small-Scale Treatability Study Information Brief, and to address questions about the waste and treatability study sample exemptions that have arisen since References 3 and 5 were published

Deep Vadose Zone Treatability Test for the Hanford Central Plateau: Interim Post-Desiccation Monitoring Results

Energy Technology Data Exchange (ETDEWEB)

Truex, Michael J. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Oostrom, Martinus [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Strickland, Christopher E. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Timothy C. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Christian D. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Clayton, Ray E. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Chronister, Glen B. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

2013-09-01

A field test of desiccation is being conducted as an element of the deep vadose zone treatability test program. Desiccation technology relies on removal of water from a portion of the subsurface such that the resultant low moisture conditions inhibit downward movement of water and dissolved contaminants. Previously, a field test report (Truex et al. 2012a) was prepared describing the active desiccation portion of the test and initial post-desiccation monitoring data. Additional monitoring data have been collected at the field test site during the post-desiccation period and is reported herein along with interpretation with respect to desiccation performance. This is an interim report including about 2 years of post-desiccation monitoring data.

The treatable intellectual disability APP www.treatable-id.org: A digital tool to enhance diagnosis & care for rare diseases

Directory of Open Access Journals (Sweden)

van Karnebeek Clara D M

2012-07-01

Full Text Available Abstract Background Intellectual disability (ID is a devastating and frequent condition, affecting 2-3% of the population worldwide. Early recognition of treatable underlying conditions drastically improves health outcomes and decreases burdens to patients, families and society. Our systematic literature review identified 81 such inborn errors of metabolism, which present with ID as a prominent feature and are amenable to causal therapy. The WebAPP translates this knowledge of rare diseases into a diagnostic tool and information portal. Methods & results Freely available as a WebAPP via http://www.treatable-id.org and end 2012 via the APP store, this diagnostic tool is designed for all specialists evaluating children with global delay / ID and laboratory scientists. Information on the 81 diseases is presented in different ways with search functions: 15 biochemical categories, neurologic and non-neurologic signs & symptoms, diagnostic investigations (metabolic screening tests in blood and urine identify 65% of all IEM, therapies & effects on primary (IQ/developmental quotient and secondary outcomes, and available evidence For each rare condition a ‘disease page’ serves as an information portal with online access to specific genetics, biochemistry, phenotype, diagnostic tests and therapeutic options. As new knowledge and evidence is gained from expert input and PubMed searches this tool will be continually updated. The WebAPP is an integral part of a protocol prioritizing treatability in the work-up of every child with global delay / ID. A 3-year funded study will enable an evaluation of its effectiveness. Conclusions For rare diseases, a field for which financial and scientific resources are particularly scarce, knowledge translation challenges are abundant. With this WebAPP technology is capitalized to raise awareness for rare treatable diseases and their common presenting clinical feature of ID, with the potential to improve health outcomes

The treatable intellectual disability APP www.treatable-id.org: A digital tool to enhance diagnosis & care for rare diseases

Science.gov (United States)

2012-01-01

Background Intellectual disability (ID) is a devastating and frequent condition, affecting 2-3% of the population worldwide. Early recognition of treatable underlying conditions drastically improves health outcomes and decreases burdens to patients, families and society. Our systematic literature review identified 81 such inborn errors of metabolism, which present with ID as a prominent feature and are amenable to causal therapy. The WebAPP translates this knowledge of rare diseases into a diagnostic tool and information portal. Methods & results Freely available as a WebAPP via http://www.treatable-id.org and end 2012 via the APP store, this diagnostic tool is designed for all specialists evaluating children with global delay / ID and laboratory scientists. Information on the 81 diseases is presented in different ways with search functions: 15 biochemical categories, neurologic and non-neurologic signs & symptoms, diagnostic investigations (metabolic screening tests in blood and urine identify 65% of all IEM), therapies & effects on primary (IQ/developmental quotient) and secondary outcomes, and available evidence For each rare condition a ‘disease page’ serves as an information portal with online access to specific genetics, biochemistry, phenotype, diagnostic tests and therapeutic options. As new knowledge and evidence is gained from expert input and PubMed searches this tool will be continually updated. The WebAPP is an integral part of a protocol prioritizing treatability in the work-up of every child with global delay / ID. A 3-year funded study will enable an evaluation of its effectiveness. Conclusions For rare diseases, a field for which financial and scientific resources are particularly scarce, knowledge translation challenges are abundant. With this WebAPP technology is capitalized to raise awareness for rare treatable diseases and their common presenting clinical feature of ID, with the potential to improve health outcomes. This innovative digital

Deep Vadose Zone Treatability Test for the Hanford Central Plateau. Interim Post-Desiccation Monitoring Results, Fiscal Year 2015

Energy Technology Data Exchange (ETDEWEB)

Truex, Michael J. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Strickland, Christopher E. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Oostrom, Martinus [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Christian D. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Tartakovsky, Guzel D. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Timothy C. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Clayton, Ray E. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Chronister, Glen B. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

2015-09-01

A field test of desiccation is being conducted as an element of the Deep Vadose Zone Treatability Test Program. The active desiccation portion of the test has been completed. Monitoring data have been collected at the field test site during the post-desiccation period and are reported herein. This is an interim data summary report that includes about 4 years of post-desiccation monitoring data. The DOE field test plan proscribes a total of 5 years of post-desiccation monitoring.

Treatability Test Report For The Removal Of Chromium From Groundwater At 100-D Area Using Electrocoagulation

International Nuclear Information System (INIS)

Petersen, S.W.

2009-01-01

The U.S. Department of Energy (DOE) has committed to accelerate cleanup of contaminated groundwater along the Columbia River. The current treatment approach was driven by a series of Interim Action Records of Decision (IAROD) issued in the mid-1990s. Part of the approach for acceleration involves increasing the rate of groundwater extraction for the chromium plume north of the 100-D Reactor and injecting the treated water in strategic locations to hydraulically direct contaminated groundwater toward the extraction wells. The current treatment system uses ion exchange for Cr(VI) removal, with off-site regeneration of the ion exchange resins. Higher flow rates will increase the cost and frequency of ion exchange resin regeneration; therefore, alternative technologies are being considered for treatment at high flow rates. One of these technologies, electrocoagulation (EC), was evaluated through a pilot-scale treatability test. The primary purpose of the treatability study was to determine the effectiveness of Cr(VI) removal and the robustness/implementability of an EC system. Secondary purposes of the study were to gather information about derivative wastes and to obtain data applicable to scaling the process from the treatability scale to full-scale. The treatability study work plan identified a performance objective and four operational objectives. The performance objective for the treatability study was to determine the efficiency (effectiveness) of hexavalent chromium removal from the groundwater, with a desired concentration of (le) 20 micrograms per liter ((micro)g/L) Cr(VI) in the effluent prior to re-injection. Influent and effluent total chromium and hexavalent chromium data were collected using a field test kit for multiple samples per week, and from off-site laboratory analysis of samples collected approximately monthly. These data met all data quality requirements. Two of three effluent chromium samples analyzed in the off-site (that is, fixed) laboratory

TREATABILITY TEST REPORT FOR THE REMOVAL OF CHROMIUM FROM GROUNDWATER AT 100-D AREA USING ELECTROCOAGULATION

Energy Technology Data Exchange (ETDEWEB)

PETERSEN SW

2009-09-24

The U.S. Department of Energy (DOE) has committed to accelerate cleanup of contaminated groundwater along the Columbia River. The current treatment approach was driven by a series of Interim Action Records of Decision (IAROD) issued in the mid-1990s. Part of the approach for acceleration involves increasing the rate of groundwater extraction for the chromium plume north of the 100-D Reactor and injecting the treated water in strategic locations to hydraulically direct contaminated groundwater toward the extraction wells. The current treatment system uses ion exchange for Cr(VI) removal, with off-site regeneration of the ion exchange resins. Higher flow rates will increase the cost and frequency of ion exchange resin regeneration; therefore, alternative technologies are being considered for treatment at high flow rates. One of these technologies, electrocoagulation (EC), was evaluated through a pilot-scale treatability test. The primary purpose of the treatability study was to determine the effectiveness of Cr(VI) removal and the robustness/implementability of an EC system. Secondary purposes of the study were to gather information about derivative wastes and to obtain data applicable to scaling the process from the treatability scale to full-scale. The treatability study work plan identified a performance objective and four operational objectives. The performance objective for the treatability study was to determine the efficiency (effectiveness) of hexavalent chromium removal from the groundwater, with a desired concentration of {le} 20 micrograms per liter ({micro}g/L) Cr(VI) in the effluent prior to re-injection. Influent and effluent total chromium and hexavalent chromium data were collected using a field test kit for multiple samples per week, and from off-site laboratory analysis of samples collected approximately monthly. These data met all data quality requirements. Two of three effluent chromium samples analyzed in the off-site (that is, fixed) laboratory

In situ vitrification program treatability investigation progress report

International Nuclear Information System (INIS)

Arrenholz, D.A.

1990-12-01

This document presents a summary of the efforts conducted under the in situ vitrification treatability study during the period from its initiation in FY-88 until FY-90. In situ vitrification is a thermal treatment process that uses electrical power to convert contaminated soils into a chemically inert and stable glass and crystalline product. Contaminants present in the soil are either incorporated into the product or are pyrolyzed during treatment. The treatability study being conducted at the Idaho National Engineering Laboratory by EG ampersand G Idaho is directed at examining the specific applicability of the in situ vitrification process to buried wastes contaminated with transuranic radionuclides and other contaminants found at the Subsurface Disposal Area of the Radioactive Waste Management Complex. This treatability study consists of a variety of tasks, including engineering tests, field tests, vitrified product evaluation, and analytical models of the ISV process. The data collected in the course of these efforts will address the nine criteria set forth in the Comprehensive Environmental Response, Compensation, and Liability Act, which will be used to identify and select specific technologies to be used in the remediation of the buried wastes at the Subsurface Disposal Area. 6 refs., 4 figs., 3 tabs

Safety assessment for the 118-B-1 Burial Ground excavation treatability tests. Revision 2

International Nuclear Information System (INIS)

Zimmer, J.J.; Frain, J.M.

1994-12-01

This revision of the Safety Assessment provides an auditable safety analysis of the hazards for the proposed treatability test activities per DOE-EM-STD-5502-94, DOE Limited Standard, Hazard Baseline Documentation (DOE 1994). The proposed activities are classified as radiological activities and as such, no longer require Operational Safety Limits (OSLs). The OSLS, Prudent Actions, and Institutional and Organization Controls have been removed from this revision and replaced with ''Administrative Actions Important to Safety,'' as determined by the hazards analysis. Those Administrative Actions Important to Safety are summarized in Section 1.1, ''Assessment Summary.''

W-026, acceptance test report manipulator system

International Nuclear Information System (INIS)

Watson, T.L.

1997-01-01

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

Draft Technical Protocol: A Treatability Test for Evaluating the Potential Applicability of the Reductive Anaerobic Biological in Situ Treatment Technology (Rabitt) to Remediate Chloroethenes

National Research Council Canada - National Science Library

Morse, Jeff

1998-01-01

This draft, unvalidated protocol describes a comprehensive approach for conducting a phased treatability test to determine the potential for employing the Reductive Anaerobic Biological In Situ Treatment Technology (RABITT...

Bench-scale treatability testing of biological, UV oxidation, distillation, and ion-exchange treatment of trench water from a low-level radioactive waste disposal area at West Valley, New York

Energy Technology Data Exchange (ETDEWEB)

Sundquist, J.A.; Gillings, J.C. [Ecology and Environment, Inc. (United States); Sonntag, T.L. [New York State Energy Research and Development Authority (United States); Denault, R.P. [Pacific Nuclear, Inc. (United States)

1993-03-01

Ecology and Environment, Inc. (E and E), under subcontract to Pacific Nuclear Services (PNS), conducted for the New York State Energy Research and Development Authority (NYSERDA) treatability tests to support the selection and design of a treatment system for leachate from Trench 14 of the West Valley State-Licensed, Low-Level Radioactive Waste Disposal Area (SDA). In this paper E and E presents and discusses the treatability test results and provides recommendations for the design of the full-scale treatment system.

Pad A Treatability Study long-range project plan

International Nuclear Information System (INIS)

Mousseau, J.D.

1991-08-01

The purpose of the Pad A Treatability Study Project is to identify and demonstrate through lab- and pilot-scale testing, technologies for treating plutonium-contaminated salt waste. This document presents proposed objectives and schedules, scope of work and breakdown structure, cost elements, deployment, benefits, and change controls for the project

TREATABILITY TEST FOR REMOVING TECHNETIUM-99 FROM 200-ZP-1 GROUNDWATER HANFORD SITE

Energy Technology Data Exchange (ETDEWEB)

PETERSEN SW; TORTOSO AC; ELLIOTT WS; BYRNES ME

2007-11-29

The 200-ZP-1 Groundwater Operable Unit (OU) is one of two groundwater OUs located within the 200 West groundwater aggregate area of the Hanford Site. The primary risk-driving contaminants within the 200-ZP-1 OU include carbon tetrachloride and technetium-99 (Tc-99). A pump-and-treat system for this OU was initially installed in 1995 to control the 0.002 kg/m{sup 3} (2000 {micro}g/L) contour of the carbon tetrachloride plume. Carbon tetrachloride is removed from groundwater with the assistance of an air-stripping tower. Ten extraction wells and three injection wells operate at a combined rate of approximately 0.017m{sup 3}/s (17.03 L/s). In 2005, groundwater from two of the extraction wells (299-W15-765 and 299-W15-44) began to show concentrations greater than twice the maximum contaminant level (MCL) of Tc-99 (33,309 beq/m{sup 3} or 900 pCi/L). The Tc-99 groundwater concentrations from all ten of the extraction wells when mixed were more than one-half of the MCL and were slowly increasing. If concentrations continued to rise and the water remained untreated for Tc-99, there was concern that the water re-injected into the aquifer could exceed the MCL standard. Multiple treatment technologies were reviewed for selectively removing Tc-99 from the groundwater. Of the treatment technologies, only ion exchange was determined to be highly selective, commercially available, and relatively low in cost. Through research funded by the U.S. Department of Energy, the ion-exchange resin Purolite{reg_sign} A-530E was found to successfully remove Tc-99 from groundwater, even in the presence of competing anions. For this and other reasons, Purolite{reg_sign} A-530E ion exchange resin was selected for treatability testing. The treatability test required installing resin columns on the discharge lines from extraction wells 299-W15-765 and 299-W15-44. Preliminary test results have concluded that the Purolite{reg_sign} A-530E resin is effective at removing Tc-99 from groundwater to

Experimental Plan: Uranium Stabilization Through Polyphosphate Injection 300 Area Uranium Plume Treatability Demonstration Project

Energy Technology Data Exchange (ETDEWEB)

Wellman, Dawn M.; Fruchter, Jonathan S.; Vermeul, Vince R.

2006-09-20

This Test Plan describes a laboratory-testing program to be performed at Pacific Northwest National Laboratory (PNNL) in support of the 300-FF-5 Feasibility Study (FS). The objective of the proposed treatability test is to evaluate the efficacy of using polyphosphate injections to treat uranium contaminated groundwater in situ. This study will be used to: (1) Develop implementation cost estimates; (2) Identify implementation challenges; and (3) Investigate the technology's ability to meet remedial objectives These activities will be conducted in parallel with a limited field investigation, which is currently underway to more accurately define the vertical extent of uranium in the vadose zone, and in the capillary fringe zone laterally throughout the plume. The treatability test will establish the viability of the method and, along with characterization data from the limited field investigation, will provide the means for determining how best to implement the technology in the field. By conducting the treatability work in parallel with the ongoing Limited Field Investigation, the resulting Feasibility Study (FS) will provide proven, site-specific information for evaluating polyphosphate addition and selecting a suitable remediation strategy for the uranium plume within the FS time frame at an overall cost savings.

Treatability studies for polyethylene encapsulation of INEL low-level mixed wastes. Final report

International Nuclear Information System (INIS)

Lageraaen, P.R.; Patel, B.R.; Kalb, P.D.; Adams, J.W.

1995-10-01

Treatability studies for polyethylene encapsulation of Idaho National Engineering Laboratory (INEL) low-level mixed wastes were conducted at Brookhaven National Laboratory. The treatability work, which included thermal screening and/or processibility testing, was performed on priority candidate wastes identified by INEL to determine the applicability of polyethylene encapsulation for the solidification and stabilization of these mixed wastes. The candidate wastes selected for this preliminary study were Eutectic Salts, Ion Exchange Resins, Activated Carbons, Freon Contaminated Rags, TAN TURCO Decon 4502, ICPP Sodium Bearing Liquid Waste, and HTRE-3 Acid Spill Clean-up. Thermal screening was conducted for some of these wastes to determine the thermal stability of the wastes under expected pretreatment and processing conditions. Processibility testing to determine whether the wastes were amenable to extrusion processing included monitoring feed consistency, extruder output consistency, waste production homogeneity, and waste form performance. Processing parameters were not optimized within the scope of this study. However, based on the treatability results, polyethylene encapsulation does appear applicable as a primary or secondary treatment for most of these wastes

Treatability Study Operational Testing Program and Implementation Plan for the Gunite and Associated Tanks at the Oak Ridge National Laboratory, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1996-09-01

To support future decision making of the Gunite and Associated Tanks (GAAT) Operable Unit (OU) remedy selection, the Department of Energy (DOE) is performing a Treatability Study (TS), consistent with the EPA guidance for Comprehensive Environmental Response, compensation, and Liability Act (CERCLA) treatability studies. The study will inform stakeholders about various waste removal technologies and the cost of potential remediation approaches, particularly the cost associated with sluicing and the reduction in risk to human health and the environment from tank content removal. As part of the GAAT OU remedy, a series of studies and technology tests will be preformed. These may address one or more of the following areas, characterization, removal, treatment, and transfer of wastes stored in the GAAT OU

Treatability Study Operational Testing Program and Implementation Plan for the Gunite and Associated Tanks at the Oak Ridge National Laboratory, Oak Ridge, Tennessee

Energy Technology Data Exchange (ETDEWEB)

NONE

1996-09-01

To support future decision making of the Gunite and Associated Tanks (GAAT) Operable Unit (OU) remedy selection, the Department of Energy (DOE) is performing a Treatability Study (TS), consistent with the EPA guidance for Comprehensive Environmental Response, compensation, and Liability Act (CERCLA) treatability studies. The study will inform stakeholders about various waste removal technologies and the cost of potential remediation approaches, particularly the cost associated with sluicing and the reduction in risk to human health and the environment from tank content removal. As part of the GAAT OU remedy, a series of studies and technology tests will be preformed. These may address one or more of the following areas, characterization, removal, treatment, and transfer of wastes stored in the GAAT OU.

WASTE TREATMENT PLANT (WTP) LIQUID EFFLUENT TREATABILITY EVALUATION

International Nuclear Information System (INIS)

LUECK, K.J.

2004-01-01

A forecast of the radioactive, dangerous liquid effluents expected to be produced by the Waste Treatment Plant (WTP) was provided by Bechtel National, Inc. (BNI 2004). The forecast represents the liquid effluents generated from the processing of Tank Farm waste through the end-of-mission for the WTP. The WTP forecast is provided in the Appendices. The WTP liquid effluents will be stored, treated, and disposed of in the Liquid Effluent Retention Facility (LERF) and the Effluent Treatment Facility (ETF). Both facilities are located in the 200 East Area and are operated by Fluor Hanford, Inc. (FH) for the US. Department of Energy (DOE). The treatability of the WTP liquid effluents in the LERF/ETF was evaluated. The evaluation was conducted by comparing the forecast to the LERF/ETF treatability envelope (Aromi 1997), which provides information on the items which determine if a liquid effluent is acceptable for receipt and treatment at the LERF/ETF. The format of the evaluation corresponds directly to the outline of the treatability envelope document. Except where noted, the maximum annual average concentrations over the range of the 27 year forecast was evaluated against the treatability envelope. This is an acceptable approach because the volume capacity in the LERF Basin will equalize the minimum and maximum peaks. Background information on the LERF/ETF design basis is provided in the treatability envelope document

Pilot-scale treatability test plan for the 100-HR-3 operable unit

International Nuclear Information System (INIS)

1994-08-01

This document presents the treatability test plan for pilot-scale pump-and-treat testing at the 100-HR-3 Operable Unit. The test will be conducted in fulfillment of interim Milestone M-15-06E to begin pilot-scale pump-and-treat operations by August 1994. The scope of the test was determined based on the results of lab/bench-scale tests (WHC 1993a) conducted in fulfillment of Milestone M-15-06B. These milestones were established per agreement between the U.S. Department of Energy (DOE), the Washington State Department of Ecology and the U.S. Environmental Protection Agency (EPA), and documented on Hanford Federal of Ecology Facility Agreement and Consent Order Change Control Form M-15-93-02. This test plan discusses a pilot-scale pump-and-treat test for the chromium plume associated with the D Reactor portion of the 100-HR-3 Operable Unit. Data will be collected during the pilot test to assess the effectiveness, operating parameters, and resource needs of the ion exchange (IX) pump-and-treat system. The test will provide information to assess the ability to remove contaminants by extracting groundwater from wells and treating extracted groundwater using IX. Bench-scale tests were conducted previously in which chromium VI was identified as the primary contaminant of concern in the 100-D reactor plume. The DOWEX 21K trademark resin was recommended for pilot-scale testing of an IX pump-and-treat system. The bench-scale test demonstrated that the system could remove chromium VI from groundwater to concentrations less than 50 ppb. The test also identified process parameters to monitor during pilot-scale testing. Water will be re-injected into the plume using wells outside the zone of influence and upgradient of the extraction well

Drinking Water Treatability Database (TDB)

Data.gov (United States)

U.S. Environmental Protection Agency — The Drinking Water Treatability Database (TDB) presents referenced information on the control of contaminants in drinking water. It allows drinking water utilities,...

Waste Treatment Plant Liquid Effluent Treatability Evaluation

International Nuclear Information System (INIS)

LUECK, K.J.

2001-01-01

Bechtel National, Inc. (BNI) provided a forecast of the radioactive, dangerous liquid effluents expected to be generated by the Waste Treatment Plant (WTP). The forecast represents the liquid effluents generated from the processing of 25 distinct batches of tank waste through the WTP. The WTP liquid effluents will be stored, treated, and disposed of in the Liquid Effluent Retention Facility (LERF) and the Effluent Treatment Facility (ETF). Fluor Hanford, Inc. (FH) evaluated the treatability of the WTP liquid effluents in the LERFIETF. The evaluation was conducted by comparing the forecast to the LERFIETF treatability envelope, which provides information on the items that determine if a liquid effluent is acceptable for receipt and treatment at the LERFIETF. The WTP liquid effluent forecast is outside the current LERFlETF treatability envelope. There are several concerns that must be addressed before the WTP liquid effluents can be accepted at the LERFIETF

Manipulator Comparative Testing Program: Final report

International Nuclear Information System (INIS)

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

1987-02-01

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

Waste treatability guidance program. User's guide. Revision 0

International Nuclear Information System (INIS)

Toth, C.

1995-01-01

DOE sites across the country generate and manage radioactive, hazardous, mixed, and sanitary wastes. It is necessary for each site to find the technologies and associated capacities required to manage its waste. One role of DOE HQ Office of Environmental Restoration and Waste Management is to facilitate the integration of the site- specific plans into coherent national plans. DOE has developed a standard methodology for defining and categorizing waste streams into treatability groups based on characteristic parameters that influence waste management technology needs. This Waste Treatability Guidance Program automates the Guidance Document for the categorization of waste information into treatability groups; this application provides a consistent implementation of the methodology across the National TRU Program. This User's Guide provides instructions on how to use the program, including installations instructions and program operation. This document satisfies the requirements of the Software Quality Assurance Plan

Treatability test of a stacked-tray air stripper for VOC in water

Energy Technology Data Exchange (ETDEWEB)

Pico, T., LLNL

1998-04-01

A common strategy for hydraulic containment and mass removal at VOC contaminated sites is `pump and treat (P&T)`. In P&T operations, contaminated ground water is pumped from wells, treated above ground, and discharged. Many P&T remediation systems at VOC sites rely on air stripping technology because VOCs are easily transferred to the vapor phase. In stacked-tray air strippers, contaminated water is aerated while it flows down through a series of trays. System operations at LLNL are strictly regulated by the California and federal Environmental Protection Agencies (Cal/EPA and EPA), the Bay Area Air Quality Management District (BAAQMD), the California Regional Water Quality Control Board (RWQCB) and the Department of Toxic Substances Control (DTSC). These agencies set discharge limits, require performance monitoring, and assess penalties for non-compliance. National laboratories are also subject to scrutiny by the public and other government agencies. This extensive oversight makes it necessary to accurately predict field treatment performance at new extraction locations to ensure compliance with all requirements prior to facility activation. This paper presents treatability test results for a stacked- tray air stripper conducted at LLNL and compares them to the vendor`s modeling software results.

Data management implementation plan for the Bear Creek Valley treatability study phase 2 hydraulic performance testing, Oak Ridge Y-12 Plant, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1997-12-01

The overall objective of the Bear Creek Valley treatability study is to provide site-specific data defining potential treatment technologies applicable to contaminated groundwater and surface water. The ultimate goal of this effort is to install a treatment system that will remove uranium, technetium, nitrate, and several metals from groundwater before it reaches Bear Creek. This project, the Bear Creek Valley treatability study Phase 2 hydraulic performance testing, directly supports the Bear Creek Valley Feasibility Study. Specific project objectives include (1) installing monitoring and extraction wells, (2) installing a groundwater extraction trench, (3) performing pumping tests of the extraction wells and trench, (4) determining hydraulic gradients, and (5) collecting water quality parameters. The primary purpose of environmental data management is to provide a system for generating and maintaining technically defensible data. To meet current regulatory requirements for the Environmental Restoration Program, complete documentation of the information flow must be established. To do so, each step in the data management process (collection, management, storage, and analysis) must be adequately planned and documented. This document will serve to identify data management procedures, expected data types and flow, and roles and responsibilities for all data management activities associated with this project

300-FF-1 operable unit remedial investigation phase II report: Physical separation of soils treatability study

Energy Technology Data Exchange (ETDEWEB)

1994-04-01

This report describes the approach and results of physical separations treatability tests conducted at the Hanford Site in the North Process Pond of the 300-FF-1 Operable Unit. Physical separation of soils was identified as a remediation alternative due to the potential to significantly reduce the amount of contaminated soils prior to disposal. Tests were conducted using a system developed at Hanford consisting of modified EPA equipment integrated with screens, hoppers, conveyors, tanks, and pumps from the Hanford Site. The treatability tests discussed in this report consisted of four parts, in which an estimated 84 tons of soil was processed: (1) a pre-test run to set up the system and adjust system parameters for soils to be processed; (2) a baseline run to establish the performance of the system - Test No. 1; (3) a final run in which the system was modified as a result of findings from the baseline run - Test No. 2; and (4) water treatment.

300-FF-1 operable unit remedial investigation phase II report: Physical separation of soils treatability study

International Nuclear Information System (INIS)

1994-04-01

This report describes the approach and results of physical separations treatability tests conducted at the Hanford Site in the North Process Pond of the 300-FF-1 Operable Unit. Physical separation of soils was identified as a remediation alternative due to the potential to significantly reduce the amount of contaminated soils prior to disposal. Tests were conducted using a system developed at Hanford consisting of modified EPA equipment integrated with screens, hoppers, conveyors, tanks, and pumps from the Hanford Site. The treatability tests discussed in this report consisted of four parts, in which an estimated 84 tons of soil was processed: (1) a pre-test run to set up the system and adjust system parameters for soils to be processed; (2) a baseline run to establish the performance of the system - Test No. 1; (3) a final run in which the system was modified as a result of findings from the baseline run - Test No. 2; and (4) water treatment

Treatability of stabilize landfill leachate by using pressmud ash as an adsorbent

Science.gov (United States)

Azme, N. N. Mohd; Murshed, M. F.

2018-04-01

Leachate is a liquid produced from the landfill that contains high concentration of heavy metals, chemicals and nutrient loading. The treatability of these contaminants are complicated since the current treatment technology are costly and site specific. Therefore, this study was conducted to evaluate the treatability of stabilized landfill leachate by using waste (pressmud ash) as an absorbent. Pressmud ash was prepared by burning at different temperature from 100 to 700 degree Celsius and test at 24 hours shaking time, pH 8, and 4000 rpm. Leachate samples were collected from municipal solid waste (MSW) Pulau Burung Sanitary Landfill (PBSL) and were analyzed for heavy metal, COD, ammonia and colour. This study was performed in two phases i) leachate characteristic, ii) treatability assessment by using pressmud ash. Pressmud was sampled from the sugar mill, Malaysian Sugar Manufacturing (MSM) Sdn Bhd, Seberang Perai, Pulau Pinang. The pressmud with 400°C are highly potential material with a low cost which can be a good adsorbent was capable reducing efficiencies of COD (60.76%), ammonia (64.37%) and colour (35.78%) from real wastewater leachate. Pressmud showed good sorption capability. Surface modification with burning greatly enhanced the reducing efficiency of sugar waste based adsorbent with adsorption efficiency.

Sampling and analysis plan for phase II of the Bear Creek Valley treatability study Oak Ridge Y-12 Plant, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1997-05-01

The Bear Creek Valley (BCV) Treatability Study is intended to provide site-specific data defining potential treatment technologies applicable to contaminated groundwater and surface water. This project directly supports Alternative 5 of the base action in the BCV Feasibility Study, and indirectly supports other alternatives through proof of concept. In that role, the ultimate goal is to install a treatment system that will remove uranium and nitrate from groundwater before it reaches Bear Creek. A secondary goal is the concurrent removal of technetium and several metals that impact ecological risk. This project is intended to produce hydraulic and treatment performance data required to design the treatment system to reach those goals. This project will also generate information that can be applied at other facilities within the Oak Ridge Reservation. This report is the sampling and analysis plan (SAP) for the field work component of Phase II of the BCV Treatability Study. Field work for this phase of the BCV Treatability Study consists of media testing. In-field continuous flow tests will be conducted over an extended time period (5 weeks) to generate data on long-term treatment effects on potential treatment media including sorbents and zero valent iron, over 28 weeks for constructed wetlands treatment, and over 24 weeks for algal mats treatment. The SAP addresses environmental sampling at the S-3 Site at the Oak Ridge Y-12 Plant. Samples will be taken from groundwater, effluent from test columns, effluent from an algal mat reactor, and effluent from a pilot-scale wetlands. This plan will be implemented as part of the BCV Phase II Treatability Study Best Management Practices Plan and in conjunction with the BCV Phase II Treatability Study Health and Safety Plan and the BCV Phase II Treatability Study Waste Management Plan

Waste treatability guidance program. User`s guide. Revision 0

Energy Technology Data Exchange (ETDEWEB)

Toth, C.

1995-12-21

DOE sites across the country generate and manage radioactive, hazardous, mixed, and sanitary wastes. It is necessary for each site to find the technologies and associated capacities required to manage its waste. One role of DOE HQ Office of Environmental Restoration and Waste Management is to facilitate the integration of the site- specific plans into coherent national plans. DOE has developed a standard methodology for defining and categorizing waste streams into treatability groups based on characteristic parameters that influence waste management technology needs. This Waste Treatability Guidance Program automates the Guidance Document for the categorization of waste information into treatability groups; this application provides a consistent implementation of the methodology across the National TRU Program. This User`s Guide provides instructions on how to use the program, including installations instructions and program operation. This document satisfies the requirements of the Software Quality Assurance Plan.

Survey of commercial firms with mixed-waste treatability study capability

International Nuclear Information System (INIS)

McFee, J.; McNeel, K.; Eaton, D.; Kimmel, R.

1996-01-01

According to the data developed for the Proposed Site Treatment Plans, the US Department of Energy (DOE) mixed low-level and mixed transuranic waste inventory was estimated at 230,000 m 3 and embodied in approximately 2,000 waste streams. Many of these streams are unique and may require new technologies to facilitate compliance with Resource Conservation and Recovery Act disposal requirements. Because most waste streams are unique, a demonstration of the selected technologies is justified. Evaluation of commercially available or innovative technologies in a treatability study is a cost-effective method of providing a demonstration of the technology and supporting decisions on technology selection. This paper summarizes a document being prepared by the Mixed Waste Focus Area of the DOE Office of Science and Technology (EM-50). The document will provide DOE waste managers with a list of commercial firms (and universities) that have mixed-waste treatability study capabilities and with the specifics regarding the technologies available at those facilities. In addition, the document will provide a short summary of key points of the relevant regulations affecting treatability studies and will compile recommendations for successfully conducting an off-site treatability study. Interim results of the supplier survey are tabulated in this paper. The tabulation demonstrates that treatment technologies in 17 of the US Environmental Protection Agency's technology categories are available at commercial facilities. These technologies include straightforward application of standard technologies, such as pyrolysis, as well as proprietary technologies developed specifically for mixed waste. The paper also discusses the key points of the management of commercial mixed-waste treatability studies

Joint refinery selenium treatability study

International Nuclear Information System (INIS)

Meyer, C.L.; Folwarkow, S.

1993-01-01

The San Francisco Regional Water Quality Control Board recently established mass limits on discharges of selenium to the San Francisco Bay from several petroleum refineries. The refineries had been working independently to develop control strategies, including both source control and treatment options, for removal of selenium from their discharges. By January 1992, over fifty different combinations of treatment technologies, wastewater streams, and pretreatment steps had been investigated to determine their effectiveness and feasibility as selenium removal processes. No treatment process studied could achieve the required mass limits without serious negative environmental consequences, such as generation of large amounts of hazardous sludge. To better facilitate the development of a feasible selenium treatment process, the six Bay Area refineries shared results of their studies and identified several technologies that, with further work, could be developed further. This additional work is currently being carried out as part of a joint selenium treatability study sponsored by the Western States Petroleum Association. A review of the previous source control and treatment studies, along with a description of the current treatability studies will be discussed

DOE Waste Treatability Group Guidance

International Nuclear Information System (INIS)

Kirkpatrick, T.D.

1995-01-01

This guidance presents a method and definitions for aggregating U.S. Department of Energy (DOE) waste into streams and treatability groups based on characteristic parameters that influence waste management technology needs. Adaptable to all DOE waste types (i.e., radioactive waste, hazardous waste, mixed waste, sanitary waste), the guidance establishes categories and definitions that reflect variations within the radiological, matrix (e.g., bulk physical/chemical form), and regulated contaminant characteristics of DOE waste. Beginning at the waste container level, the guidance presents a logical approach to implementing the characteristic parameter categories as part of the basis for defining waste streams and as the sole basis for assigning streams to treatability groups. Implementation of this guidance at each DOE site will facilitate the development of technically defined, site-specific waste stream data sets to support waste management planning and reporting activities. Consistent implementation at all of the sites will enable aggregation of the site-specific waste stream data sets into comparable national data sets to support these activities at a DOE complex-wide level

DOE Waste Treatability Group Guidance

Energy Technology Data Exchange (ETDEWEB)

Kirkpatrick, T.D.

