WorldWideScience

Sample records for manipulator design analysis

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

    DEFF Research Database (Denmark)

    Wu, Guanglei; Caro, Stéphane; Wang, Jiawei

    2015-01-01

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

  2. Robotic design analysis based on teleoperated manipulator data collection

    International Nuclear Information System (INIS)

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

    1985-01-01

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

  3. 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

  4. 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

  5. Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-11-01

    Full Text Available The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs. The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of geometric methodology and d'Alembert's principle, and a mathematical model of the CPMMCs is developed and presented with dynamic simulation. The constant orientation workspace analysis of the CPMMCs is carried out additionally. As an example, a cooperative cable parallel manipulator for triple mobile cranes with 6 Degrees of Freedom is investigated on the basis of the above design objectives.

  6. A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 3: Concept analysis. Part 1: Technical

    Science.gov (United States)

    1972-01-01

    Information backing up the key features of the manipulator system concept and detailed technical information on the subsystems are presented. Space station assembly and shuttle cargo handling tasks are emphasized in the concept analysis because they involve shuttle berthing, transferring the manipulator boom between shuttle and station, station assembly, and cargo handling. Emphasis is also placed on maximizing commonality in the system areas of manipulator booms, general purpose end effectors, control and display, data processing, telemetry, dedicated computers, and control station design.

  7. A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis

    Directory of Open Access Journals (Sweden)

    Haiyang Li

    2016-02-01

    Full Text Available Based on the constraint and position identification (CPI approach for synthesizing XYZ compliant parallel mechanisms (CPMs and configuration modifications, this paper proposes a new fully-symmetrical XYZ CPM with desired motion characteristics such as reduced cross-axis coupling, minimized lost motion, and relatively small parasitic motion. The good motion characteristics arise from not only its symmetric configuration, but also the rigid linkages between non-adjacent rigid stages. Comprehensive kinematic analysis is carried out based on a series of finite element simulations over a motion range per axis less than ±5% of the beam length, which reveals that the maximum cross-axis coupling rate is less than 0.86%, the maximum lost motion rate is less than 1.20%, the parasitic rotations of the motion stage (MS are in the order of 10−5 rad, and the parasitic translations of the three actuated stages (ASs are in the order of 10−4 of the beam length (less than 0.3% of the motion range, where the beam slenderness ratio is larger than 20. Furthermore, the nonlinear analytical models of the primary translations of the XYZ CPM, including the primary translations of the MS and the ASs, are derived and validated to provide a quick design synthesis. Moreover, two practical design schemes of the proposed XYZ CPM are discussed with consideration of the manufacturability. The practical designs enable the XYZ CPM to be employed in many applications such as micro-/nano-positioning, micro-/nano-manufacturing and micro-/nano-assembly. Finally, a spatial high-precision translational system is presented based on the practical design schemes, taking the actuator and sensor integration into account.

  8. 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)

  9. Dynamic Analysis of Tele-manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Kang, Min Sig; Lee, Seung Hyun; Kim, Doo Ho; Choi, Sun Il [Kyungwon Univ., Sungnam (Korea, Republic of)

    2008-03-15

    The manipulator can move linearly along X and Y-axes and has 6-degree rotational freedom. All deriving electric motors are mounted on the base platform to reduce inertia of links and tendons are used to transmit torque from the motors to the corresponding joints. In this report, a dynamic analysis of the manipulator has been carried out. Based on the dimensions of the designed links and allowable maximum rotational constraints on all joints, the maximum torque has been analyzed and working volume has been derived graphically through a numerical analysis. The Danavit-Hartenverg coordinate has been used through out this report. An inverse kinematic model which includes 3-linear and 3-rotational motions of the end effector and its numerical simulation program have been developed. The simulation results showed its validity and usefulness. The program are written in Symbolic Math provided by MatLab. A dynamic model which consists of rigid link dynamic models , driving motors and tendons which are used to tranmit the torques between motors and the corresponding joints. A simulation model written in Simmechanics has been derived and its validity and its usefulness were verified along with some simulation results.

  10. Dynamic Analysis of Tele-manipulator

    International Nuclear Information System (INIS)

    Kang, Min Sig; Lee, Seung Hyun; Kim, Doo Ho; Choi, Sun Il

    2008-03-01

    The manipulator can move linearly along X and Y-axes and has 6-degree rotational freedom. All deriving electric motors are mounted on the base platform to reduce inertia of links and tendons are used to transmit torque from the motors to the corresponding joints. In this report, a dynamic analysis of the manipulator has been carried out. Based on the dimensions of the designed links and allowable maximum rotational constraints on all joints, the maximum torque has been analyzed and working volume has been derived graphically through a numerical analysis. The Danavit-Hartenverg coordinate has been used through out this report. An inverse kinematic model which includes 3-linear and 3-rotational motions of the end effector and its numerical simulation program have been developed. The simulation results showed its validity and usefulness. The program are written in Symbolic Math provided by MatLab. A dynamic model which consists of rigid link dynamic models , driving motors and tendons which are used to tranmit the torques between motors and the corresponding joints. A simulation model written in Simmechanics has been derived and its validity and its usefulness were verified along with some simulation results

  11. Instructional Design as Manipulation of, or Cooperation with, Learners?

    Science.gov (United States)

    Matthews, Michael T.; Yanchar, Stephen C.

    2018-01-01

    We present a qualitative study of the tension between manipulative and cooperative approaches to instructional design. We found that our participants struggled to resist manipulative tendencies in their work contexts. More specifically, our findings suggest that our participants sought to design with their learners in mind to foster a more…

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

    International Nuclear Information System (INIS)

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

    1998-03-01

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

  13. 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.

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

    International Nuclear Information System (INIS)

    Worrell, R.B.

    1985-01-01

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

  15. Kinematics and design of a class of parallel manipulators

    Science.gov (United States)

    Hertz, Roger Barry

    1998-12-01

    This dissertation is concerned with the kinematic analysis and design of a class of three degree-of-freedom, spatial parallel manipulators. The class of manipulators is characterized by two platforms, between which are three legs, each possessing a succession of revolute, spherical, and revolute joints. The class is termed the "revolute-spherical-revolute" class of parallel manipulators. Two members of this class are examined. The first mechanism is a double-octahedral variable-geometry truss, and the second is termed a double tripod. The history the mechanisms is explored---the variable-geometry truss dates back to 1984, while predecessors of the double tripod mechanism date back to 1869. This work centers on the displacement analysis of these three-degree-of-freedom mechanisms. Two types of problem are solved: the forward displacement analysis (forward kinematics) and the inverse displacement analysis (inverse kinematics). The kinematic model of the class of mechanism is general in nature. A classification scheme for the revolute-spherical-revolute class of mechanism is introduced, which uses dominant geometric features to group designs into 8 different sub-classes. The forward kinematics problem is discussed: given a set of independently controllable input variables, solve for the relative position and orientation between the two platforms. For the variable-geometry truss, the controllable input variables are assumed to be the linear (prismatic) joints. For the double tripod, the controllable input variables are the three revolute joints adjacent to the base (proximal) platform. Multiple solutions are presented to the forward kinematics problem, indicating that there are many different positions (assemblies) that the manipulator can assume with equivalent inputs. For the double tripod these solutions can be expressed as a 16th degree polynomial in one unknown, while for the variable-geometry truss there exist two 16th degree polynomials, giving rise to 256

  16. 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.

  17. Techniques applied in design optimization of parallel manipulators

    CSIR Research Space (South Africa)

    Modungwa, D

    2011-11-01

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

  18. Rotor-Flying Manipulator: Modeling, Analysis, and Control

    Directory of Open Access Journals (Sweden)

    Bin Yang

    2014-01-01

    Full Text Available Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM, are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance.

  19. 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.

  20. 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...

  1. 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.)

  2. Design and control considerations for industrial and space manipulators

    Science.gov (United States)

    Whitney, D. E.; Book, W. J.; Lynch, P. M.

    1974-01-01

    This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

  3. 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.

  4. 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

  5. SSSFD manipulator engineering using statistical experiment design techniques

    Science.gov (United States)

    Barnes, John

    1991-01-01

    The Satellite Servicer System Flight Demonstration (SSSFD) program is a series of Shuttle flights designed to verify major on-orbit satellite servicing capabilities, such as rendezvous and docking of free flyers, Orbital Replacement Unit (ORU) exchange, and fluid transfer. A major part of this system is the manipulator system that will perform the ORU exchange. The manipulator must possess adequate toolplate dexterity to maneuver a variety of EVA-type tools into position to interface with ORU fasteners, connectors, latches, and handles on the satellite, and to move workpieces and ORUs through 6 degree of freedom (dof) space from the Target Vehicle (TV) to the Support Module (SM) and back. Two cost efficient tools were combined to perform a study of robot manipulator design parameters. These tools are graphical computer simulations and Taguchi Design of Experiment methods. Using a graphics platform, an off-the-shelf robot simulation software package, and an experiment designed with Taguchi's approach, the sensitivities of various manipulator kinematic design parameters to performance characteristics are determined with minimal cost.