1995-01-01

This guidance presents a method and definitions for aggregating U.S. Department of Energy (DOE) waste into streams and treatability groups based on characteristic parameters that influence waste management technology needs. Adaptable to all DOE waste types (i.e., radioactive waste, hazardous waste, mixed waste, sanitary waste), the guidance establishes categories and definitions that reflect variations within the radiological, matrix (e.g., bulk physical/chemical form), and regulated contaminant characteristics of DOE waste. Beginning at the waste container level, the guidance presents a logical approach to implementing the characteristic parameter categories as part of the basis for defining waste streams and as the sole basis for assigning streams to treatability groups. Implementation of this guidance at each DOE site will facilitate the development of technically defined, site-specific waste stream data sets to support waste management planning and reporting activities. Consistent implementation at all of the sites will enable aggregation of the site-specific waste stream data sets into comparable national data sets to support these activities at a DOE complex-wide level.

300 Area Treatability Test: Laboratory Development of Polyphosphate Remediation Technology for In Situ Treatment of Uranium Contamination in the Vadose Zone and Capillary Fringe

Energy Technology Data Exchange (ETDEWEB)

Wellman, Dawn M.; Pierce, Eric M.; Bacon, Diana H.; Oostrom, Martinus; Gunderson, Katie M.; Webb, Samuel M.; Bovaird, Chase C.; Cordova, Elsa A.; Clayton, Eric T.; Parker, Kent E.; Ermi, Ruby M.; Baum, Steven R.; Vermeul, Vincent R.; Fruchter, Jonathan S.

2008-09-30

This report presents results from bench-scale treatability studies conducted under site-specific conditions to optimize the polyphosphate amendment for implementation of a field-scale technology demonstration to stabilize uranium within the 300 Area vadose and smear zones of the Hanford Site. The general treatability testing approach consisted of conducting studies with site sediment and under site conditions, to develop an effective chemical formulation and infiltration approach for the polyphosphate amendment under site conditions. Laboratory-scale dynamic column tests were used to 1) quantify the retardation of polyphosphate and its degradation products as a function of water content, 2) determine the rate of polyphosphate degradation under unsaturated conditions, 3) develop an understanding of the mechanism of autunite formation via the reaction of solid phase calcite-bound uranium and aqueous polyphosphate remediation technology, 4) develop an understanding of the transformation mechanism, the identity of secondary phases, and the kinetics of the reaction between uranyl-carbonate and -silicate minerals with the polyphosphate remedy under solubility-limiting conditions, and 5) quantify the extent and rate of uranium released and immobilized based on the infiltration rate of the polyphosphate remedy and the effect of and periodic wet-dry cycling on the efficacy of polyphosphate remediation for uranium in the vadose zone and smear zone.

An evaluation by midwives and gynecologists of treatability of cervical lesions by cryotherapy among human papillomavirus-positive women.

Science.gov (United States)

Gage, Julia C; Rodriguez, Ana Cecilia; Schiffman, Mark; Adadevoh, Sydney; Larraondo, Manuel J Alvarez; Chumworathayi, Bandit; Lejarza, Sandra Vargas; Araya, Luis Villegas; Garcia, Francisco; Budihas, Scott R; Long, Rodney; Katki, Hormuzd A; Herrero, Rolando; Burk, Robert D; Jeronimo, Jose

2009-05-01

To estimate efficacy of a visual triage of human papillomavirus (HPV)-positive women to either immediate cryotherapy or referral if not treatable (eg, invasive cancer, large precancers). We evaluated visual triage in the HPV-positive women aged 25 to 55 years from the 10,000-woman Guanacaste Cohort Study (n = 552). Twelve Peruvian midwives and 5 international gynecologists assessed treatability by cryotherapy using digitized high-resolution cervical images taken at enrollment. The reference standard of treatability was determined by 2 lead gynecologists from the entire 7-year follow-up of the women. Women diagnosed with histologic cervical intraepithelial neoplasia grade 2 or worse or 5-year persistence of carcinogenic HPV infection were defined as needing treatment. Midwives and gynecologists judged 30.8% and 41.2% of women not treatable by cryotherapy, respectively (P cryotherapy. The proportion of women judged not treatable by a reviewer varied widely and ranged from 18.6% to 61.1%. Interrater agreement was poor with mean pairwise overall agreement of 71.4% and 66.3% and kappa's of 0.33 and 0.30 for midwives and gynecologists, respectively. In future "screen-and-treat" cervical cancer prevention programs using HPV testing and cryotherapy, practitioners will visually triage HPV-positive women. The suboptimal performance of visual triage suggests that screen-and-treat programs using cryotherapy might be insufficient for treating precancerous lesions. Improved, low-technology triage methods and/or improved safe and low-technology treatment options are needed.

An Evaluation by Midwives and Gynecologists of Treatability of Cervical Lesions by Cryotherapy Among Human Papillomavirus–Positive Women

Science.gov (United States)

Gage, Julia C.; Rodriguez, Ana Cecilia; Schiffman, Mark; Adadevoh, Sydney; Alvarez Larraondo, Manuel J.; Chumworathayi, Bandit; Lejarza, Sandra Vargas; Araya, Luis Villegas; Garcia, Francisco; Budihas, Scott R.; Long, Rodney; Katki, Hormuzd A.; Herrero, Rolando; Burk, Robert D.; Jeronimo, Jose

2010-01-01

Objectives To estimate efficacy of a visual triage of human papillomavirus (HPV)– positive women to either immediate cryotherapy or referral if not treatable (eg, invasive cancer, large precancers). Methods We evaluated visual triage in the HPV-positive women aged 25 to 55 years from the 10,000-woman Guanacaste Cohort Study (n = 552). Twelve Peruvian midwives and 5 international gynecologists assessed treatability by cryotherapy using digitized high-resolution cervical images taken at enrollment. The reference standard of treatability was determined by 2 lead gynecologists from the entire 7-year follow-up of the women. Women diagnosed with histologic cervical intraepithelial neoplasia grade 2 or worse or 5-year persistence of carcinogenic HPV infection were defined as needing treatment. Results Midwives and gynecologists judged 30.8% and 41.2% of women not treatable by cryotherapy, respectively (P cryotherapy. The proportion of women judged not treatable by a reviewer varied widely and ranged from 18.6%to 61.1%. Interrater agreement was poor with mean pairwise overall agreement of 71.4% and 66.3% and κ ’s of 0.33 and 0.30 for midwives and gynecologists, respectively. Conclusions In future “screen-and-treat” cervical cancer prevention programs using HPV testing and cryotherapy, practitioners will visually triage HPV-positive women. The suboptimal performance of visual triage suggests that screen-and-treat programs using cryotherapy might be insufficient for treating precancerous lesions. Improved, low-technology triage methods and/or improved safe and low-technology treatment options are needed. PMID:19509579

Manipulator for testing a top-opened reactor pressure vessel

International Nuclear Information System (INIS)

Bauer, R.; Kastl, H.

1991-01-01

The design is described of a manipulator to be inserted into the inside of reactor pressure vessels opened at the top. The main components of the manipulator include a fixed column protruding into the pressure vessel and a support which is slidable on the column and carries the bearing component for the measuring, testing, inspection and repair instruments. The device includes a driving equipment for the support as well as the power supply for the sets accommodated on the support, with the aim to reduce the failure rate of the manipulator as a whole, shorten the time necessary for its assembling and thus the time of staying in the reactor pressure vessel and, at the same time, make its maintenance and operation easier. (Z.S.). 13 figs

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

Science.gov (United States)

Cheetham, Tara J; Turner-Cobb, Julie M

2016-01-01

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

Pad A treatability study long-range project plan

International Nuclear Information System (INIS)

Mousseau, J.D.

1991-06-01

This plan addresses the work to be accomplished by the Pad A Treatability Study Project. The purpose of this project is to investigate potential treatment and separation technologies, identify the best technologies, and to demonstrate by both lab- and pilot-scale demonstration, the most applicable remedial technologies for treating plutonium-contaminated salts at the Pad A site located at the Subsurface Disposal Area (SDA) at the Radioactive Waste Management Complex (RWMC) a the Idaho National Engineering Laboratory (INEL). The conduct of this project will be supported by other DOE laboratories, universities, and private industries, who will provide support for near-term demonstrations of treatment and separation technologies. The purpose of this long-range planning document is to present the detailed plan for the implementation of the Pad A Treatability Study Project

Design of the TFTR [Tokamak Fusion Test Reactor] maintenance manipulator

International Nuclear Information System (INIS)

Loesser, G. D.; Heitzenroeder, P.; Bohme, G.; Selig, M.

1987-01-01

The Tokamak Fusion Test Reactor (TFTR) plans to generate a total of 3 x 10 21 neutrons during its deuterium-tritium run period in 1900. This will result in high levels of radiation, especially within the TFTR vacuum vessel. The maintenance manipulator's mission is to assist TFTR in meeting Princeton Plasma Physics Laboratory's personnel radiation exposure criteria and in maintaining as-low-as-reasonably-achievable principals by limiting the radiation exposure received by operating and maintenance personnel. The manipulator, which is currently being fabricated and tested by Kernforschungszentrum Karlsruhe, is designed to perform limited, but routine and necessary, functions within the TFTR vacuum torus after activation levels within the torus preclude such functions being performed by personnel. These functions include visual inspection, tile replacement, housekeeping tasks, diagnostic calibrations, and leak detection. To meet its functional objectives, the TFTR maintenance manipulator is required to be operable in TFTR's very high vacuum environment (typically 2 x 10 -8 Torr). It must also be bakeable at 150 degree C and able to withstand the radiation environment

Commercial treatability study capabilities for application to the US Department of Energy`s anticipated mixed waste streams. Revision 1

Energy Technology Data Exchange (ETDEWEB)

NONE

1996-09-01

US DOE mixed low-level and mixed transuranic waste inventory was estimated at 181,000 cubic meters (about 2,000 waste streams). Treatability studies may be used as part of DOE`s mixed waste management program. Commercial treatability study suppliers have been identified that either have current capability in their own facilities or have access to licensed facilities. Numerous federal and state regulations, as well as DOE Order 5820.2A, impact the performance of treatability studies. Generators, transporters, and treatability study facilities are subject to regulation. From a mixed- waste standpoint, a key requirement is that the treatability study facility must have an NRC or state license that allows it to possess radioactive materials. From a RCRA perspective, the facility must support treatability study activities with the applicable plans, reports, and documentation. If PCBs are present in the waste, TSCA will also be an issue. CERCLA requirements may apply, and both DOE and NRC regulations will impact the transportation of DOE mixed waste to an off-site treatment facility. DOE waste managers will need to be cognizant of all applicable regulations as mixed-waste treatability study programs are initiated.

Field Implementation Plan for the In-Situ Bioremediation Treatability Study at the Technical Area-V Groundwater Area of Concern

Energy Technology Data Exchange (ETDEWEB)

Li, Jun [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2016-10-31

This Field Implementation Plan (FIP) was prepared by Sandia National Laboratories, New Mexico (SNL/NM) and provides instruction on conducting a series of in-situ bioremediation (ISB) tests as described in the Revised Treatability Study Work Plan for In-Situ Bioremediation at the Technical Area-V Groundwater Area of Concern, referred to as the Revised Work Plan in this FIP. The Treatability Study is designed to gravity inject an electron-donor substrate and bioaugmentation bacteria into groundwater via three injection wells to perform bioremediation of the constituents of concern (COCs), nitrate and trichloroethene (TCE), in the regions with the highest concentrations at the Technical Area-V Groundwater (TAVG) Area of Concern (AOC). The Treatability Study will evaluate the effectiveness of bioremediation solution delivery and COC treatment over time. This FIP is designed for SNL/NM work planning and management. It is not intended to be submitted for regulator’s approval. The technical details presented in this FIP are subject to change based on field conditions, availability of equipment and materials, feasibility, and inputs from Sandia personnel and Aboveground Injection System contractor.

Field Implementation Plan for the In-Situ Bioremediation Treatability Study at the Technical Area-V Groundwater Area of Concern

International Nuclear Information System (INIS)

Li, Jun

2016-01-01

This Field Implementation Plan (FIP) was prepared by Sandia National Laboratories, New Mexico (SNL/NM) and provides instruction on conducting a series of in-situ bioremediation (ISB) tests as described in the Revised Treatability Study Work Plan for In-Situ Bioremediation at the Technical Area-V Groundwater Area of Concern, referred to as the Revised Work Plan in this FIP. The Treatability Study is designed to gravity inject an electron-donor substrate and bioaugmentation bacteria into groundwater via three injection wells to perform bioremediation of the constituents of concern (COCs), nitrate and trichloroethene (TCE), in the regions with the highest concentrations at the Technical Area-V Groundwater (TAVG) Area of Concern (AOC). The Treatability Study will evaluate the effectiveness of bioremediation solution delivery and COC treatment over time. This FIP is designed for SNL/NM work planning and management. It is not intended to be submitted for regulator's approval. The technical details presented in this FIP are subject to change based on field conditions, availability of equipment and materials, feasibility, and inputs from Sandia personnel and Aboveground Injection System contractor.

Process and equipment development for hot isostatic pressing treatability study

Energy Technology Data Exchange (ETDEWEB)

Bateman, Ken; Wahlquist, Dennis; Malewitz, Tim

2015-03-01

Battelle Energy Alliance (BEA), LLC, has developed processes and equipment for a pilot-scale hot isostatic pressing (HIP) treatability study to stabilize and volume reduce radioactive calcine stored at Idaho National Laboratory (INL). In 2009, the U. S. Department of Energy signed a Record of Decision with the state of Idaho selecting HIP technology as the method to treat 5,800 yd^3 (4,400 m^3) of granular zirconia and alumina calcine produced between 1953 and 1992 as a waste byproduct of spent nuclear fuel reprocessing. Since the 1990s, a variety of radioactive and hazardous waste forms have been remotely treated using HIP within INL hot cells. To execute the remote process at INL, waste is loaded into a stainless-steel or aluminum can, which is evacuated, sealed, and placed into a HIP furnace. The HIP simultaneously heats and pressurizes the waste, reducing its volume and increasing its durability. Two 1 gal cans of calcine waste currently stored in a shielded cask were identified as candidate materials for a treatability study involving the HIP process. Equipment and materials for cask-handling and calcine transfer into INL hot cells, as well as remotely operated equipment for waste can opening, particle sizing, material blending, and HIP can loading have been designed and successfully tested. These results demonstrate BEA’s readiness for treatment of INL calcine.

SUPERFUND TREATABILITY CLEARINGHOUSE: TECHNOLOGY DEMONSTRATION OF A THERMAL DESORPTION/UV PHOTOLYSIS PROCESS FOR DECONTAMINATING SOILS CONTAINING HERBICIDE ORANGE

Science.gov (United States)

This treatability study report presents the results of laboratory and field tests on the effectiveness of a new decontamination process for soils containing 2,4-D/2,4,5-T and traces of dioxin. The process employs three operations, thermal desorption, condensation and absorp...

Testing Instrumentation Validity for Measuring Teachers' Attitudes toward Manipulative Use in the Elementary Classroom

Science.gov (United States)

McIntosh, Gina Valdengo

2012-01-01

In this study a survey instrument was developed to test elementary teachers' attitudes towards incorporating manipulatives in their math lessons frequently. Though the benefits of using math manipulatives has been reported, there seems to be a disconnect between the benefits of manipulative use and the number of teachers integrating them in their…

A potentially treatable cause of dementia | Katsidzira | Central ...

African Journals Online (AJOL)

A potentially treatable cause of dementia. L Katsidzira, T Machiridza, A Ndlovu. Abstract. No Abstract. Full Text: EMAIL FULL TEXT EMAIL FULL TEXT · DOWNLOAD FULL TEXT DOWNLOAD FULL TEXT · AJOL African Journals Online. HOW TO USE AJOL... for Researchers · for Librarians · for Authors · FAQ's · More about ...

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

International Nuclear Information System (INIS)

Fruchter, J.S.; Amonette, J.E.; Cole, C.R.

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

Dural arteriovenous fistula as a treatable dementia.

Science.gov (United States)

Enofe, Ikponmwosa; Thacker, Ike; Shamim, Sadat

2017-04-01

Dementia is a chronic loss of neurocognitive function that is progressive and irreversible. Although rare, dural arteriovenous fistulas (DAVFs) could present with a rapid decline in neurocognitive function with or without Parkinson-like symptoms. DAVFs represent a potentially treatable and reversible cause of dementia. Here, we report the case of an elderly woman diagnosed with a DAVF after presenting with new-onset seizures, deteriorating neurocognitive function, and Parkinson-like symptoms.

100 Area soil washing bench-scale test procedures

International Nuclear Information System (INIS)

Freeman, H.D.; Gerber, M.A.; Mattigod, S.V.; Serne, R.J.

1993-03-01

This document describes methodologies and procedures for conducting soil washing treatability tests in accordance with the 100 Area Soil Washing Treatability Test Plan (DOE-RL 1992, Draft A). The objective of this treatability study is to evaluate the use of physical separation systems and chemical extraction methods as a means of separating chemically and radioactively contaminated soil fractions from uncontaminated soil fractions. These data will be primarily used for determining feasibility of the individual unit operations and defining the requirements for a system, or systems, for pilot-scale testing

Stabilization of liquid low-level and mixed wastes: a treatability study

International Nuclear Information System (INIS)

Carson, S.; Cheng, Yu-Cheng; Yellowhorse, L.; Peterson, P.

1996-01-01

A treatability study has been conducted on liquid low-level and mixed wastes using the stabilization agents Aquaset, Aquaset II, Aquaset II-H, Petroset, Petroset-H, and Petroset and Petroset II. A total of 40 different waste types with activities ranging from 10 -14 to 10 -4 curies/ml have been stabilized. Reported data for each waste include its chemical and radiological composition and the optimum composition or range of compositions (weight of agent/volume of waste) for each stabilization agent used. All wastes were successfully stabilized with one or more of the stabilization agents and all final waste forms passed the Paint Filter Liquids Test (EPA Method 9095)

Presentation of accessibility equipment for primary pipings, IHX, pumps and appertaining manipulator tests

International Nuclear Information System (INIS)

Hahn, G.; Hoeft, E.

1980-01-01

Accessibility and inservice procedure of SNR-300 components are described. Due to the high radiation level in the primary system it was necessary to develop special equipment to permit access to the testing components. The pertinent examination methods for surveying welding seams are acoustic (ultrasonic) and optical procedures (TV cameras, surface crack tests). This can be done by remote-controlled manipulators and special devices, which can transport the inspection system by rails to the testing position. Presently, relatively limited experience exists for such remote-controlled handling in nuclear power plants. Thus model experiments were carried out on a model pipe section at INTERATOM. The performed test shows that the concept planned to perform inservice by using remote-controlled manipulators can be realized successfully. (author)

Deep Vadose Zone Treatability Test for the Hanford Central Plateau: Interim Post-Desiccation Monitoring Results, Fiscal Year 2014

Energy Technology Data Exchange (ETDEWEB)

Truex, Michael J. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Strickland, Christopher E. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Christian D. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Timothy C. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Clayton, Ray E. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Chronister, Glen B. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

2014-09-01

Over decades of operation, the U.S. Department of Energy (DOE) and its predecessors have released nearly 2 trillion L (450 billion gal.) of liquid into the vadose zone at the Hanford Site. Much of this discharge of liquid waste into the vadose zone occurred in the Central Plateau, a 200 km² (75 mi²) area that includes approximately 800 waste sites. Some of the inorganic and radionuclide contaminants in the deep vadose zone at the Hanford Site are at depths below the limit of direct exposure pathways, but may need to be remediated to protect groundwater. The Tri-Party Agencies (DOE, U.S. Environmental Protection Agency, and Washington State Department of Ecology) established Milestone M 015 50, which directed DOE to submit a treatability test plan for remediation of technetium-99 (Tc-99) and uranium in the deep vadose zone. These contaminants are mobile in the subsurface environment and have been detected at high concentrations deep in the vadose zone, and at some locations have reached groundwater. Testing technologies for remediating Tc-99 and uranium will also provide information relevant for remediating other contaminants in the vadose zone. A field test of desiccation is being conducted as an element of the DOE test plan published in March 2008 to meet Milestone M 015 50. The active desiccation portion of the test has been completed. Monitoring data have been collected at the field test site during the post-desiccation period and are reported herein. This is an interim data summary report that includes about 3 years of post-desiccation monitoring data. The DOE field test plan proscribes a total of 5 years of post-desiccation monitoring.

LOSS OF ORGANIC CHEMICALS IN SOIL: PURE COMPOUND TREATABILITY STUDIES

Science.gov (United States)

Comprehensive screening data on the treatability of 32 organic chemicals in soil were developed. Of the evaluated chemicals, 22 were phenolic compounds. Aerobic batch laboratory microcosm experiments were conducted using two soils: an acidic clay soil with <1% organic matter and ...

Functions and requirements for a waste dislodging and conveyance system for the Gunite and Associated Tanks Treatability Study at Oak Ridge National Laboratory

International Nuclear Information System (INIS)

Potter, J.D.; Mullen, O.D.

1995-09-01

Functions and requirements for the Waste Dislodging and Conveyance System to be deployed in Gunite and Associated Tanks (GAAT) and tested and evaluated as a candidate tank waste retrieval technology by the GAAT Treatability Study (GAAT TS)

Test bed control center design concept for Tank Waste Retrieval Manipulator Systems

International Nuclear Information System (INIS)

Sundstrom, E.; Draper, J.V.; Fausz, A.

1995-01-01

This paper describes the design concept for the control center for the Single Shell Tank Waste Retrieval Manipulator System test bed and the design process behind the concept. The design concept supports all phases of the test bed mission, including technology demonstration, comprehensive system testing, and comparative evaluation for further development and refinement of the TWRMS for field operations

Safety assessment for the proposed pilot-scale treatability tests for the 200-UP-1 and 200-ZP-1 groundwater operable units. Revision 1

International Nuclear Information System (INIS)

1994-12-01

This safety assessment provides an analysis of the proposed pilot-scale treatability test activities to be and conducted within the 200 Area groundwater operable units on the Hanford Site. The 200-UP-1 and 200-ZP-1 operable units are located in the 200 West Area of the Hanford Site. These tests will evaluate an ion exchange (IX) water purification treatment system and granular activated carbon (GAC). A detailed engineering analysis of (GAC) adsorption for remediation of groundwater contamination. A detailed engineering analysis of the IX treatment system. The principal source of information for this assessment, states that the performance objective of the treatment systems is to remove 90% of the uranium and technetium-99 ( 99 Tc) from the extracted groundwater at the 200-UP-1 site. The performance objective for 200-ZP-1 is to remove 90% of the carbon tetrachloride (CCl 4 ), chloroform, and trichloroethylene (TCE) from the extracted groundwater

Aboveground Injection Sytem Construction and Mecahnical Integrity Test Plan

Energy Technology Data Exchange (ETDEWEB)

Li, Jun [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2017-10-01

An In-Situ Bioremediation (ISB) Pilot Test Treatability Study is planned at Sandia National Laboratories, New Mexico (SNL/NM) Technical Area-V (TA-V) Groundwater Area of Concern. The Treatability Study is designed to gravity inject an electron-donor substrate and bioaugmentation bacteria into groundwater using an injection well. The constituents of concern (COCs) are nitrate and trichloroethene (TCE). The Pilot Test Treatability Study will evaluate the effectiveness of bioremediation and COC treatment over a prescribed period of time. Results of the pilot test will provide data that will be used to evaluate the cost and effectiveness of a fullscale system.

Operable Unit 7-13/14 in situ thermal desorption treatability study work plan

International Nuclear Information System (INIS)

Shaw, P.; Nickelson, D.; Hyde, R.

1999-01-01

This Work Plan provides technical details for conducting a treatability study that will evaluate the application of in situ thermal desorption (ISTD) to landfill waste at the Subsurface Disposal Area (SDA) at the Idaho National Engineering and Environmental Laboratory (INEEL). ISTD is a form of thermally enhanced vapor vacuum extraction that heats contaminated soil and waste underground to raise its temperature and thereby vaporize and destroy most organics. An aboveground vapor vacuum collection and treatment system then destroys or absorbs the remaining organics and vents carbon dioxide and water to the atmosphere. The technology is a byproduct of an advanced oil-well thermal extraction program. The purpose of the ISTD treatability study is to fill performance-based data gaps relative to off-gas system performance, administrative feasibility, effects of the treatment on radioactive contaminants, worker safety during mobilization and demobilization, and effects of landfill type waste on the process (time to remediate, subsidence potential, underground fires, etc.). By performing this treatability study, uncertainties associated with ISTD as a selected remedy will be reduced, providing a better foundation of remedial recommendations and ultimate selection of remedial actions for the SDA

Treatability Study Report for In SITU Lead Immobilization Using Phosphate-Based Binders

National Research Council Canada - National Science Library

Bricka, R. M; Marwaha, Anirudha; Fabian, Gene L

2008-01-01

.... The treatability study described in this report was designed to develop the information necessary to support the immobilization of lead contaminants in soil by in situ treatment with phosphate-based binders...

Sampling and analysis plan for Phase II of the Bear Creek Valley Treatability Study, Oak Ridge Y-12 Plant, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1997-09-01

The Bear Creek Valley (BCV) Treatability Study is intended to provide site-specific data defining potential treatment technologies applicable to contaminated groundwater and surface water. This project directly supports Alternative 5 of the base action in the BCV Feasibility Study and indirectly supports other alternatives through proof of concept. In that role, the ultimate goal is to install a treatment system that will remove uranium and nitrate from groundwater before it reaches Bear Creek. A secondary goal is the concurrent removal of technetium and several metals that affect ecological risk. This project is intended to produce hydraulic and treatment performance data required to design the treatment system to reach those goals. This project will also generate information that can be applied at other facilities within the Oak Ridge Reservation. This report is the sampling and analysis plan (SAP) for the field work component of Phase II of the BCV Treatability Study. Field work for this phase of the BCV Treatability Study consists of environmental and media testing. The SAP addresses environmental sampling at the S-3 Site at the Oak Ridge Y-12 Plant. Samples will be taken from groundwater, surface water, seeps, effluent from test columns, effluent from an algal mat reactor, and effluent from a pilot-scale wetland. Groundwater, surface water, and seeps will be monitored continuously for field parameters and sampled for analytical parameters during pump tests conducted periodically during the investigation. In-field continuous flow tests will be conducted over an extended time period (5 weeks) to generate data on long-term treatment effects on potential treatment effects on potential treatment media including sorbents and zero valent iron, over 28 weeks for constructed wetlands treatment, and over 24 weeks for algal mats treatment

Waste management plan for phase II of the Bear Creek Valley Treatability study Oak Ridge Y-12 Plant, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1997-09-01

This Waste Management Plan (WMP) for the Bear Creek Valley Treatability Study addresses waste management requirements for the Oak Ridge Y-12 Plant. The study is intended to produce treatment performance data required to design a treatment system for contaminated groundwater. The treatability study will consist of an evaluation of various treatment media including continuous column tests, with up to six columns being employed to evaluate the performance of different media in the treatment of groundwater; an evaluation of the dentrifying capacity and metal uptake capacity of a wetland system; and the long-term dentrifying capacity and metal uptake capacity of algal mats. Additionally, the treatability study involves installation of a trench and incline well to evaluate and assess hydraulic impacts of pumping groundwater. The Sampling and Analysis Plan (SAP) covers the project description, technical objectives, procedures, and planned work activities in greater detail. The Health and Safety Plan (HASP) addresses the health and safety concerns and requirements for the proposed sampling activities. This WMP identifies the types and estimates the volumes of various wastes that may be generated during the proposed treatability studies. The approach to managing waste outlined in this WMP emphasizes the following points: (1) management of the waste generated in a manner that is protective of human health and the environment; (2) minimization of waste generation, thereby reducing unnecessary costs and usage of limited permitted storage and disposal capacities; and (3) compliance with federal, state, and site requirements. Prior sampling at the site has detected organic, radioactive, and metals contamination in groundwater and surface water. Proposed field operations are not expected to result in worker exposures greater than applicable exposure or action limits

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

OpenAIRE

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

2016-01-01

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

Final waste forms project: Performance criteria for phase I treatability studies

International Nuclear Information System (INIS)

Gilliam, T.M.; Hutchins, D.A.; Chodak, P. III

1994-06-01

This document defines the product performance criteria to be used in Phase I of the Final Waste Forms Project. In Phase I, treatability studies will be performed to provide open-quotes proof-of-principleclose quotes data to establish the viability of stabilization/solidification (S/S) technologies. This information is required by March 1995. In Phase II, further treatability studies, some at the pilot scale, will be performed to provide sufficient data to allow treatment alternatives identified in Phase I to be more fully developed and evaluated, as well as to reduce performance uncertainties for those methods chosen to treat a specific waste. Three main factors influence the development and selection of an optimum waste form formulation and hence affect selection of performance criteria. These factors are regulatory, process-specific, and site-specific waste form standards or requirements. Clearly, the optimum waste form formulation will require consideration of performance criteria constraints from each of the three categories. Phase I will focus only on the regulatory criteria. These criteria may be considered the minimum criteria for an acceptable waste form. In other words, a S/S technology is considered viable only if it meet applicable regulatory criteria. The criteria to be utilized in the Phase I treatability studies were primarily taken from Environmental Protection Agency regulations addressed in 40 CFR 260 through 265 and 268; and Nuclear Regulatory Commission regulations addressed in 10 CFR 61. Thus the majority of the identified criteria are independent of waste form matrix composition (i.e., applicable to cement, glass, organic binders etc.)

Final waste forms project: Performance criteria for phase I treatability studies

Energy Technology Data Exchange (ETDEWEB)

Gilliam, T.M. [Oak Ridge National Lab., TN (United States); Hutchins, D.A. [Martin Marietta Energy Systems, Inc., Oak Ridge, TN (United States); Chodak, P. III [Massachusetts Institute of Technology (United States)

1994-06-01

This document defines the product performance criteria to be used in Phase I of the Final Waste Forms Project. In Phase I, treatability studies will be performed to provide {open_quotes}proof-of-principle{close_quotes} data to establish the viability of stabilization/solidification (S/S) technologies. This information is required by March 1995. In Phase II, further treatability studies, some at the pilot scale, will be performed to provide sufficient data to allow treatment alternatives identified in Phase I to be more fully developed and evaluated, as well as to reduce performance uncertainties for those methods chosen to treat a specific waste. Three main factors influence the development and selection of an optimum waste form formulation and hence affect selection of performance criteria. These factors are regulatory, process-specific, and site-specific waste form standards or requirements. Clearly, the optimum waste form formulation will require consideration of performance criteria constraints from each of the three categories. Phase I will focus only on the regulatory criteria. These criteria may be considered the minimum criteria for an acceptable waste form. In other words, a S/S technology is considered viable only if it meet applicable regulatory criteria. The criteria to be utilized in the Phase I treatability studies were primarily taken from Environmental Protection Agency regulations addressed in 40 CFR 260 through 265 and 268; and Nuclear Regulatory Commission regulations addressed in 10 CFR 61. Thus the majority of the identified criteria are independent of waste form matrix composition (i.e., applicable to cement, glass, organic binders etc.).

Solidifications/stabilization treatability study of a mixed waste sludge

International Nuclear Information System (INIS)

Spence, R.D.; Stine, E.F.

1996-01-01

The Department of Energy Oak Ridge Operations Office signed a Federal Facility Compliance Agreement with the US Environmental Protection Agency Region IV regarding mixed wastes from the Oak Ridge Reservation (ORR) subject to the land disposal restriction provisions of the Resource Conservation and Recovery Act (RCRA). This agreement required treatability studies of solidification/stabilization (S/S) on mixed wastes from the ORR. This paper reports the results of the cementitious S/S studies conducted on a waste water treatment sludge generated from biodenitrification and heavy metals precipitation. For the cementitious waste forms, the additives tested were Portland cement, ground granulated blast furnace slag, Class F fly ash, and perlite. The properties measured on the treated waste were density, free-standing liquid, unconfined compressive strength, and TCLP performance. Spiking up to 10,000, 10,000, and 4,400 mg/kg of nickel, lead, and cadmium, respectively, was conducted to test waste composition variability and the stabilization limitations of the binding agents. The results indicated that nickel, lead and cadmium were stabilized fairly well in the high pH hydroxide-carbonate- ''bug bones'' sludge, but also clearly confirmed the established stabilization potential of cementitious S/S for these RCRA metals

Hot tests of the small portable arc saw using an electromechanical manipulator

International Nuclear Information System (INIS)

Deichelbohrer, P.R.

1985-01-01

A hand-held portable arc saw was demonstrated in 1982. Known as the Small Portable Arc Saw (SPARCS), it weighed less than 15-lb and could cut metal sheet up to 1/2-in thick. From the hand-held SPARCS, a manipulator-handled model was developed for use in decommissioning operations by Pacific Northwest Laboratory (PNL). During cold tests, the SPARCS, which was maneuvered with a mechanical, master-slave manipulator, cut 1-in thick stainless steel plate. The decommissioning method of PNL depended principally on a plasma cutting torch for size reduction. The SPARCS unit was installed in the cell to assist the plasma torch. At present, use of the SPARCS in this project has not been necessary, and it has not been operated in the cell. The plasma cutting torch is a widely used tool for size reduction; the torch can cut stainless steel and heavy material, is lightweight, and is easy to handle with manipulators. Some shortcomings, however, have been reported; for example, cutting pipe, laminates, or forms with hollow cross sections (e.g., unistrut) is sometimes cumbersome. The stand-off spacing required is another constraint. The torch tip must be spaced approximately 1/2-in from the work to achieve proper cutting action. During cutting, this spacing requires accurate control of the torch. The manipulator operator must have significant skill to achieve this control. Test results to date show that the arc saw's ability to cut heavy, hard, and inert metal compares favorably with the performance of the plasma torch. The arc saw offers the further advantages of cutting hollow cross-section forms without special procedures, and of cutting without stand-off spacing

Identifying Medical Diagnoses and Treatable Diseases by Image-Based Deep Learning.

Science.gov (United States)

Kermany, Daniel S; Goldbaum, Michael; Cai, Wenjia; Valentim, Carolina C S; Liang, Huiying; Baxter, Sally L; McKeown, Alex; Yang, Ge; Wu, Xiaokang; Yan, Fangbing; Dong, Justin; Prasadha, Made K; Pei, Jacqueline; Ting, Magdalene Y L; Zhu, Jie; Li, Christina; Hewett, Sierra; Dong, Jason; Ziyar, Ian; Shi, Alexander; Zhang, Runze; Zheng, Lianghong; Hou, Rui; Shi, William; Fu, Xin; Duan, Yaou; Huu, Viet A N; Wen, Cindy; Zhang, Edward D; Zhang, Charlotte L; Li, Oulan; Wang, Xiaobo; Singer, Michael A; Sun, Xiaodong; Xu, Jie; Tafreshi, Ali; Lewis, M Anthony; Xia, Huimin; Zhang, Kang

2018-02-22

The implementation of clinical-decision support algorithms for medical imaging faces challenges with reliability and interpretability. Here, we establish a diagnostic tool based on a deep-learning framework for the screening of patients with common treatable blinding retinal diseases. Our framework utilizes transfer learning, which trains a neural network with a fraction of the data of conventional approaches. Applying this approach to a dataset of optical coherence tomography images, we demonstrate performance comparable to that of human experts in classifying age-related macular degeneration and diabetic macular edema. We also provide a more transparent and interpretable diagnosis by highlighting the regions recognized by the neural network. We further demonstrate the general applicability of our AI system for diagnosis of pediatric pneumonia using chest X-ray images. This tool may ultimately aid in expediting the diagnosis and referral of these treatable conditions, thereby facilitating earlier treatment, resulting in improved clinical outcomes. VIDEO ABSTRACT. Copyright © 2018 Elsevier Inc. All rights reserved.

Chelant extraction and REDOX manipulation for mobilization of heavy metals from contaminated soils

International Nuclear Information System (INIS)

Brewster, M.D.; Peters, R.W.; Miller, G.A.; Patton, T.L.; Martino, L.E.

1994-01-01

Was the result of open burning and open detonation of chemical agents and munitions in the Toxic Burning Pits area at J-Field, located in the Edgewood Area of Aberdeen Proving Ground in Harford County, Maryland, soils have been contaminated with heavy metals. Simultaneous extraction is complicated because of the multitude of contaminant forms that exist. This paper uses data from a treatability study performed at Argonne National Laboratory to discuss and compare several treatment methods that were evaluated for remediating metals-contaminated soils. J-Field soils were subjected to a series of treatability experiments designed to determine the feasibility of using soil washing/soil flushing, enhancements to soil washing/soil flushing, solidification/stabilization, and electrokinetics for remediating soils contaminated with metals. Chelating and mobilizing agents evaluated included ammonium acetate, ethylenediaminetetraacetic acid, citric acid, Citranox, gluconic acid, phosphoric acid, oxalic acid, and nitrilotriacetic acid, in addition to pH-adjusted water. REDOX manipulation can maximize solubilities, increase desorption, and promote removal of heavy metal contaminants. Reducing agents that were studied included sodium borohydride, sodium metabisulfite, and thiourea dioxide. The oxidants studied included hydrogen peroxide, sodium percarbonate, sodium hypochlorite, and potassium permanganate. This paper summaries the results from the physical/chemical characterization, soil washing/soil flushing, and enhancements to soil washing/soil flushing portions of the study

Enhanced Cover Assessment Project:Soil Manipulation and Revegetation Tests

Energy Technology Data Exchange (ETDEWEB)

Waugh, W. Joseph [Navarro Research and Engineering, Inc.; Albright, Dr. Bill [Desert Research Inst. (DRI), Reno, NV (United States); Benson, Dr. Craig [University of Wisconsin-Madison

2014-02-01

The U.S. Department of Energy Office of Legacy Management is evaluating methods to enhance natural changes that are essentially converting conventional disposal cell covers for uranium mill tailings into water balance covers. Conventional covers rely on a layer of compacted clayey soil to limit exhalation of radon gas and percolation of rainwater. Water balance covers rely on a less compacted soil “sponge” to store rainwater, and on soil evaporation and plant transpiration (evapotranspiration) to remove stored water and thereby limit percolation. Over time, natural soil-forming and ecological processes are changing conventional covers by increasing hydraulic conductivity, loosening compaction, and increasing evapotranspiration. The rock armor on conventional covers creates a favorable habitat for vegetation by slowing soil evaporation, increasing soil water storage, and trapping dust and organic matter, thereby providing the water and nutrients needed for plant germination, survival, and sustainable transpiration. Goals and Objectives Our overall goal is to determine if allowing or enhancing these natural changes could improve cover performance and reduce maintenance costs over the long term. This test pad study focuses on cover soil hydrology and ecology. Companion studies are evaluating effects of natural and enhanced changes in covers on radon attenuation, erosion, and biointrusion. We constructed a test cover at the Grand Junction disposal site to evaluate soil manipulation and revegetation methods. The engineering design, construction, and properties of the test cover match the upper three layers of the nearby disposal cell cover: a 1-foot armoring of rock riprap, a 6-inch bedding layer of coarse sand and gravel, and a 2-foot protection layer of compacted fine soil. The test cover does not have a radon barrier—cover enhancement tests leave the radon barrier intact. We tested furrowing and ripping as means for creating depressions parallel to the slope

Field demonstration of ex situ biological treatability of contaminated groundwater at the Strachan gas plant

International Nuclear Information System (INIS)

Kurz, M.D.; Stepan, D.J.

1997-03-01

A multi-phase study was conducted to deal with the issues of groundwater and soil contamination by sour gas processing plants in Alberta. Phase One consisted of a review of all soil and groundwater monitoring data submitted to Alberta Environment by sour gas plants in accordance with the Canadian Clean Water Act. The current phase involves the development, evaluation and demonstration of selected remediation technologies to address subsurface contamination of sediments and groundwater at sour gas treatment plants with special attention to the presence of natural gas condensate in the subsurface. Results are presented from a pilot-scale biological treatability test that was performed at the Gulf Strachan Natural Gas Processing Plant in Rocky Mountain House, Alberta, where contaminated groundwater from the plant was being pumped to the surface through many recovery wells to control contaminant migration. The recovered groundwater was directed to a pump-and-treat system that consisted of oil-water separation, iron removal, hardness removal, and air stripping, before being reinjected. The pilot-scale biological treatability testing was conducted to evaluate process stability in treating groundwater without pretreatment for iron and hardness reduction and to evaluate the removal of organic contaminants. Results of a groundwater characterization analysis are discussed. Chemical characteristics of the groundwater at the Strachan Gas Plant showed that an ex situ remediation technology would address the dissolved volatile and semi-volatile organic contamination from natural gas condensates, as well as the nitrogenous compounds resulting from the use of amine-based process chemicals. 4 refs., 5 tabs., 4 figs

Can manipulations of cognitive load be used to test evolutionary hypotheses?

Science.gov (United States)

Barrett, H Clark; Frederick, David A; Haselton, Martie G; Kurzban, Robert

2006-09-01

D. DeSteno, M. Y. Bartlett, J. Braverman, and P. Salovey proposed that if sex-differentiated responses to infidelity are evolved, then they should be automatic, and therefore cognitive load should not attenuate them. DeSteno et al. found smaller sex differences in response to sexual versus emotional infidelity among participants under cognitive load, an effect interpreted as evidence against the evolutionary hypothesis. This logic is faulty. Cognitive load probably affects mechanisms involved in simulating infidelity experiences, thus seriously challenging the usefulness of cognitive load manipulations in testing hypotheses involving simulation. The method also entails the assumption that evolved jealousy mechanisms are necessarily automatic, an assumption not supported by theory or evidence. Regardless of how the jealousy debate is eventually settled, cognitive load manipulations cannot rule out the operation of evolved mechanisms. ((c) 2006 APA, all rights reserved).

Treatability study operational testing program and implementation plan for the Gunite and Associated Tanks at Oak Ridge National Laboratory, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1996-03-01

This Treatability Study (TS) Operational Testing Program and Implementation Plan identifies operational testing to be performed to: (1) Demonstrate the technical feasibility of methods proposed for the removal of radiochemical sludge heels from the underground storage tanks located at Oak Ridge National Laboratory (ORNL), known as the Gunite and Associated Tanks (GAAT) Operable Unit (OU). (The bulk of the radiochemical waste, which was previously stored in the tanks, was removed during the 1980s, and only a sludge heel remains.) (2) Reduce the uncertainty in meeting the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA) requirements for the GAAT OU. (3) Minimize the overall costs to accomplish the first two objectives. An initial Feasibility Study (FS) effort identified uncertainties in the evaluation of various alternatives for addressing the remediation of the GAAT OU. To support future decision making, the US. Department of Energy is performing a TS to identify cost-effective remediation approaches for the GAAT OU by providing information to reduce cost and technical uncertainty and better define acceptable remediation strategies. The testing activities will be initially conducted in a nonradioactive environment at the Tanks Technology Cold Test Facility (TTCTF) at ORNL. This will permit the design and initial performance testing and training activities to be completed while minimizing the risk, employee exposure, and costs associated with the testing effort. The component design and functional testing and initial system performance testing will be completed in the TTCTF. After the component and initial system performance testing have been completed, the operations testing will continue in the North Tank Farm (NTF). This testing has an associated higher cost and risk, but is necessary to provide results for actual waste heel removal

Cationic polymers in water treatment: Part 1: Treatability of water with cationic polymers

Czech Academy of Sciences Publication Activity Database

Polasek, P.; Mutl, Silvestr

2002-01-01

Roč. 28, č. 1 (2002), s. 69-82 ISSN 0378-4738 R&D Projects: GA AV ČR KSK2067107 Keywords : cationic polymers * treatability * water quality Subject RIV: BK - Fluid Dynamics Impact factor: 0.481, year: 2002

Experimental Plan: 300 Area Treatability Test: In Situ Treatment of the Vadose Zone and Smear Zone Uranium Contamination by Polyphosphate Infiltration

International Nuclear Information System (INIS)

Wellman, Dawn M.; Pierce, Eric M.; Oostrom, Mart; Fruchter, Jonathan S.

2007-01-01

The overall objectives of the treatability test is to evaluate and optimize polyphosphate remediation technology for infiltration either from ground surface, or some depth of excavation, providing direct stabilization of uranium within the deep vadose and capillary fringe above the 300 Area aquifer. Expected result from this experimental plan is a data package that includes: (1) quantification of the retardation of polyphosphate, (2) the rate of degradation and the retardation of degradation products as a function of water content, (3) an understanding of the mechanism of autunite formation via the reaction of solid phase calcite-bound uranium and aqueous polyphosphate remediation technology, (4) an understanding of the transformation mechanism, identity of secondary phases, and the kinetics of the reaction between uranyl-carbonate and silicate minerals with the polyphosphate remedy under solubility-limiting conditions, (5) quantification of the extent and rate of uranium released and immobilized based on the infiltration rate of the polyphosphate remedy and the effect of and periodic wet-dry cycling on the efficacy of polyphosphate remediation for uranium in the vadose zone and capillary fringe, and (6) quantification of reliable equilibrium solubility values for autunite under hydraulically unsaturated conditions allowing accurate prediction of the long-term stability of autunite. Moreover, results of intermediate scale testing will quantify the transport of polyphosphate and degradation products, and yield degradation rates, at a scale that is bridging the gap between the small-scale UFA studies and the field scale. These results will be used to test and verify a site-specific, variable saturation, reactive transport model and to aid in the design of a pilot-scale field test of this technology. In particular, the infiltration approach and monitoring strategy of the pilot test would be primarily based on results from intermediate-scale testing. Results from this

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

Science.gov (United States)

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

2018-01-01

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

Work plan for the treatability study for PCB dehalogenation by Agent 313 in Waste Area Grouping 11 at Oak Ridge National Laboratory, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1994-08-01

This work Plan describes the treatability study for Polychlorinated biphenyl (PCB) debalogenation by Agent 313 (a registered trademark of the A.L. Sandpiper Corporation of Columbus, ohio) to be conducted at Waste Area Grouping (WAG) 11 on the Oak Ridge Reservation. The study will be conducted at WAG 11 as a result of the contamination of several small areas of soil by leaking capacitors. The primary purpose of this treatability study is to demonstrate the effectiveness of Agent 313 in remediating PCB-contaminated soil. However, the WAG 11 soils to be treated may also contain radionuclides and metals. In addition to providing the procedures to be followed during the treatability study, the work plan briefly describes the project background and technology, lists applicable or relevant and appropriate requirements for the project, and delineates project goals and objectives. This document also follows the general suggested outline for treatability study work plans shown in the 1992 report Guide for conducting Treatability Studies Under CERCLA: Final, EPA;540/R-92-071a, published by the US Environmental Protection Agency

Treatability study for removal of leachable mercury in crushed fluorescent lamps

International Nuclear Information System (INIS)

Bostick, W.D.; Beck, D.E.; Bowser, K.T.

1996-02-01

Nonserviceable fluorescent lamps removed from radiological control areas at the Oak Ridge Department of Energy facilities have been crushed and are currently managed as mixed waste (hazardous and radiologically contaminated). We present proposed treatment flowsheets and supporting treatability study data for conditioning this solid waste residue so that it can qualify for disposal in a sanitary landfill. Mercury in spent fluorescent lamps occurs primarily as condensate on high-surface-area phosphor material. It can be solubilized with excess oxidants (e.g., hypochlorite solution) and stabilized by complexation with halide ions. Soluble mercury in dechlorinated saline solution is effectively removed by cementation with zero-valent iron in the form of steel wool. In packed column dynamic flow testing, soluble mercury was reduced to mercury metal and insoluble calomel, loading > 1.2 g of mercury per grain of steel wool before an appreciable breakthrough of soluble mercury in the effluent

Treatability study for removal of leachable mercury in crushed fluorescent lamps

Energy Technology Data Exchange (ETDEWEB)

Bostick, W.D.; Beck, D.E.; Bowser, K.T. [and others

1996-02-01

Nonserviceable fluorescent lamps removed from radiological control areas at the Oak Ridge Department of Energy facilities have been crushed and are currently managed as mixed waste (hazardous and radiologically contaminated). We present proposed treatment flowsheets and supporting treatability study data for conditioning this solid waste residue so that it can qualify for disposal in a sanitary landfill. Mercury in spent fluorescent lamps occurs primarily as condensate on high-surface-area phosphor material. It can be solubilized with excess oxidants (e.g., hypochlorite solution) and stabilized by complexation with halide ions. Soluble mercury in dechlorinated saline solution is effectively removed by cementation with zero-valent iron in the form of steel wool. In packed column dynamic flow testing, soluble mercury was reduced to mercury metal and insoluble calomel, loading > 1.2 g of mercury per grain of steel wool before an appreciable breakthrough of soluble mercury in the effluent.

In situ vitrification demonstration at Pit 1, Oak Ridge National Laboratory. Volume 1: Results of treatability study

International Nuclear Information System (INIS)

Spalding, B.P.; Naney, M.T.; Cline, S.R.; Bogle, M.A.

1997-12-01

A treatability study was initiated in October 1993 to apply in situ vitrification (ISV) to at least two segments of Oak Ridge National Laboratory (ORNL) seepage Pit 1 by the end of fiscal year (FY) 1995. This treatability study was later extended to include all of Pit 1 and was performed to support a possible Interim Record of Decision or removal action for closure of one or more of the seepage pits and trenches beginning as early as FY 1997. This treatability study was carried out to establish the field-scale technical performance of ISV for (1) attaining the required depth, nominally 15 ft, to incorporate source contamination within and beneath the pits; (2) demonstrating field capability for the overlap of melt settings which will be necessary to achieve fused, melted segments of the source contamination; (3) demonstrating off-gas handling technology for accommodating and minimizing the volatilization of 137 Cs; (4) demonstrating adequate site characterization techniques to predict ISV melting kinetics, processing temperatures, and product durability; and (5) promoting public acceptance of ISV technology by demonstrating its safety, implementability, site impacts, and air emissions and by coordinating the treatability study within the regulatory closure process. In April 1996 an expulsion of an estimated 10% of the 196 Mg (216 tons) melt body occurred resulting in significant damage to ISV equipment and, ultimately, led to an indefinite suspension of further ISV operations at Pit 1. This report summarizes the technical accomplishments and status of the project in fulfilling these objectives through September 1997

In situ vitrification demonstration at Pit 1, Oak Ridge National Laboratory. Volume 1: Results of treatability study

Energy Technology Data Exchange (ETDEWEB)

Spalding, B.P.; Naney, M.T.; Cline, S.R.; Bogle, M.A. [Oak Ridge National Lab., TN (United States). Environmental Sciences Div.; Tixier, J.S. [Pacific Northwest National Lab., Richland, WA (United States)

1997-12-01

A treatability study was initiated in October 1993 to apply in situ vitrification (ISV) to at least two segments of Oak Ridge National Laboratory (ORNL) seepage Pit 1 by the end of fiscal year (FY) 1995. This treatability study was later extended to include all of Pit 1 and was performed to support a possible Interim Record of Decision or removal action for closure of one or more of the seepage pits and trenches beginning as early as FY 1997. This treatability study was carried out to establish the field-scale technical performance of ISV for (1) attaining the required depth, nominally 15 ft, to incorporate source contamination within and beneath the pits; (2) demonstrating field capability for the overlap of melt settings which will be necessary to achieve fused, melted segments of the source contamination; (3) demonstrating off-gas handling technology for accommodating and minimizing the volatilization of {sup 137}Cs; (4) demonstrating adequate site characterization techniques to predict ISV melting kinetics, processing temperatures, and product durability; and (5) promoting public acceptance of ISV technology by demonstrating its safety, implementability, site impacts, and air emissions and by coordinating the treatability study within the regulatory closure process. In April 1996 an expulsion of an estimated 10% of the 196 Mg (216 tons) melt body occurred resulting in significant damage to ISV equipment and, ultimately, led to an indefinite suspension of further ISV operations at Pit 1. This report summarizes the technical accomplishments and status of the project in fulfilling these objectives through September 1997.

Mock-up tests of rail-mounted vehicle type in-vessel transporter/manipulator

International Nuclear Information System (INIS)

Oka, K.; Kakaudate, S.; Fukatsu, S.

1995-01-01

A rail-mounted vehicle system has been developed for remote maintenance of in-vessel components for fusion experimental reactor. In this system, a rail deploying/storing system is installed at outside of the reactor core and used to deploy a rail transporter and vehicle/manipulator for the in-vessel maintenance. A prototype of the rail deploying/storing system has been fabricated for mockup tests. This paper describes structural design of the prototypical rail deploying/storing system and results of the performance tests such as payload capacity, position control and rail deployment/storage performance

Waste management plan for Phase II of the Bear Creek Valley treatability study Oak Ridge Y-12 Plant, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1997-05-01

This Waste Management Plant (WMP) for the Bear Creek Valley Treatability Study addresses waste management requirements for the Oak Ridge Y-12 Plant. The study is intended to produce treatment performance data required to design a treatment system for contaminated groundwater. The treatability study will consist of an evaluation of various treatment media including: continuous column tests, with up to six columns being employed to evaluate the performance of different media in the treatment of groundwater; an evaluation of the denitrifying capacity and metal uptake capacity of a wetland system; and the long-term denitrifying capacity and metal uptake capacity of algal mats. The Sampling and Analysis Plan (SAP) covers the project description, technical objectives, procedures, and planned work activities in greater detail. The Health and Safety Plan (HASP) addresses the health and safety concerns and requirements for the proposed sampling activities. This WMP identifies the types and estimates the volumes of various wastes that may be generated during the proposed treatability studies. The approach to managing waste outlined in this WMP emphasizes: (1) management of the waste generated in a manner that is protective of human health and the environment; (2) minimization of waste generation, thereby reducing unnecessary costs and usage of limited permitted storage and disposal capacities; and (3) compliance with federal, state, and site requirements. Prior sampling at the site has detected organic, radioactive, and metals contamination in groundwater and surface water. Proposed field operations are not expected to result in worker exposures greater than applicable exposure or action limits

Comparison of hardenability calculation methods of the heat-treatable constructional steels

Energy Technology Data Exchange (ETDEWEB)

Dobrzanski, L.A.; Sitek, W. [Division of Tool Materials and Computer Techniques in Metal Science, Silesian Technical University, Gliwice (Poland)

1995-12-31

Evaluation has been made of the consistency of calculation of the hardenability curves of the selected heat-treatable alloyed constructional steels with the experimental data. The study has been conducted basing on the analysis of present state of knowledge on hardenability calculation employing the neural network methods. Several calculation examples and comparison of the consistency of calculation methods employed are included. (author). 35 refs, 2 figs, 3 tabs.

Remote controlled in-pipe manipulators for milling, welding and EC-testing, for application in BWRS

International Nuclear Information System (INIS)

Seeberger, E.K.

2000-01-01

Many pipes in power plants and industrial facilities have piping sections, which are not accessible from the outside or which are difficult to access. Accordingly, remote controlled pipe machining manipulators have been built which enable in-pipe inspection and repair. Since the 1980s, defects have been found at the Inconel welds of the RPV nozzles of boiling water reactors throughout the world. These defects comprise cracks caused by stress corrosion cracking in areas of manual welds made using the weld filler metal Inconel 182. The cracks were found in Inconel-182 buttering at the ferritic nozzles as well as in the welded joints connecting to the fully-austenitic safe ends (Inconel 600 and stainless steel). These welds are not accessible from outside. The ferritic nozzle is cladded with austenitic material on the inside. The adjacent buttering was applied manually using the weld filler metal Inconel 182. The safe end made of Inconel 600 was welded to the nozzle also using Inconel 182 as the filler metal. The repair problems for inside were solved with remote-controlled in-pipe manipulators which enable in-pipe inspection and repair. A complete systems of manipulators has been developed and qualified for application in nuclear power plants. The tasks that must be performed with this set of in-pipe manipulator are as follows: 1st step - Insertion of the milling/ET manipulator into piping to the work location; 2nd step Detection of the transition line with the ferritic measurement probe; 3rd step - Performance of a surface crack examination by eddy current (ET) method; 4th step - Milling of the groove and preparation for weld backlay and, in case of ET indications, elimination of such flaws also by milling. 5th step - Welding of backlay and/or repair weld using the GTA pulsed arc technique; 6th step - After welding it is necessary to prepare the surface for eddy current testing. A final milling inside the pipe is done with the milling manipulator to adjust the

CARWASH WASTEWATERS: CHARACTERISTICS, VOLUMES, AND TREATABILITY BY GRAVITY OIL SEPARATION

OpenAIRE

C. Fall

2007-01-01

The aim of this research was to determine the characteristics, volumes and treatability of Full-service carwash wastewaters in Toluca (Mexico State). The average water use for Exterior-only wash was 50 L per small-size car and 170 L per medium-size vehicle (pick up, van or light truck). The Full-service wash (exterior, engine and chassis) required 170 L per small-size car and 300 L per light truck. Wastewaters were generally emulsified and contained high contaminant loads (in average, 1100 mg...

Treatability studies on different refinery wastewater samples using high-throughput microbial electrolysis cells (MECs)

KAUST Repository

Ren, Lijiao; Siegert, Michael; Ivanov, Ivan; Pisciotta, John M.; Logan, Bruce E.

2013-01-01

High-throughput microbial electrolysis cells (MECs) were used to perform treatability studies on many different refinery wastewater samples all having appreciably different characteristics, which resulted in large differences in current generation. A de-oiled refinery wastewater sample from one site (DOW1) produced the best results, with 2.1±0.2A/m2 (maximum current density), 79% chemical oxygen demand removal, and 82% headspace biological oxygen demand removal. These results were similar to those obtained using domestic wastewater. Two other de-oiled refinery wastewater samples also showed good performance, with a de-oiled oily sewer sample producing less current. A stabilization lagoon sample and a stripped sour wastewater sample failed to produce appreciable current. Electricity production, organics removal, and startup time were improved when the anode was first acclimated to domestic wastewater. These results show mini-MECs are an effective method for evaluating treatability of different wastewaters. © 2013 Elsevier Ltd.

Treatability studies on different refinery wastewater samples using high-throughput microbial electrolysis cells (MECs)

KAUST Repository

Ren, Lijiao

2013-05-01

High-throughput microbial electrolysis cells (MECs) were used to perform treatability studies on many different refinery wastewater samples all having appreciably different characteristics, which resulted in large differences in current generation. A de-oiled refinery wastewater sample from one site (DOW1) produced the best results, with 2.1±0.2A/m2 (maximum current density), 79% chemical oxygen demand removal, and 82% headspace biological oxygen demand removal. These results were similar to those obtained using domestic wastewater. Two other de-oiled refinery wastewater samples also showed good performance, with a de-oiled oily sewer sample producing less current. A stabilization lagoon sample and a stripped sour wastewater sample failed to produce appreciable current. Electricity production, organics removal, and startup time were improved when the anode was first acclimated to domestic wastewater. These results show mini-MECs are an effective method for evaluating treatability of different wastewaters. © 2013 Elsevier Ltd.

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

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

2016-01-01

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

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

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

1997-01-01

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

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

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

1997-03-01

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

Treatability of volatile chlorinated hydrocarbon-contaminated soils of different textures along a vertical profile by mechanical soil aeration: A laboratory test.

Science.gov (United States)

Ma, Yan; Shi, Yi; Hou, Deyi; Zhang, Xi; Chen, Jiaqi; Wang, Zhifen; Xu, Zhu; Li, Fasheng; Du, Xiaoming

2017-04-01

Mechanical soil aeration is a simple, effective, and low-cost soil remediation technology that is suitable for sites contaminated with volatile chlorinated hydrocarbons (VCHs). Conventionally, this technique is used to treat the mixed soil of a site without considering the diversity and treatability of different soils within the site. A laboratory test was conducted to evaluate the effectiveness of mechanical soil aeration for remediating soils of different textures (silty, clayey, and sandy soils) along a vertical profile at an abandoned chloro-alkali chemical site in China. The collected soils were artificially contaminated with chloroform (TCM) and trichloroethylene (TCE). Mechanical soil aeration was effective for remediating VCHs (removal efficiency >98%). The volatilization process was described by an exponential kinetic function. In the early stage of treatment (0-7hr), rapid contaminant volatilization followed a pseudo-first order kinetic model. VCH concentrations decreased to low levels and showed a tailing phenomenon with very slow contaminant release after 8hr. Compared with silty and sandy soils, clayey soil has high organic-matter content, a large specific surface area, a high clay fraction, and a complex pore structure. These characteristics substantially influenced the removal process, making it less efficient, more time consuming, and consequently more expensive. Our findings provide a potential basis for optimizing soil remediation strategy in a cost-effective manner. Copyright © 2016. Published by Elsevier B.V.

Treatability study of pesticide-based industrial wastewater.

Science.gov (United States)

Shah, Kinnari; Chauhan, L I; Galgale, A D

2012-10-01

This paper finds out appropriate treatment methods for wastewater of an Organophosphorus viz, chloropyrifos pesticide manufacturing industry. The characterization of wastewater generated during trial production of chloropyrifos was carried out. Based on the characterization of wastewater, various treatability studies were conducted. The most desirable results were obtained with treatment scheme employing acidification, chlorination with NaOCl, suspended growth biological treatment, chemical precipitation for phosphorous removal and activated carbon treatment. Acidification of wastewater helps in by-product recovery as well as reduction in COD upto 36.26%. Chlorination followed by biological treatment was found to be effective to reduce the COD level by 62.06%. To comply with permissible limits prescribed by Effluent Channel Project Ltd.(ECPL)* and Gujarat Pollution Control Board (GPCB) for discharge of industrial effluent into channel, further treatment in the form of chemical precipitation (for phosphorous removal) and granular activated carbon is suggested.

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

International Nuclear Information System (INIS)

Geisinger, Joseph W. Ph.D.

2001-01-01

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

Development of guidance for preparing treatability variance petitions from the RCRA Land Disposal Restrictions for DOE [Department of Energy] mixed-waste streams

International Nuclear Information System (INIS)

Harms, T.; Scheuer, N.; Martin, R.; Van Epp, T.; Triplett, M.

1990-01-01

In response to the Department of Energy's (DOE) anticipated need for variances from the Resource Conservation and Recovery Act (RCRA) Land Disposal Restriction (LDR) treatment requirements, a treatability variance guidance document is being prepared for use by DOE facilities and operations offices. The guidance document, although applicable to non-mixed hazardous waste streams, provides specific guidance regarding radioactive mixed-waste streams. Preparation of the guidance manual has involved developing an overview of the Land Disposal Restrictions, as well as an overview of the petition preparation process. The DOE internal review requirements are specifically addressed in the manual. Specific data requirements and engineering analyses are also described. A discussion of EPA's criteria for granting a treatability variance is also provided. A checklist for completeness of the petition is provided. Model language for use in DOE treatability variance petitions will be provided in a petition for a DOE waste stream as an appendix to the document

Treatability of PCB-contaminated soils with quicklime (CaO)

International Nuclear Information System (INIS)

Mauro, D.; Taylor, B.B.

1992-12-01

The possibility that quicklime (calcium oxide, CaO) can destroy PCBs has received much attention over the past year. Observations at an EPA remediation site, where lime-containing kiln dusts were used for interim stabilization of PCB-containing wastes prompted the EPA to sponsor a small research project to investigate quicklime-PCB interactions. That study reported decreases in PCB content in synthetic, PCB-spiked soil following the application of quicklime and heat. META Environmental, Inc., as a contractor to EPRI, recently completed research designed to evaluate the effectiveness of quicklime for treating PCBs in soil and sand matrices under several reaction conditions, and to examine the underlying dechlorination chemistry involved, if any. Experiments were run with PCB-spiked sand and with actual PCB-contaminated soil. A variety of experimental conditions were employed including tests in open and closed containers, at ambient and elevated temperatures, and over a range of one hour to four days. Granular quicklime, fly ash, and kiln dust were all tested for reaction with PCBs. Early experiments showed that a mixture of sand/quicklime/water at 1:3:1.5 by weight, placed in an insulated container reached a maximum temperature of 216 degree C. Treatability experiments were subsequently run under controlled heat at room temperature, at 80 degree C, and at 200 degree C (following the initial temperature increase which occurs when water is added to quicklime). Little or no loss of PCBs was observed in open or closed containers at ambient or at 800 degree C over any period of time studied. A significant decrease of PCBs levels was observed only in the high temperature experiments (above 200 degree C), however the fate of the PCBs in those experiments was not determined. The conditions and the results of the PCB treatment tests are presented in this report, as well as recommendations for further studies

Final Report - Spent Nuclear Fuel Retrieval System Manipulator System Cold Validation Testing

International Nuclear Information System (INIS)

D.R. Jackson; G.R. Kiebel

1999-01-01

Manipulator system cold validation testing (CVT) was performed in support of the Fuel Retrieval System (FRS) Sub-Project, a subtask of the Spent Nuclear Fuel Project at the Hanford Site in Richland, Washington. The FRS will be used to retrieve and repackage K-Basin Spent Nuclear Fuel (SNF) currently stored in old K-Plant storage basins. The FRS is required to retrieve full fuel canisters from the basin; clean the fuel elements inside the canister to remove excessive uranium corrosion products (or sludge); remove the contents from the canisters; and sort the resulting debris, scrap, and fuel for repackaging. The fuel elements and scrap will be collected in fuel storage and scrap baskets in preparation for loading into a multi canister overpack (MCO), while the debris is loaded into a debris bin and disposed of as solid waste. The FRS is composed of three major subsystems. The Manipulator Subsystem provides remote handling of fuel, scrap, and debris; the In-Pool Equipment subsystem performs cleaning of fuel and provides a work surface for handling materials; and the Remote Viewing Subsystem provides for remote viewing of the work area by operators. There are two complete and identical FRS systems, one to be installed in the K-West basin and one to be installed in the K-East basin. Another partial system will be installed in a cold test facility to provide for operator training

Final Report - Spent Nuclear Fuel Retrieval System Manipulator System Cold Validation Testing

Energy Technology Data Exchange (ETDEWEB)

D.R. Jackson; G.R. Kiebel

1999-08-24

Manipulator system cold validation testing (CVT) was performed in support of the Fuel Retrieval System (FRS) Sub-Project, a subtask of the Spent Nuclear Fuel Project at the Hanford Site in Richland, Washington. The FRS will be used to retrieve and repackage K-Basin Spent Nuclear Fuel (SNF) currently stored in old K-Plant storage basins. The FRS is required to retrieve full fuel canisters from the basin; clean the fuel elements inside the canister to remove excessive uranium corrosion products (or sludge); remove the contents from the canisters; and sort the resulting debris, scrap, and fuel for repackaging. The fuel elements and scrap will be collected in fuel storage and scrap baskets in preparation for loading into a multi canister overpack (MCO), while the debris is loaded into a debris bin and disposed of as solid waste. The FRS is composed of three major subsystems. The Manipulator Subsystem provides remote handling of fuel, scrap, and debris; the In-Pool Equipment subsystem performs cleaning of fuel and provides a work surface for handling materials; and the Remote Viewing Subsystem provides for remote viewing of the work area by operators. There are two complete and identical FRS systems, one to be installed in the K-West basin and one to be installed in the K-East basin. Another partial system will be installed in a cold test facility to provide for operator training.

Geometric control of manipulators

International Nuclear Information System (INIS)

Thiruarooran, C.

1996-01-01

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

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.

Etiological explanation, treatability and preventability of childhood autism: a survey of Nigerian healthcare workers' opinion

Directory of Open Access Journals (Sweden)

Okonkwo Kevin O

2009-02-01

Full Text Available Abstract Background Because of their peculiar sociocultural background, healthcare workers in sub-Saharan African subcultures may have various conceptions on different aspects of autism spectrum disorders (ASD, such as etiology, treatment and issues of prognosis. These various conceptions, if different from current knowledge in literature about ASD, may negatively influence help-seeking behavior of parents of children with ASD who seek advice and information from the healthcare workers. This study assessed the opinions of healthcare workers in Nigeria on aspects of etiology, treatability and preventability of childhood autism, and relates their opinions to the sociodemographic variables. Methods Healthcare workers working in four tertiary healthcare facilities located in the south-east and south-south regions of Nigeria were interviewed with a sociodemographic questionnaire, personal opinion on etiology, treatability and preventability of childhood autism (POETPCA questionnaire and knowledge about childhood autism among health workers (KCAHW questionnaire to assess their knowledge and opinions on various aspects of childhood autism. Results A total of 134 healthcare workers participated in the study. In all, 78 (58.2%, 19 (14.2% and 36 (26.9% of the healthcare workers were of the opinion that the etiology of childhood autism can be explained by natural, preternatural and supernatural causes, respectively. One (0.7% of the healthcare workers was unsure of the explanation of the etiology. Knowledge about childhood autism as measured by scores on the KCAHW questionnaire was the only factor significantly associated with the opinions of the healthcare workers on etiology of childhood autism. In all, 73 (54.5% and 43 (32.1%, of the healthcare workers subscribed to the opinion that childhood autism is treatable and preventable respectively. Previous involvement with managing children with ASD significantly influenced the opinion of the healthcare

In-Situ Grouting Treatability Study for the Idaho National Engineering and Environmental Laboratory Subsurface Disposal Area-Transuranic Pits and Trenches

International Nuclear Information System (INIS)

Loomis, G. G.; Jessmore, J. J.; Sehn, A. L.; Miller, C. M.