  6. Development of design system of manipulator for fusion reactor maintenance

    International Nuclear Information System (INIS)

    Ida, Toshio; Niikura, Setsuo; Ishiguro, Akiko; Yamada, Masao; Matsuoka, Fushiki

    1989-01-01

    A program which supports designers of a manipulator for in-vessel maintenance of a fusion reactor has been developed. The main purpose of this program is to provide the designer with a promising manipulator specification by furnishing useful information. It combines a technique of knowledge engineering with numerical solutions. This program consists of three parts: The first part is to generate candidates for the manipulator using a knowledge base; the second is to evaluate both static and dynamic properties of each candidate through numerical simulation of the maintenance task; and the third is to select the candidates having better performance and feasibility on the basis of the simulation data and knowledge base. The feasibility of the method used in this program is confirmed by the preliminary application. This application also emphasizes the importance of the knowledge base for the candidate generation and selection. Although the degree of freedom of the manipulator is restricted to less than 7 degrees in this study, further development of the capability of manipulator simulation (seven or more degrees of freedom) will enhance the effectiveness of this program. (orig.)

  7. 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

  8. Towards Clinically Optimized MRI-guided Surgical Manipulator for Minimally Invasive Prostate Percutaneous Interventions: Constructive Design*

    Science.gov (United States)

    Eslami, Sohrab; Fischer, Gregory S.; Song, Sang-Eun; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Iordachita, Iulian

    2013-01-01

    This paper undertakes the modular design and development of a minimally invasive surgical manipulator for MRI-guided transperineal prostate interventions. Severe constraints for the MRI-compatibility to hold the minimum artifact on the image quality and dimensions restraint of the bore scanner shadow the design procedure. Regarding the constructive design, the manipulator kinematics has been optimized and the effective analytical needle workspace is developed and followed by proposing the workflow for the manual needle insertion. A study of the finite element analysis is established and utilized to improve the mechanism weaknesses under some inevitable external forces to ensure the minimum structure deformation. The procedure for attaching a sterile plastic drape on the robot manipulator is discussed. The introduced robotic manipulator herein is aimed for the clinically prostate biopsy and brachytherapy applications. PMID:24683502

  9. 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.

  10. 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.)

  11. A novel magnetorheological damper based parallel planar manipulator design

    International Nuclear Information System (INIS)

    Hoyle, A; Arzanpour, S; Shen, Y

    2010-01-01

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

  12. Analysis, reconstruction and manipulation using arterial snakes

    KAUST Repository

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

    2010-01-01

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

  13. Parametric design studies of long-reach manipulators

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  14. Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2013-01-01

    Full Text Available The design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator (HDCPM are presented. The HDCPM is able to perform high efficiency, heavy load, and high-performance motion due to the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism. The design is performed according to theories of mechanism structure synthesis for cable parallel manipulators. The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method. The workspace of the manipulator is analyzed additionally. As an example, a completely restrained HDCPM with 3 degrees of freedom is studied in simulation in order to verify the validity of the proposed design, workspace, and dynamic analysis. The simulation results, compared with the theoretical analysis, and the case study previously performed show that the manipulator design is reasonable and the mathematical models are correct, which provides the theoretical basis for future physical prototype and control system design.

  15. Key Design Requirements for Long-Reach Manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Kwon, D.S.

    2001-01-01

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

  16. Design and experimental evaluation of flexible manipulator control algorithms

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  17. Key design requirements for long-reach manipulators

    International Nuclear Information System (INIS)

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

    1993-09-01

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

  18. Key Design Requirements for Long-Reach Manipulators

    International Nuclear Information System (INIS)

    Kwon, D.S.

    2001-01-01

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

  19. Rational and design of an individual participant data meta-analysis of spinal manipulative therapy for chronic low back pain-a protocol

    NARCIS (Netherlands)

    de Zoete, A; de Boer, M R; van Tulder, M W; Rubinstein, S M; Underwood, M.; Hayden, J.A.; Kalter, J.; Ostelo, R

    2017-01-01

    BACKGROUND: Chronic low back pain (LBP) is the leading cause of pain and disability, resulting in a major socioeconomic impact. The Cochrane Review which examined the effect of spinal manipulative therapy (SMT) for chronic LBP concluded that SMT is moderately effective, but was based on conventional

  20. 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

  1. Particularities of fully-parallel manipulators in 6-DOFs robots design: a review of critical aspects

    Directory of Open Access Journals (Sweden)

    Milica Lucian

    2017-01-01

    Full Text Available A whole range of industrial applications requires the presence of parallel mechanisms with six degrees of freedom (6-DOF which have been developed in the last fifteen years, and one of the reasons why they still are a current topic is that present-day computers are capable of performing real-time motion laws of great complexity associated with these types of parallel mechanisms. The present work underlines particularities of parallel manipulators and their importance in the design of 6-DOF robots. The paper reveals the progress made in the last twenty years in the development of 6-DOF parallel manipulators, which increasingly find a wide scope of applications in different industrial areas such as robotics, manufacture and assisted medicine. It also emphasizes the need to determine singular configurations and the effect of cinematic redundancy which can increase the working space of the manipulators by adding active joints in one or more branches of the manipulator. Throughout the work, there were outlined three types of singularities encountered in the modelling of different types of parallel manipulators, and three types of redundancy. Furthermore, an analysis was made of the dimension of the workspace for a series of parallel manipulators, highlighting a number of factors that influence its size.

  2. A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 3: Concept analysis. Part 2: Development program

    Science.gov (United States)

    1972-01-01

    A preliminary estimate is presented of the resources required to develop the basic general purpose walking boom manipulator system. It is assumed that the necessary full scale zero g test facilities will be available on a no cost basis. A four year development effort is also assumed and it is phased with an estimated shuttle development program since the shuttle will be developed prior to the space station. Based on delivery of one qualification unit and one flight unit and without including any ground support equipment or flight test support it is estimated (within approximately + or - 25%) that a total of 3551 man months of effort and $17,387,000 are required.

  3. Analysis, reconstruction and manipulation using arterial snakes

    KAUST Repository

    Li, Guo

    2010-01-01

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

  4. Design of jet manipulator for sludge lancing for steam generators

    International Nuclear Information System (INIS)

    Kumar, Kundan; Nathani, D.K.; Kayal, J.N.; Rupani, B.B.

    2006-01-01

    The sludge accumulation in secondary side of mushroom type steam generators of Indian Pressurised Heavy Water Reactors (PHWRs) may lead to loss of thermal efficiency and corrosion. Sludge removal is required to minimise such effects for safe and enhanced operating life of the steam generators. A sludge lancing system has been developed for sludge removal from the secondary side of the steam generators. Jet Manipulator is one of the various modules of the sludge lancing system. The JM consists of three modules namely walker, elevator and nozzle heads. Each module is designed to pass through hand hole, having 180 mm diameter and 100 mm wide gap between steam generator shell and shroud. These three modules are connected to each other by quick connecting type joints and are having their specific functions. The walker crawls by step of single pitch of the tube along the central no-tube lane of the steam generator by taking lateral supports on the nearest tubes. The elevator is capable of lifting the nozzle head to a suitable height required for lancing operation of entire tube sheet of the steam generator. The nozzle head directs the multiple jets along the narrow inter tube lanes having 3 mm width, on both sides of the central no-tube lane. The nozzle can be set to move at different elevations such that the multiple jets will graze along the narrow tube lane to create the sludge lancing action. The provision exists for movement of JM in both directions, i.e. forward and reverse. This paper highlights the objective, design and development, selection of nozzles, qualification and performance evaluation of JM. The manipulator is remotely operable by compressed air in the forward and reverse direction in the central no-tube lane to position the nozzle head in the horizontal direction. (author)

  5. A kinematic analysis of the modified flight telerobotic servicer manipulator system

    Science.gov (United States)

    Crane, Carl; Carnahan, Tim; Duffy, Joseph

    1992-01-01

    A reverse kinematic analysis is presented of a six-DOF subchain of a modified seven-DOF flight telerobotic servicer manipulator system. The six-DOF subchain is designated as a TR-RT chain, which describes the sequence of manipulator joints beginning with the first grounded hook joint (universal joint) T, where the sequence R-R designates a pair of revolute joints with parallel axes. At the outset, it had been thought that the reverse kinematic analysis would be similar to a TTT manipulator previously analyzed, in which the third and fourth joints intersected at a finite point. However, this is shown not the case, and a 16th-degree tan-half-angle polynomial is derived for the TR-RT manipulator.