2002-01-01

At the Idaho National Engineering and Environmental Laboratory (INEEL), a Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA) treatability study is being performed to examine the technology of in situ grouting for final in situ disposal of buried mixed transuranic (TRU) waste. At the INEEL, there is over 56,000 cubic meters of waste commingled with a similar amount of soil in a shallow (3-5 m) land burial referred to as Waste Area Group 7-13/14. Since this buried waste has been declared on the National Priorities List under CERCLA, it is being managed as a superfund site. Under CERCLA, options for this waste include capping and continued monitoring, retrieval and ex situ management of the retrieved waste, in situ stabilization by vitrification or grouting, in situ thermal dissorption, or some combination of these options. In situ grouting involves injecting grout at high pressures (400 bars) directly into the waste to create a solid monolith. The in situ grouting process is expected to both stabilize the waste against subsidence and provide containment against migration of waste to the Snake River Plain Aquifer lying 150-200 m below the waste. The treatability study involves bench testing, implementability testing, and field testing. The bench testing was designed to pick three grouts from six candidate grouts for the implementability field testing in full scale which were designed to down-select from those three grouts to one grout for use in a full-scale field demonstration of the technology in a simulated test pit. During the bench testing, grouts were evaluated for durability using American Nuclear Society 16.1 Leach Protocol as well as evaluating the effect on physical parameters such as hydraulic conductivity and compressive strength due to the presence of interferences such as soil, organic sludge, and nitrate salts. During full-scale implementability testing, three grouts were evaluated for groutability and monolith formation

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.

Development of a treatability variance guidance document for US DOE mixed-waste streams

International Nuclear Information System (INIS)

Scheuer, N.; Spikula, R.; Harms, T.

1990-03-01

In response to the US Department of Energy's (DOE's) anticipated need for variances from the Resource Conservation and Recovery Act (RCRA) Land Disposal Restrictions (LDRs), a treatability variance guidance document was prepared. The guidance manual is for use by DOE facilities and operations offices. The manual was prepared as a part of an ongoing effort by DOE-EH to provide guidance for the operations offices and facilities to comply with the RCRA (LDRs). A treatability variance is an alternative treatment standard granted by EPA for a restricted waste. Such a variance is not an exemption from the requirements of the LDRs, but rather is an alternative treatment standard that must be met before land disposal. The manual, Guidance For Obtaining Variance From the Treatment Standards of the RCRA Land Disposal Restrictions (1), leads the reader through the process of evaluating whether a variance from the treatment standard is a viable approach and through the data-gathering and data-evaluation processes required to develop a petition requesting a variance. The DOE review and coordination process is also described and model language for use in petitions for DOE radioactive mixed waste (RMW) is provided. The guidance manual focuses on RMW streams, however the manual also is applicable to nonmixed, hazardous waste streams. 4 refs

In situ vitrification laboratory-scale test work plan

International Nuclear Information System (INIS)

Nagata, P.K.; Smith, N.L.

1991-05-01

The Buried Waste Program was established in October 1987 to accelerate the studies needed to develop a long-term management plan for the buried mixed waste at the Radioactive Waste Management Complex at Idaho Engineering Laboratory. The In Situ Vitrification Project is being conducted in a Comprehensive Environmental Response, Compensation, and Liability Act feasibility study format to identify methods for the long-term management of mixed buried waste. To support the overall feasibility study, the situ vitrification treatability investigations are proceeding along the three parallel paths: laboratory-scale tests, intermediate field tests, and field tests. Laboratory-scale tests are being performed to provide data to mathematical modeling efforts, which, in turn, will support design of the field tests and to the health and safety risk assessment. This laboratory-scale test work plan provides overall testing program direction to meet the current goals and objectives of the in situ vitrification treatability investigation. 12 refs., 1 fig., 7 tabs

Treatability studies of alternative wastewaters for Metal Finishing Effluent Treatment Facility

International Nuclear Information System (INIS)

Wittry, D.M.; Martin, H.L.

1994-01-01

The 300-M Area Liquid Effluent Treatment Facility (LETF) of the Savannah River Site (SRS) is an end-of-pipe industrial wastewater treatment facility that uses precipitation and filtration, which is the EPA Best Available Technology economically achievable for a Metal Finishing and Aluminum Form Industries. Upon the completion of stored waste treatment, the LETF will be shut down, because production of nuclear materials for reactors stopped at the end of the Cold War. The economic use of the LETF for the treatment of alternative wastewater streams is being evaluated through laboratory bench-scale treatability studies

Treatability study Number PDC-1-O-T. Final report

International Nuclear Information System (INIS)

1998-01-01

Los Alamos National Laboratory provided treatability study samples from four waste streams, designated Stream number-sign 1, Stream number-sign 3, Stream number-sign 6, and Stream number-sign 7. Stream number-sign 1 consisted of one 55-gallon drum of personal protective equipment (PPE), rags, and neutralizing agent (bicarbonate) generated during the cleanup of a sodium dichromate solution spill. Stream number-sign 3 was one 55-gallon drum of paper, rags, lab utensils, tools, and tape from the decontamination of a glovebox. The sample of Stream number-sign 6 was packaged in three 30-gallon drums and a 100 ft 3 wooden box. It consisted of plastic sheeting, PPE, and paper generated from the cleanup of mock explosive (barium nitrate) from depleted uranium parts. Stream number-sign 7 was scrap metal (copper, stainless and carbon steel joined with silver solder) from the disassembly of gas manifolds. The objective of the treatability study is to determine: (1) whether the Perma-Fix stabilization/solidification process can treat the waste sample to meet Land Disposal Restrictions and the Waste Acceptance Criteria for LANL Technical Area 54, Area G, and (2) optimum loading and resulting weight and volume of finished waste form. The stabilized waste was mixed into grout that had been poured into a lined drum. After each original container of waste was processed, the liner was closed and a new liner was placed in the same drum on top of the previous closed liner. This allowed an overall reduction in waste volume but kept waste segregated to minimize the amount of rework in case analytical results indicated any batch did not meet treatment standards. Samples of treated waste from each waste stream were analyzed by Perma-Fix Analytical Services to get a preliminary approximation of TCLP metals. Splits of these samples were sent to American Environmental Network's mixed waste analytical lab in Cary, NC for confirmation analysis. Results were all below applicable limits

Treatability of a Highly-Impaired, Saline Surface Water for Potential Urban Water Use

Directory of Open Access Journals (Sweden)

Frederick Pontius

2018-03-01

Full Text Available As freshwater sources of drinking water become limited, cities and urban areas must consider higher-salinity waters as potential sources of drinking water. The Salton Sea in the Imperial Valley of California has a very high salinity (43 ppt, total dissolved solids (70,000 mg/L, and color (1440 CU. Future wetlands and habitat restoration will have significant ecological benefits, but salinity levels will remain elevated. High salinity eutrophic waters, such as the Salton Sea, are difficult to treat, yet more desirable sources of drinking water are limited. The treatability of Salton Sea water for potential urban water use was evaluated here. Coagulation-sedimentation using aluminum chlorohydrate, ferric chloride, and alum proved to be relatively ineffective for lowering turbidity, with no clear optimum dose for any of the coagulants tested. Alum was most effective for color removal (28 percent at a dose of 40 mg/L. Turbidity was removed effectively with 0.45 μm and 0.1 μm microfiltration. Bench tests of Salton Sea water using sea water reverse osmosis (SWRO achieved initial contaminant rejections of 99 percent salinity, 97.7 percent conductivity, 98.6 percent total dissolved solids, 98.7 percent chloride, 65 percent sulfate, and 99.3 percent turbidity.

Normal-pressure hydrocephalus and the saga of the treatable dementias

International Nuclear Information System (INIS)

Friedland, R.P.

1989-01-01

A case study of a 74-year-old woman is presented which illustrates the difficulty of understanding dementing illnesses. A diagnosis of normal-pressure hydrocephalus (NPH) was made because of the development of abnormal gait, with urinary incontinence and severe, diffuse, white matter lesions on the MRI scan. Computed tomographic, MRI scans and positron emission tomographic images of glucose use are presented. The treatable dementias are a large, multifaceted group of illnesses, of which NPH is one. The author proposes a new term for this disorder commonly known as NPH because the problem with the term normal-pressure hydrocephalus is that the cerebrospinal fluid pressure is not always normal in the disease

Project management plan for the gunite and associated tanks treatability studies project at Oak Ridge National Laboratory, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1995-12-01

This plan for the Gunite and Associated Tanks (GAAT) Treatability Studies Project satisfies the requirements of the program management plan for the Oak Ridge National Laboratory (ORNL) Environmental Restoration (ER) Program as established in the Program Management Plan for the Martin Marietta Energy Systems, Inc., Oak Ridge National Laboratory Site Environmental Restoration Program. This plan is a subtier of several other ER documents designed to satisfy the US Department of Energy (DOE) Order 4700.1 requirement for major systems acquisitions. This project management plan identifies the major activities of the GAAT Treatability Studies Project; establishes performance criteria; discusses the roles and responsibilities of the organizations that will perform the work; and summarizes the work breakdown structure, schedule, milestones, and cost estimate for the project

Particle manipulation techniques in AEgIS

Energy Technology Data Exchange (ETDEWEB)

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

2011-07-15

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

Treatability study of absorbent polymer waste form for mixed waste treatment

International Nuclear Information System (INIS)

Herrmann, S. D.; Lehto, M. A.; Stewart, N. A.; Croft, A. D.; Kern, P. W.

2000-01-01

A treatability study was performed to develop and characterize an absorbent polymer waste form for application to low level (LLW) and mixed low level (MLLW) aqueous wastes at Argonne National Laboratory-West (ANL-W). In this study absorbent polymers proved effective at immobilizing aqueous liquid wastes in order to meet Land Disposal Restrictions for subsurface waste disposal. Treatment of aqueous waste with absorbent polymers provides an alternative to liquid waste solidification via high-shear mixing with clays and cements. Significant advantages of absorbent polymer use over clays and cements include ease of operations and waste volume minimization. Absorbent polymers do not require high-shear mixing as do clays and cements. Granulated absorbent polymer is poured into aqueous solutions and forms a gel which passes the paint filter test as a non-liquid. Pouring versus mixing of a solidification agent not only eliminates the need for a mixing station, but also lessens exposure to personnel and the potential for spread of contamination from treatment of radioactive wastes. Waste minimization is achieved as significantly less mass addition and volume increase is required of and results from absorbent polymer use than that of clays and cements. Operational ease and waste minimization translate into overall cost savings for LLW and MLLW treatment

Geologic, geochemical, microbiologic, and hydrologic characterization at the In Situ Redox Manipulation Test Site

International Nuclear Information System (INIS)

Vermeul, V.R.; Teel, S.S.; Amonette, J.E.

1995-07-01

This report documents results from characterization activities at the In Situ Redox Manipulation (ISRM) Field Test Site which is located within the 100-HR-3 Operable Unit of the US Department of Energy's (DOE's) Hanford Site in Richland, Washington. Information obtained during hydrogeologic characterization of the site included sediment physical properties, geochemical properties, microbiologic population data, and aquifer hydraulic properties. The purpose of obtaining this information was to improve the conceptual understanding of the hydrogeology beneath the ISRM test site and provide detailed, site specific hydrogeologic parameter estimates. The resulting characterization data will be incorporated into a numerical model developed to simulate the physical and chemical processes associated with the field experiment and aid in experiment design and interpretation

Treatability study work plan for in situ vitrification of seepage pit 1 in Waste Area Grouping 7 at Oak Ridge National Laboratory, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

Spalding, B.P.

1994-07-01

A treatability study is described that encompasses the application of in situ vitrification (ISV) to at least two segments of Oak Ridge National Laboratory (ORNL) seepage pit 1 by the end of fiscal year 1995. This treatability study will establish the field-scale technical performance of ISV for (1) attaining the required depth, nominally 15 ft, to incorporate source contamination within and beneath the pits; (2) demonstrating field capability for the overlapping melt settings that are necessary to achieve fused melt segments; (3) demonstrating off-gas handling technology for accommodating and minimizing the volatilization of 137 Cs; (4) demonstrating adequate site characterization techniques to predict ISV melting kinetics, processing temperatures, and product durability; and (5) promoting public acceptance of ISV technology by demonstrating its safety, implementability, site impacts, and air emissions and by coordinating the treatability study within the regulatory closure process. The initial step of this treatability study will be to gather the required site characterization data about pit 1 so that the in situ vitrification can be effectively and safely planned. The second phase will be the field ISV operations at pit 1 employing at least two settings to achieve overlapping and fused melts. Such field operations are likely to require 6 to 8 weeks. Following termination of ISV melting operations at pit 1 and demobilization of portable ISV equipment and the off-gas hood, posttest characterization activities will begin

Manipulator-controlled manufacturing and on-line testing of composite materials. Subproject: Development and trial of test techniques. Final report

International Nuclear Information System (INIS)

Nuding, W.; Schroeder, P.

1991-10-01

ZAT Juelich was in charge of the assessment of the basic nondestructive materials testing requirements relevant to manufacturing, the application and testing of the hardware and software developed by ITS, the supply of the required X-ray systems including sensors and basic manipulation systems, microfocus X-raying of the newly developed special welding materials, hard-facing parameter studies applicable to components which consist of different composite materials and are characterized by complex geometries, and computer-aided evaluation and scanning of components. The ITS developments were based on nondestructive radiography because radiography provides reliable data about the types, location and sizes of defects. The test object is X-rayed by means of an X-ray tube, and radiograph is displayed on a TV monitor by means of an image intensifying TV chain after improvement of the signal-to-noise ratio by an image processing system. (orig.) [de

A links manipulator simulation program interim report

International Nuclear Information System (INIS)

Noble, R.A.

1987-04-01

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

SNAKES manipulator and ARD sluicer testing - April 1997

International Nuclear Information System (INIS)

Berglin, E.J.

1997-01-01

Long reach arms represent one of the options available for deployment of end effectors which can be used in the retrieval of radioactive waste, from the Hanford single shell tanks. The versatility of an arm based deployment system is such that it has the potential to improve the performance of a wide range of end effectors compared with stand-alone or other deployment methods. The long term reliability and availability of the deployment system is central to the timely completion of a waste retrieval program. However, concerns have been expressed over the dynamic performance of long reach arms and it is essential that an arm based system can cope with operational dynamic loads generated by end effectors. The test program conducted set out to measure static and dynamic loads and responses from a representative arm and sluicer, with the objective of extrapolating the data to a long reach arm system, that can be used for in-tank waste retrieval. As an arm with an appropriate reach was not available, the test program was undertaken to measure dynamic characteristics of a Magnox Electric 18 ft multi-link, hydraulically actuated SNAKES manipulator. This is the longest reach unit in service, albeit only one third of the 50 ft length required for in-tank waste retrieval. In addition operational performance and loading measurements were obtained from a low pressure confined system sluicer under development by ARD Environmental, to add to the end effector data base. When subject to impulse loading, the arm was found to behave in a repeatable manner having fundamental natural frequencies in the vertical and transverse directions of 1 Hz. There were also a large number of higher natural frequencies measured up to 100 Hz

Development and design optimization of water hydraulic manipulator for ITER

International Nuclear Information System (INIS)

Kekaelaeinen, Teemu; Mattila, Jouni; Virvalo, Tapio

2009-01-01

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

Soil washing physical separations test procedure - 300-FF-1 operable unit

Energy Technology Data Exchange (ETDEWEB)

Belden, R.D.

1993-10-08

This procedure provides the operations approach, a field sampling plan, and laboratory procedures for a soil washing test to be conducted by Alternative Remedial Technologies, Inc. (ART) in the 300-FF-1 area at the Hanford site. The {open_quotes}Quality Assurance Project Plan for the Soil Washing Physical Separations Test, 300-FF-1 Operable Unit,{close_quotes} Hanford, Washington, Alternative Remedial Technologies, Inc., February 1994 (QAPP) is provided in a separate document that presents the procedural and organizational guidelines for this test. This document describes specifications, responsibilities, and general procedures to be followed to conduct physical separation soil treatability tests in the North Process Pond of the 300-FF-1 Operable Unit (OU) at the Hanford Site. These procedures are based on the {open_quotes}300-FF-1 Physical Separations CERCLA Treatability Test Plan, DOE/RL 92-2l,{close_quotes} (DOE-RL 1993).

Soil washing physical separations test procedure - 300-FF-1 operable unit

International Nuclear Information System (INIS)

Belden, R.D.

1993-01-01

This procedure provides the operations approach, a field sampling plan, and laboratory procedures for a soil washing test to be conducted by Alternative Remedial Technologies, Inc. (ART) in the 300-FF-1 area at the Hanford site. The open-quotes Quality Assurance Project Plan for the Soil Washing Physical Separations Test, 300-FF-1 Operable Unit,close quotes Hanford, Washington, Alternative Remedial Technologies, Inc., February 1994 (QAPP) is provided in a separate document that presents the procedural and organizational guidelines for this test. This document describes specifications, responsibilities, and general procedures to be followed to conduct physical separation soil treatability tests in the North Process Pond of the 300-FF-1 Operable Unit (OU) at the Hanford Site. These procedures are based on the open-quotes 300-FF-1 Physical Separations CERCLA Treatability Test Plan, DOE/RL 92-2l,close quotes (DOE-RL 1993)

Neonatal screening for treatable congenital disorders

International Nuclear Information System (INIS)

Charoensiriwatana, W.; Janejai, N.; Boonwanich, W.; Krasao, P.; Waiyasilp, S.

2001-01-01

Congenital hypothyroidism is a treatable disease if detected at the early stage of life. It is one of the most frequent cause of mental retardation in children. In 85 % of cases, congenital hypothyroidism is a consequence of thyroid disgenesis, in which the gland is either absent, located ectopically and/or severely reduced in size. Early detection and treatment with thyroid hormone supplement can significantly reduce mental damage. In 1996, Thailand initiated a neonatal screening programme for congenital hypothyroidism (CHT) and phenylketonuria (PKU), with the objective of bringing a better quality of life to people throughout the country, but especially in the remote areas. The programme involves implementing routine screening nationwide. The plan of action was designed with the goal of having public health service units throughout the country provide neonatal screening by year 2002 for the 1.2 million babies born per annum in Thailand. The government supported the programme by allocating a five-year budget of approximately US$15 million. The programme received additional assistance through technical support and human resource development from the International Atomic Energy Agency (IAEA) and the US Centers for Disease Control. This assistance promoted self-sustainability and strengthened the programme's technical base. The programme is on track. It is expected that by year 2002 all new born babies in Thailand will be screened for CHT and PKU

Test plan for ISV laboratory-pyrolysis testing

Energy Technology Data Exchange (ETDEWEB)

McAtee, R.E.

1991-09-01

The objective of the laboratory-pyrolysis studies is to obtain information on the high temperature (< 1200{degree}C) degradation and alteration of organic chemicals and materials similar to those found in the Radioactive Waste Management Complex, Pit 9. This test plan describes experimental procedures, sampling and analysis strategy, sampling procedures, sample control, and document management. It addresses safety issues in the experimental apparatus and procedures, personal training, and hazardous waste disposal. Finally, it describes the data quality objectives using the EPA tiered approach to treatability studies to define where research/scoping tests fit into these studies and the EPA analytical levels required for the tests.

Manipulator techniques and problems of their application in primary circuit maintenance

International Nuclear Information System (INIS)

Kertscher, F.; Popp, P.

1985-01-01

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

100 Area soil washing: Bench scale tests on 116-F-4 pluto crib soil

International Nuclear Information System (INIS)

Field, J.G.

1994-01-01

The Pacific Northwest Laboratory conducted a bench-scale treatability study on a pluto crib soil sample from 100 Area of the Hanford Site. The objective of this study was to evaluate the use of physical separation (wet sieving), treatment processes (attrition scrubbing, and autogenous surface grinding), and chemical extraction methods as a means of separating radioactively-contaminated soil fractions from uncontaminated soil fractions. The soil washing treatability study was conducted on a soil sample from the 116-F-4 Pluto Crib that had been dug up as part of an excavation treatability study. Trace element analyses of this soil showed no elevated concentrations above typically uncontaminated soil background levels. Data on the distribution of radionuclide in various size fractions indicated that the soil-washing tests should be focused on the gravel and sand fractions of the 116-F-4 soil. The radionuclide data also showed that 137 Cs was the only contaminant in this soil that exceeded the test performance goal (TPG). Therefore, the effectiveness of subsequent soil-washing tests for 116-F-4 soil was evaluated on the basis of activity attenuation of 137 Cs in the gravel- and sand-size fractions

100 Area soil washing: Bench scale tests on 116-F-4 pluto crib soil

Energy Technology Data Exchange (ETDEWEB)

Field, J.G.

1994-06-10

The Pacific Northwest Laboratory conducted a bench-scale treatability study on a pluto crib soil sample from 100 Area of the Hanford Site. The objective of this study was to evaluate the use of physical separation (wet sieving), treatment processes (attrition scrubbing, and autogenous surface grinding), and chemical extraction methods as a means of separating radioactively-contaminated soil fractions from uncontaminated soil fractions. The soil washing treatability study was conducted on a soil sample from the 116-F-4 Pluto Crib that had been dug up as part of an excavation treatability study. Trace element analyses of this soil showed no elevated concentrations above typically uncontaminated soil background levels. Data on the distribution of radionuclide in various size fractions indicated that the soil-washing tests should be focused on the gravel and sand fractions of the 116-F-4 soil. The radionuclide data also showed that {sup 137}Cs was the only contaminant in this soil that exceeded the test performance goal (TPG). Therefore, the effectiveness of subsequent soil-washing tests for 116-F-4 soil was evaluated on the basis of activity attenuation of {sup 137}Cs in the gravel- and sand-size fractions.

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

Directory of Open Access Journals (Sweden)

Miklyaeva A.V.,

2017-01-01

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

Vapor vacuum extraction treatability study at the Idaho National Engineering Laboratory

International Nuclear Information System (INIS)

Herd, M.D.; Matthern, G.; Michael, D.L.; Spang, N.; Downs, W.; Weidner, J.; Cleary, P.

1993-01-01

During the 1960s and early 1970s, barreled mixed waste containing volatile organic compounds (VOCS) and radioactive waste was buried at the Subsurface Disposal Area (SDA) at the Idaho National Engineering Laboratory (INEL) Radioactive Waste Management Complex (RWMC). Over time, some of the barrels have deteriorated allowing, VOC vapors to be released into the vadose zone. The primary VOC contaminates of concern are CCl 4 and trichloroethylene; however, chloroform, tetrachloroethylene, and 1,1,1-trichloroethane have also been detected. Vapor Vacuum Extraction (VVE) is one alternative being considered for remediation of the RWMC SDA vadose zone. A proposed pilot-scale treatability study (TS) will provide operation and maintenance costs for the design of the potential scale-up of the system

Sports Tournament Predictions Using Direct Manipulation

OpenAIRE

Vuillemot , Romain; Perin , Charles

2016-01-01

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

Control of cooperative manipulators in holding deformable objects

Science.gov (United States)

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

2017-11-01

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

Potentially Treatable Disorder Diagnosed Post Mortem by Exome Analysis in a Boy with Respiratory Distress

Directory of Open Access Journals (Sweden)

Valentina Imperatore

2016-02-01

Full Text Available We highlight the importance of exome sequencing in solving a clinical case of a child who died at 14 months after a series of respiratory crises. He was the half-brother of a girl diagnosed at 7 years with the early-onset seizure variant of Rett syndrome due to CDKL5 mutation. We performed a test for CDKL5 in the boy, which came back negative. Driven by the mother’s compelling need for a diagnosis, we moved forward performing whole exome sequencing analysis. Surprisingly, two missense mutations in compound heterozygosity were identified in the RAPSN gene encoding a receptor-associated protein with a key role in clustering and anchoring nicotinic acetylcholine receptors at synaptic sites. This gene is responsible for a congenital form of myasthenic syndrome, a disease potentially treatable with cholinesterase inhibitors. Therefore, an earlier diagnosis in this boy would have led to a better clinical management and prognosis. Our study supports the key role of exome sequencing in achieving a definite diagnosis in severe perinatal diseases, an essential step especially when a specific therapy is available.

Manipulators

International Nuclear Information System (INIS)

Wilcock, P.D.

1984-01-01

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

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

Development and performance tests of the bridge-transported servo manipulator system for remote maintenance jobs in a hot cell

International Nuclear Information System (INIS)

Jin, Jae Hyun; Park, Byung Suk; Ko, Byung Seung; Yoon, Ji Sup; Jung, Ki Jung

2005-01-01

In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.

Development of a maintenance manipulator for TFTR

International Nuclear Information System (INIS)

Holloway, C.

1986-01-01

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

Safety analysis report for the North Tank Farm, Tank W-11, and the Gunite and Associated Tanks -- Treatability Study, Oak Ridge National Laboratory, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

Platfoot, J.H.

1997-02-01

The North Tank Farm (NTF) tanks consist of eight underground storage tanks which have been removed from service because of age and changes in liquid waste system needs and requirements. Tank W-11, which was constructed in 1943, has been removed from service, and contains several hundred gallons of liquid low-level waste (LLLW). The Gunite and Associated Tanks (GAAT) Treatability Study involves the demonstration of sludge removal techniques and equipment for use in other waste storage tanks throughout the Department of Energy (DOE) complex. The hazards associated with the NTF, Tank W-11, and the Treatability Study are identified in hazard identification table in Appendixes A, B, and C. The hazards identified for the NTF, Tank W-11, and the Treatability Study were analyzed in the preliminary hazards analyses (PHA) included as Appendices D and E. The PHA identifies potential accident scenarios and qualitatively estimates the consequences. Because of the limited quantities of materials present in the tanks and the types of energy sources that may result in release of the materials, none of the accidents identified are anticipated to result in significant adverse health effects to on-site or off-site personnel

Treatability studies of actual listed waste sludges from the Oak Ridge Reservation (ORR)

International Nuclear Information System (INIS)

Jantzen, C.M.; Peeler, D.K.; Gilliam, T.M.; Bleier, A.; Spence, R.D.

1996-01-01

Oak Ridge National Laboratory (ORNL) and Savannah River Technology Center (SRTC) are investigating vitrification for various low-level and mixed wastes on the Oak Ridge Reservation (ORR). Treatability studies have included surrogate waste formulations at the laboratory-, pilot-, and field-scales and actual waste testing at the laboratory- and pilot-scales. The initial waste to be processing through SRTC's Transportable Vitrification System (TVS) is the K-1407-B and K-1407-C (B/C) Pond sludge waste which is a RCRA F-listed waste. The B/C ponds at the ORR K-25 site were used as holding and settling ponds for various waste water treatment streams. Laboratory-, pilot-, and field- scale ''proof-of-principle'' demonstrations are providing needed operating parameters for the planned field-scale demonstration with actual B/C Pond sludge waste at ORR. This report discusses the applied systems approach to optimize glass compositions for this particular waste stream through laboratory-, pilot-, and field-scale studies with surrogate and actual B/C waste. These glass compositions will maximize glass durability and waste loading while optimizing melt properties which affect melter operation, such as melt viscosity and melter refractory corrosion. Maximum waste loadings minimize storage volume of the final waste form translating into considerable cost savings

SUPERFUND TREATABILITY CLEARINGHOUSE: FULL SCALE ROTARY KILN INCINERATOR FIELD TRIAL: PHASE I, VERIFICATION TRIAL BURN ON DIOXIN/HERBICIDE ORANGE CONTAMINATED SOIL

Science.gov (United States)

This treatability study reports on the results of one of a series of field trials using various remedial action technologies that may be capable of restoring Herbicide Orange (HO)XDioxin contaminated sites. A full-scale field trial using a rotary kiln incinerator capable of pro...

Treatability and scale-up protocols for polynuclear aromatic hydrocarbon bioremediation of manufactured-gas-plant soils. Final report, September 1987-July 1991

International Nuclear Information System (INIS)

Blackburn, J.W.; DiGrazia, P.M.; Sanseverino, J.

1991-07-01

The report describes activities to develop a framework to reliably scale-up and apply challenging bioremediation processes to polynuclear aromatic hydrocarbons in Manufactured Gas Plant (MGP) soils. It includes: a discussion of the accuracy needed for competitive application of bioremediation; a framework and examples for treatability and scale-up protocols for selection, design and application of these processes; both batch and continuous testing protocols for developing predictive rate data; and special predictive relationships that may be used in process selection/scale-up. The work, coupled with subsequent work (as recommended) to develop an MGP soil desorption/diffusion protocol and new scale-up methods, and with subsequent scale-up testing should lead to the capability for improved selection of MGP sites for bioremediation and improved performance, success, and reliability of field applications. With this greater predictive reliability, bioremediation will be used more often in the field on the most favorable applications and its cost advantages over other remediation options will be realized

Modelling, Simulation and Testing of a Reconfigurable Cable-Based Parallel Manipulator as Motion Aiding System

Directory of Open Access Journals (Sweden)

Gianni Castelli

2010-01-01

Full Text Available This paper presents results on the modelling, simulation and experimental tests of a cable-based parallel manipulator to be used as an aiding or guiding system for people with motion disabilities. There is a high level of motivation for people with a motion disability or the elderly to perform basic daily-living activities independently. Therefore, it is of great interest to design and implement safe and reliable motion assisting and guiding devices that are able to help end-users. In general, a robot for a medical application should be able to interact with a patient in safety conditions, i.e. it must not damage people or surroundings; it must be designed to guarantee high accuracy and low acceleration during the operation. Furthermore, it should not be too bulky and it should exert limited wrenches after close interaction with people. It can be advisable to have a portable system which can be easily brought into and assembled in a hospital or a domestic environment. Cable-based robotic structures can fulfil those requirements because of their main characteristics that make them light and intrinsically safe. In this paper, a reconfigurable four-cable-based parallel manipulator has been proposed as a motion assisting and guiding device to help people to accomplish a number of tasks, such as an aiding or guiding system to move the upper and lower limbs or the whole body. Modelling and simulation are presented in the ADAMS environment. Moreover, experimental tests are reported as based on an available laboratory prototype.

Advanced manipulator system for large hot cells

International Nuclear Information System (INIS)

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

1981-01-01

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

Role of endorectal MR imaging and MR spectroscopic imaging in defining treatable intraprostatic tumor foci in prostate cancer: Quantitative analysis of imaging contour compared to whole-mount histopathology

International Nuclear Information System (INIS)

Anwar, Mekhail; Westphalen, Antonio C.; Jung, Adam J.; Noworolski, Susan M.; Simko, Jeffry P.; Kurhanewicz, John; Roach, Mack; Carroll, Peter R.; Coakley, Fergus V.

2014-01-01

Purpose: To investigate the role of endorectal MR imaging and MR spectroscopic imaging in defining the contour of treatable intraprostatic tumor foci in prostate cancer, since targeted therapy requires accurate target volume definition. Materials and methods: We retrospectively identified 20 patients with prostate cancer who underwent endorectal MR imaging and MR spectroscopic imaging prior to radical prostatectomy and subsequent creation of detailed histopathological tumor maps from whole-mount step sections. Two experienced radiologists independently reviewed all MR images and electronically contoured all suspected treatable (⩾0.5 cm 3 ) tumor foci. Deformable co-registration in MATLAB was used to calculate the margin of error between imaging and histopathological contours at both capsular and non-capsular surfaces and the treatment margin required to ensure at least 95% tumor coverage. Results: Histopathology showed 17 treatable tumor foci in 16 patients, of which 8 were correctly identified by both readers and an additional 2 were correctly identified by reader 2. For all correctly identified lesions, both readers accurately identified that tumor contacted the prostatic capsule, with no error in contour identification. On the non-capsular border, the median distance between the imaging and histopathological contour was 1.4 mm (range, 0–12). Expanding the contour by 5 mm at the non-capsular margin included 95% of tumor volume not initially covered within the MR contour. Conclusions: Endorectal MR imaging and MR spectroscopic imaging can be used to accurately contour treatable intraprostatic tumor foci; adequate tumor coverage is achieved by expanding the treatment contour at the non-capsular margin by 5 mm

Temperature manipulation during layer chick embryogenesis.

Science.gov (United States)

Walstra, I; Ten Napel, J; Kemp, B; van den Brand, H

2010-07-01

The current study investigated the effects of temperature manipulation (TM) during late embryogenesis on temperature preference, response to high environmental temperature, behavior, and performance in young layer chicks. Control (CC) embryos (n = 96) were incubated at 37.8 degrees C eggshell temperature throughout incubation. Thermally manipulated embryos (n = 96) were incubated at 37.8 degrees C eggshell temperature throughout incubation and were exposed to 40 degrees C for 4 h/d from embryonic d 14 to 18 (TM chicks). After hatch, chicks from each treatment were divided into 3 subgroups (n = 32 per group) and were subjected to a temperature preference test at d 1, 7, or 33. One day after the temperature preference test, each subgroup was exposed to 1 thermal challenge for 4 h (d 2, 40 degrees C; d 8, 40 degrees C; or d 34, 35 degrees C). Effects of TM on (fearfulness) behavior of chicks were investigated in a tonic immobility test and during home pen observations. Temperature manipulation decreased incubation time with 7 h (P preferred a lower ambient temperature in the temperature preference test (P preference and response to high environmental temperatures are only found until d 8 of age. This may suggest 1 of 3 options: a) the timing or the level, or both, of TM and duration were not at the sensitive period of embryogenesis or not sufficient, or both, respectively; b) the level of the postnatal thermal challenge was not strong enough to induce a hyperthermic response; and c) the postnatal effects of TM in layers are limited in time.

Encoding Effects on First-Graders' Use of Manipulatives

Science.gov (United States)

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

2018-01-01

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

Treatability studies in support of the nonradiological wastewater treatment project

Energy Technology Data Exchange (ETDEWEB)

Begovich, J.M.; Brown, C.H. Jr.; Villiers-Fisher, J.F.; Fowler, V.L.

1986-07-01

The Nonradiological Wastewater Treatment Project (NRWTP) will treat nonradiological wastewaters generated at the Oak Ridge National Laboratory (ORNL) to pollutant levels acceptable under restrictions imposed by the effluent limits of best available technology (BAT) regulations of the US Environmental Protection Agency (EPA), according to the goals established by the Clean Water Act. A three-phase treatability study was conducted to resolve many of the uncertainties facing the NRWTP. The first phase consisted of batch simulation of the proposed NRWTP flowsheet in the laboratory. The Phase I results revealed no major problems with the proposed flowsheet. Phase II consisted of more-detailed parametric studies of the flowsheet processes at a bench-scale level in the laboratory. The Phase II results were used to guide the planning and design of the Phase III study, which consisted of flowsheet simulation on a continuous basis using a mini-pilot plant (MPP) facility. This facility is contained within two connected semitrailer vans and an analytical trailer.

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...

Development of manipulator system with good portability and usability

International Nuclear Information System (INIS)

Anon.

1990-01-01

Recently, accompanying the development of such elementary technologies as control technology, communication technology and ultrasmall, high accuracy sensor technology, the demand for the development of small, light weight manipulator systems which have the ingenuity comparable with human arms and can be moved and installed in any place becomes high. This time, by combining these elementary technologies with robot technology, the electric multi-articulate manipulator which can be applied to the ultrasonic flaw inspection of the welded parts and others in the various machinery and equipment for nuclear power stations was developed, and in the function confirmation test, the good results were obtained. This manipulator was developed jointly with five electric power companies. It was necessary to solve the subjects for the development. The system is composed of the equipment to be carried to a site and the equipment always installed in a control room, that is, ten components in total. The feature of the system is shown. The design of equipment constitution and control of the manipulator proper, the control technique, the function confirmation test and the results are reported. (K.I.)

Risk score for identifying adults with CSF pleocytosis and negative CSF Gram stain at low risk for an urgent treatable cause

NARCIS (Netherlands)

Hasbun, Rodrigo; Bijlsma, Merijn; Brouwer, Matthijs C.; Khoury, Nabil; Hadi, Christiane M.; van der Ende, Arie; Wootton, Susan H.; Salazar, Lucrecia; Hossain, Md Monir; Beilke, Mark; van de Beek, Diederik

2013-01-01

We aimed to derive and validate a risk score that identifies adults with cerebrospinal fluid (CSF) pleocytosis and a negative CSF Gram stain at low risk for an urgent treatable cause. Patients with CSF pleocytosis and a negative CSF Gram stain were stratified into a prospective derivation (n = 193)

Manipulator Performance Evaluation Using Fitts' Taping Task

Energy Technology Data Exchange (ETDEWEB)

Draper, J.V.; Jared, B.C.; Noakes, M.W.

1999-04-25

Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperated manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a point estimate and (2) being widely used in the past for human and servomanipulator dexterity tests. Results of testing using this task may, therefore, allow comparison with other manipulators, and is generically representative of a broad class of tasks. Results of the testing indicate that the ATOM manipulator is capable of performing the task. Force reflection had a negative impact on task efficiency in these data. This was most likely caused by the high resistance to movement the master controller exhibited with the force reflection engaged. Measurements of exerted forces were not made, so it is not possible to say whether the force reflection helped

Dexterous Manipulation: Making Remote Manipulators Easy to Use

International Nuclear Information System (INIS)

HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

2001-01-01

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

Large remote manipulator operating and maintenance experience at IEM cell

International Nuclear Information System (INIS)

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

1985-01-01

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

Testing of an End-Point Control Unit Designed to Enable Precision Control of Manipulator-Coupled Spacecraft

Science.gov (United States)

Montgomery, Raymond C.; Ghosh, Dave; Tobbe, Patrick A.; Weathers, John M.; Manouchehri, Davoud; Lindsay, Thomas S.

1994-01-01

This paper presents an end-point control concept designed to enable precision telerobotic control of manipulator-coupled spacecraft. The concept employs a hardware unit (end-point control unit EPCU) that is positioned between the end-effector of the Space Shuttle Remote Manipulator System and the payload. Features of the unit are active compliance (control of the displacement between the end-effector and the payload), to allow precision control of payload motions, and inertial load relief, to prevent the transmission of loads between the end-effector and the payload. This paper presents the concept and studies the active compliance feature using a simulation and hardware. Results of the simulation show the effectiveness of the EPCU in smoothing the motion of the payload. Results are presented from initial, limited tests of a laboratory hardware unit on a robotic arm testbed at the l Space Flight Center. Tracking performance of the arm in a constant speed automated retraction and extension maneuver of a heavy payload with and without the unit active is compared for the design speed and higher speeds. Simultaneous load reduction and tracking performance are demonstrated using the EPCU.

Effect of ozonation on the biological treatability of a textile mill effluent.

Science.gov (United States)

Karahan, O; Dulkadiroglu, H; Kabdasli, I; Sozen, S; Babuna, F Germirli; Orhon, D

2002-12-01

Ozonation applied prior to biological processes, has proved to be a very effective chemical treatment step mostly for colour removal when soluble dyes are used in textile finishing operations. Its impact on biological treatability however has not been fully evaluated yet. This study evaluates the effect of ozonation on the quality of wastewater from a textile mill involving bleaching and reactive dyeing of cotton and synthetic knit fabric. The effect of ozonation on COD fractionation and kinetic coefficients defining major biological processes is emphasised. The results indicate that the extent of ozone applied greatly affects the remaining organic carbon composition in the wastewater. The relative magnitude of different COD fractions varies as a function of the ozone dose. Ozonation does not however exert a measurable impact on the rate of major biological processes.

Protozoa manipulation by ultrasound

Directory of Open Access Journals (Sweden)

Yancy Milena Porras Rodríguez

2004-01-01

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

A manipulator

International Nuclear Information System (INIS)

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

1984-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

1996-09-01

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

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

International Nuclear Information System (INIS)

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

1996-09-01

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

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

International Nuclear Information System (INIS)

Whyley, S.R.

1985-01-01

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

Plasma-based water treatment: development of a general mechanistic model to estimate the treatability of different types of contaminants

International Nuclear Information System (INIS)

Mededovic Thagard, Selma; Stratton, Gunnar R; Paek, Eunsu; Dai, Fei; Holsen, Thomas M; Bellona, Christopher L; Bohl, Douglas G; Dickenson, Eric R V

2017-01-01

To determine the types of applications for which plasma-based water treatment (PWT) is best suited, the treatability of 23 environmental contaminants was assessed through treatment in a gas discharge reactor with argon bubbling, termed the enhanced-contact reactor. The contaminants were treated in a mixture to normalize reaction conditions and convective transport limitations. Treatability was compared in terms of the observed removal rate constant ( k obs ). To characterize the influence of interfacial processes on k obs , a model was developed that accurately predicts k obs for each compound, as well as the contributions to k obs from each of the three general degradation mechanisms thought to occur at or near the gas–liquid interface: ‘sub-surface’, ‘surface’ and ‘above-surface’. Sub-surface reactions occur just underneath the gas–liquid interface between the contaminants and dissolved plasma-generated radicals, contributing significantly to the removal of compounds that lack surfactant-like properties and so are not highly concentrated at the interface. Surface reactions occur at the interface between the contaminants and dissolved radicals, contributing significantly to the removal of surfactant-like compounds that have high interfacial concentrations. The contaminants’ interfacial concentrations were calculated using surface-activity parameters determined through surface tension measurements. Above-surface reactions are proposed to take place in the plasma interior between highly energetic plasma species and exposed portions of compounds that extend out of the interface. This mechanism largely accounts for the degradation of surfactant-like contaminants that contain highly hydrophobic perfluorocarbon groups, which are most likely to protrude from the interface. For a few compounds, the degree of exposure to the plasma interior was supported by new and previously reported molecular dynamics simulations results. By reviewing the predicted

Development, design, construction and testing of pumps, intermediate heat exchangers and manipulator systems for in-service inspection of SNR 300

International Nuclear Information System (INIS)

Vroom, J.P.; Heslenfeld, M.W.; Westerweele, W.J.; Willigen, A. van

1978-01-01

The first part of this paper reviews the development, design, construction and testing of sodium pumps and intermediate heat exchangers as carried out by NERATOOM in the Netherlands. Testing of full-size components under operational conditions yielded important information for the design of the components for SNR 300. Information is also given in brief on the manufacture of the components. The second part reviews the work done on manipulator systems for in-service inspection as carried out by INTERATOM in Germany. In this field again experience gained from tests had important consequences for the design of the apparatus for SNR 300. (author)

Sports Tournament Predictions Using Direct Manipulation.

Science.gov (United States)

Vuillemot, Romain; Perin, Charles

2016-01-01

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

EVALUATION OF AMENDMENTS FOR MENDING THE INSITU REDOX MANIPULATION (ISRM) BARRIER

Energy Technology Data Exchange (ETDEWEB)

PETERSEN, S.W.

2006-02-07

In May of 2004, the U.S. Department of Energy (DOE) Richland and Fluor Hanford requested technical assistance from DOE Headquarters EM-23 to provide a team of technical experts to evaluate likely chemical/biological amendments for mending the In Situ Redox Manipulation (ISRM) Barrier in the 100-D Area of the Hanford Site. This request was a follow-on to an earlier request for assistance regarding the cause of chromium (Cr) breakthrough and recommendations for mending the barrier (March 2004 workshop). This report provides written documentation of the team's findings and recommendations. In 1995, a plume of dissolved hexavalent chromium [Cr(VI)] was discovered along the Columbia River shoreline and in the 100-D Area. Between 1999 and 2003, a reactive barrier using the ISRM technology, was installed at 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. Bench-scale and field-scale treatability tests were conducted to demonstrate proof-of principle and to estimate barrier longevity, calculated to be in excess of twenty years. However, several years after initial and secondary treatment, groundwater in approximately 17 wells has been found to contain elevated Cr concentrations. The March 2004 technical assistance team (TAT) identified potential causes of Cr breakthrough as likely related to physical and chemical heterogeneity within the aquifer (including loss of reductive capacity within preferential flow paths) and the presence of other oxidants (DO and nitrate) significantly affecting the reductive capacity of the treated aquifer. These aquifer characteristics may limit the ability of alternative amendments to extend the reducing capacity of the barrier. A 2001 Bechtel Hanford report and

Manipulators in teleoperation

International Nuclear Information System (INIS)

Hamel, W.R.

1985-01-01

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

Expanded newborn screening by mass spectrometry: New tests, future perspectives.

Science.gov (United States)

Ombrone, Daniela; Giocaliere, Elisa; Forni, Giulia; Malvagia, Sabrina; la Marca, Giancarlo

2016-01-01

Tandem mass spectrometry (MS/MS) has become a leading technology used in clinical chemistry and has shown to be particularly sensitive and specific when used in newborn screening (NBS) tests. The success of tandem mass spectrometry is due to important advances in hardware, software and clinical applications during the last 25 years. MS/MS permits a very rapid measurement of many metabolites in different biological specimens by using filter paper spots or directly on biological fluids. Its use in NBS give us the chance to identify possible treatable metabolic disorders even when asymptomatic and the benefits gained by this type of screening is now recognized worldwide. Today the use of MS/MS for second-tier tests and confirmatory testing is promising especially in the early detection of new disorders such as some lysosomal storage disorders, ADA and PNP SCIDs, X-adrenoleucodistrophy (X-ALD), Wilson disease, guanidinoacetate methyltransferase deficiency (GAMT), and Duchenne muscular dystrophy. The new challenge for the future will be reducing the false positive rate by using second-tier tests, avoiding false negative results by using new specific biomarkers and introducing new treatable disorders in NBS programs. © 2015 Wiley Periodicals, Inc.

Characteristics of manipulative in mathematics laboratory

Science.gov (United States)

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

2017-12-01

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

Electromechanical manipulator for the Hot-Cell Verification Facility

International Nuclear Information System (INIS)

Frandsen, G.B.; Brownstein, M.

1982-01-01

An electromechanical manipulator was deSigned and built to perform prototypic prequalification testing of FMEF equipment in the HCVF. Significant performance improvements were achieved; for example, 1360 kg (3000 lb) hoist capability and a 180 kg (400 lb) tool capacity anywhere within the manipulator reach and moving at full speed. New remote maintenance features were incorporated in the design including the ability to remove all active components on the bridge, which precludes the need to remove the bridge structure. 8 figures

The effect of lumbosacral manipulation on growing pains

Directory of Open Access Journals (Sweden)

Dawid de Beer

2015-10-01

Objective: The aim of this study was to determine whether lumbosacral manipulations have an effect on growing pain symptoms. Methods: Thirty participants with growing pains between the ages of 4 and 12 years were recruited. The participants were placed into two groups of 15 participants each. Group 1 received lumbosacral manipulations to restricted joints as determined by motion palpation, while Group 2 never received any professional intervention. Often parent(s/guardian(s of children who suffer from growing pains will rub the child's legs and offer verbal reassurance in an attempt to console their children. Parent(s/guardian(s of both groups were encouraged to continue to do this throughout the duration of the trial. Instructions were given to the parents so that the same rubbing technique and rubbing cream (aqueous cream were used. Subjective changes were tracked using a pain diary that the parent(s/guardian(s were asked to complete, a six-week post-study follow-up question regarding children's growing pains and the Oucher self-report pain scale. Objective measures consisted of pressure algometer readings of the tibialis anterior muscle belly. Results: The statistical data was analysed using the Friedman test, Manne—Whitney test and the Wilcoxon Signed-Rank test. The results demonstrated that both groups responded favourably to their specific treatment over time. However, the group that received lumbosacral manipulations proved to show a quicker response to treatment; and the post study follow-up of this same group showed markedly more positive feedback than the group that did not receive the treatment. These results highlighted the positive effects of chiropractic manipulation on growing pain symptoms. Conclusion: The results from this study, specifically the feedback from parent(s/guardians(s and the pain diaries, indicated that spinal manipulation is beneficial in the treatment of growing pains. The results also showed that other methods of treating growing

Application of model based control to robotic manipulators

Science.gov (United States)

Petrosky, Lyman J.; Oppenheim, Irving J.

1988-01-01

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

Manipulators for production and research

International Nuclear Information System (INIS)

Munro, Ian

1987-01-01

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

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

NARCIS (Netherlands)

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

2005-01-01

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

Self-Efficacy Manipulation Influences Physical Activity Enjoyment in Chinese Adolescents.

Science.gov (United States)

Hu, Liang; Cheng, Shoubin; Lu, Jiaying; Zhu, Lele; Chen, Ling

2016-02-01

In this study, we examined the effect of the manipulation of exercise self-efficacy on the enjoyment of physical activity in a sample of 44 Chinese adolescents (age = 14.27 ± .87 y), including 22 boys and 22 girls. The participants were randomized into a low-efficacy or high-efficacy condition, and their self-efficacy beliefs for engaging in moderate-intensity physical activity were manipulated by providing false feedback after a submaximal exercise test. The participants' self-efficacy was measured and compared before and after the exercise test and the participants' enjoyment of physical activity was assessed after the exercise test. It was found that exercise self-efficacy was successfully manipulated in the expected direction in both conditions, which significantly influenced the participants' enjoyment of physical activity. After the exercise test, the participants in the low-efficacy condition reported lower enjoyment scores relative to the high-efficacy participants. These results suggest that self-efficacy may have an important influence on the enjoyment of physical activity among Chinese adolescents. We recommend that physical activity promotion programs should be tailored to enhance adolescents' self-efficacy beliefs and enjoyment of the experience of physical activity.

Phase 1 report on the Bear Creek Valley treatability study, Oak Ridge Y-12 Plant, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1997-04-01

Bear Creek Valley (BCV) is located within the US Department of Energy (DOE) Oak Ridge Reservation and encompasses multiple waste units containing hazardous and radioactive wastes associated with past operations at the adjacent Oak Ridge Y-12 Plant. The BCV Remedial Investigation determined that disposal of wastes at the S-3 Site, Boneyard/Burnyard (BYBY), and Bear Creek Burial Grounds (BCBG) has caused contamination of both deep and shallow groundwater. The primary contaminants include uranium, nitrate, and VOCs, although other metals such as aluminum, magnesium, and cadmium persist. The BCV feasibility study will describe several remedial options for this area, including both in situ and ex situ treatment of groundwater. This Treatability Study Phase 1 Report describes the results of preliminary screening of treatment technologies that may be applied within BCV. Four activities were undertaken in Phase 1: field characterization, laboratory screening of potential sorbents, laboratory testing of zero valent iron products, and field screening of three biological treatment systems. Each of these activities is described fully in technical memos attached in Appendices A through G

Phase 1 report on the Bear Creek Valley treatability study, Oak Ridge Y-12 Plant, Oak Ridge, Tennessee

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-04-01

Bear Creek Valley (BCV) is located within the US Department of Energy (DOE) Oak Ridge Reservation and encompasses multiple waste units containing hazardous and radioactive wastes associated with past operations at the adjacent Oak Ridge Y-12 Plant. The BCV Remedial Investigation determined that disposal of wastes at the S-3 Site, Boneyard/Burnyard (BYBY), and Bear Creek Burial Grounds (BCBG) has caused contamination of both deep and shallow groundwater. The primary contaminants include uranium, nitrate, and VOCs, although other metals such as aluminum, magnesium, and cadmium persist. The BCV feasibility study will describe several remedial options for this area, including both in situ and ex situ treatment of groundwater. This Treatability Study Phase 1 Report describes the results of preliminary screening of treatment technologies that may be applied within BCV. Four activities were undertaken in Phase 1: field characterization, laboratory screening of potential sorbents, laboratory testing of zero valent iron products, and field screening of three biological treatment systems. Each of these activities is described fully in technical memos attached in Appendices A through G.

Master slave manipulator maintenance at the Defense Waste Processing Facility

International Nuclear Information System (INIS)

Lethco, A.J.; Beasley, K.M.

1991-01-01

Equipment has been developed and tested to provide transport, installation, removal, decontamination, and repair for the master slave manipulators that are required for thirty-five discrete work locations in the 221-S Vitrification Building of the Defense Waste Processing Facility at the Westinghouse Savannah River Company. This specialized equipment provides a standardized scheme for work locations at different elevations with two types of manipulators

Plasma-based water treatment: development of a general mechanistic model to estimate the treatability of different types of contaminants

Science.gov (United States)

Mededovic Thagard, Selma; Stratton, Gunnar R.; Dai, Fei; Bellona, Christopher L.; Holsen, Thomas M.; Bohl, Douglas G.; Paek, Eunsu; Dickenson, Eric R. V.

2017-01-01

To determine the types of applications for which plasma-based water treatment (PWT) is best suited, the treatability of 23 environmental contaminants was assessed through treatment in a gas discharge reactor with argon bubbling, termed the enhanced-contact reactor. The contaminants were treated in a mixture to normalize reaction conditions and convective transport limitations. Treatability was compared in terms of the observed removal rate constant (k obs). To characterize the influence of interfacial processes on k obs, a model was developed that accurately predicts k obs for each compound, as well as the contributions to k obs from each of the three general degradation mechanisms thought to occur at or near the gas-liquid interface: ‘sub-surface’, ‘surface’ and ‘above-surface’. Sub-surface reactions occur just underneath the gas-liquid interface between the contaminants and dissolved plasma-generated radicals, contributing significantly to the removal of compounds that lack surfactant-like properties and so are not highly concentrated at the interface. Surface reactions occur at the interface between the contaminants and dissolved radicals, contributing significantly to the removal of surfactant-like compounds that have high interfacial concentrations. The contaminants’ interfacial concentrations were calculated using surface-activity parameters determined through surface tension measurements. Above-surface reactions are proposed to take place in the plasma interior between highly energetic plasma species and exposed portions of compounds that extend out of the interface. This mechanism largely accounts for the degradation of surfactant-like contaminants that contain highly hydrophobic perfluorocarbon groups, which are most likely to protrude from the interface. For a few compounds, the degree of exposure to the plasma interior was supported by new and previously reported molecular dynamics simulations results. By reviewing the predicted

The effect of traditional games and ordinary games on manipulative skills development in educable mental retarded boys

Directory of Open Access Journals (Sweden)

hamid reza Gheiji

2014-03-01

Full Text Available Background : Manipulative skills are one of the fundamental skills subtitles which is used in most of daily and sports activities. The aim of this study was to compare the effect of traditional games and ordinary games on manipulative skills development in 8-10 years old Gorgan boys with educable mental retardation. Materials and Methods: Personal information was evaluated by the researcher made questionnaire and children's intelligence by the Wechsler test. Also, manipulative skills were assessed by the Test of Gross Motor Development- edition 2 (TGMD-2 in pre-test. Then, participants were distributed into two groups traditional games (n=15 and ordinary games (n=15 randomly. Post-test of TGMD-2 were done from two groups after 8 weeks training (3 sessions per week and 45 min for each session. Data analyzes was done by independent t-test, paired t-test and variance analysis with repeated measurement in a significant rate (α= 0.05. Results: The two groups showed significant improvements in manipulation skills, but the improvement of traditional games group was significantly more than ordinary games group in all of measured manipulating skills (throwing, catching, kicking, striking, dribbling , rolling a ball (p<0.05. Conclusion: It can be said, selected traditional games could be an appropriate program for the manipulative skills development of children.

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.

A hardenability test proposal

Energy Technology Data Exchange (ETDEWEB)

Murthy, N.V.S.N. [Ingersoll-Rand (I) Ltd., Bangalore (India)

1996-12-31

A new approach for hardenability evaluation and its application to heat treatable steels will be discussed. This will include an overview and deficiencies of the current methods and discussion on the necessity for a new approach. Hardenability terminology will be expanded to avoid ambiguity and over-simplification as encountered with the current system. A new hardenability definition is proposed. Hardenability specification methods are simplified and rationalized. The new hardenability evaluation system proposed here utilizes a test specimen with varying diameter as an alternative to the cylindrical Jominy hardenability test specimen and is readily applicable to the evaluation of a wide variety of steels with different cross-section sizes.

Remote telerobotic replacement for master-slave manipulator

International Nuclear Information System (INIS)

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

1997-01-01

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

Feasibility/treatability studies for removal of heavy metals from training range soils at the Grafenwoehr Training Area, Germany

Energy Technology Data Exchange (ETDEWEB)

Peters, R.W.

1995-05-01

A feasibility/treatability study was performed to investigate the leaching potential of heavy metals (particularly lead) from soils at the Grafenw6hr Training Area (GTA) in Germany. The study included an evaluation of the effectiveness of chelant extraction to remediate the heavy-metal-contarninated soils. Batch shaker tests indicated that ethylenediaminetetraacetic acid (EDTA) (0.01M) was more effective than citric acid (0.01M) at removing cadmium, copper, lead, and zinc. EDTA and citric acid were equally effective in mobilizing chromium and barium from the soil. The batch shaker technique with chelant extraction offers promise as a remediation technique for heavy-metal-contaninated soil at the GTA. Columnar flooding tests conducted as part of the study revealed that deionized water was the least effective leaching solution for mobilization of the heavy metals; the maximum solubilization obtained was 3.72% for cadmium. EDTA (0.05M) achieved the greatest removal of lead (average removal of 17.6%). The difficulty of extraction using deionized water indicates that all of the heavy metals are very tightly bound to the soil; therefore, they are very stable in the GTA soils and do not pose a serious threat to the groundwater system. Columnar flooding probably does not represent a viable remediation technique for in-situ cleanup of heavy-metal-contaminated soils at the GTA.

MAESTRO, a hydraulic manipulator for maintenance and decommissioning applications

International Nuclear Information System (INIS)

Olivier David; Yvan Measson; Catherine Bidard; Christine Libersa

2006-01-01

Compared to electric technology payload of hydraulic manipulators is very high with respect to their volume and mass. However, due to their force control limitations they were usually disqualified for precise manipulation. CEA, in collaboration with CYBERNETIX developed a complete remote handling system around the advanced hydraulic robotic arm MAESTRO. Requirements and specifications of the system were defined according to the needs of decommissioning activities in existing nuclear facilities and maintenance scenarios of the next step fusion reactor ITER. Using TAO2000 CEA controller, CEA developed specific force control loops to improve the performances of the manipulator and reach a level where the MAESTRO can be used like a traditional tele-operation master/slave system with force feedback. The complete system is composed of a 2 m long 100 kg payload 6 degrees of freedom slave hydraulic manipulator. The manipulator is mounted on an embedded unit made of a 210 bars hydraulic power pack and a 10 kGy rad hardened slave controller. The master station is made of the new generation Virtuose V6D-40-40 master arm with its TAO2000 controller. The graphical supervisor Magritte gives the operator an additional interface to manage and monitor the system. Repetitive tasks like tool picking can therefore be left to the system while the operator keeps his concentration on the main task. Thanks to the collision detection algorithm, Magritte warns the operator when the tool or any part of the Maestro arm comes too close to a delicate unit. Operational experience gained through test campaigns was gathered in an upgrade study to propose a new version of the manipulator that successfully ran through a 1000 hour endurance test. Rad-hardened components were selected and tested in nuclear facilities. Attention was paid to provide a design in which contamination is easily removed and to ease the maintenance when performed by an operator in suit. To be quickly adapted to new tasks, the

Stereo advantage for a peg-in-hole task using a force-feedback manipulator

Science.gov (United States)

Spain, Edward H.

1990-01-01

An improved assessment methodology has been implemented at NOSC and tested using an instrumented peg-in-hole (PiH) taskboard. Several aspects of the methodology are discussed in light of their implications for future studies of manipulator performance. Using a simple (but high-fidelity) force-feedback manipulator, a group of 9 trained operators showed a consistent advantage for stereoscopic TV viewing over monoscopic TV viewing when performing the PiH task. To introduce a controlled element of spatial uncertainty into the testing procedure, taskboard orientation relative to the manipulator and remote video camera head was changed in a randomized order on a trial-by-trial basis. The stereoscopic advantage demonstrated by this study can reasonably be expected to be even more pronounced as the quality of the stereo TV interface is improved and force-feedback provided through the manipulator system is diminished and/or distorted.

Understanding pharmaceutical research manipulation in the context of accounting manipulation.

Science.gov (United States)

Brown, Abigail

2013-01-01

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

An evolutionary resolution of manipulation conflict.

Science.gov (United States)

González-Forero, Mauricio

2014-07-01

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

Mental Models and Deliberate Manipulation of Data

DEFF Research Database (Denmark)

Koester, Thomas; Jakobsen, Jeanette; Brøsted, Jesper Ejdorf

2015-01-01

Human factors risk analysis and usability tests in telemedicine contexts primarily seek to investigate how to reduce the likelihood of slips, lapses and mistakes. However, to ensure trustworthiness in e-health data, one must also be aware of more intentional patient actions which could potentially...... compromise patient safety and/or the integrity of the system. The pilot study in this paper set out to explore mental models and deliberate manipulation of data in a Danish telemedicine setting of home monitoring among pregnant women. Results show, that patients construct mental models of the telemedicine...... system, and that the patient can utilize such mental models in attempts to manipulate their data input to get a desired output from the telemedicine system....

Manipulation, salience, and nudges.

Science.gov (United States)

Noggle, Robert

2018-03-01

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

Design of a novel magnetic platform for cell manipulation

Science.gov (United States)

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

2018-02-01

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

Treatability studies

DEFF Research Database (Denmark)

Bennedsen, Lars Rønn; Studds, Phil

developed a mobile test unit including equipment for both standard and more advanced oxidation test directly on the site. The remediation techniques included are electrochemical oxidation, photochemical/photocatalytic oxidation, ozone, Fenton’s, permanganate, and persulfate among others. A versatile...

Cell manipulation in microfluidics

International Nuclear Information System (INIS)

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

2013-01-01

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

Manipulability impairs association-memory: revisiting effects of incidental motor processing on verbal paired-associates.

Science.gov (United States)

Madan, Christopher R

2014-06-01

Imageability is known to enhance association-memory for verbal paired-associates. High-imageability words can be further subdivided by manipulability, the ease by which the named object can be functionally interacted with. Prior studies suggest that motor processing enhances item-memory, but impairs association-memory. However, these studies used action verbs and concrete nouns as the high- and low-manipulability words, respectively, confounding manipulability with word class. Recent findings demonstrated that nouns can serve as both high- and low-manipulability words (e.g., CAMERA and TABLE, respectively), allowing us to avoid this confound. Here participants studied pairs of words that consisted of all possible pairings of high- and low-manipulability words and were tested with immediate cued recall. Recall was worse for pairs that contained high-manipulability words. In free recall, participants recalled more high- than low-manipulability words. Our results provide further evidence that manipulability influences memory, likely occurring through automatic motor imagery. Copyright © 2014 Elsevier B.V. All rights reserved.

Master-slave manipulator

International Nuclear Information System (INIS)

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

1981-01-01

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

Bioremediation of petroleum hydrocarbons in soil: Activated sludge treatability study

International Nuclear Information System (INIS)

Rue-Van Es, J.E. La.

1993-05-01

Batch activated sludge treatability studies utilizing petroleum hydrocarbon contaminated soils (diesel oil and leaded gasoline) were conducted to determine: initial indigenous biological activity in hydrocarbon-contaminated soils; limiting factors of microbiological growth by investigating nutrient addition, chemical emulsifiers, and co-substrate; acclimation of indigenous population of microorganisms to utilize hydrocarbons as sole carbon source; and temperature effects. Soil samples were taken from three different contaminated sites and sequencing batch reactors were run. Substrate (diesel fuel) and nutrient were added as determined by laboratory analysis of orthophosphate, ammonia nitrogen, chemical oxygen demand, and total organic carbon. Substrate was made available to the bacterial mass by experimenting with four different chemical emulsifiers. Indigenous microorganisms capable of biotransforming hydrocarbons seem to be present in all the contaminated soil samples received from all sites. Microscopic analysis revealed no visible activity at the beginning of the study and presence of flagellated protozoa, paramecium, rotifers, and nematodes at the end of the year. Nutrient requirements and the limiting factors in microorganism growth were determined for each site. An emulsifier was initially necessary to make the substrate available to the microbial population. Decreases in removal were found with lowered temperature. Removal efficiencies ranged from 50-90%. 95 refs., 11 figs., 13 tabs

Bioremediation of petroleum hydrocarbons in soil: Activated sludge treatability study

Energy Technology Data Exchange (ETDEWEB)

Rue-Van Es, J.E. La.

1993-05-01

Batch activated sludge treatability studies utilizing petroleum hydrocarbon contaminated soils (diesel oil and leaded gasoline) were conducted to determine: initial indigenous biological activity in hydrocarbon-contaminated soils; limiting factors of microbiological growth by investigating nutrient addition, chemical emulsifiers, and co-substrate; acclimation of indigenous population of microorganisms to utilize hydrocarbons as sole carbon source; and temperature effects. Soil samples were taken from three different contaminated sites and sequencing batch reactors were run. Substrate (diesel fuel) and nutrient were added as determined by laboratory analysis of orthophosphate, ammonia nitrogen, chemical oxygen demand, and total organic carbon. Substrate was made available to the bacterial mass by experimenting with four different chemical emulsifiers. Indigenous microorganisms capable of biotransforming hydrocarbons seem to be present in all the contaminated soil samples received from all sites. Microscopic analysis revealed no visible activity at the beginning of the study and presence of flagellated protozoa, paramecium, rotifers, and nematodes at the end of the year. Nutrient requirements and the limiting factors in microorganism growth were determined for each site. An emulsifier was initially necessary to make the substrate available to the microbial population. Decreases in removal were found with lowered temperature. Removal efficiencies ranged from 50-90%. 95 refs., 11 figs., 13 tabs.

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

OpenAIRE

LAZAR STANKOV; KARL SCHWEIZER

2007-01-01

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

Leadership Manipulation and Ethics in Storytelling

OpenAIRE

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

2013-01-01

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

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

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

Taking Stock and Taking Steps: The Case for an Adolescent Version of the Short-Assessment of Risk and Treatability.

Science.gov (United States)

Viljoen, Jodi L; Cruise, Keith R; Nicholls, Tonia L; Desmarais, Sarah L; Webster, Christopher

2012-01-01

The field of violence risk assessment has matured considerably, possibly advancing beyond its own adolescence. At this point in the field's evolution, it is more important than ever for the development of any new device to be accompanied by a strong rationale and the capacity to provide a unique contribution. With this issue in mind, we first take stock of the field of adolescent risk assessment in order to describe the rapid progress that this field has made, as well as the gaps that led us to adapt the Short-Term Assessment of Risk and Treatability (START; Webster, Martin, Brink, Nicholls, & Desmarais, 2009) for use with adolescents. We view the Short-Term Assessment of Risk and Treatability: Adolescent Version (START:AV; Nicholls, Viljoen, Cruise, Desmarais, & Webster, 2010; Viljoen, Cruise, Nicholls, Desmarais, & Webster, in progress) as complementing other risk measures in four primary ways: 1) rather than focusing solely on violence risk, it examines broader adverse outcomes to which some adolescents are vulnerable (including self-harm, suicide, victimization, substance abuse, unauthorized leave, self-neglect, general offending); 2) it places a balanced emphasis on adolescents' strengths; 3) it focuses on dynamic factors that are relevant to short-term assessment, risk management, and treatment planning; and 4) it is designed for both mental health and justice populations. We describe the developmentally-informed approach we took in the adaptation of the START for adolescents, and outline future steps for the continuing validation and refinement of the START:AV.

A New Cryogenic Sample Manipulator For SRC's Scienta 2002 System

International Nuclear Information System (INIS)

Gundelach, Chad T.; Fisher, Mike V.; Hoechst, Hartmut

2004-01-01

We discuss the first bench tests of a sample manipulator which was recently designed at SRC for the Scienta 2002 User system. The manipulator concept utilizes the 10 deg. angular window of the Scienta in the horizontal plane (angle dispersion) by rotating the sample normal around the vertical axis while angular scans along the vertical axis (energy dispersion) are continuous within ±30 deg. relative to the electron lens by rotating the sample around the horizontal axis. With this concept it is possible to precisely map the entire two-dimensional k-space of a crystal by means of stitching together 10 deg. wide stripes centered +15 deg. to -50 deg. relative to the sample normal. Three degrees of translational freedom allow positioning the sample surface at the focal point of the analyzer. Two degrees of rotational freedom are available at this position for manipulating the sample. Samples are mounted to a standard holder and transferred to the manipulator via a load-lock system attached to a prep chamber. The manipulator is configured with a cryogenic cold head, an electrical heater, and a temperature sensor permitting continuous closed-loop operation for 20-380 K

Demonstration testing and evaluation of in situ soil heating

International Nuclear Information System (INIS)

Sresty, G.C.