  6. Design and Implementation of a Modular Manipulator Architecture

    National Research Council Canada - National Science Library

    Sosa, Ognjen

    2004-01-01

    .... This configuration is seen in many applications including planetary exploration, hazardous materials removal, and marine research and is frequently referred to as the vehicle-manipulator system...

  7. Design and Modelling of Distributed Industrial Manipulation System with Wireless Operated Moving Manipulation

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Píša, P.

    2015-01-01

    Roč. 4, č. 3 (2015), s. 69-75 ISSN 1805-3386 Institutional support: RVO:67985556 Keywords : Manipulation system * wireless communication * distributed systems * production lines * physical modelling * DC motors * robotic s Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/2015/AS/belda-0448098.pdf

  8. Probabilistic Output Analysis by Program Manipulation

    DEFF Research Database (Denmark)

    Rosendahl, Mads; Kirkeby, Maja Hanne

    2015-01-01

    The aim of a probabilistic output analysis is to derive a probability distribution of possible output values for a program from a probability distribution of its input. We present a method for performing static output analysis, based on program transformation techniques. It generates a probability...

  9. Microfabricated tools for manipulation and analysis of magnetic microcarriers

    International Nuclear Information System (INIS)

    Tondra, Mark; Popple, Anthony; Jander, Albrecht; Millen, Rachel L.; Pekas, Nikola; Porter, Marc D.

    2005-01-01

    Tools for manipulating and detecting magnetic microcarriers are being developed with microscale features. Microfabricated giant magnetoresistive (GMR) sensors and wires are used for detection, and for creating high local field gradients. Microfluidic structures are added to control flow, and positioning of samples and microcarriers. These tools are designed for work in analytical chemistry and biology

  10. Optimal security design under asymmetric information and profit manipulation

    OpenAIRE

    Koufopoulos, Kostas; Kozhan, Roman; Trigilia, Giulio

    2014-01-01

    We consider a model of external financing under ex ante asymmetric information and profit manipulation (non verifability). Contrary to conventional wisdom, the optimal contract is not standard debt, and it is not monotonic. Instead, it resembles a contingent convertible (CoCo) bond. In particular: (i) if the profit manipulation and/or adverse selection are not severe, there exists a unique separating equilibrium in CoCos; (ii) in the intermediate region, if the distribution of earnings is unb...

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

    Science.gov (United States)

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

    2014-07-01

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

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  13. Wall Turbulence with Designer Properties: Identification, Characterization and Manipulation of Energy Pathways

    Science.gov (United States)

    2016-02-26

    AFRL-AFOSR-VA-TR-2016-0108 Wall turbulence with designer properties Beverley Mckeon CALIFORNIA INSTITUTE OF TECHNOLOGY Final Report 02/26/2016... Wall turbulence with designer properties: Identification, characterization & manipulation of energy pathways 5a. CONTRACT NUMBER 5b. GRANT NUMBER...identification, characterization and manipulation of energy pathways in wall turbulence . The objectives were pursued separately and collaboratively by the

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

    Science.gov (United States)

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

    2005-12-01

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

  15. Monitoring cervical manipulations (MCM) : design of a prospective cohort study

    NARCIS (Netherlands)

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

    Introduction: Major Adverse Events (MAE) following Cervical Spinal Manipulations (CSM) have been described anecdotally and are frequently discussed. Until now, exact incidence rates are unknown. Furthermore, there are doubts concerning the factors which may play a role in the occurrence of MAE.

  16. Visualization analysis and design

    CERN Document Server

    Munzner, Tamara

    2015-01-01

    Visualization Analysis and Design provides a systematic, comprehensive framework for thinking about visualization in terms of principles and design choices. The book features a unified approach encompassing information visualization techniques for abstract data, scientific visualization techniques for spatial data, and visual analytics techniques for interweaving data transformation and analysis with interactive visual exploration. It emphasizes the careful validation of effectiveness and the consideration of function before form. The book breaks down visualization design according to three questions: what data users need to see, why users need to carry out their tasks, and how the visual representations proposed can be constructed and manipulated. It walks readers through the use of space and color to visually encode data in a view, the trade-offs between changing a single view and using multiple linked views, and the ways to reduce the amount of data shown in each view. The book concludes with six case stu...

  17. Kinematic analysis of parallel manipulators by algebraic screw theory

    CERN Document Server

    Gallardo-Alvarado, Jaime

    2016-01-01

    This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators. Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory; Provides new strategies to simplify the forward kinematic...

  18. Control system design concepts for improving bilateral characteristics of master-slave manipulators

    International Nuclear Information System (INIS)

    Hewitt, J.E.; Siva, K.V.

    1986-01-01

    The paper concerns control system design concepts for improving bilateral characteristics of master-slave manipulators. In particular, the article concentrates on the identification of the remote manipulative process itself from studying direct manipulation with hand tools. Bilateral servo loop systems in operator controlled manipular systems are discussed, as well as Bond Graph modelling techniques. The performance of different kinds of bilateral servos are compared. (U.K.)

  19. Stiffness analysis of spring mechanism for semi automatic gripper motion of tendon driven remote manipulator

    International Nuclear Information System (INIS)

    Yu, Seung Nam; Lee, Jong Kwang

    2012-01-01

    Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified

  20. Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities

    DEFF Research Database (Denmark)

    Wu, Guanglei

    2012-01-01

    parameters of the spherical parallel manipulator. The proposed approach is illustrated with the optimum design of a special spherical parallel manipulator with unlimited rolling motion. The corresponding optimization problem aims to maximize the kinematic and dynamic dexterities over its regular shaped...

  1. 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…

  2. Error Modeling and Design Optimization of Parallel Manipulators

    DEFF Research Database (Denmark)

    Wu, Guanglei

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

  3. Task-oriented structural design of manipulators based on operability evaluation

    International Nuclear Information System (INIS)

    Kotosaka, Shin-ya; Asama, Hajime; Takata, Shozo; Hiraoka, Hiroyuki; Kohda, Takehisa; Matsumoto, Akihiro; Endo, Isao.

    1995-01-01

    In this paper, a new method for designing the structure of manipulators based on evaluation of their adaptability to tasks is proposed. In the method, task directions are classified into three kinds of direction; operational direction, constrained direction and free direction. On each direction, condition of constraints by task environment is represented. The tasks are represented by a set of direction and condition of constraints. A new criterion, operability, is defined to quantify adaptability of manipulator to tasks, taking account of mobility in operational directions and immobility in constrained directions. The mobility and immobility is calculated based on the Jacobian matrix of manipulator. The operability evaluation method is implemented, and applied to structural design of manipulators, in which link parameters are optimized by the genetic algorithm. This system can derive suitable structure of manipulator to various tasks. The effectiveness of the system is shown concerning examples of welding tasks. (author)

  4. Can Constraint Induced Movement Therapy Improve In-Hand Manipulation Skills: A Single Subject Design

    Directory of Open Access Journals (Sweden)

    Somaye Kavousipor

    2012-04-01

    Full Text Available Objectives: This study describes a single subject design (ABA that shows the effective use of constraint induced movement therapy in improvement of quality and performance of in-hand manipulation skills for a 10 year old boy and a 9 years old girl with hemiplegic cerebral palsy, as Dickerson (2007 showed it in arm movement and function. Methods: To determine the effectiveness of CIMT by the use of C-statistic analysis and visual analysis. Approach: The first step was to design a child friendly group activity and home based intervention program through occupation. The possible effectiveness of CIMT was evaluated by daily measurements and video recording of 6 sub skills of in-hand manipulation according to Pont category (2009 in defined activity. Results: For making the treatment more cost effective, families can produce a simple clinical setting at home and participate in their child treatment plan actively. Discussion: A client center intervention will facilitate the use and quality of fingers and hand motion. Also a group activity can motivate participants to participate more and better.

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

    Science.gov (United States)

    Dreamson, Neal

    2017-01-01

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

  6. 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...

  7. Symbolic manipulation techniques for vibration analysis of laminated elliptic plates

    Science.gov (United States)

    Andersen, C. M.; Noor, A. K.