1994-01-01

A Treatability Study planned for the demonstration of the in situ electromagnetic (EM) heating process to remove organic solvents is described in this Work Plan. The treatability study will be conducted by heating subsurface vadose-zone soils in an organic plume adjacent to the Classified Burial Ground K-1070-D located at K-25 Site, Oak Ridge. The test is scheduled to start during the fourth quarter of FY94 and will be completed during the first quarter of FY95. The EM heating process for soil decontamination is based on volumetric heating technologies developed during the '70s for the recovery of fuels from shale and tar sands by IIT Research Institute (IITRI) under a co-operative program with the US Department of Energy (DOE). Additional modifications of the technology developed during the mid '80s are currently used for the production of heavy oil and waste treatment. Over the last nine years, a number of Government agencies (EPA, Army, AF, and DOE) and industries sponsored further development and testing of the in situ heating and soil decontamination process for the remediation of soils containing hazardous organic contaminants. In this process the soil is heated in situ using electrical energy. The contaminants are removed from the soil due to enhanced vaporization, steam distillation and stripping. IITRI will demonstrate the EM Process for in situ soil decontamination at K-25 Site under the proposed treatability study. Most of the contaminants of concern are volatile organics which can be removed by heating the soil to a temperature range of 85 to 95 C. The efficiency of the treatment will be determined by comparing the concentration of contaminants in soil samples. Samples will be obtained before and after the demonstration for a measurement of the concentration of contaminants of concern

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

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

Planning Robotic Manipulation Strategies for Sliding Objects

Science.gov (United States)

Peshkin, Michael A.

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

Manipulating Liquids With Acoustic Radiation Pressure Phased Arrays

Science.gov (United States)

Oeftering, Richard C.

1999-01-01

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

Using Manipulatives in Math Instruction.

Science.gov (United States)

Marzola, Eileen S.

1987-01-01

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

Balanced articulated manipulator

International Nuclear Information System (INIS)

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

1976-01-01

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

Active cooling system for Tokamak in-vessel operation manipulator

Energy Technology Data Exchange (ETDEWEB)

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

2015-10-15

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

Direct Manipulation in Virtual Reality

Science.gov (United States)

Bryson, Steve

2003-01-01

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

Counteracting Age Stereotypes: A Self-Awareness Manipulation

Science.gov (United States)

Chen, Yiwei; Pethtel, Olivia; Ma, Xiaodong

2010-01-01

The major goals of the present study were to (a) examine age differences in susceptibility to age stereotypes and (b) test a self-awareness manipulation in counteracting age stereotypes. Young and older adults read two sets of descriptors that only differed in the to-be-ignored age-related information. In the high self-awareness condition,…

Best management practices plan for Phase II of the Bear Creek Valley treatability study, Oak Ridge Y-12 Plant, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1997-09-01

The Oak Ridge Y-12 Plant is currently under a Federal Agreement to define soil and groundwater contamination and develop remedies to protect human health and the environment. The western end of the site is known to have a former nitric acid disposal pit that has been remediated and capped. Remedial investigation data indicate this pit was a source of nitrate, uranium, technetium, and other metals contamination in groundwater. The downgradient receptor of this contamination includes Bear Creek and its tributaries. A feasibility study is under way to develop a remedy to prevent further contaminant migration to this receptor. To support the feasibility study, the treatability study is being completed to examine groundwater treatment at the S-3 site. This document serves as the top-level command medium for Phase II of the Bear Creek Valley (BCV) Treatability Study and, as such, will be the primary resource for management and implementation of field activities. Many of the details and standard operating procedures referred to herein can be found in other Lockheed Martin Energy Systems, Inc. (Energy Systems), documents. Several supporting documents specific to this project are also cited. These include the Sampling and Analysis Plan (SAP), the Health and Safety Plan (HASP), and the Waste Management Plan (WMP)

Selective microrobot control using a thermally responsive microclamper for microparticle manipulation

International Nuclear Information System (INIS)

Go, Gwangjun; Choi, Hyunchul; Ko, Seong Young; Park, Jong-Oh; Park, Sukho; Jeong, Semi

2016-01-01

Microparticle manipulation using a microrobot in an enclosed environment, such as a lab-on-a-chip, has been actively studied because an electromagnetic actuated microrobot can have accurate motility and wireless controllability. In most studies on electromagnetic actuated microrobots, only a single microrobot has been used to manipulate cells or microparticles. However, the use of a single microrobot can pose several limitations when performing multiple roles in microparticle manipulation. To overcome the limitations associated with using a single microrobot, we propose a new method for the control of multiple microrobots. Multiple microrobots can be controlled independently by an electromagnetic actuation system and multiple microclampers combined with microheaters. To select a specific microrobot among multiple microrobots, we propose a microclamper composed of a clamper structure using thermally responsive hydrogel and a microheater for controlling the microclamper. A fundamental test of the proposed microparticle manipulation system is performed by selecting a specific microrobot among multiple microrobots. Through the independent locomotion of multiple microrobots with U- and V-shaped tips, heterogeneous microparticle manipulation is demonstrated in the creation of a two-dimensional structure. In the future, our proposed multiple-microrobot system can be applied to tasks that are difficult to perform using a single microrobot, such as cell manipulation, cargo delivery, tissue assembly, and cloning. (paper)

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

Science.gov (United States)

Kwon, Dong-Soo

1991-01-01

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

Advance of the new MA 23 force reflecting manipulator system

International Nuclear Information System (INIS)

Vertut, Jean; Coiffet, Philippe; Petit, Michel

1976-01-01

This new bilateral servo manipulator system is under development since 1974, in close cooperation between different french organizations with the leadership of the Commissariat a l'Energie Atomique. This Group is facing in the same Technology different applications covering nuclear remote manipulation, undersea remote work, second generation industrial robots and manipulators for handicaped persons. Brief description of the different arms ranging from 5kg to 20kg mass capacity are given with corresponding tested performances. They all use original electric DC actuators with extremely low friction and zero backlash, with only cables and tapes. System works in different modes: the direct master slave force reflecting mode, an advanced tape recording programmer, minicomputer control, and the combined modes. Work is concentrated on full dynamic control and force control by minicomputer

Experimental characterization of a binary actuated parallel manipulator

Science.gov (United States)

Giuseppe, Carbone

2016-05-01

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

Concrete Math Manipulatives in Upper Elementary Mathematics Classrooms

Science.gov (United States)

Graham, Janina Maria

2013-01-01

Today's mathematics standards require teachers to use concrete math manipulatives (CMM) to increase the proficiency of students, but many upper elementary teachers fail to use these resources. The effects of this resource disuse may decrease student learning potential and impede successful standardized test results. This case study allows leaders…

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

CSIR Research Space (South Africa)

Dube, C

2011-11-01

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

Species-specific ant brain manipulation by a specialized fungal parasite.

Science.gov (United States)

de Bekker, Charissa; Quevillon, Lauren E; Smith, Philip B; Fleming, Kimberly R; Ghosh, Debashis; Patterson, Andrew D; Hughes, David P

2014-08-29

A compelling demonstration of adaptation by natural selection is the ability of parasites to manipulate host behavior. One dramatic example involves fungal species from the genus Ophiocordyceps that control their ant hosts by inducing a biting behavior. Intensive sampling across the globe of ants that died after being manipulated by Ophiocordyceps suggests that this phenomenon is highly species-specific. We advance our understanding of this system by reconstructing host manipulation by Ophiocordyceps parasites under controlled laboratory conditions and combining this with field observations of infection rates and a metabolomics survey. We report on a newly discovered species of Ophiocordyceps unilateralis sensu lato from North America that we use to address the species-specificity of Ophiocordyceps-induced manipulation of ant behavior. We show that the fungus can kill all ant species tested, but only manipulates the behavior of those it infects in nature. To investigate if this could be explained at the molecular level, we used ex vivo culturing assays to measure the metabolites that are secreted by the fungus to mediate fungus-ant tissue interactions. We show the fungus reacts heterogeneously to brains of different ant species by secreting a different array of metabolites. By determining which ion peaks are significantly enriched when the fungus is grown alongside brains of its naturally occurring host, we discovered candidate compounds that could be involved in behavioral manipulation by O. unilateralis s.l.. Two of these candidates are known to be involved in neurological diseases and cancer. The integrative work presented here shows that ant brain manipulation by O. unilateralis s.l. is species-specific seemingly because the fungus produces a specific array of compounds as a reaction to the presence of the host brain it has evolved to manipulate. These studies have resulted in the discovery of candidate compounds involved in establishing behavioral manipulation

Self-repairing control for damaged robotic manipulators

International Nuclear Information System (INIS)

Eisler, G.R.; Robinett, R.D.; Dohrmann, C.R.; Driessen, B.J.

1997-03-01

Algorithms have been developed allowing operation of robotic systems under damaged conditions. Specific areas addressed were optimal sensor location, adaptive nonlinear control, fault-tolerant robot design, and dynamic path-planning. A seven-degree-of-freedom, hydraulic manipulator, with fault-tolerant joint design was also constructed and tested. This report completes this project which was funded under the Laboratory Directed Research and Development program

In Praise of Manipulation

NARCIS (Netherlands)

Dowding, Keith; Van Hees, Martin

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

Powered manipulator control arm

International Nuclear Information System (INIS)

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

1975-01-01

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

The direct manipulation shell

International Nuclear Information System (INIS)

Allen, M.E.; Christiansen, M.

1992-01-01

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

Image manipulation as research misconduct.

Science.gov (United States)

Parrish, Debra; Noonan, Bridget

2009-06-01

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

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

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

1993-01-01

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

The Manipulative Discourse of Gandalf

Directory of Open Access Journals (Sweden)

Farid Mohammadi

2014-07-01

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

Acute effects of rearfoot manipulation on dynamic standing balance in healthy individuals.

Science.gov (United States)

Wassinger, Craig A; Rockett, Ariel; Pitman, Lucas; Murphy, Matthew Matt; Peters, Charles

2014-06-01

Dynamic standing balance is essential to perform functional activities and is included in the treatment of many lower extremity injuries. Physiotherapists utilize many methods to restore standing balance including stability exercises, functional retraining, and manual therapy. The purpose of this study was to investigate the effects of a rearfoot distraction manipulation on dynamic standing balance. Twenty healthy participants (age: 24.4 ± 2.8 years; height: 162.9 ± 37.7 cm; mass: 68.0 ± 4.8 kg; right leg dominant = 20) completed this study. Following familiarization, dynamic standing balance was assessed during: (1) an experimental condition immediately following a rearfoot distraction manipulation, and (2) a control condition. Dominant leg balance was quantified using the Y-balance test which measures lower extremity reach distances. Reach distances were normalized to leg length and measured in the anterior, posteromedial and posterolateral directions. Overall balance was calculated through the summing of all normalized directions. Paired t-tests and Wilcoxon rank tests were used to compare balance scores for parametric and non-parametric data as appropriate. Significance was set at 0.05 a priori. Effect size (ES) was calculated to determine the clinical impact of the manipulation. Increased reach distances (indicating improved balance) were noted following manipulation for overall balance (p = 0.03, ES = 0.26) and in the posteromedial direction (p = 0.01, ES = 0.42). Reach distances did not differ for the anterior (p = 0.11, ES = 0.16) or posterolateral (p = 0.11, ES = 0.25) components. Dynamic standing balance improved after a rearfoot distraction manipulation in healthy participants. It is hypothesized that manual therapy applied to the foot and ankle may be beneficial to augment other therapeutic modalities when working with patients to improve dynamic standing balance. Copyright © 2013 Elsevier Ltd. All rights reserved.

Hydraulic manipulator

International Nuclear Information System (INIS)

Sinha, A.K.; Srikrishnamurty, G.

1990-01-01

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

Evidence of eligibility manipulation for conditional cash transfer programs

Directory of Open Access Journals (Sweden)

Sergio Firpo

2014-09-01

Full Text Available This paper assesses whether eligibility for conditional cash transfer programs has been manipulated, as well as the impact of this phenomenon on time allocation within households. To perform this analysis, we use data from the 2006 PNAD (Brazilian national household survey and investigate the eligibility manipulation for the Bolsa Família (Family Stipend program during this time period. The program assists families with a monthly per capita income of around R$120.00 (US$60.00. By applying the tests developed by McCrary (2008, we find suggestive evidence that individuals manipulate their income by voluntarily reducing their labor supply in order to become eligible to the program. Moreover, the reduction in labor supply is greater among women, especially single or divorced mothers. This evidence raises some concern about the unintended consequences related to the eligibility criteria utilized by Bolsa Família, as well as the program's impact on individuals living in extreme poverty.

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

Directory of Open Access Journals (Sweden)

Wu Ren

2014-01-01

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

Martensitic transformation and residual stresses after thermomechanical treatment of heat treatable steel 42CrMo4 (SAE 4140)

Energy Technology Data Exchange (ETDEWEB)

Weise, A. [Technische Univ. Chemnitz-Zwickau, Chemnitz (Germany). Fakultaet fuer Maschinenbau und Verfahrenstechnik; Fritsche, G. [Technische Univ. Chemnitz-Zwickau, Chemnitz (Germany). Fakultaet fuer Maschinenbau und Verfahrenstechnik

1996-01-01

The influence of thermomechanical deformation on the residual stresses caused by quenching in bar shaped specimens of heat treatable steel 42CrMo4 has been investigated using a mechanical method for determining the distribution of residual stresses of the first kind. The results obtained show that the residual stress distribution after quenching is affected by the strengthening and softening of the austenite as a result of deformation and recrystallization and the modified transformation behaviour in martensite stage. An attempt is made to discuss qualitatively the influence of these changes on the generation of residual stresses as compared to results obtained after conventional hardening. (orig.).

Martensitic transformation and residual stresses after thermomechanical treatment of heat treatable steel 42CrMo4 (SAE 4140)

International Nuclear Information System (INIS)

Weise, A.; Fritsche, G.

1996-01-01

The influence of thermomechanical deformation on the residual stresses caused by quenching in bar shaped specimens of heat treatable steel 42CrMo4 has been investigated using a mechanical method for determining the distribution of residual stresses of the first kind. The results obtained show that the residual stress distribution after quenching is affected by the strengthening and softening of the austenite as a result of deformation and recrystallization and the modified transformation behaviour in martensite stage. An attempt is made to discuss qualitatively the influence of these changes on the generation of residual stresses as compared to results obtained after conventional hardening. (orig.)

Manipulator for pressure vessel open at the top

International Nuclear Information System (INIS)

Bauer, R.; Kastl, H.

1985-01-01

A manipulator is provided, which has a mast, which can be fixed inside the reactor pressure vessel with a support surrounding the mast which can be moved along the mast for a carrier, which can turn around the mast and is provided with a measuring, testing, inspection or repair device. (orig./HP) [de

CLIMAN - a mobile manipulator concept

International Nuclear Information System (INIS)

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

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

Development of 6-axis portable manipulator which traces over 3-dimensional curved surface for ultrasonic inspection

International Nuclear Information System (INIS)

Hayashi, Tetsuji; Tsuzuki, Satoshi; Tsunewaki, Hiroshi.

1993-01-01

A 6-axis portable manipulator, weighing 120 N (12.3 kg) which traces over a 3-dimensional curved surface for ultrasonic testing has been developed. The manipulator body is made of carbon-fiber-reinforced plastic and magnesium alloy. A feature of the system is that deviation of the manipulator from its nominal path caused by arm bending due to its own weight can be corrected. The deviation is calculated by premeasuring spring coefficients and hysteresis characteristics of the arm structure. In a mock-up calibration performance test the accuracy was shown to be as high as that of a human inspector. The manipulator can be installed within 3 minutes by a single person. Joint angles are calculated with a direct memory access (DMA) handler using a poling method. Signals are transmitted to servo-controllers through an optical fiber of 2.5 Mbps. (author)

Interpersonal relationship manipulation at a personal level

Directory of Open Access Journals (Sweden)

Andreja Hribernik

2010-12-01

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

Simulation of robot manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

A six degrees of freedom mems manipulator

NARCIS (Netherlands)

de Jong, B.R.

2006-01-01

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

A control method for manipulators with redundancy

International Nuclear Information System (INIS)

Furusho, Junji; Usui, Hiroyuki

1989-01-01

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

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

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

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

Science.gov (United States)

Jamhari, Wongkia, Wararat

2018-01-01

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

Effect of robotic manipulation on unidirectional barbed suture integrity: evaluation of tensile strength and sliding force.

Science.gov (United States)

Kaushik, Dharam; Clay, Kevin; Hossain, S G M; Park, Eugene; Nelson, Carl A; LaGrange, Chad A

2012-06-01

One of the more challenging portions of robot-assisted radical prostatectomy (RARP) is the urethrovesical anastomosis. Because of this, a unidirectional absorbable barbed suture (V-Loc(™)) has been used to complete the anastomosis with better efficiency and less tension. The effect of robotic needle driver manipulation on barbed suture is unknown. Therefore, the aim of this study is to determine whether robotic manipulation decreases the tensile strength and peak sliding force of V-Loc barbed suture. Fifty-six V-Loc sutures were compared with 56 Maxon sutures. All sutures were 3-0 caliber. Half of the sutures in each group were manipulated with a da Vinci(®) robot large needle driver five times over a 5 cm length of suture. The other half was not manipulated. Breaking force was determined by placing sutures in a Bose ElectroForce load testing device. For sliding force testing, 28 V-Loc sutures were manipulated in the same fashion and compared with 28 nonmanipulated V-Loc sutures. Peak force needed to make the suture slip backward in porcine small intestine was determined to be the sliding force. Scanning electron microscopy of the barbs before and after robotic manipulation was also performed. The mean difference in breaking forces for manipulated vs nonmanipulated Maxon sutures was 4.52 N (P=0.004). The mean difference in breaking forces for manipulated vs nonmanipulated V-Loc sutures was 1.30 N (P=0.046). The manipulated V-Loc group demonstrated a lower peak sliding force compared with the nonmanipulated group (0.76 vs 0.88 N, P=0.199). Electron microscopy revealed minor structural damage to the barbs and suture. Tensile strength and peak sliding force of V-Loc suture is decreased by robotic manipulation. This is likely because of structural damage to the suture and barbs. This structural damage, however, is likely not clinically significant.

Optimization of Citric Acid Production through Manipulation of ...

African Journals Online (AJOL)

An Aspergillus niger isolate was screened for citric acid production from glucose and the cultural conditions were manipulated for optimum citric acid production. Optimization studies improved citric acid yield by 13.34% from 12.81 g/l obtained during the screening test to 14.52 g/l obtained at the end of the optimization ...

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.

Polymer micro-grippers with an integrated force sensor for biological manipulation

International Nuclear Information System (INIS)

Mackay, R E; Le, H R; Clark, S; Williams, J A

2013-01-01

The development of a novel micro-system integrating SU-8 polymer micro-grippers with a tensile force sensor for handling and characterizing the mechanical properties of delicate biological materials, such as fibrils, is presented. The micro-grippers are actuated by the electro-thermal effect and have gripping forces comparable to the common ‘hot-and-cold-arm’ grippers. A robust finite element model was developed to investigate system performance and validated experimentally. A new micro-mechanical calibration method using a piezoelectric manipulator with a micro-force measurement system was successfully applied to test the structure. Both FEA simulation and micro-mechanical testing results indicated that the system could fulfil the requirements for micro-object manipulation within a biological environment. (paper)

Traumatic Injuries in the Newborn from Abdominal Massage in ...

African Journals Online (AJOL)

OBJECTIVE: This case is presented to highlight this preventable and treatable cause of early neonatal death. METHOD: An early neonatal death due to liver rupture caused by maternal abdominal manipulation and massage is presented. RESULTS: An apparently healthy baby girl was born to a 26 years old primigravida ...

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…

Urea cycle disorders: a life-threatening yet treatable cause of metabolic encephalopathy in adults.

Science.gov (United States)

Blair, Nicholas F; Cremer, Philip D; Tchan, Michel C

2015-02-01

Urea cycle disorders are inborn errors of metabolism that, in rare cases, can present for the first time in adulthood. We report a perplexing presentation in a woman 4 days postpartum of bizarre and out-of-character behaviour interspersed with periods of complete normality. Without any focal neurological signs or abnormality on initial investigations, the diagnosis became clear with the finding of a significantly elevated plasma ammonia level, just as she began to deteriorate rapidly. She improved following intravenous dextrose and lipid emulsion, together with sodium benzoate, arginine and a protein-restricted diet. She remains well 12 months later with no permanent sequelae. Whilst this is a rare presentation of an uncommon disease, it is a treatable disorder and its early diagnosis can prevent a fatal outcome. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

Process evaluation and treatability study of wastewater in a textile dyeing industry

Energy Technology Data Exchange (ETDEWEB)

Mazumder, Debabrata [Civil Engineering Department, Bengal Engineering and Science University, Shibpur, P.O. - Botanic Garden, Horah, West Bengal - 711 103 (India)

2011-07-01

The process was investigated in a textile dying unit and subsequently wastewater generation profile was studied for the development of a viable treatment. The dyeing unit under the study generated a considerable volume of wastewater containing inorganic chemicals and organic reactive green dye. Chemical oxygen demand (COD) resulting from all the chemically oxidizible substances and the residual color of the dye were targeted for removal. The wastewater samples were collected from different sub-processes and then characterized for the parameters viz. pH, Total solid, Suspended solid, Dissolved solid, COD and Alkalinity. A composite wastewater sample was prepared according to the measured wastewater discharge from various unit operations and used for treatability study. In the first stage, coagulation-flocculation with alum and chemical oxidation with bleaching powder were performed separately. Subsequently, adsorption study was conducted with crushed burnt coal (C.B.C.) on the composite wastewater, initially treated with 10% bleaching powder solution. After several trials, this combination was found to be effective for a C.B.C. content of 10% under a contact period of 90 minutes, which showed 100% colour and about 95% COD removal.

High precision redundant robotic manipulator

International Nuclear Information System (INIS)

Young, K.K.D.

1998-01-01

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

Bioprinting Living Biofilms through Optogenetic Manipulation.

Science.gov (United States)

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

2018-04-18

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

Rotational manipulation of single cells and organisms using acoustic waves.

Science.gov (United States)

Ahmed, Daniel; Ozcelik, Adem; Bojanala, Nagagireesh; Nama, Nitesh; Upadhyay, Awani; Chen, Yuchao; Hanna-Rose, Wendy; Huang, Tony Jun

2016-03-23

The precise rotational manipulation of single cells or organisms is invaluable to many applications in biology, chemistry, physics and medicine. In this article, we describe an acoustic-based, on-chip manipulation method that can rotate single microparticles, cells and organisms. To achieve this, we trapped microbubbles within predefined sidewall microcavities inside a microchannel. In an acoustic field, trapped microbubbles were driven into oscillatory motion generating steady microvortices which were utilized to precisely rotate colloids, cells and entire organisms (that is, C. elegans). We have tested the capabilities of our method by analysing reproductive system pathologies and nervous system morphology in C. elegans. Using our device, we revealed the underlying abnormal cell fusion causing defective vulval morphology in mutant worms. Our acoustofluidic rotational manipulation (ARM) technique is an easy-to-use, compact, and biocompatible method, permitting rotation regardless of optical, magnetic or electrical properties of the sample under investigation.

Upper airway stabilization by osteopathic manipulation of the sphenopalatine ganglion versus sham manipulation in OSAS patients: a proof-of-concept, randomized, crossover, double-blind, controlled study.

Science.gov (United States)

Jacq, Olivier; Arnulf, Isabelle; Similowski, Thomas; Attali, Valérie

2017-12-20

Osteopathic manipulative treatment (OMT) of the sphenopalatine ganglion (SPG) is used empirically for the treatment of rhinitis and snoring and is thought to increase pharyngeal stability. This trial was designed to study the effects of this treatment on pharyngeal stability evaluated by critical closing pressure in obstructive sleep apnoea syndrome. This single-centre, randomized, crossover, double-blind study compared active manipulation and sham manipulation of the SPG. Randomization was computer-generated. Patients each received one active manipulation and one sham manipulation at an interval of 21 days and were evaluated 30 min and 48 h after each session administered by a qualified osteopath. Neither the patients, nor the investigator performing the evaluations were informed about the order of the two techniques (double-blind). The primary endpoint was the percentage of responding patients presenting increased pharyngeal stability defined by a variation of critical closing pressure (Pcrit) of at least -4 cmH 2 O at 30 min. Secondary endpoints were the variation of Pcrit in absolute values, sleepiness and snoring. Others endpoints were lacrimation (Schirmer's test), induced pain, sensations experienced during OMT. Ten patients were included and nine (57 [50; 58] years, comprising 7 men, with an apnoea-hypopnoea index of 31.0 [25.5; 33.2]/h; (values are median [quartiles])) were analysed. Seven patients were analysed for the primary endpoint and nine patients were analysed for secondary endpoints. Five patients responded after active manipulation versus no patients after sham manipulation (p = 0.0209). Active manipulation induced more intense pain (p = 0.0089), increased lacrimation (ns) and more tactile, nociceptive and gustatory sensations (13 versus 1) compared to sham manipulation. No significant difference was observed for the other endpoints. Osteopathic manipulative treatment of the SPG may improve pharyngeal stability in obstructive sleep

Expert operator preferences in remote manipulator control systems

International Nuclear Information System (INIS)

Sundstrom, E.; Draper, J.V.; Fausz, A.; Woods, H.

1995-06-01

This report describes a survey of expert remote manipulator operators designed to identify features of control systems related to operator efficiency and comfort. It provides information for designing the control center for the Single-Shell Tank Waste Retrieval Manipulator System (TWRMS) Test Bed, described in a separate report. Research questions concerned preferred modes of control, optimum work sessions, sources of operator fatigue, importance of control system design features, and desired changes in control rooms. Participants comprised four expert remote manipulator operators at Oak Ridge National Laboratory, who individually have from 9 to 20 years of experience using teleoperators. The operators had all used rate and position control, and all preferred bilateral (force-reflecting) position control. They reported spending an average of 2.75 h in control of a teleoperator system during a typical shift. All were accustomed to working in a crew of two and alternating control and support roles in 2-h rotations in an 8-h shift. Operators reported that fatigue in using remote manipulator systems came mainly from watching TV monitors and making repetitive motions. Three of four experienced symptoms, including headaches and sore eyes, wrists, and back. Of 17 features of control rooms rated on importance, highest ratings went to comfort and support provided by the operator chair, location of controls, location of video monitors, video image clarity, types of controls, and control modes. When asked what they wanted to change, operators said work stations designed for comfort; simpler, lighter hand-controls; separate controls for each camera; better placement of remote camera; color monitors; and control room layouts that support crew interaction. Results of this small survey reinforced the importance of ergonomic factors in remote manipulation

Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

International Nuclear Information System (INIS)

Nieminen, Peetu; Esque, Salvador; Muhammad, Ali; Mattila, Jouni; Vaeyrynen, Jukka; Siuko, Mikko; Vilenius, Matti

2009-01-01

Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.

Master-slave-manipulator 'EMSM I'

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

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

Master-slave-manipulator EMSM I

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

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

Using Manipulatives to Teach Elementary Mathematics

Science.gov (United States)

Boggan, Matthew; Harper, Sallie; Whitmire, Anna

2010-01-01

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

The simulated early learning of cervical spine manipulation technique utilising mannequins.

Science.gov (United States)

Chapman, Peter D; Stomski, Norman J; Losco, Barrett; Walker, Bruce F

2015-01-01

Trivial pain or minor soreness commonly follows neck manipulation and has been estimated at one in three treatments. In addition, rare catastrophic events can occur. Some of these incidents have been ascribed to poor technique where the neck is rotated too far. The aims of this study were to design an instrument to measure competency of neck manipulation in beginning students when using a simulation mannequin, and then examine the suitability of using a simulation mannequin to teach the early psychomotor skills for neck chiropractic manipulative therapy. We developed an initial set of questionnaire items and then used an expert panel to assess an instrument for neck manipulation competency among chiropractic students. The study sample comprised all 41 fourth year 2014 chiropractic students at Murdoch University. Students were randomly allocated into either a usual learning or mannequin group. All participants crossed over to undertake the alternative learning method after four weeks. A chi-square test was used to examine differences between groups in the proportion of students achieving an overall pass mark at baseline, four weeks, and eight weeks. This study was conducted between January and March 2014. We successfully developed an instrument of measurement to assess neck manipulation competency in chiropractic students. We then randomised 41 participants to first undertake either "usual learning" (n = 19) or "mannequin learning" (n = 22) for early neck manipulation training. There were no significant differences between groups in the overall pass rate at baseline (χ(2) = 0.10, p = 0.75), four weeks (χ(2) = 0.40, p = 0.53), and eight weeks (χ(2) = 0.07, p = 0.79). This study demonstrates that the use of a mannequin does not affect the manipulation competency grades of early learning students at short term follow up. Our findings have potentially important safety implications as the results indicate that students could initially

AMPD2 Regulates GTP Synthesis and is Mutated in a Potentially-Treatable Neurodegenerative Brainstem Disorder

Science.gov (United States)

Akizu, Naiara; Cantagrel, Vincent; Schroth, Jana; Cai, Na; Vaux, Keith; McCloskey, Douglas; Naviaux, Robert K.; Vleet, Jeremy Van; Fenstermaker, Ali G.; Silhavy, Jennifer L.; Scheliga, Judith S.; Toyama, Keiko; Morisaki, Hiroko; Sonmez, Fatma Mujgan; Celep, Figen; Oraby, Azza; Zaki, Maha S.; Al-Baradie, Raidah; Faqeih, Eissa; Saleh, Mohammad; Spencer, Emily; Rosti, Rasim Ozgur; Scott, Eric; Nickerson, Elizabeth; Gabriel, Stacey; Morisaki, Takayuki; Holmes, Edward W.; Gleeson, Joseph G.

2013-01-01

Purine biosynthesis and metabolism, conserved in all living organisms, is essential for cellular energy homeostasis and nucleic acids synthesis. The de novo synthesis of purine precursors is under tight negative feedback regulation mediated by adenosine and guanine nucleotides. We describe a new distinct early-onset neurodegenerative condition resulting from mutations in the adenosine monophosphate deaminase 2 gene (AMPD2). Patients have characteristic brain imaging features of pontocerebellar hypoplasia (PCH), due to loss of brainstem and cerebellar parenchyma. We found that AMPD2 plays an evolutionary conserved role in the maintenance of cellular guanine nucleotide pools by regulating the feedback inhibition of adenosine derivatives on de novo purine synthesis. AMPD2 deficiency results in defective GTP-dependent initiation of protein translation, which can be rescued by administration of purine precursors. These data suggest AMPD2-related PCH as a new, potentially treatable early-onset neurodegenerative disease. PMID:23911318

Efficient dynamic modeling of manipulators containing closed kinematic loops

Science.gov (United States)

Ferretti, Gianni; Rocco, Paolo

An approach to efficiently solve the forward dynamics problem for manipulators containing closed chains is proposed. The two main distinctive features of this approach are: the dynamics of the equivalent open loop tree structures (any closed loop can be in general modeled by imposing some additional kinematic constraints to a suitable tree structure) is computed through an efficient Newton Euler formulation; the constraint equations relative to the most commonly adopted closed chains in industrial manipulators are explicitly solved, thus, overcoming the redundancy of Lagrange's multipliers method while avoiding the inefficiency due to a numerical solution of the implicit constraint equations. The constraint equations considered for an explicit solution are those imposed by articulated gear mechanisms and planar closed chains (pantograph type structures). Articulated gear mechanisms are actually used in all industrial robots to transmit motion from actuators to links, while planar closed chains are usefully employed to increase the stiffness of the manipulators and their load capacity, as well to reduce the kinematic coupling of joint axes. The accuracy and the efficiency of the proposed approach are shown through a simulation test.

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

International Nuclear Information System (INIS)

Burks, B.L.; Battiston, G.

1994-01-01

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

Mechanical Design of a Manipulation System for Unmanned Aerial Vehicles

NARCIS (Netherlands)

Keemink, A.Q.L.; Fumagalli, M.; Stramigioli, S.; Carloni, R.

In this paper, we present the mechanical design and modeling of a manipulation system for unmanned aerial vehicles, which have to physically interact with environments and perform ultrasonic non-destructive testing experiments and other versatile tasks at unreachable locations for humans. The

Nano-manipulation of single DNA molecules

International Nuclear Information System (INIS)

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

2004-01-01

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

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

Science.gov (United States)

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

2007-12-14

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

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

Directory of Open Access Journals (Sweden)

Ajayi Ezekiel Oluwole

2012-12-01

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

A novel adaptive force control method for IPMC manipulation

International Nuclear Information System (INIS)

Hao, Lina; Sun, Zhiyong; Su, Yunquan; Gao, Jianchao; Li, Zhi

2012-01-01

IPMC is a type of electro-active polymer material, also called artificial muscle, which can generate a relatively large deformation under a relatively low input voltage (generally speaking, less than 5 V), and can be implemented in a water environment. Due to these advantages, IPMC can be used in many fields such as biomimetics, service robots, bio-manipulation, etc. Until now, most existing methods for IPMC manipulation are displacement control not directly force control, however, under most conditions, the success rate of manipulations for tiny fragile objects is limited by the contact force, such as using an IPMC gripper to fix cells. Like most EAPs, a creep phenomenon exists in IPMC, of which the generated force will change with time and the creep model will be influenced by the change of the water content or other environmental factors, so a proper force control method is urgently needed. This paper presents a novel adaptive force control method (AIPOF control—adaptive integral periodic output feedback control), based on employing a creep model of which parameters are obtained by using the FRLS on-line identification method. The AIPOF control method can achieve an arbitrary pole configuration as long as the plant is controllable and observable. This paper also designs the POF and IPOF controller to compare their test results. Simulation and experiments of micro-force-tracking tests are carried out, with results confirming that the proposed control method is viable. (paper)

Authorship and citation manipulation in academic research

Science.gov (United States)

2017-01-01

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

Collision Detection for Underwater ROV Manipulator Systems

Directory of Open Access Journals (Sweden)

Satja Sivčev

2018-04-01

Full Text Available Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

In-vessel maintenance remote manipulator system

International Nuclear Information System (INIS)

Jimenez, E.

1978-01-01

The radiation environment within the Tokamak Fusion Test Reactor (TFTR) vacuum vessel necessitates the development of a Remote Manipulator System (RMS) to perform required periodic inspection and maintenance tasks. The RMS must be able to perform dexterous operations and handle loads that exceed human capabilities. The limited size of the access ports on the TFTR vacuum vessel and the performance profile, defined by the various handling requirements, present unique design constraints. The design approach and formulation of a RMS configuration which satisfies TFTR requirements is presented herein

Manipulating affective state influences conditioned appetitive responses.