    1977-01-01

    A computational scheme is presented for the free vibration analysis of laminated composite elliptic plates. The scheme is based on Hamilton's principle, the Rayleigh-Ritz technique and symmetry considerations and is implemented with the aid of the MACSYMA symbolic manipulation system. The MACYSMA system, through differentiation, integration, and simplification of analytic expressions, produces highly-efficient FORTRAN code for the evaluation of the stiffness and mass coefficients. Multiple use is made of this code to obtain not only the frequencies and mode shapes of the plate, but also the derivatives of the frequencies with respect to various material and geometric parameters.

  8. 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

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

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  10. Optimization in the design and control of robotic manipulators: A survey

    International Nuclear Information System (INIS)

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

    1989-01-01

    Robotics is a relatively new and evolving technology being applied to manufacturing automation and is fast replacing the special-purpose machines or hard automation as it is often called. Demands for higher productivity, better and uniform quality products, and better working environments are primary reasons for its development. An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal design of robot manipulators can include kinematic performance characteristics such as workspace, accuracy, repeatability, and redundancy. The static load capacity as well as dynamic criteria such as generalized inertia ellipsoid, dynamic manipulability, and vibratory response have also been considered in the design stages. The optimal control problems typically involve trajectory planning, time-optimal control, energy-optimal control, and mixed-optimal control. The constraints in a robot manipulator design problem usually involve link stresses, actuator torques, elastic deformation of links, and collision avoidance. This paper presents a review of the literature on the issues of optimum design and control of robotic manipulators and also the various optimization techniques currently available for application to robotics

  11. Design requirements and performance requirements for reactor fuel recycle manipulator systems

    International Nuclear Information System (INIS)

    Grundmann, J.G.

    1975-01-01

    The development of a new generation of remote handling devices for remote production work in support of reactor fuel recycle systems is discussed. These devices require greater mobility, speed and visual capability than remote handling systems used in research activities. An upgraded manipulator system proposed for a High-Temperature Gas-Cooled Reactor fuel refabrication facility is described. Design and performance criteria for the manipulators, cranes, and TV cameras in the proposed system are enumerated

  12. Effectiveness of a Marijuana Expectancy Manipulation: Piloting the Balanced-Placebo Design for Marijuana

    OpenAIRE

    Metrik, Jane; Rohsenow, Damaris J.; Monti, Peter M.; McGeary, John; Cook, Travis A. R.; de Wit, Harriet; Haney, Margaret; Kahler, Christopher W.

    2009-01-01

    Although alcohol and nicotine administration studies have demonstrated that manipulating subjects’ expectancies regarding drug content affects drug response, research with marijuana has not adequately studied drug expectancy effects. The present pilot study was the first to evaluate the credibility and effect of expectancy manipulation on subjective measures and smoking patterns using a marijuana administration balanced-placebo design (BPD). In a 2 × 2 instructional set (told delta-9-tetrahyd...

  13. Conceptual design report for a Fusion Engineering Device sector-handling machine and movable manipulator system

    International Nuclear Information System (INIS)

    Watts, K.D.; Masson, L.S.; McPherson, R.S.

    1982-10-01

    Design requirements, trade studies, design descriptions, conceptual designs, and cost estimates have been completed for the Fusion Engineering Device sector handling machine, movable manipulator system, subcomponent handling machine, and limiter blade handling machine. This information will be used by the Fusion Engineering Design Center to begin to determine the cost and magnitude of the effort required to perform remote maintenance on the Fusion Engineering Device. The designs presented are by no means optimum, and the costs estimates are rough-order-of-magnitude

  14. Inverse dynamic analysis of general n-link robot manipulators

    International Nuclear Information System (INIS)

    Yih, T.C.; Wang, T.Y.; Burks, B.L.; Babcock, S.M.

    1996-01-01

    In this paper, a generalized matrix approach is derived to analyze the dynamic forces and moments (torques) required by the joint actuators. This method is general enough to solve the problems of any n-link open-chain robot manipulators with joint combinations of R(revolute), P(prismatic), and S(spherical). On the other hand, the proposed matrix solution is applicable to both nonredundant and redundant robotic systems. The matrix notation is formulated based on the Newton-Euler equations under the condition of quasi-static equilibrium. The 4 x 4 homogeneous cylindrical coordinates-Bryant angles (C-B) notation is applied to model the robotic systems. Displacements, velocities, and accelerations of each joint and link center of gravity (CG) are calculated through kinematic analysis. The resultant external forces and moments exerted on the CG of each link are considered as known inputs. Subsequently, a 6n x 6n displacement coefficient matrix and a 6n x 1 external force/moment vector can be established. At last, the joint forces and moments needed for the joint actuators to control the robotic system are determined through matrix inversion. Numerical examples will be illustrated for the nonredundant industrial robots: Bendix AA/CNC (RRP/RRR) and Unimate 2000 spherical (SP/RRR) robots; and the redundant light duty utility arm (LDUA), modified LDUA, and tank waste retrieval manipulator system

  15. Electricity Market Manipulation: How Behavioral Modeling Can Help Market Design

    Energy Technology Data Exchange (ETDEWEB)

    Gallo, Giulia [National Renewable Energy Lab. (NREL), Golden, CO (United States)

    2015-12-18

    The question of how to best design electricity markets to integrate variable and uncertain renewable energy resources is becoming increasingly important as more renewable energy is added to electric power systems. Current markets were designed based on a set of assumptions that are not always valid in scenarios of high penetrations of renewables. In a future where renewables might have a larger impact on market mechanisms as well as financial outcomes, there is a need for modeling tools and power system modeling software that can provide policy makers and industry actors with more realistic representations of wholesale markets. One option includes using agent-based modeling frameworks. This paper discusses how key elements of current and future wholesale power markets can be modeled using an agent-based approach and how this approach may become a useful paradigm that researchers can employ when studying and planning for power systems of the future.

  16. Design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators

    International Nuclear Information System (INIS)

    Li, Yanbiao; Ji, Shiming; Wang, Zhongfei; Jin, Mingsheng; Liu, Yi; Jin, Zhenlin

    2013-01-01

    We addressed the issue of the design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators using the parameter statistics optimum method based on index atlases. The coxa joints have the advantages of high payload, high accuracy, and good technological efficiency. The first step of the design and prototyping used in this paper develops the direct and inverse displacement equations from the layout feature of the mechanical coxa joints. Then, the shapes of a constant-orientation workspace of the mechanical coxa joints are described, and the effects of the design parameters on the workspace volume are studied quantitatively. The next step deals with the graphical representation of the atlases that illustrates the relationship between performance evaluation index and design parameters based on the kinematics and torque analysis of the mechanical coxa joints. Finally, the geometric parameters of the coxa joints are obtained by the parameter statistics optimum method based on the index atlases. Considering assembly conditions, the design scheme of the mechanical coxa joints is developed, which provides a theoretical basis for the application of the mechanical coxa joints.

  17. Concept Design of the Payload Handling Manipulator System. [space shuttle orbiters

    Science.gov (United States)

    1975-01-01

    The design, requirements, and interface definition of a remote manipulator system developed to handle orbiter payloads are presented. End effector design, control system concepts, and man-machine engineering are considered along with crew station requirements and closed circuit television system performance requirements.

  18. Design and Control of a Haptic Enabled Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Muhammad Yaqoob

    2015-07-01

    Full Text Available Robotic surgery offers various advantages over conventional surgery that includes less bleeding, less trauma, and more precise tissue cutting. However, even surgeons who use the best commercially available surgical robotic systems complain about the absence of haptic feedback in such systems. In this paper, we present the findings of our project to overcome this shortcoming of surgical robotic systems, in which a haptic-enabled robotic system based on master and slave topology is designed and developed. To detect real-time intrusion at the slave end, haptic feedback is implemented along with a programmable system on chip, functioning as an embedded system for processing information. In order to obtain real-time haptic feedback, force and motion sensors are mounted on each joint of the master and slave units. At the master end, results are displayed through a graphical user interface, along with the physical feeling of intrusion at the slave part. Apart from the obvious applications of the current system in robotic surgery, it could also be used in designing more intuitive video games with further precise haptic feedback mechanisms. Moreover, the results presented in our work should pave the way for further scientific investigation, to provide even better haptic mechanisms.

  19. 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...

  20. Scale-up for model verification; design, modeling and control of an elastic parallel kinematic 6-DOFs manipulator

    NARCIS (Netherlands)

    Huijts, Martijn; Brouwer, Dannis Michel; van Dijk, Johannes

    2009-01-01

    Manipulators with guidance constructions based on elastic mechanisms are of interest for the increasing number of precision vacuum applications. Previously, the design of an elastic MEMS-based 6-DOFs manipulator was presented. Characterization in six degrees of freedom (DOFs) of a manipulator the

  1. Supporting Teachers' Technological Pedagogical Content Knowledge of Fractions through Co-Designing a Virtual Manipulative

    Science.gov (United States)

    Hansen, Alice; Mavrikis, Manolis; Geraniou, Eirini

    2016-01-01

    This study explores the impact that co-designing a virtual manipulative, Fractions Lab, had on teachers' professional development. Tapping into an existing community of practice of mathematics specialist teachers, the study identifies how a cooperative enquiry approach utilising workshops and school-based visits challenged 23 competent primary…

  2. 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.

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

    International Nuclear Information System (INIS)

    Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo

    2016-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-10-15

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

  5. Analysis and improvement of digital control stability for master-slave manipulator system

    International Nuclear Information System (INIS)

    Yoshida, Koichi; Yabuta, Tetsuro

    1992-01-01

    Some bilateral controls of master-slave system have been designed, which can realize high-fidelity telemanipulation as if the operator were manipulating the object directly. While usual robot systems are controlled by software-servo system using digital computer, little work has been published on design and analysis for digital control of these systems, which must consider time-delay of sensor signals and zero order hold effect of command signals on actuators. This paper presents a digital control analysis for single degree of freedom master-slave system including impedance models of both the human operator and the task object, which clarifies some index for the stability. The stability result shows a virtual master-slave system concepts, which improve the digital control stability. We first analyze a dynamic control method of master-slave system in discrete-time system for the stability problem, which can realize high-fidelity telemanipulation in the continuous-time. Secondly, using the results of the stability analysis, the robust control scheme for master-slave system is proposed, and the validity of this scheme is finally confirmed by the simulation. Consequently, it would be considered that any combination of master and slave modules with dynamic model of these manipulators is possible to construct the stable master-slave system. (author)

  6. The optical design of the spin manipulation system for the SLAC Linear Collider

    International Nuclear Information System (INIS)

    Fieguth, T.H.

    1989-03-01

    The optical design of the beam transport lines between the SLAC Linac and the electron damping ring and the design of part of the Linac lattice itself will be modified to accommodate three superconducting solenoids for the purpose of manipulating the polarization of the electron beam. In order to allow arbitrary orientation of the polarization vector, this design will be capable of compensating the fields of two independent solenoids for arbitrary strengths ranging to 7.0 T-m. The method of dealing with the coupling of the betatron functions and the method of handling both the electron and positron beams in the common region are discussed. 8 refs., 5 figs

  7. The design of robust independence multivariable controller for robot manipulator using inverse dynamics

    International Nuclear Information System (INIS)

    Han, Sung Hyun

    1993-01-01

    This paper proposes a new approach to the design of multivariable control schemes for assembly robot manipulator to achieve accuracy trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and a feedback controller. In this control scheme, the feedback controller is proportional integral-derivative type and is designed to achieve the pole placement. The feedforward controller is the inverse of the linealized model of robot manipulator dynamics. The feedback controller ensures that each joint tracks any reference trajectory. The proposed robot controller scheme has a computationally efficient schemes for either offline gain scheduling or online gain computation to account for variations in the linealized robot dynamic model due to changes in operating point. The simulation results demonstrate that the proposed control schemesperporms remarkably well for parameter uncertainties and load variations. (Author)

  8. Design and real-time control of a robotic system for fracture manipulation.

    Science.gov (United States)

    Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S

    2015-08-01

    This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

  9. 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

  10. 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)

  11. Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jung Won; Hwang, Yoon Kwon [Gyeongsang National University, Jinju (Korea, Republic of); Ryu, Je Ha [Gwangju Institute of Science and Technology, Gwangju (Korea, Republic of)

    2010-05-15

    This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increased entropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a preexisting base model

  12. Optimum design of 6-DOF parallel manipulator with translational/rotational workspaces for haptic device application

    International Nuclear Information System (INIS)

    Yoon, Jung Won; Hwang, Yoon Kwon; Ryu, Je Ha

    2010-01-01

    This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increased entropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a preexisting base model

  13. Solar maximum mission panel jettison analysis remote manipulator system

    Science.gov (United States)

    Bauer, R. B.

    1980-01-01

    A study is presented of the development of the Remote Manipulator System (RMS) configurations for jettison of the solar panels on the Solar Maximum Mission/Multimission Satellite. A valid RMS maneuver between jettison configurations was developed. Arm and longeron loads and effector excursions due to the solar panel jettison were determined to see if they were within acceptable limits. These loads and end effector excursions were analyzed under two RMS modes, servos active in position hold submode, and in the brakes on mode.

  14. Novel Approaches to Manipulating Bacterial Pathogen Biofilms: Whole-Systems Design Philosophy and Steering Microbial Evolution.

    Science.gov (United States)

    Penn, Alexandra S

    2016-01-01

    Understanding and manipulating bacterial biofilms is crucial in medicine, ecology and agriculture and has potential applications in bioproduction, bioremediation and bioenergy. Biofilms often resist standard therapies and the need to develop new means of intervention provides an opportunity to fundamentally rethink our strategies. Conventional approaches to working with biological systems are, for the most part, "brute force", attempting to effect control in an input and effort intensive manner and are often insufficient when dealing with the inherent non-linearity and complexity of living systems. Biological systems, by their very nature, are dynamic, adaptive and resilient and require management tools that interact with dynamic processes rather than inert artefacts. I present an overview of a novel engineering philosophy which aims to exploit rather than fight those properties, and hence provide a more efficient and robust alternative. Based on a combination of evolutionary theory and whole-systems design, its essence is what I will call systems aikido; the basic principle of aikido being to interact with the momentum of an attacker and redirect it with minimal energy expenditure, using the opponent's energy rather than one's own. In more conventional terms, this translates to a philosophy of equilibrium engineering, manipulating systems' own self-organisation and evolution so that the evolutionarily or dynamically stable state corresponds to a function which we require. I illustrate these ideas with a description of a proposed manipulation of environmental conditions to alter the stability of co-operation in the context of Pseudomonas aeruginosa biofilm infection of the cystic fibrosis lung.

  15. Design of safety mechanism for an industrial manipulator based on passive compliance

    International Nuclear Information System (INIS)

    Kim, Hwi Su; Park, Jung Jun; Song, Jae Bok; Kyung, Jin Ho

    2010-01-01

    In recent years, collision safety between humans and robots has drawn much attention since human-robot cooperation is increasingly needed in various fields. Since positioning accuracy and collision safety are both important, an industrial manipulator should maintain very high stiffness for positioning accuracy in a normal situation, but exhibit very low stiffness when subjected to a collision force greater than the tolerance for human injury. To satisfy these requirements, we proposed in our previous research a safety mechanism composed of a linear spring and a double-slider mechanism for a service robot with a small payload. We modified this device to meet more stringent requirements for an industrial manipulator which usually has a payload higher than a service robot. Several experiments on static and dynamic collisions showed high stiffness of the safety mechanism in response to an external torque that was less than a predetermined threshold torque, but low stiffness that enabled absorption of the collision force when the external torque exceeded the threshold. Thus, positioning accuracy and collision safety were improved using the proposed design. Furthermore, a new safety criterion is suggested to verify the collision safety of a manipulator that uses the proposed safety mechanism

  16. Analysis of mechanics of verbal manipulation with key words of social vocabulary exemplified in journalistic article

    Directory of Open Access Journals (Sweden)

    Наталья Александровна Бубнова

    2012-03-01

    Full Text Available The article deals with the analysis of mechanism of speech manipulation on readers' consciousness by means of socially marked key words, forming four concept groups: power, nation, wealth, poverty (on the material of journalistic article.