Science.gov (United States)

Arnaudova, Inna; Krypotos, Angelos-Miltiadis; Effting, Marieke; Kindt, Merel; Beckers, Tom

2017-10-06

Affective states influence how individuals process information and behave. Some theories predict emotional congruency effects (e.g. preferential processing of negative information in negative affective states). Emotional congruency should theoretically obstruct the learning of reward associations (appetitive learning) and their ability to guide behaviour under negative mood. Two studies tested the effects of the induction of a negative affective state on appetitive Pavlovian learning, in which neutral stimuli were associated with chocolate (Experiment 1) or alcohol (Experiment 2) rewards. In both experiments, participants showed enhanced approach tendencies towards predictors of reward after a negative relative to a positive performance feedback manipulation. This increase was related to a reduction in positive affect in Experiment 1 only. No effects of the manipulation on conditioned reward expectancies, craving, or consumption were observed. Overall, our findings support the idea of counter-regulation, rather than emotional congruency effects. Negative affective states might therefore serve as a vulnerability factor for addiction, through increasing conditioned approach tendencies.

Stainless steel decontamination manipulators

International Nuclear Information System (INIS)

Sullivan, R.J.

1986-01-01

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

Applications of magnetorheological brakes in manual control of lifting devices and manipulators

International Nuclear Information System (INIS)

Chciuk, M; Milecki, A; Myszkowski, A

2009-01-01

The article is aimed to design and testing of joystick with force feedback used in direct, human control of lifting device. The paper starts with the basic description of designed and tested by us MR rotary brake. Some initial laboratory investigations results of such brakes are presented. The usage of MR brakes in 2 axis joystick is proposed. Such, built by as joystick, is described. It was used as Human-Machine Interface in active control of lifting device. The designed and built 2 axis manipulator with electrohydraulic drive is described. In the paper, the based on PC with input/output card, control system of mentioned above joystick with MR brake and manipulator is described. Finally the control algorithm is proposed.

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

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

2018-04-04

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

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.

Design of sealing arrangements for development of leak tight articulated manipulator for waste management and reprocessing plants

International Nuclear Information System (INIS)

Patil, Satish B.; Mudaiya, Avinash K.

2016-01-01

As a part of development of Remote handling equipment and gadgets, Leak tight Articulated Manipulator (ARTM) has been developed for shielded facilities of Nuclear Recycle Plant. The ARTM is a Master Slave Manipulator having 8 Kg Payload capacity and most suitable for shielded sampling cubicles of Waste Management plants and dilution hot cells of Reprocessing plants. All the motions and forces are transmitted from Master to slave arm through the mechanical linkages, which are housed inside the wall tube. The mechanical linkages and wall tube run across the shielded wall. The applications involving seal tightness of the glove boxes and dilution hot cells intend to use all the accessories including MSMs to be leak tight. During the design of leak tight ARTM, all the potential leak paths through the components of existing ARTM were examined critically and static and dynamic seals were designed based on the geometry and requirement of particular leak path. A leak proof testing set up was fabricated for evaluating the leak rates across the manipulator contemplating the actual operating conditions. The manipulator was subjected to the Friction, Rigidity and Leak tests. The results of the tests are satisfactory and as per the International standards available. The leak rates measured for different manipulators were in the range of 0.05 to 0.1 % of air volume/hr @ 200 mm of water columndifferential negative pressure. (author)

Manipulating Strings in Python

Directory of Open Access Journals (Sweden)

William J. Turkel

2012-07-01

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

System Integration for Real-time Mobile Manipulation

OpenAIRE

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

2014-01-01

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

Adverse events associated with the use of cervical manipulation or mobilization and patient characteristics : a systematic review

NARCIS (Netherlands)

Kranenburg, Rik; Schmitt, M.A.; Luijckx, Gert Jan; Puentedura, E.J.; van der Schans, Cees

2016-01-01

Cervical spinal manipulation (CSM) and cervical mobilization are frequently used in patients with neck pain and headache. Pre-manipulative cervical instability and arterial integrity tests appear to be unreliable in identifying patients at risk at risk for adverse events. It would be valuable if

Modeling manipulation in medical education.

Science.gov (United States)

Dailey, Jason I

2010-05-01

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

Design, modeling and optimization of an underwater manipulator with four-bar mechanism and compliant linkage

Energy Technology Data Exchange (ETDEWEB)

Jin, Sang Ok; Kim, Ji Hoon; Bae, Jang Ho; Kim, Jong Won [School of Mechanical and Aerospace Engineering, Seoul National University, Seoul (Korea, Republic of); Seo, Tae Won [School of Mechanical Engineering, Yeungnam University, Gyeongsan (Korea, Republic of)

2016-09-15

Underwater manipulators are very important for a robot to perform a specific operation in water. Conventional robot arm manipulators have been suggested for various operations but have not been suitable for repeated motion in gathering something. This paper presents a new underwater manipulator design for gathering things such as starfish on the sea floor. The manipulator is composed of a four-bar linkage to achieve repeated motion along a loop and compliant linkages to enhance the efficiency of the gathering work. Kinematic and quasi-static analyses were performed to calculate the loop path and the reaction force at the actuation point. Based on the analysis, optimal design was performed to maximize the working distance with the height difference and the reaction moments considered as constraints. A prototype was assembled to test the performance of the manipulator, and the empirical loop path was compared to simulation results.

Design, modeling and optimization of an underwater manipulator with four-bar mechanism and compliant linkage

International Nuclear Information System (INIS)

Jin, Sang Ok; Kim, Ji Hoon; Bae, Jang Ho; Kim, Jong Won; Seo, Tae Won

2016-01-01

Underwater manipulators are very important for a robot to perform a specific operation in water. Conventional robot arm manipulators have been suggested for various operations but have not been suitable for repeated motion in gathering something. This paper presents a new underwater manipulator design for gathering things such as starfish on the sea floor. The manipulator is composed of a four-bar linkage to achieve repeated motion along a loop and compliant linkages to enhance the efficiency of the gathering work. Kinematic and quasi-static analyses were performed to calculate the loop path and the reaction force at the actuation point. Based on the analysis, optimal design was performed to maximize the working distance with the height difference and the reaction moments considered as constraints. A prototype was assembled to test the performance of the manipulator, and the empirical loop path was compared to simulation results

Professional responsibility in relation to cervical spine manipulation.

Science.gov (United States)

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

2002-01-01

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

The importance of the secure base effect for domestic dogs - evidence from a manipulative problem-solving task.

Directory of Open Access Journals (Sweden)

Lisa Horn

Full Text Available It has been suggested that dogs display a secure base effect similar to that found in human children (i.e., using the owner as a secure base for interacting with the environment. In children, this effect influences their daily lives and importantly also their performance in cognitive testing. Here, we investigate the importance of the secure base effect for dogs in a problem-solving task.Using a manipulative task, we tested dogs in three conditions, in which we varied the owner's presence and behavior (Experiment 1: "Absent owner", "Silent owner", "Encouraging owner" and in one additional condition, in which the owner was replaced by an unfamiliar human (Experiment 2: "Replaced owner". We found that the dogs' duration of manipulating the apparatus was longer when their owner was present than absent, irrespective of the owner's behavior. The presence of an unfamiliar human however did not increase their manipulation. Furthermore, the reduced manipulation during the absence of the owner was not correlated with the dog's degree of separation distress scored in a preceding attachment experiment.Our study is the first to provide evidence for an owner-specific secure base effect in dogs that extends from attachment tests to other areas of dogs' lives and also manifests itself in cognitive testing - thereby confirming the remarkable similarity between the secure base effect in dogs and in human children. These results also have important implications for behavioral testing in dogs, because the presence or absence of the owner during a test situation might substantially influence dogs' motivation and therefore the outcome of the test.

Involvement of the Left Supramarginal Gyrus in Manipulation Judgment Tasks: Contributions to Theories of Tool Use.

Science.gov (United States)

Lesourd, Mathieu; Osiurak, François; Navarro, Jordan; Reynaud, Emanuelle

2017-09-01

Two theories of tool use, namely the gesture engram and the technical reasoning theories, make distinct predictions about the involvement of the left inferior parietal lobe (IPL) in manipulation judgement tasks. The objective here is to test these alternative predictions based on previous studies on manipulation judgment tasks using transcranial magnetic stimulations (TMS) targeting the left supramarginal gyrus (SMG). We review recent TMS studies on manipulation judgement tasks and confront these data with predictions made by both tool use theories. The left SMG is a highly intertwined region, organized following several functionally distinct areas and TMS may have disrupted a cortical network involved in the ability to use tools rather than only one functional area supporting manipulation knowledge. Moreover, manipulation judgement tasks may be impaired following virtual lesions outside the IPL. These data are more in line with the technical reasoning hypothesis, which assumes that the left IPL does not store manipulation knowledge per se. (JINS, 2017, 23, 685-691).

AMPD2 regulates GTP synthesis and is mutated in a potentially treatable neurodegenerative brainstem disorder.

Science.gov (United States)

Akizu, Naiara; Cantagrel, Vincent; Schroth, Jana; Cai, Na; Vaux, Keith; McCloskey, Douglas; Naviaux, Robert K; Van Vleet, Jeremy; Fenstermaker, Ali G; Silhavy, Jennifer L; Scheliga, Judith S; Toyama, Keiko; Morisaki, Hiroko; Sonmez, Fatma M; Celep, Figen; Oraby, Azza; Zaki, Maha S; Al-Baradie, Raidah; Faqeih, Eissa A; Saleh, Mohammed A M; Spencer, Emily; Rosti, Rasim Ozgur; Scott, Eric; Nickerson, Elizabeth; Gabriel, Stacey; Morisaki, Takayuki; Holmes, Edward W; Gleeson, Joseph G

2013-08-01

Purine biosynthesis and metabolism, conserved in all living organisms, is essential for cellular energy homeostasis and nucleic acid synthesis. The de novo synthesis of purine precursors is under tight negative feedback regulation mediated by adenosine and guanine nucleotides. We describe a distinct early-onset neurodegenerative condition resulting from mutations in the adenosine monophosphate deaminase 2 gene (AMPD2). Patients have characteristic brain imaging features of pontocerebellar hypoplasia (PCH) due to loss of brainstem and cerebellar parenchyma. We found that AMPD2 plays an evolutionary conserved role in the maintenance of cellular guanine nucleotide pools by regulating the feedback inhibition of adenosine derivatives on de novo purine synthesis. AMPD2 deficiency results in defective GTP-dependent initiation of protein translation, which can be rescued by administration of purine precursors. These data suggest AMPD2-related PCH as a potentially treatable early-onset neurodegenerative disease. Copyright © 2013 Elsevier Inc. All rights reserved.

Biodegradability oriented treatability studies on high strength segregated wastewater of a woolen textile dyeing plant.

Science.gov (United States)

Baban, Ahmet; Yediler, Ayfer; Ciliz, NilgunKiran; Kettrup, Antonius

2004-11-01

Textile dyeing and finishing industry involves considerable amount of water usage as well as polluted and highly colored wastewater discharges. Biological treatability by means of mineralization, nitrification and denitrification of high strength woolen textile dye bathes, first- and second-rinses is presented. COD fractionation study was carried out and kinetic parameters were determined. Biodegradability of organic compounds in highly loaded composite wastewater after segregation and the effluent of applied biological treatment of high strength composite wastewater were measured by determining oxygen consumption rates. The results were used in terms of assessing an alternative method for inert COD fractionation. The study implied that about 80% soluble COD, 50% color and 75% toxicity reduction were possible by single sludge biological processes. Sixteen per cent of total COD was found to be initially inert. Inert fraction was increased to 22% by production of soluble and particulate microbial products through biological treatment. copyright 2004 Elsevier Ltd.

Parental Mate Choice Manipulation Tactics: Exploring Prevalence, Sex and Personality Effects

Directory of Open Access Journals (Sweden)

Menelaos Apostolou

2014-07-01

Full Text Available Parents and children are genetically related but not genetically identical, which means that their genetic interests overlap but also diverge. In the area of mating, this translates into children making mate choices that are not in the best interest of their parents. Parents may then resort to manipulation in order to influence their children's mating decisions in a way that best promotes the former's interests. This paper attempts to identify the structure of manipulation tactics that parents employ on their daughters and sons, as well as on their daughters' and sons' mates, and also to estimate their prevalence. On the basis of the structure of the derived tactics, four hypotheses are tested: Mothers are more willing than fathers to use manipulation tactics; parents are willing to use more manipulation on their daughters than on their sons; the personality of parents predicts the use of tactics on their children and on their children's mates; and the personality of children and of children's mates predicts the use of tactics on them. Evidence from two independent studies provides support for the first three hypotheses, but mixed support for the fourth hypothesis. The implications of these findings are further discussed.

An Analysis of Manipulation Strategies in Stock Markets

OpenAIRE

Rasim Ozcan

2012-01-01

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

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

OpenAIRE

Boyer-Thurgood, Jennifer M.

2017-01-01

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

Probabilistic approach to manipulator kinematics and dynamics

International Nuclear Information System (INIS)

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

2001-01-01

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

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

Science.gov (United States)

Hoehler, F K; Tobis, J S

1982-02-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2016-11-01

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

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

International Nuclear Information System (INIS)

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

2016-01-01

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

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

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

COUNTERACTING AGE STEREOTYPES: A SELF-AWARENESS MANIPULATION

OpenAIRE

Chen, Yiwei; Pethtel, Olivia; Ma, Xiaodong

2010-01-01

The major goals of the present study were to (a) examine age differences in susceptibility to age stereotypes and (b) test a self-awareness manipulation in counteracting age stereotypes. Young and older adults read two sets of descriptors that only differed in the to-be-ignored age-related information. In the high self-awareness condition, participants saw themselves via a computer video camera. In the low self-awareness condition, they saw prerecorded images of a stranger. Overall, older adu...

A portable modular architecture for robotic manipulator control

International Nuclear Information System (INIS)

Butler, P.L.

1993-01-01

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

Sensorimotor Learning of Acupuncture Needle Manipulation Using Visual Feedback.

Directory of Open Access Journals (Sweden)

Won-Mo Jung

Full Text Available Humans can acquire a wide variety of motor skills using sensory feedback pertaining to discrepancies between intended and actual movements. Acupuncture needle manipulation involves sophisticated hand movements and represents a fundamental skill for acupuncturists. We investigated whether untrained students could improve their motor performance during acupuncture needle manipulation using visual feedback (VF.Twenty-one untrained medical students were included, randomly divided into concurrent (n = 10 and post-trial (n = 11 VF groups. Both groups were trained in simple lift/thrusting techniques during session 1, and in complicated lift/thrusting techniques in session 2 (eight training trials per session. We compared the motion patterns and error magnitudes of pre- and post-training tests.During motion pattern analysis, both the concurrent and post-trial VF groups exhibited greater improvements in motion patterns during the complicated lifting/thrusting session. In the magnitude error analysis, both groups also exhibited reduced error magnitudes during the simple lifting/thrusting session. For the training period, the concurrent VF group exhibited reduced error magnitudes across all training trials, whereas the post-trial VF group was characterized by greater error magnitudes during initial trials, which gradually reduced during later trials.Our findings suggest that novices can improve the sophisticated hand movements required for acupuncture needle manipulation using sensorimotor learning with VF. Use of two types of VF can be beneficial for untrained students in terms of learning how to manipulate acupuncture needles, using either automatic or cognitive processes.

Managerial Incentives and Stock Price Manipulation

OpenAIRE

Peng, Lin; Röell, Ailsa A

2009-01-01

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

Kinematic sensitivity of robot manipulators

Science.gov (United States)

Vuskovic, Marko I.

1989-01-01

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

Pulsed corona discharge for improving treatability of coking wastewater.

Science.gov (United States)

Liu, Ming; Preis, Sergei; Kornev, Iakov; Hu, Yun; Wei, Chao-Hai

2018-02-01

Coking wastewater (CW) contains toxic and macromolecular substances that inhibit biological treatment. The refractory compounds remaining in biologically treated coking wastewater (BTCW) provide chemical oxygen demand (COD) and color levels that make it unacceptable for reuse or disposal. Gas-phase pulsed corona discharge (PCD) utilizing mostly hydroxyl radicals and ozone as oxidants was applied to both raw coking wastewater (RCW) and BTCW wastewater as a supplemental treatment. The energy efficiency of COD, phenol, thiocyanate and cyanide degradation by PCD was the subject of the research. The cost-effective removal of intermediate oxidation products with addition of lime was also studied. The energy efficiency of oxidation was inversely proportional to the pulse repetition frequency: lower frequency allows more effective utilization of ozone at longer treatment times. Oxidative treatment of RCW showed the removal of phenol and thiocyanate at 800 pulses per second from 611 to 227mg/L and from 348 to 86mg/L, respectively, at 42kWh/m 3 delivered energy, with substantial improvement in the BOD 5 /COD ratio (from 0.14 to 0.43). The COD and color of BTCW were removed by 30% and 93%, respectively, at 20kWh/m 3 , showing energy efficiency for the PCD treatment exceeding that of conventional ozonation by a factor of 3-4. Application of lime appeared to be an effective supplement to the PCD treatment of RCW, degrading COD by about 28% at an energy input of 28kWh/m 3 and the lime dose of 3.0kg/m 3 . The improvement of RCW treatability is attributed to the degradation of toxic substances and fragmentation of macromolecular compounds. Copyright © 2017. Published by Elsevier B.V.

Manipulators

International Nuclear Information System (INIS)

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

2005-01-01

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

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2003-01-01

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

Positional control of space robot manipulator

Science.gov (United States)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

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

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

Science.gov (United States)

Evans, David W

2010-06-01

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

Health and safety plan for phase II of the Bear Creek Valley treatability study Oak Ridge Y-12 plant, Oak Ridge, Tennessee

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-05-01

This Health and Safety Plan (HASP) addresses the health and safety (H&S) concerns and requirements for the Bear Creek Valley (BCV) Treatability Study at the Oak Ridge Y-12 Plant. Samples will be collected from effluent following treatment tests of extraction columns, algal mats, and mature wetlands supplied by surface water locations and existing groundwater monitoring well locations. The project Sampling and Analysis Plan addresses the project description, technical objectives, procedures, and planned work activities in greater detail. It is the responsibility of the project managers, field manager, and site health and safety officer (SHSO) to determine that the requirements of this HASP are sufficiently protective. If it is determined that the requirements of this HASP are not sufficiently protective, a field change order(s) (FCO) will be prepared. FCOs will include a completed job hazard analysis or similar worksheet to ensure complete hazard assessment. FCOs must be approved by the Environmental Management and Enrichment Facilities (EMEF) project manager, EMEF H&S manager, subcontractor project or field manager, and subcontractor H&S representative. As a minimum, FCOs will be prepared if additional tasks will be performed or if contaminant exposure is anticipated.

Health and safety plan for phase II of the Bear Creek Valley treatability study Oak Ridge Y-12 plant, Oak Ridge, Tennessee

International Nuclear Information System (INIS)

1997-05-01

This Health and Safety Plan (HASP) addresses the health and safety (H ampersand S) concerns and requirements for the Bear Creek Valley (BCV) Treatability Study at the Oak Ridge Y-12 Plant. Samples will be collected from effluent following treatment tests of extraction columns, algal mats, and mature wetlands supplied by surface water locations and existing groundwater monitoring well locations. The project Sampling and Analysis Plan addresses the project description, technical objectives, procedures, and planned work activities in greater detail. It is the responsibility of the project managers, field manager, and site health and safety officer (SHSO) to determine that the requirements of this HASP are sufficiently protective. If it is determined that the requirements of this HASP are not sufficiently protective, a field change order(s) (FCO) will be prepared. FCOs will include a completed job hazard analysis or similar worksheet to ensure complete hazard assessment. FCOs must be approved by the Environmental Management and Enrichment Facilities (EMEF) project manager, EMEF H ampersand S manager, subcontractor project or field manager, and subcontractor H ampersand S representative. As a minimum, FCOs will be prepared if additional tasks will be performed or if contaminant exposure is anticipated

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.

Better with Byzantine: Manipulation-Optimal Mechanisms

Science.gov (United States)

Othman, Abraham; Sandholm, Tuomas

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

Correlation between Histological Status of the Pulp and Its Response to Sensibility Tests

OpenAIRE

Naseri, Mandana; Khayat, Akbar; Zamaheni, Sara; Shojaeian, Shiva

2017-01-01

Introduction: The purpose of this study was to assess the accuracy of sensibility tests by correlating it with histologic pulp condition. Methods and Materials: Assessment of clinical signs and symptoms were performed on 65 permanent teeth that were scheduled to be extracted for periodontal, prosthodontic or orthodontic reasons. The normal pulp and reversible pulpitis were considered as treatable tooth conditions while irreversible pulpitis and necrosis were considered as untreatable conditio...

The TFTR maintenance manipulator

International Nuclear Information System (INIS)

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

1989-01-01

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

MANIPULATING CONSUMERS THROUGH ADVERTISING

Directory of Open Access Journals (Sweden)

Nicoleta -Andreea Neacşu

2012-12-01

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

Position Control of a 3-CPU Spherical Parallel Manipulator

Directory of Open Access Journals (Sweden)

Massimo Callegari

2013-01-01

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

Adverse events associated with the use of cervical spine manipulation or mobilization and patient characteristics : A systematic review

NARCIS (Netherlands)

Kranenburg, H. A.; Schmitt, M. A.; Puentedura, E. J.; Luijckx, G. J.; van der Schans, C. P.

Cervical spinal manipulation (CSM) and cervical mobilization are frequently used in patients with neck pain and headache. Pre-manipulative cervical instability and arterial integrity tests appear to be unreliable in identifying patients at risk for adverse events. It would be valuable if patients at

Interaction control of a redundant mobile manipulator

International Nuclear Information System (INIS)

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

1998-01-01

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

On stiffening cables of a long reach manipulator

International Nuclear Information System (INIS)

Wang, S.L.; Santiago, P.

1996-01-01

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

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

Directory of Open Access Journals (Sweden)

Cynthia Collette

2016-08-01

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

Manipulation Robustness of Collaborative Filtering

OpenAIRE

Benjamin Van Roy; Xiang Yan

2010-01-01

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

Short-term effects of manipulative treatment versus a therapeutic home exercise protocol for chronic cervical pain

DEFF Research Database (Denmark)

Galindez-Ibarbengoetxea, Xabier; Setuain, Igor; Ramírez-Velez, Robinson

2018-01-01

BACKGROUND: While both manipulative treatment and physical exercises are used to treat cervical pain, it remains unclear which is most effective. OBJECTIVE: To compare the short-term effects of high-velocity, low-amplitude manipulation techniques (MT) with those of home-exercise (HE) with stretch......BACKGROUND: While both manipulative treatment and physical exercises are used to treat cervical pain, it remains unclear which is most effective. OBJECTIVE: To compare the short-term effects of high-velocity, low-amplitude manipulation techniques (MT) with those of home-exercise (HE...... scale (VAS); neck disability index (NDI); pressure pain thresholds; cervical spine range of motion and electromyography during the cranio-cervical flexion test was measured before and one week after the intervention. RESULTS: After the intervention, both groups showed improved (P

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

Directory of Open Access Journals (Sweden)

Lagerev I.A.

2016-09-01

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

Atomic and molecular manipulation

CERN Document Server

Mayne, Andrew J

2011-01-01

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

Treatability studies performed in support of an engineering evaluation/cost analysis

International Nuclear Information System (INIS)

Myers, J.M.; Mueller, J.P.; Sundquist, J.A.; Moore, G.W.

1995-01-01

The Southern Shipbuilding Corporation (SSC) site is located on 54 acres of wooded land adjacent to Bayou Bonfouca, approximately 1.8 miles downstream of the Bayou Bonfouca National Priorities List (NPL) Superfund site in Slidell, St. Tammany Parish, Louisiana. Two one-acre, impoundments on the SSC site were used to store wastes generated from vessel cleaning. Wastes stored in the impoundments are migrating into Bayou Bonfouca, which empties into Lake Pontchartrain. In addition, the impoundments are frequently invaded by flood waters. The US EPA Emergency Response Branch (EPA-ERB) performed a site investigation which indicated that the majority of the contamination is petroleum-related and that the compounds of concern are polycyclic aromatic hydrocarbons (PARs). The wastes are generally contained with the two impoundments and surrounding soils. As part of an Engineering Evaluation/Cost Basis (EE/CA) of potential response action alternatives, four treatability studies were performed. A thermal treatment (incineration) study was performed at the EPA's Incineration Research Facility (IRF). Biodegradation remedy selection feasibility assessment was conducted on-site. A remedy screening soil washing study was also performed by TAT. A solidification/stabilization (S/S) study was conducted through EPA's Risk Reduction Engineering Laboratory (RREL) to ascertain if the PAHs could be immobilized within a solid matrix. Experimental objectives, dead methodology and conclusions for these studies are presented as they relate to potential response actions being evaluated at the SSC site

Dynamic whole-body robotic manipulation

Science.gov (United States)

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

2013-05-01

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

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

Directory of Open Access Journals (Sweden)

Ryan M. Robinson

2014-04-01

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

Data manipulation with R

CERN Document Server

Abedin, Jaynal

2014-01-01

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

Stock Market Manipulation on the Hong Kong Stock Exchange

Directory of Open Access Journals (Sweden)

Dionigi Gerace

2014-10-01

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

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2004-01-01

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

Tension Stiffened and Tendon Actuated Manipulator

Science.gov (United States)

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

2015-01-01

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

Particle Manipulation Methods in Droplet Microfluidics.

Science.gov (United States)

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

2018-02-06

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

The immediate effect of individual manipulation techniques on pulmonary function measures in persons with chronic obstructive pulmonary disease.

Science.gov (United States)

Noll, Donald R; Johnson, Jane C; Baer, Robert W; Snider, Eric J

2009-10-08

The use of manipulation has long been advocated in the treatment of chronic obstructive pulmonary disease (COPD), but few randomized controlled clinical trials have measured the effect of manipulation on pulmonary function. In addition, the effects of individual manipulative techniques on the pulmonary system are poorly understood. Therefore, the purpose of this study was to determine the immediate effects of four osteopathic techniques on pulmonary function measures in persons with COPD relative to a minimal-touch control protocol. Persons with COPD aged 50 and over were recruited for the study. Subjects received five, single-technique treatment sessions: minimal-touch control, thoracic lymphatic pump (TLP) with activation, TLP without activation, rib raising, and myofascial release. There was a 4-week washout period between sessions. Protocols were given in random order until all five techniques had been administered. Pulmonary function measures were obtained at baseline and 30-minutes posttreatment. For the actual pulmonary function measures and percent predicted values, Wilcoxon signed rank tests were used to test within-technique changes from baseline. For the percent change from baseline, Friedman tests were used to test for between-technique differences. Twenty-five subjects were enrolled in the study. All four tested osteopathic techniques were associated with adverse posttreatment changes in pulmonary function measures; however, different techniques changed different measures. TLP with activation increased posttreatment residual volume compared to baseline, while TLP without activation did not. Side effects were mild, mostly posttreatment chest wall soreness. Surprisingly, the majority of subjects believed they could breathe better after receiving osteopathic manipulation. In persons with COPD, TLP with activation, TLP without activation, rib raising, and myofascial release mildly worsened pulmonary function measures immediately posttreatment relative to

Influence of different manipulation methods on surface roughness of auto polymerized acrylic resin

Directory of Open Access Journals (Sweden)

Luciana Borges Retamoso

2009-10-01

Full Text Available Objective: The aim of this study was to evaluate the surface roughness of acrylic resin according to the manipulation method.Methods: Sixty specimens were randomly divided into four groups (n=15 according to the manipulation method: G1 - addition with pressure, G2 - addition without pressure, G3 - mass with pressure and G4 - mass without pressure. After resin polymerization, all specimens were submitted to finishing with abrasive paper and mechanical polishing. Topographical surface analysis surfaces was performed twice on each sample using the rugosimeter. Results: The results were statistically analyzed and means were: G1 - 0,130μm; G2 - 0,120μm, G3 - 0,218μm e G4 - 0,192μm. ANOVA for one criterion and the Tukey test showed significant difference between G1 and G3, G2 and G3, G2 and G4. Conclusion: The manipulation method seems to affect the physical characteristics of auto polymerized acrylic resin. The addition manipulation method decreased the surface roughness.

Manipulation or Mobilisation for Neck Pain

NARCIS (Netherlands)

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

2010-01-01

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

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1989-01-01

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space 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 astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

Science.gov (United States)

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

2018-05-10

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

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

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

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

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

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

Science.gov (United States)

Hartley, Breanne K.

2009-01-01

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

Evaluation of Remote Collaborative Manipulation for Scientific Data Analysis

OpenAIRE

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

2012-01-01

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

Reconfigurable mobile manipulation for accident response

International Nuclear Information System (INIS)

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

2000-01-01

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

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

DEFF Research Database (Denmark)

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

2018-01-01

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

Intra-abdominal hypertension in fulminant Clostridium difficile infection--an under-recognized treatable complication.

Science.gov (United States)

Oud, Lavi

2010-09-01

Clostridium difficile is the most common cause of nosocomial infectious diarrhea in adults, with recent reports of increased severity and case fatality. Intra-abdominal hypertension (IAH) and abdominal compartment syndrome (ACS) are increasingly recognized and treatable complications of severe illness in medical patients, and are independent predictors of mortality. Patients with severe Clostridium difficile infection (CDI) are at increased risk for IAH and ACS. However, ACS has been only rarely described in this population. We report a case of a 61 year-old morbidly obese, chronically ill, ventilator dependent patient, who developed fulminant CDI, including progressive colonic distension, acute renal failure and intra-abdominal fluid sequestration. Her clinical course worsened abruptly, with new shock, worsening hypoxic respiratory failure, increased peak airway pressures and reduced tidal volumes. Intra-abdominal pressure was 30 mm Hg. The patient was not considered a surgical candidate, was refractory to escalating non-surgical support, and died following withdrawal of life support. Although patients with fulminant CDI share many risk factors for IAH and ACS, these conditions were rarely reported in this population and are likely under recognized, as was the case with the present patient. Increased vigilance for IAH is needed in this at-risk population.

Does the mechanism of sex determination constrain the potential for sex manipulation? A test in geckos with contrasting sex-determining systems

Science.gov (United States)

Kratochvíl, Lukáš; Kubička, Lukáš; Landová, Eva

2008-03-01

The concentration of yolk steroids was suggested to influence offspring gender in oviparous animals subject to both temperature-dependent sex determination (TSD) and genotypic sex determination (GSD). However, the proposed mechanisms of steroid effects are thought to differ between TSD and GSD: a direct effect of oestrogens on gonad feminisation in TSD species vs a differential induction of male-producing or female-producing gametes in GSD species. Geckos offer an ideal opportunity for testing these suggested mechanisms. Closely related gecko species differ in their modes of sex determination. They lay clutches of two synchronously formed eggs; both eggs share equal steroid levels. If identical hormonal composition and environment during vitellogenesis, gravidity and incubation determine the sex of the progeny, siblings should share the same gender in both TSD and GSD geckos. We found strong support for this prediction in a TSD gecko species. Among clutches that were incubated at the temperature that produced both sexes, there were no clutches with siblings of the opposite sex. On the other hand, about half of the clutches yielded siblings of the opposite sex in four GSD species. These results suggest that sex-determining systems constrain the ability of the female to produce single-sex siblings and, hence, it seems that the GSD mechanism constrains the opportunities for sex ratio manipulation in geckos via yolk steroid manipulation.

Maximum allowable load on wheeled mobile manipulators

International Nuclear Information System (INIS)

Habibnejad Korayem, M.; Ghariblu, H.

2003-01-01

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

Laser Diode Beam Basics, Manipulations and Characterizations

CERN Document Server

Sun, Haiyin

2012-01-01

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

Treatability Study Pilot Test Operation Field Photos

Energy Technology Data Exchange (ETDEWEB)

Li, Jun [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2017-11-01

Photos in each group are in chronological order as captured: Group I Tank Platform Setup, November 14, 2017; Group II Tank Setup, November 15, 2017; Group III Aboveground Injestion System (AIS) Setup, November 20, 2017; Group IV Chemical Mixing, November 21, 2017; Group V KB-1 Bacteria Injection, November 27, 2017; Group VI Miscellaneous.

Manipulatives Work!

Science.gov (United States)

Moch, Peggy L.

2001-01-01

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

SAMSIN: the next-generation servo-manipulator

International Nuclear Information System (INIS)

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

1985-01-01

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

Seismic qualification of existing safety class manipulators

International Nuclear Information System (INIS)

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

1992-01-01

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

Control of master-slave manipulator using virtual force

International Nuclear Information System (INIS)

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

1994-01-01

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

How to Make the Most of Math Manipulatives.

Science.gov (United States)

Burns, Marilyn

1996-01-01

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

Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Directory of Open Access Journals (Sweden)

Malik Loudini

2013-01-01

Full Text Available In this paper, precise control of the end-point position of a planar single-link elastic manipulator robot is discussed. The Timoshenko beam theory (TBT has been used to characterize the structural link elasticity including important damping mechanisms. A suitable nonlinear model is derived based on the Lagrangian assumed modes method. Elastic link manipulators are classified as systems possessing highly complex dynamics. In addition, the environment in which they operate may have a lot of disturbances. These give rise to special problems that may be solved using intelligent control techniques. The application of two advanced control strategies based on fuzzy set theory is investigated. The first closed-loop control scheme to be applied is the standard Proportional-Derivative (PD type fuzzy logic controller (FLC, also known as PD-type Mamdani's FLC (MPDFLC. Then, a genetic algorithm (GA is used to optimize the MPDFLC parameters with innovative tuning procedures. Both the MPDFLC and the GA optimized FLC (GAOFLC are implemented and tested to achieve a precise control of the manipulator end-point. The performances of the adopted closed-loop intelligent control strategies are examined via simulation experiments.

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

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

Directory of Open Access Journals (Sweden)

Zhan Yang

2016-09-01

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

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

Science.gov (United States)

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

2016-01-01

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

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

Science.gov (United States)

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

2016-09-14

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

A superconducting radio-frequency cavity for manipulating the phase space of pion beams at LAMPF

Energy Technology Data Exchange (ETDEWEB)

O' Donnell, J.M.; Davis, J.; DeHaven, R.A.; Gray, E.; Johnson, R.; Lomax, R.E.; McCloud, B.J.; McGill, J.A.; Morris, C.L.; Novak, J.; Rusnak, B.; Tubb, G. (Los Alamos National Lab., Los Alamos, NM (United States)); Applegate, J.M.; Averett, T.D.; Beck, J.; Ritchie, B.G. (Arizona State Univ., Tempe, AZ (United States)); Haebel, E. (CERN, Geneva (Switzerland)); Kiehlmann, D.; Klein, U.; Peniger, M.; Schaefer, P.; Vogel, H. (Siemens AG, Accelerator and Magnet Technology, Bergisch Gladbach (Germany)); Ward, H.; Moore, C.F. (Univ. of Texas, Austin, TX (United States))

1992-07-15

The SCRUNCHER is a superconducting radio-frequency cavity for manipulating the longitudinal phase space of the secondary pion beam from the low energy pion channel at LAMPF. Test results of the cavity performance and initial results from in-beam tests are presented. (orig.).