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

    NARCIS (Netherlands)

    Brouwer, Dannis Michel

    2007-01-01

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

  18. Screw-System-Based Mobility Analysis of a Family of Fully Translational Parallel Manipulators

    Directory of Open Access Journals (Sweden)

    Ernesto Rodriguez-Leal

    2013-01-01

    Full Text Available This paper investigates the mobility of a family of fully translational parallel manipulators based on screw system analysis by identifying the common constraint and redundant constraints, providing a case study of this approach. The paper presents the branch motion-screws for the 3-RP̲C-Y parallel manipulator, the 3-RCC-Y (or 3-RP̲RC-Y parallel manipulator, and a newly proposed 3-RP̲C-T parallel manipulator. Then the paper determines the sets of platform constraint-screws for each of these three manipulators. The constraints exerted on the platforms of the 3-RP̲C architectures and the 3-RCC-Y manipulators are analyzed using the screw system approach and have been identified as couples. A similarity has been identified with the axes of couples: they are perpendicular to the R joint axes, but in the former the axes are coplanar with the base and in the latter the axes are perpendicular to the limb. The remaining couples act about the axis that is normal to the base. The motion-screw system and constraint-screw system analysis leads to the insightful understanding of the mobility of the platform that is then obtained by determining the reciprocal screws to the platform constraint screw sets, resulting in three independent instantaneous translational degrees-of-freedom. To validate the mobility analysis of the three parallel manipulators, the paper includes motion simulations which use a commercially available kinematics software.

  19. Involvement of Student Teachers and Pupils in Designing and Manipulating Virtual Learning Environments Impacts Reading Achievements

    Directory of Open Access Journals (Sweden)

    Esther Zaretsky

    2012-04-01

    Full Text Available The research is aimed at investigating the involvement of student teachers and pupils in designing and manipulating virtual learning environment and its impact on reading achievements through action research. In order to understand the connection between the real and virtual worlds, the design of such simulations is based on applying the virtual environment to the real world as much as possible. The objects were taken from the pupils’ everyday environment and unique motivation. The researcher taught the method to 30 student teachers. Such procedures were held among different populations. The findings showed that as the student teachers practiced the simulation design through the PowerPoint Software, it became clear to them how the computer can be implemented in their practical work. Consequently, their presentations became highly animated, and applied to the pupils

  20. System analysis and design

    International Nuclear Information System (INIS)

    Son, Seung Hui

    2004-02-01

    This book deals with information technology and business process, information system architecture, methods of system development, plan on system development like problem analysis and feasibility analysis, cases for system development, comprehension of analysis of users demands, analysis of users demands using traditional analysis, users demands analysis using integrated information system architecture, system design using integrated information system architecture, system implementation, and system maintenance.

  1. A sensitivity analysis approach to control of manipulators with unknown load

    International Nuclear Information System (INIS)

    Tzes, A.; Yurkovich, S.

    1987-01-01

    This paper presents a straightforward control strategy applied to an N-link manipulator holding an unknown load and driving its end effector along a prespecified trajectory. The control is constituted into two primary components. The non-adaptive component is derived from the inverse problem technique while the adaptive component is computed via the application of sensitivity analysis applied to the complete, centralized dynamic model of the manipulator. The result is a robust adaptive controller which tunes its parameters at specified time instants and can withstand all expected variations of the payload. The control synthesis is illustrated by simulations in a 2-link planar manipulator holding an unknown load

  2. Design concepts and advanced manipulator development for nuclear fuel cycle facilities

    International Nuclear Information System (INIS)

    Feldman, M.J.

    1985-01-01

    In the Fuel Recycle Division, Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory, a comprehensive remote systems development program has existed for the past seven years. The new remote technology under development is expected to significantly improve remote operations by extending the range of tasks accomplished by remote means and increasing the efficiency of remote work undertaken. The application of advanced manipulation is viewed as an essential part of a series of design directions whose sum describes a somewhat unique blend of old and new technology. A design direction based upon the Teletec concept is explained and recent progress in the development of an advanced servomanipulator-based maintenance concept is summarized to show that a new generation of remote systems is feasible through advanced technology. 14 refs., 14 figs

  3. Design of the Driving and Clamp Rotation Hydraulic Control System for the Heavy Load Forging Manipulator

    Directory of Open Access Journals (Sweden)

    Li Geqiang

    2015-01-01

    Full Text Available The manipulator was equipped with full hydraulic drive. We designed the hydraulic systems for the driving and clamping rotation. We used a fuzzy PID control strategy to design the electro-hydraulic proportional control system. We built a united simulation model based on the co-simulation of MATLAB/Simulink and AMEsim. A mathematical model of the system was also established. We did separate simulations of the system’s dynamic characteristics for fast forging and normal forging working conditions. The parameters were optimized. The field test shows that the steady-state error of the hydraulic system is small and the system response is fast. The system’s rapid response speed, high precision, and stability under heavy load were realized.

  4. Uncertainty analysis and allocation of joint tolerances in robot manipulators based on interval analysis

    International Nuclear Information System (INIS)

    Wu Weidong; Rao, S.S.

    2007-01-01

    Many uncertain factors influence the accuracy and repeatability of robots. These factors include manufacturing and assembly tolerances and deviations in actuators and controllers. The effects of these uncertain factors must be carefully analyzed to obtain a clear insight into the manipulator performance. In order to ensure the position and orientation accuracy of a robot end effector as well as to reduce the manufacturing cost of the robot, it is necessary to quantify the influence of the uncertain factors and optimally allocate the tolerances. This involves a study of the direct and inverse kinematics of robot end effectors in the presence of uncertain factors. This paper focuses on the optimal allocation of joint tolerances with consideration of the positional and directional errors of the robot end effector and the manufacturing cost. The interval analysis is used for predicting errors in the performance of robot manipulators. The Stanford manipulator is considered for illustration. The unknown joint variables are modeled as interval parameters due to the inherent uncertainty. The cost-tolerance model is assumed to be of an exponential form during optimization. The effects of the upper bounds on the minimum cost and relative deviations of the directional and positional errors of the end effector are also studied

  5. Using Novel 2D Image Manipulation Methods to Aid Initial Concept Generation with Postgraduate Industrial Design Students

    Science.gov (United States)

    Hurn, Karl; Storer, Ian

    2015-01-01

    The aim of this paper is to provide educators and industrial design professionals with an insight into the development of innovative design ideation images manipulation techniques and, highlight how these techniques could be used to not only improve student ideation skills, but also as design enablers for a broader range of professionals working…

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

    Directory of Open Access Journals (Sweden)

    Marco H. Terra

    2013-04-01

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

  7. Intraocular robotic interventional surgical system (IRISS): Mechanical design, evaluation, and master-slave manipulation.

    Science.gov (United States)

    Wilson, Jason T; Gerber, Matthew J; Prince, Stephen W; Chen, Cheng-Wei; Schwartz, Steven D; Hubschman, Jean-Pierre; Tsao, Tsu-Chin

    2018-02-01

    Since the advent of robotic-assisted surgery, the value of using robotic systems to assist in surgical procedures has been repeatedly demonstrated. However, existing technologies are unable to perform complete, multi-step procedures from start to finish. Many intraocular surgical steps continue to be manually performed. An intraocular robotic interventional surgical system (IRISS) capable of performing various intraocular surgical procedures was designed, fabricated, and evaluated. Methods were developed to evaluate the performance of the remote centers of motion (RCMs) using a stereo-camera setup and to assess the accuracy and precision of positioning the tool tip using an optical coherence tomography (OCT) system. The IRISS can simultaneously manipulate multiple surgical instruments, change between mounted tools using an onboard tool-change mechanism, and visualize the otherwise invisible RCMs to facilitate alignment of the RCM to the surgical incision. The accuracy of positioning the tool tip was measured to be 0.205±0.003 mm. The IRISS was evaluated by trained surgeons in a remote surgical theatre using post-mortem pig eyes and shown to be effective in completing many key steps in a variety of intraocular surgical procedures as well as being capable of performing an entire cataract extraction from start to finish. The IRISS represents a necessary step towards fully automated intraocular surgery and demonstrated accurate and precise master-slave manipulation for cataract removal and-through visual feedback-retinal vein cannulation. Copyright © 2017 John Wiley & Sons, Ltd.

  8. Optimal design of a spherical parallel manipulator based on kinetostatic performance using evolutionary techniques

    Energy Technology Data Exchange (ETDEWEB)

    Daneshmand, Morteza [University of Tartu, Tartu (Estonia); Saadatzi, Mohammad Hossein [Colorado School of Mines, Golden (United States); Kaloorazi, Mohammad Hadi [École de Technologie Supérieur, Montréal (Canada); Masouleh, Mehdi Tale [University of Tehran, Tehran (Iran, Islamic Republic of); Anbarjafari, Gholamreza [Hasan Kalyoncu University, Gaziantep (Turkmenistan)

    2016-03-15

    This study aims to provide an optimal design for a Spherical parallel manipulator (SPM), namely, the Agile Eye. This aim is approached by investigating kinetostatic performance and workspace and searching for the most promising design. Previously recommended designs are examined to determine whether they provide acceptable kinetostatic performance and workspace. Optimal designs are provided according to different kinetostatic performance indices, especially kinematic sensitivity. The optimization process is launched based on the concept of the genetic algorithm. A single-objective process is implemented in accordance with the guidelines of an evolutionary algorithm called differential evolution. A multi-objective procedure is then provided following the reasoning of the nondominated sorting genetic algorithm-II. This process results in several sets of Pareto points for reconciliation between kinetostatic performance indices and workspace. The concept of numerous kinetostatic performance indices and the results of optimization algorithms are elaborated. The conclusions provide hints on the provided set of designs and their credibility to provide a well-conditioned workspace and acceptable kinetostatic performance for the SPM under study, which can be well extended to other types of SPMs.

  9. Fault Tolerant Control Architecture Design for Mobile Manipulation in Scientific Facilities

    Directory of Open Access Journals (Sweden)

    Mohammad M. Aref

    2015-01-01

    Full Text Available This paper describes one of the challenging issues implied by scientific infrastructures on a mobile robot cognition architecture. For a generally applicable cognition architecture, we study the dependencies and logical relations between several tasks and subsystems. The overall view of the software modules is described, including their relationship with a fault management module that monitors the consistency of the data flow among the modules. The fault management module is the solution of the deliberative architecture for the single point failures, and the safety anchor is the reactive solution for the faults by redundant equipment. In addition, a hardware architecture is proposed to ensure safe robot movement as a redundancy for the cognition of the robot. The method is designed for a four-wheel steerable (4WS mobile manipulator (iMoro as a case study.

  10. Wavelet Approach to Data Analysis, Manipulation, Compression, and Communication

    National Research Council Canada - National Science Library

    Chui, Charles K

    2007-01-01

    ...: firstly, mathematical theories and methods, as well as construction of basis functions, for multi-level approximation and analysis, with emphasis on scattered data interpolation and representation, were developed...

  11. Inspiration, simulation and design for smart robot manipulators from the sucker actuation mechanism of cephalopods.

    Science.gov (United States)

    Grasso, Frank W; Setlur, Pradeep

    2007-12-01

    Octopus arms house 200-300 independently controlled suckers that can alternately afford an octopus fine manipulation of small objects and produce high adhesion forces on virtually any non-porous surface. Octopuses use their suckers to grasp, rotate and reposition soft objects (e.g., octopus eggs) without damaging them and to provide strong, reversible adhesion forces to anchor the octopus to hard substrates (e.g., rock) during wave surge. The biological 'design' of the sucker system is understood to be divided anatomically into three functional groups: the infundibulum that produces a surface seal that conforms to arbitrary surface geometry; the acetabulum that generates negative pressures for adhesion; and the extrinsic muscles that allow adhered surfaces to be rotated relative to the arm. The effector underlying these abilities is the muscular hydrostat. Guided by sensory input, the thousands of muscle fibers within the muscular hydrostats of the sucker act in coordination to provide stiffness or force when and where needed. The mechanical malleability of octopus suckers, the interdigitated arrangement of their muscle fibers and the flexible interconnections of its parts make direct studies of their control challenging. We developed a dynamic simulator (ABSAMS) that models the general functioning of muscular hydrostat systems built from assemblies of biologically constrained muscular hydrostat models. We report here on simulation studies of octopus-inspired and artificial suckers implemented in this system. These simulations reproduce aspects of octopus sucker performance and squid tentacle extension. Simulations run with these models using parameters from man-made actuators and materials can serve as tools for designing soft robotic implementations of man-made artificial suckers and soft manipulators.

  12. 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

  13. 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.

  14. Custom-Designed Molecular Scissors for Site-Specific Manipulation of the Plant and Mammalian Genomes

    Science.gov (United States)

    Kandavelou, Karthikeyan; Chandrasegaran, Srinivasan

    Zinc finger nucleases (ZFNs) are custom-designed molecular scissors, engineered to cut at specific DNA sequences. ZFNs combine the zinc finger proteins (ZFPs) with the nonspecific cleavage domain of the FokI restriction enzyme. The DNA-binding specificity of ZFNs can be easily altered experimentally. This easy manipulation of the ZFN recognition specificity enables one to deliver a targeted double-strand break (DSB) to a genome. The targeted DSB stimulates local gene targeting by several orders of magnitude at that specific cut site via homologous recombination (HR). Thus, ZFNs have become an important experimental tool to make site-specific and permanent alterations to genomes of not only plants and mammals but also of many other organisms. Engineering of custom ZFNs involves many steps. The first step is to identify a ZFN site at or near the chosen chromosomal target within the genome to which ZFNs will bind and cut. The second step is to design and/or select various ZFP combinations that will bind to the chosen target site with high specificity and affinity. The DNA coding sequence for the designed ZFPs are then assembled by polymerase chain reaction (PCR) using oligonucleotides. The third step is to fuse the ZFP constructs to the FokI cleavage domain. The ZFNs are then expressed as proteins by using the rabbit reticulocyte in vitro transcription/translation system and the protein products assayed for their DNA cleavage specificity.

  15. Design and Analysis Facility

    Data.gov (United States)

    Federal Laboratory Consortium — Provides engineering design of aircraft components, subsystems and installations using Pro/E, Anvil 1000, CADKEY 97, AutoCAD 13. Engineering analysis tools include...

  16. Topological Magnonics: A Paradigm for Spin-Wave Manipulation and Device Design

    Science.gov (United States)

    Wang, X. S.; Zhang, H. W.; Wang, X. R.

    2018-02-01

    Conventional magnonic devices use magnetostatic waves whose properties are sensitive to device geometry and the details of magnetization structure, so the design and the scalability of the device or circuitry are difficult. We propose topological magnonics, in which topological exchange spin waves are used as information carriers, that do not suffer from conventional problems of magnonic devices with additional nice features of nanoscale wavelength and high frequency. We show that a perpendicularly magnetized ferromagnet on a honeycomb lattice is generically a topological magnetic material in the sense that topologically protected chiral edge spin waves exist in the band gap as long as a spin-orbit-induced nearest-neighbor pseudodipolar interaction (and/or a next-nearest-neighbor Dzyaloshinskii-Moriya interaction) is present. The edge spin waves propagate unidirectionally along sample edges and domain walls regardless of the system geometry and defects. As a proof of concept, spin-wave diodes, spin-wave beam splitters, and spin-wave interferometers are designed by using sample edges and domain walls to manipulate the propagation of topologically protected chiral spin waves. Since magnetic domain walls can be controlled by magnetic fields or electric current or fields, one can essentially draw, erase, and redraw different spin-wave devices and circuitry on the same magnetic plate so that the proposed devices are reconfigurable and tunable. The topological magnonics opens up an alternative direction towards a robust, reconfigurable and scalable spin-wave circuitry.

  17. Rascal: A domain specific language for source code analysis and manipulation

    NARCIS (Netherlands)

    P. Klint (Paul); T. van der Storm (Tijs); J.J. Vinju (Jurgen); A. Walenstein; S. Schuppe

    2009-01-01

    htmlabstractMany automated software engineering tools require tight integration of techniques for source code analysis and manipulation. State-of-the-art tools exist for both, but the domains have remained notoriously separate because different computational paradigms fit each domain best. This

  18. Manipulation and analysis of a single dopant atom in GaAs

    NARCIS (Netherlands)

    Wijnheijmer, A.P.

    2011-01-01

    This thesis focuses on the manipulation and analysis of single dopant atoms in GaAs by scanning tunneling microscopy (STM) and spectroscopy (STS) at low temperatures. The observation of ionization rings is one of the key results, showing that we can control the charge state of a single dopant atom

  19. 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)

  20. Blood cleaner on-chip design for artificial human kidney manipulation

    Directory of Open Access Journals (Sweden)

    Suwanpayak N

    2011-05-01

    Full Text Available N Suwanpayak1, MA Jalil2, MS Aziz3, FD Ismail3, J Ali3, PP Yupapin11Nanoscale Science and Engineering Research Alliance (N'SERA, Advanced Research Center for Photonics, Faculty of Science, King Mongkut's Institute of Technology, Ladkrabang, Bangkok, Thailand; 2Ibnu Sina Institute of Fundamental Science Studies (IIS, 3Institute of Advanced Photonics Science, Nanotechnology Research Alliance, Universiti Teknologi Malaysia, Johor Bahru, MalaysiaAbstract: A novel design of a blood cleaner on-chip using an optical waveguide known as a PANDA ring resonator is proposed. By controlling some suitable parameters, the optical vortices (gradient optical fields/wells can be generated and used to form the trapping tools in the same way as optical tweezers. In operation, the trapping force is formed by the combination between the gradient field and scattering photons by using the intense optical vortices generated within the PANDA ring resonator. This can be used for blood waste trapping and moves dynamically within the blood cleaner on-chip system (artificial kidney, and is performed within the wavelength routers. Finally, the blood quality test is exploited by the external probe before sending to the destination. The advantage of the proposed kidney on-chip system is that the unwanted substances can be trapped and filtered from the artificial kidney, which can be available for blood cleaning applications.Keywords: optical trapping, blood dialysis, blood cleaner, human kidney manipulation

  1. A Rationally Designed Agonist Defines Subfamily IIIA Abscisic Acid Receptors As Critical Targets for Manipulating Transpiration.