A superconducting radio-frequency cavity for manipulating the phase space of pion beams at LAMPF

Science.gov (United States)

O'Donnell, J. M.; Davis, J.; DeHaven, R. A.; Gray, E.; Johnson, R.; Lomax, R. E.; McCloud, B. J.; McGill, J. A.; Morris, C. L.; Novak, J.; Rusnak, B.; Tubb, G.; Applegate, J. M.; Averett, T. D.; Beck, J.; Ritchie, B. G.; Haebel, E.; Kiehlmann, D.; Klein, U.; Peiniger, M.; Schäfer, P.; Vogel, H.; Ward, H.; Fred Moore, C.

1992-07-01

The SCRUNCHER is a superconducting radio-frequency cavity for manipulating the longitudinal phase space of the secondary pion beam from the low energy pion channel at LAMPF. Test results of the cavity performance and initial results from in-beam tests are presented.

Digital Manipulation in Scientific Images: Some Ethical Considerations.

Science.gov (United States)

Hayden, James E.

2000-01-01

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

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

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

Manipulating stored phonological input during verbal working memory

Science.gov (United States)

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

2016-01-01

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

Manipulation of biological samples using micro and nano techniques.

Science.gov (United States)

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

2009-01-01

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

Improvement of the M/S manipulator maintenance at OSL

International Nuclear Information System (INIS)

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

2010-01-01

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

Manipulations of Totalitarian Nazi Architecture

Science.gov (United States)

Antoszczyszyn, Marek

2017-10-01

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

Lazy motion planning for robotic manipulators

NARCIS (Netherlands)

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

2017-01-01

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

Manipulators inspired by the tongue of the chameleon.

Science.gov (United States)

Debray, Alexis

2011-06-01

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

Manipulators inspired by the tongue of the chameleon

International Nuclear Information System (INIS)

Debray, Alexis

2011-01-01

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

Manipulators inspired by the tongue of the chameleon

Energy Technology Data Exchange (ETDEWEB)

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

2011-06-15

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

Can earnings manipulation create value?

OpenAIRE

Anton Miglo

2008-01-01

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

A Geometry Deformation Model for Braided Continuum Manipulators

Directory of Open Access Journals (Sweden)

S. M. Hadi Sadati

2017-06-01

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

Contribution of phased array technique to automation in ultrasonic testing

International Nuclear Information System (INIS)

Erhard, A.; Schenk, G.; Moehrle, W.; Wuestenberg, H.; Rathgeb, W.

1989-01-01

Ultrasonic tests on complicated geometries often require expensive manipulator technique. To guarantee certain information from tests, the control of the manipulator must be matched to the acoustic boundary conditions. In the past and today, complex manipulators were and are being developed and used with tests on such geometries. The results of the measurements with group radiator technique in the bottom hole area or on ducts, showed that the manipulators can be simplified, particularly with regard to their degrees of freedom, e.g.: doing without the axis of rotation to set the angle of squint in testing ducts, without thereby narrowing the test area. In the bottom hole test, it was found that by using the group radiator technique, the test area is expanded, evaluation is simplified and coupling can be ensured. (orig.) [de

The application of manipulator robot for nuclear plant maintenance

International Nuclear Information System (INIS)

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

2010-01-01

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

Physics Based Vision Systems for Robotic Manipulation

Data.gov (United States)

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

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

DEFF Research Database (Denmark)

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

2018-01-01

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

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.

System Integration for Real-Time Mobile Manipulation

Directory of Open Access Journals (Sweden)

Reza Oftadeh

2014-03-01

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

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

Directory of Open Access Journals (Sweden)

Jessie-Raye Bauer

2017-08-01

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

Design and development of weld inspection manipulator for reactor pressure vessel of TAPS-1

International Nuclear Information System (INIS)

Chatterjee, H.; Singh, J.P.; Ranjon, R.; Kulkarni, M.P.; Patel, R.J.

2013-01-01

The reactor pressure vessel (RPV) of TAPS-1 BWR contains six longitudinal and four circumferential welds. Periodical in-service inspection of these weld joints has been a regulatory issue pending for long. In the 22 nd refuelling outage in July 2012 the inspection of L1-1, L1-2 longitudinal welds as well as their junctions with C1 circumferential weld were proposed to be done using ultrasonic technique. Approaching these welds from OD side of the RPV is a difficult and tedious task. Therefore it was decided to examine these welds from ID side of the RPV by filling the cavity with water and approaching the RPV from top. No technology was locally available to take the probes at a depth of 10-12 m under water. NPCIL approached RTD, BARC to develop an underwater manipulator to accomplish this task. RTD took up this work as a challenge and came out with the design of manipulator. The weld inspection manipulator (WIM) was fabricated on a war foot basis, tested and successfully implemented in the reactor for the first time in TAPS history. The entire activity was completed in three months time. This article gives the details of design, manufacturing, performance testing, qualification trials and implementation of WIM in the reactor. Ultrasonic testing techniques were developed by QAD, BARC which are not covered in this article. (author)

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

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

2002-01-01

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

Dataglove-based interface for impedance control of manipulators in cooperative human–robot environments

International Nuclear Information System (INIS)

Paredes-Madrid, L; Gonzalez de Santos, P

2013-01-01

A dataglove-based interface is presented for tracking the forces applied by the hand during contact tasks with a 6-degree-of-freedom (DOF) manipulator. The interface uses 11 force sensors carefully placed on the palm-side fabric of a 16 DOF dataglove. The force sensors use piezoresistive technology to measure the individual force components from the hand. Based on the dataglove measurements, these components are transformed and summed to assemble the resultant force vector. Finally, this force vector is translated into the manipulator frame using orientation measurements from an inertial measurement unit placed on the dorsal side of the dataglove. Static tests show that the dataglove-based interface can effectively measure the applied hand force, but there are inaccuracies in orientation and magnitude when compared to the load cell measurements used as the reference for error calculation. Promising results were achieved when controlling the 6 DOF manipulator based on the force readings acquired from the dataglove interface; the decoupled dynamics of the dataglove interface with respect to the robot structure yielded smooth force readings of the human intention that could be effectively used in the impedance control of the manipulator. (paper)

The Impact of Use of Manipulatives on the Math Scores of Grade 2 Students

Science.gov (United States)

Liggett, Robert Scott

2017-01-01

Today's society places a lot of pressure on schools, teachers, and students to improve test scores. This paper discusses the possibility of using mathematical manipulatives to improve student test scores and students' attitudes towards mathematics. Forty-three Grade 2 students with age ranges between six and eight from a rural town in Saskatchewan…

Land reclamation on the Nevada Test Site: A field tour

International Nuclear Information System (INIS)

Winkel, V.K.; Ostler, W.K.

1993-01-01

An all-day tour to observe and land reclamation on the Nevada Test Site was conducted in conjunction with the 8th Wildland Shrub and Arid Land Restoration Symposium. Tour participants were introduced to the US Department of Energy reclamation programs for Yucca Mountain Site Characterization Project and Treatability Studies for Soil Media (TSSM) Project. The tour consisted of several stops that covered a variety of topics and studies including revegetation by seeding, topsoil stockpile stabilization, erosion control, shrub transplanting, shrub herbivory, irrigation, mulching, water harvesting, and weather monitoring

A low cost general purpose portable programmable master/slave manipulative appliance

International Nuclear Information System (INIS)

Cameron, W.

1984-01-01

The TRIUMF 100 μA 500 MeV cyclotron, located at the University of British Columbia, required a low cost, portable master/slave manipulative capability for experimental beam line servicing. A programmable capability was also required for the hot cell manipulators. A general purpose unit was developed that might also have applications in light manufacturing and medical rehabilitation. The project now in prototype testing represents a modular portable robot costing less than $5000 that is lead-through-teach programmable by either a master controller or hands-on lead-through. Task programs are stored and retrieved on any 32 k personal computer. An on-board proportional integral derivative controller (Motorola 6809 based) gives discrete positioning of the six degrees of freedom 2 kg capacity end effector

Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator

Directory of Open Access Journals (Sweden)

Ji-Hwan Hwang

2017-01-01

Full Text Available In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.

Pose Space Surface Manipulation

Directory of Open Access Journals (Sweden)

Yusuke Yoshiyasu

2012-01-01

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

Comprehending emergent systems phenomena through direct-manipulation animation

Science.gov (United States)

Aguirre, Priscilla Abel

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

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

International Nuclear Information System (INIS)

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

2015-01-01

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

An investigation into the kinematics of 2 cervical manipulation techniques.

Science.gov (United States)

Williams, Jonathan M; Cuesta-Vargas, Antonio I

2013-01-01

The purpose of this study was to quantify the kinematics of the premanipulative position, the angular displacement, and velocity of thrust of 2 commonly used cervical spine manipulative procedures using inertial sensor technology. Thirteen asymptomatic subjects (7 females; mean age, 25.3 years; mean height, 170.9 cm; mean weight, 65.3 kg) received a right-handed and left-handed downslope and upslope manipulation, aimed at C4/5 while cervical kinematics were measured using an inertial sensor mounted on the forehead of the subject. One therapist used the upslope, and another therapist, the downslope, as was their preferred method. t tests were used to compare techniques and handiness. The results demonstrated differences in the kinematics between the 2 techniques. The downslope manipulation was associated with a mean premanipulative position of 24.8° side bending and 2.7° rotation, thrust displacement magnitude comprising of 4.5° side bending and 5.4° rotation with thrust velocity comprising, on average, of 57.5°/s side bending and 74.8°/s rotation. Upslope premanipulation was on average comprised of 30.1° side bending and 8.4° rotation, thrust displacement comprised of 4.5° side bending and 12.7° rotation with thrust velocity comprising of 75.9°/s side bending and 194.7°/s rotation. The results of this study demonstrate that there are different kinematic patterns for these 2 manipulative techniques. Copyright © 2013 National University of Health Sciences. Published by Mosby, Inc. All rights reserved.

Judging Nudging : Answering the Manipulation Objection

NARCIS (Netherlands)

Nys, Thomas; Engelen, Bart

2017-01-01

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

Surgical manipulation of mammalian embryos in vitro.

Science.gov (United States)

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

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

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-07-01

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

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-04-01

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

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

Science.gov (United States)

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

2017-02-25

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

Case study and presentation of the DOE treatability group concept for low-level and mixed waste streams

International Nuclear Information System (INIS)

Kirkpatrick, T.D.; Heath, B.A.; Davis, K.D.

1994-01-01

The Federal Facility Compliance Act of 1992 requires the US Department of Energy (DOE) to prepare an inventory report of its mixed waste and treatment capacities and technologies. Grouping waste streams according to technological requirements is the logical means of matching waste streams to treatment technologies, and streamlines the effort of identifying technology development needs. To provide consistency, DOE has developed a standard methodology for categorizing waste into treatability groups based on three characteristic parameters: radiological, bulk physical/chemical form, and regulated contaminant. Based on category and component definitions in the methodology, descriptive codes or strings of codes are assigned under each parameter, resulting in a waste characterization amenable to a computerized format for query and sort functions. By using only the applicable parameters, this methodology can be applied to all waste types generated within the DOE complex: radioactive, hazardous, mixed, and sanitary/municipal. Implementation of this methodology will assist the individual sites and DOE Headquarters in analyzing waste management technology and facility needs

Manipulators in deep ocean environments, needs versus technology

International Nuclear Information System (INIS)

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

1984-01-01

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

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

Science.gov (United States)

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

2018-04-01

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

Interpersonal relationship manipulation at a personal level

OpenAIRE

Andreja Hribernik

2010-01-01

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

Effect of Osteopathic Cranial Manipulative Medicine on Visual Function.

Science.gov (United States)

Sandhouse, Mark E; Shechtman, Diana; Fecho, Gregory; Timoshkin, Elena M

2016-11-01

The effects of osteopathic cranial manipulative medicine (OCMM) on visual function have been poorly characterized in the literature. Based on a pilot study conducted by their research group, the authors conducted a study that examined whether OCMM produced a measurable change in visual function in adults with cranial asymmetry. Randomized, controlled, double-blinded clinical trial. The intervention and control (sham therapy) were applied during 8 weekly visits, and participants in both groups received 8 weekly follow-up visits. Adult volunteers aged between 18 and 35 years with unremarkable systemic or ocular history were recruited. Inclusion criteria were refractive error between 6 diopters of myopia and 5 diopters of hyperopia, regular astigmatism of any amount, and cranial somatic dysfunction. All participants were evaluated for cranial asymmetry and randomly assigned to the treatment or sham therapy group. The treatment group received OCMM to correct cranial dysfunctions, and the sham therapy group received light pressure applied to the cranium. Preintervention and postintervention ophthalmic examinations consisted of distance visual acuity testing, accommodative system testing, local stereoacuity testing, pupillary size measurements, and vergence system testing. A χ2 analysis was performed to determine participant masking. Analysis of variance was performed for all ophthalmic measures. Eighty-nine participants completed the trial, with 47 in the treatment group and 42 in the sham therapy group. A hierarchical analysis of variance revealed statistically significant within-groups effects (Psize under bright light in the left eye and in near point of convergence break. Osteopathic cranial manipulative medicine may affect visual function in adults with cranial asymmetry. Active motion testing of the cranium for somatic dysfunction may affect the cranial system to a measurable level and explain interrater reliability issues in cranial studies. (Clinical

Influence of the Aluminium Alloy Type on Defects Formation in Friction Stir Lap Welding of Thin Sheets

Directory of Open Access Journals (Sweden)

M. I. Costa

Full Text Available Abstract The weldability in Friction Stir Lap Welding (FSLW of heat and non-heat treatable aluminium alloys, the AA6082-T6 and the AA5754-H22 aluminium alloys, respectively, are compared. For both alloys, welds were produced in very thin sheets, using the same welding parameters and procedures, and strong differences in welds morphology were found. The strength of the welds was evaluated by performing tensile-shear tests under monotonic and cyclic loading conditions. As-welded and heat-treated samples of the AA6082- T6 were tested. It was found that the heat-treatable alloy is more sensitive to defects formation, in lap welding, than the non-heat-treatable alloy. The presence of defects has a strong influence on the monotonic and fatigue behaviour of the welds. In spite of this, for very high-applied stresses, the heat-treatable alloy welds perform better in fatigue than the non-heat-treatable alloy welds.

The Wastewater Treatment Test Facility at Oak Ridge National Laboratory

International Nuclear Information System (INIS)

Richardson, S.A.; Kent, T.E.; Taylor, P.A.

1995-01-01

The Wastewater Treatment Test Facility (WTTF) contains 0.5 L/min test systems which provide a wide range of physical and chemical separation unit operations. The facility is a modified 48 foot trailer which contains all the unit operations of the ORNL's Process Waste Treatment Plant and Nonradiological Wastewater Treatment Plant including chemical precipitation, clarification, filtration, ion-exchange, air stripping, activated carbon adsorption, and zeolite system. This facility has been used to assess treatability of potential new wastewaters containing mixed radioactive, hazardous organic, and heavy metal compounds. With the ability to simulate both present and future ORNL wastewater treatment systems, the WTTF has fast become a valuable tool in solving wastewater treatment problems at the Oak Ridge reservation

Laboratory procedures for waste form testing

International Nuclear Information System (INIS)

Mast, E.S.

1994-01-01

The 100 and 300 areas of the Hanford Site are included on the US Environmental Protection Agencies (EPA) National Priorities List under the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA). Soil washing is a treatment process that is being considered for the remediation of the soil in these areas. Contaminated soil washing fines can be mixed or blended with cementations materials to produce stable waste forms that can be used for beneficial purposes in mixed or low-level waste landfills, burial trenches, environmental restoration sites, and other applications. This process has been termed co-disposal. The Co-Disposal Treatability Study Test Plan is designed to identify a range of cement-based formulations that could be used in disposal efforts in Hanford in co-disposal applications. The purpose of this document is to provide explicit procedural information for the testing of co-disposal formulations. This plan also provides a discussion of laboratory safety and quality assurance necessary to ensure safe, reproducible testing in the laboratory

Laboratory procedures for waste form testing

Energy Technology Data Exchange (ETDEWEB)

Mast, E.S.

1994-09-19

The 100 and 300 areas of the Hanford Site are included on the US Environmental Protection Agencies (EPA) National Priorities List under the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA). Soil washing is a treatment process that is being considered for the remediation of the soil in these areas. Contaminated soil washing fines can be mixed or blended with cementations materials to produce stable waste forms that can be used for beneficial purposes in mixed or low-level waste landfills, burial trenches, environmental restoration sites, and other applications. This process has been termed co-disposal. The Co-Disposal Treatability Study Test Plan is designed to identify a range of cement-based formulations that could be used in disposal efforts in Hanford in co-disposal applications. The purpose of this document is to provide explicit procedural information for the testing of co-disposal formulations. This plan also provides a discussion of laboratory safety and quality assurance necessary to ensure safe, reproducible testing in the laboratory.

Autonomous Industrial Mobile Manipulation (AIMM)

DEFF Research Database (Denmark)

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

2012-01-01

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

ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

Directory of Open Access Journals (Sweden)

Camelia PAVEL

2014-04-01

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

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

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

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

Impact of paint shop decanter effluents on biological treatability of automotive industry wastewater.

Science.gov (United States)

Güven, Didem; Hanhan, Oytun; Aksoy, Elif Ceren; Insel, Güçlü; Çokgör, Emine

2017-05-15

A lab-scale Sequencing Batch Reactor (SBR) was implemented to investigate biological treatability and kinetic characteristics of paint shop wastewater (PSW) together with main stream wastewater (MSW) of a bus production factory. Readily biodegradable and slowly biodegradable COD fractions of MWS were determined by respirometric analysis: 4.2% (S S ), 10.4% (S H ) and 59.3% (X S ). Carbon and nitrogen removal performance of the SBR feeding with MSW alone were obtained as 89% and 58%, respectively. When PSW was introduced to MSW, both carbon and nitrogen removal were deteriorated. Model simulation indicated that maximum heterotrophic growth rate decreased from 7.2 to 5.7day -1 , maximum hydrolysis rates were reduced from 6 to 4day -1 (k hS ) and 4 to 1day -1 (k hX ). Based on the dynamic model simulation for the evaluation of nitrogen removal, a maximum specific nitrifier growth rate was obtained as 0.45day -1 for MSW feeding alone. When PSW was introduced, nitrification was completely inhibited and following the termination of PSW addition, nitrogen removal performance was recovered in about 100 days, however with a much lower nitrifier growth rate (0.1day -1 ), possibly due to accumulation of toxic compounds in the sludge. Obviously, a longer recovery period is required to ensure an active nitrifier community. Copyright © 2017 Elsevier B.V. All rights reserved.

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

International Nuclear Information System (INIS)

Vertut, Jean

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

Effect of Posterior Iliosacral Joint Manipulation on Subjects With Hyperlordosis of Lumbar Spine

International Nuclear Information System (INIS)

Mahmoud, Y.M.; Kattabel, O.M.A.; Amin, D.I.

2016-01-01

Back ground: Lumbar spine hyperlordosis combined with excessive anterior pelvic tilting is considered as a wide spread postural disorder related to abnormalities in musculoskeletal balance. Although there were a lot of studies reporting that anterior pelvic tilting is correlated to sacroiliac joint, hip dysfunction and knee pain, fewer studies had related showed its effect on low back pain. The purpose: this study was conducted to investigate the effect of posterior iliosacral joint manipulation on subjects with hyperlordosis of lumbar spine. Subject and methods: Thirty subject of both gender with age ranged from 20 to 40 years , body mass index (BMI) ranging between 18.5-24.9 and assigned in one group, hyperlordosis of lumbar spine was measured by photographic analysis (surgimap software), while anterior pelvic tilting was measured by inclinometer and pain intensity was measured by numerical rating scale and posterior iliosacral joint manipulation (Chicago manipulation) was the treatment procedure Results: there was significant difference in the mean values of anterior pelvic tilting in the pre and immediate post treatment tests, 8.86±0.77 degrees and 4.86±0.68 degrees respectively with F=535.385,and p < 0.0001) Also there was a significant difference in the mean values of pain level in the pre and immediate post treatment tests, 5.8±1.44 degrees and 5.03±1.32 degrees respectively with F=29.445 and P < 0.0001). Conclusion: posterior iliosacral joint manipulation has a value effect in increasing the sacroiliac joint range of motion and decreasing sacroiliac pain and low back pain in subjects with hyperlordosis of lumbar spine.

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.

Analysis of singularity in redundant manipulators

International Nuclear Information System (INIS)

Watanabe, Koichi

2000-03-01

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

Acid Pit Stabilization Project (Volume 1 - Cold Testing) and (Volume 2 - Hot Testing)

International Nuclear Information System (INIS)

Loomis, G. G.; Zdinak, A. P.; Ewanic, M. A.; Jessmore, J. J.

1998-01-01

During the summer and fall of Fiscal Year 1997, a Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA) Treatability Study was performed at the Idaho National Engineering and Environmental Laboratory. The study involved subsurface stabilization of a mixed waste contaminated soil site called the Acid Pit. This study represents the culmination of a successful technology development effort that spanned Fiscal Years 1994-1996. Research and development of the in situ grout stabilization technique was conducted. Hardware and implementation techniques are currently documented in a patent pending with the United States Patent and Trademark Office. The stabilization technique involved using jet grouting of an innovative grouting material to form a monolith out of the contamination zone. The monolith simultaneously provides a barrier to further contaminant migration and closes voids in the soil structure against further subsidence. This is accomplished by chemical incorporation of contaminants into less soluble species and achieving a general reduction in hydraulic conductivity within the monolith. The grout used for this study was TECT-HG, a relatively dense iron oxide-based cementitious grout. The treatability study involved cold testing followed by in situ stabilization of the Acid Pit. Volume 1 of this report discusses cold testing, performed as part of a ''Management Readiness Assessment'' in preparation for going hot. Volume 2 discusses the results of the hot Acid Pit Stabilization phase of this project. Drilling equipment was specifically rigged to reduce the spread of contamination, and all grouting was performed under a concrete block containing void space to absorb any grout returns. Data evaluation included examination of implementability of the grouting process and an evaluation of the contaminant spread during grouting. Following curing of the stabilized pit, cores were obtained and evaluated for toxicity characteristic leach ing

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

Science.gov (United States)

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

2012-07-10

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

Augmented reality user interface for mobile ground robots with manipulator arms

Science.gov (United States)

Vozar, Steven; Tilbury, Dawn M.

2011-01-01

Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve communication between robots and users via an intuitive spatial and visual dialogue, thereby increasing operator situational awareness. The successful operation of UGVs often relies upon both chassis navigation and manipulator arm control, and since existing literature usually focuses on one task or the other, there is a gap in mobile robot UIs that take advantage of AR for both applications. This work describes the development and analysis of an AR UI system for a UGV with an attached manipulator arm. The system supplements a video feed shown to an operator with information about geometric relationships within the robot task space to improve the operator's situational awareness. Previous studies on AR systems and preliminary analyses indicate that such an implementation of AR for a mobile robot with a manipulator arm is anticipated to improve operator performance. A full user-study can determine if this hypothesis is supported by performing an analysis of variance on common test metrics associated with UGV teleoperation.

Operator-in-the-loop simulation of a redundant manipulator under teleoperation

International Nuclear Information System (INIS)

Yae, K.H.; Lin, T.C.; Chern, S.T.

1993-01-01

For an interactive simulation of 7 degree-of-freedom redundant manipulator under teleoperation, this paper describes an iterative form of resolved-motion rate control in which the constraint Jacobian is constructed on-line in real time and used in the pseudoinverse method as the manipulator is teleoperated. The manipulator's tasks may involve trajectory following in free space and frequent contact with the environment through pick-and-put operation. The operator's command is interpreted as a series of increments in Cartesian space, and then the constraint Jacobian is developed between two successive increments by viewing the predecessor as the initial configuration and the successor as the target configuration. The pseudoinverse of the constraint Jacobian then generates necessary changes in joint variables and subsequently joint torque. The Jacobian constructed in this way enables us to treat both free motion and environmental contact in the same way. The simulator is built on a two-processor IRIS workstation, with one processor for graphics and the other for dynamics and control analysis. This simulator has a potential for training the teleoperator, developing operational scenarios through visualization of the simulation, and testing the design of operator-machine interface

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.

Optical Manipulation System Using a Plurality of Optical Traps

DEFF Research Database (Denmark)

2006-01-01

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

Remote manipulation of posterior lamellar corneal grafts using a magnetic field.

Science.gov (United States)

Nahum, Yoav; Barliya, Tilda; Bahar, Irit; Livnat, Tami; Nisgav, Yael; Weinberger, Dov

2013-06-01

In posterior lamellar keratoplasty procedures such as Descemet stripping endothelial keratoplasty and Descemet membrane endothelial keratoplasty, the lamellar graft is manipulated directly or by injecting an air bubble. This preliminary study sought to evaluate the feasibility of guiding lamellar corneal grafts by generating a magnetic field. Rabbit and porcine Descemet stripping endothelial keratoplasty and Descemet membrane endothelial keratoplasty grafts were manually produced and immersed in a ferromagnetic solution containing nanomagnetic particles conjugated to streptavidin or in gadoteric acid. For the feasibility study, grafts were transferred to an artificial anterior chamber or plastic test tube and a magnetic field was generated with a handheld NdFeB disc magnet. The presence and the sustainability of graft motion were documented under various conditions. For the semiquantitative study, whole or partial grafts were transferred to a plastic test tube after immersion, and the amount of tissue retraction induced by the remote magnet was graded. The grafts were successfully manipulated in all directions by the magnet, from a distance of up to 7 mm. They remained ferromagnetic more than 24 hours after immersion in the ferromagnetic solutions. The degree of retraction was affected by graft size, immersion time, time from immersion, and immersion solution. Posterior lamellar corneal grafts may be made ferromagnetic and remotely manipulated by creation of a magnetic field. The ferromagnetic properties are adjustable. This technique holds promise in attaching and repositioning grafts during keratoplasty. Further research is needed to assess the possible effects of ferromagnetic solutions on corneal endothelial cells and on lamellar graft clarity.

WORKSPACE DRAWING FROM A MANIPULATOR ARM WITH 6 DOF

Directory of Open Access Journals (Sweden)

NAIDIN Gigi

2011-06-01

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

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

CERN Document Server

From, Pal Johan; Pettersen, Kristin Ytterstad

2014-01-01

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

The impact of federal policy on teachers' use of science manipulatives: A survey of teacher philosophy and practices

Science.gov (United States)

Helgoe, Catherine A.

Recently, educators in public K-12 schools have added testing of science knowledge to the measures of Adequate Yearly Progress required by the federal No Child Left Behind (NCLB) legislation. Research of the impact of NCLB policy on general teaching practices had credited the policy with improving instruction; however, negative impacts noted included the concern that teachers "teach to the test," narrowing the curriculum. Testing as an assessment strategy was not advocated by the professional educators and scientists responsible for the National Science Education Standards (NSES). Results from previous studies pointed to a potential conflict between the NCLB reforms and the National Science Education Standards science standards, in which teachers might reduce or eliminate hands-on activities and other constructivist practices in order to focus class time on other topics and tasks. Most research on NCLB policy, however, had not evaluated instructional practices regarding science education. This study examined the relationship among teacher beliefs, specifically the strength of their constructivist versus traditional beliefs, teachers' responses to NCLB policy, and teachers' use of constructivist practices in the form of manipulatives. This study showed that national policy did have an impact on teachers; however, that impact was not specific to the hands-on practices in science education. Teachers who responded to this survey had found many benefits in student learning using manipulatives and those positive impacts on their students justified the increased use of manipulatives in the classroom. The strength of teachers' constructivist beliefs showed a weak positive correlation to choices related to curriculum priorities, learning goals and advantages in using manipulatives. However, a relationship to beliefs was not found in the changes teachers made to various instructional practices, or in how they viewed certain manipulative materials, or in how they viewed

Physical separations soil washing system cold test results

Energy Technology Data Exchange (ETDEWEB)

McGuire, J.P.

1993-07-28

This test summary describes the objectives, methodology, and results of a physical separations soil-washing system setup and shakedown test using uncontaminated soil. The test is being conducted in preparation for a treatability test to be conducted in the North Pond of the 300-FF-1 Operable Unit. It will be used to assess the feasibility of using a physical separations process to reduce the volume of contaminated soils in the 300-FF-1 Operable Unit. The test is described in DOE-RL (1993). The setup test was conducted at an uncontrolled area located approximately 3.2 km northwest of the 300-FF-1 Operable Unit. The material processed was free of contamination. The physical separation equipment to be used in the test was transferred to the US Department of Energy (DOE) by the US Environmental Protection Agency (EPA) Risk Reduction Engineering Laboratory. On May 13, 1993, soil-washing equipment was moved to the cold test location. Design assistance and recommendation for operation was provided by the EPA.

A study on optimal motion for a robot manipulator amid obstacles

International Nuclear Information System (INIS)

Park, Jong Keun

1997-01-01

Optimal motion for a robot manipulator is obtained by nonlinear programming. The objective of optimal motion is minimizing energy consumption of manipulator arm with fixed traveling time in the presence of obstacles. The geometric path is not predetermined. The total trajectory is described in terms of cubic B-spline polynomials and the coefficients of them are obtained to minimize a specific performance index. Obstacle avoidance is performed by the method that the square sum of penetration growth distances between every obstacles and robot links is included in the performance index with appropriate weighting coefficient. In all examples tested here, the solutions were converged to unique optimal trajectories from different initial ones. The optimal geometric path obtained in this research can be used in minimum time trajectory planning. (author)

Three-dimensional cell manipulation and patterning using dielectrophoresis via a multi-layer scaffold structure.

Science.gov (United States)

Chu, H K; Huan, Z; Mills, J K; Yang, J; Sun, D

2015-02-07

Cell manipulation is imperative to the areas of cellular biology and tissue engineering, providing them a useful tool for patterning cells into cellular patterns for different analyses and applications. This paper presents a novel approach to perform three-dimensional (3D) cell manipulation and patterning with a multi-layer engineered scaffold. This scaffold structure employed dielectrophoresis as the non-contact mechanism to manipulate cells in the 3D domain. Through establishing electric fields via this multi-layer structure, the cells in the medium became polarized and were attracted towards the interior part of the structure, forming 3D cellular patterns. Experiments were conducted to evaluate the manipulation and the patterning processes with the proposed structure. Results show that with the presence of a voltage input, this multi-layer structure was capable of manipulating different types of biological cells examined through dielectrophoresis, enabling automatic cell patterning in the time-scale of minutes. The effects of the voltage input on the resultant cellular pattern were examined and discussed. Viability test was performed after the patterning operation and the results confirmed that majority of the cells remained viable. After 7 days of culture, 3D cellular patterns were observed through SEM. The results suggest that this scaffold and its automated dielectrophoresis-based patterning mechanism can be used to construct artificial tissues for various tissue engineering applications.

Initial tests on in situ vitrification using electrode feeding techniques

International Nuclear Information System (INIS)

Farnsworth, R.K.; Oma, K.H.; Bigelow, C.E.

1990-05-01

This report summarizes the results of an engineering-scale in situ vitrification (ISV) test conducted to demonstrate the potential for electrode feeding in soils with a high concentration of metals. The engineering-scale test was part of a Pacific Northwest Laboratory (PNL) program to assist Idaho National Engineering Laboratory (INEL) in conducting treatability studies of the potential for applying ISV to the mixed transuranic waste buried at the INEL subsurface disposal area. The purpose of this test was to evaluate the effectiveness of both gravity fed and operator-controlled electrode feeding in reducing or eliminating many of the potential problems associated with fixed-electrode processing of soils with high concentrations of metal. Actual site soils from INEL were mixed with representative concentrations of carbon steel and stainless steel for this engineering-scale test. 18 refs., 14 figs., 3 tabs

Getting Manipulative about Math.

Science.gov (United States)

Scheer, Janet K.; And Others

1984-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2012-06-15

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

Manipulation of the Commodity Futures Market Delivery Process.

OpenAIRE

Pirrong, Stephen Craig

1993-01-01

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

Plasma manipulation techniques for positron storage in a multicell trap

International Nuclear Information System (INIS)

Danielson, J. R.; Weber, T. R.; Surko, C. M.

2006-01-01

New plasma manipulation techniques are described that are central to the development of a multicell Penning trap designed to increase positron storage by orders of magnitude (e.g., to particle numbers N≥10 12 ). The experiments are done using test electron plasmas. A technique is described to move plasmas across the confining magnetic field and to deposit them at specific radial and azimuthal positions. Techniques to fill and operate two in-line plasma cells simultaneously, and the use of 1 kV confinement potentials are demonstrated. These experiments establish the capabilities to create, confine, and manipulate plasmas with the parameters required for a multicell trap; namely, particle numbers >10 10 in a single cell with plasma temperature ≤0.2 eV for plasma lengths ∼10 cm and radii ≤0.2 cm. The updated design of a multicell positron trap for 10 12 particles is described

Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

Directory of Open Access Journals (Sweden)

Zhiyong Yang

2008-11-01

Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.

Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

Directory of Open Access Journals (Sweden)

Zhiyong Yang

2008-03-01

Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.

Even Middle Graders Can Learn with Manipulatives.

Science.gov (United States)

Holden, Linda

1987-01-01

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

Tools for Manipulation and Characterisation of Nanostructures

DEFF Research Database (Denmark)

Mølhave, Kristian; Bøggild, Peter

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

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

Science.gov (United States)

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

2013-03-01

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

Development of the heavy manipulator vehicle system

International Nuclear Information System (INIS)

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

1993-01-01

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

Completion of the Heysham 2 peripheral manipulator

International Nuclear Information System (INIS)

Shipp, R.; Ewen, R.O.

1996-01-01

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

A digital joint controller for manipulators

International Nuclear Information System (INIS)

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

1993-01-01

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

A universal microscope manipulator

Directory of Open Access Journals (Sweden)

Peter S. Boyadzhiev

2012-03-01

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

Optoelectronic Tweezers for Microparticle and Cell Manipulation

Science.gov (United States)

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

2014-01-01

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

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

Science.gov (United States)

Zacharia, Zacharias C.; de Jong, Ton

2014-01-01

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

Manipulating Combinatorial Structures.

Science.gov (United States)

Labelle, Gilbert

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

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

Science.gov (United States)

Karas, Steve; Olson Hunt, Megan J

2014-05-01

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

Manipulation of Biofilm Microbial Ecology

Energy Technology Data Exchange (ETDEWEB)

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

1998-08-15

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

Manipulation Robustness of Collaborative Filtering Systems

OpenAIRE

Benjamin Van Roy; Xiang Yan

2009-01-01

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