    Science.gov (United States)

    Vaidya, Aditya S; Peterson, Francis C; Yarmolinsky, Dmitry; Merilo, Ebe; Verstraeten, Inge; Park, Sang-Youl; Elzinga, Dezi; Kaundal, Amita; Helander, Jonathan; Lozano-Juste, Jorge; Otani, Masato; Wu, Kevin; Jensen, Davin R; Kollist, Hannes; Volkman, Brian F; Cutler, Sean R

    2017-11-17

    Increasing drought and diminishing freshwater supplies have stimulated interest in developing small molecules that can be used to control transpiration. Receptors for the plant hormone abscisic acid (ABA) have emerged as key targets for this application, because ABA controls the apertures of stomata, which in turn regulate transpiration. Here, we describe the rational design of cyanabactin, an ABA receptor agonist that preferentially activates Pyrabactin Resistance 1 (PYR1) with low nanomolar potency. A 1.63 Å X-ray crystallographic structure of cyanabactin in complex with PYR1 illustrates that cyanabactin's arylnitrile mimics ABA's cyclohexenone oxygen and engages the tryptophan lock, a key component required to stabilize activated receptors. Further, its sulfonamide and 4-methylbenzyl substructures mimic ABA's carboxylate and C6 methyl groups, respectively. Isothermal titration calorimetry measurements show that cyanabactin's compact structure provides ready access to high ligand efficiency on a relatively simple scaffold. Cyanabactin treatments reduce Arabidopsis whole-plant stomatal conductance and activate multiple ABA responses, demonstrating that its in vitro potency translates to ABA-like activity in vivo. Genetic analyses show that the effects of cyanabactin, and the previously identified agonist quinabactin, can be abolished by the genetic removal of PYR1 and PYL1, which form subclade A within the dimeric subfamily III receptors. Thus, cyanabactin is a potent and selective agonist with a wide spectrum of ABA-like activities that defines subfamily IIIA receptors as key target sites for manipulating transpiration.

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

    Directory of Open Access Journals (Sweden)

    E. Ottaviano

    2008-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Jingli Du

    2013-01-01

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

  4. Design of a Magnetic Resonance-Safe Haptic Wrist Manipulator for Movement Disorder Diagnostics

    NARCIS (Netherlands)

    Bode, Dyon; Mugge, Winfred; Schouten, Alfred C.; van Rootselaar, Anne-Fleur; Bour, Lo J.; van der Helm, Frans C. T.; Lammertse, Piet

    2017-01-01

    Tremor, characterized by involuntary and rhythmical movements, is the most common movement disorder. Tremor can have peripheral and central oscillatory components which properly assessed may improve diagnostics. A magnetic resonance (MR)-safe haptic wrist manipulator enables simultaneous measurement

  5. A comparative neutron activation analysis study of common generic manipulated and reference medicines commercialized in Brazil

    International Nuclear Information System (INIS)

    Leal, A.S.; Menezes, M.A.B.C.; Rodrigues, R.R.; Andonie, O.; Vermaercke, P.; Sneyers, L.

    2008-01-01

    In this work, a comparative study of neutron activation analysis (NAA) was performed by the nuclear institutes: CDTN/CNEN-Brazil, CCHEN-Chile and the SCK.CEN-Belgium aiming to investigate some generic, manipulated and reference medicines largely commercialized in Brazil. Some impurities such as: As, Ba, Br, Ce, Co, Cr, Eu, Fe, Hf, Sb, Sc, Sm, Ti and Zn were found, and the heterogeneity of the samples pointed out the lack of an efficient public system of quality control

  6. Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks

    Directory of Open Access Journals (Sweden)

    Vikas Panwar

    2007-01-01

    Full Text Available The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.

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

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  8. T-Pattern Analysis and Cognitive Load Manipulation to Detect Low-Stake Lies: An Exploratory Study.

    Science.gov (United States)

    Diana, Barbara; Zurloni, Valentino; Elia, Massimiliano; Cavalera, Cesare; Realdon, Olivia; Jonsson, Gudberg K; Anguera, M Teresa

    2018-01-01

    Deception has evolved to become a fundamental aspect of human interaction. Despite the prolonged efforts in many disciplines, there has been no definite finding of a univocally "deceptive" signal. This work proposes an approach to deception detection combining cognitive load manipulation and T-pattern methodology with the objective of: (a) testing the efficacy of dual task-procedure in enhancing differences between truth tellers and liars in a low-stakes situation; (b) exploring the efficacy of T-pattern methodology in discriminating truthful reports from deceitful ones in a low-stakes situation; (c) setting the experimental design and procedure for following research. We manipulated cognitive load to enhance differences between truth tellers and liars, because of the low-stakes lies involved in our experiment. We conducted an experimental study with a convenience sample of 40 students. We carried out a first analysis on the behaviors' frequencies coded through the observation software, using SPSS (22). The aim was to describe shape and characteristics of behavior's distributions and explore differences between groups. Datasets were then analyzed with Theme 6.0 software which detects repeated patterns (T-patterns) of coded events (non-verbal behaviors) that regularly or irregularly occur within a period of observation. A descriptive analysis on T-pattern frequencies was carried out to explore differences between groups. An in-depth analysis on more complex patterns was performed to get qualitative information on the behavior structure expressed by the participants. Results show that the dual-task procedure enhances differences observed between liars and truth tellers with T-pattern methodology; moreover, T-pattern detection reveals a higher variety and complexity of behavior in truth tellers than in liars. These findings support the combination of cognitive load manipulation and T-pattern methodology for deception detection in low-stakes situations, suggesting the

  9. T-Pattern Analysis and Cognitive Load Manipulation to Detect Low-Stake Lies: An Exploratory Study

    Directory of Open Access Journals (Sweden)

    Barbara Diana

    2018-03-01

    Full Text Available Deception has evolved to become a fundamental aspect of human interaction. Despite the prolonged efforts in many disciplines, there has been no definite finding of a univocally “deceptive” signal. This work proposes an approach to deception detection combining cognitive load manipulation and T-pattern methodology with the objective of: (a testing the efficacy of dual task-procedure in enhancing differences between truth tellers and liars in a low-stakes situation; (b exploring the efficacy of T-pattern methodology in discriminating truthful reports from deceitful ones in a low-stakes situation; (c setting the experimental design and procedure for following research. We manipulated cognitive load to enhance differences between truth tellers and liars, because of the low-stakes lies involved in our experiment. We conducted an experimental study with a convenience sample of 40 students. We carried out a first analysis on the behaviors’ frequencies coded through the observation software, using SPSS (22. The aim was to describe shape and characteristics of behavior’s distributions and explore differences between groups. Datasets were then analyzed with Theme 6.0 software which detects repeated patterns (T-patterns of coded events (non-verbal behaviors that regularly or irregularly occur within a period of observation. A descriptive analysis on T-pattern frequencies was carried out to explore differences between groups. An in-depth analysis on more complex patterns was performed to get qualitative information on the behavior structure expressed by the participants. Results show that the dual-task procedure enhances differences observed between liars and truth tellers with T-pattern methodology; moreover, T-pattern detection reveals a higher variety and complexity of behavior in truth tellers than in liars. These findings support the combination of cognitive load manipulation and T-pattern methodology for deception detection in low

  10. 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

  11. LMFBR core design analysis

    International Nuclear Information System (INIS)

    Cho, M.; Yang, J.C.; Yoh, K.C.; Suk, S.D.; Soh, D.S.; Kim, Y.M.

    1980-01-01

    The design parameters of a commercial-scale fast breeder reactor which is currently under construction by regeneration of these data is preliminary analyzed. The analysis of nuclear and thermal characteristics as well as safety features of this reactor is emphasized. And the evaluation of the initial core mentioned in the system description is carried out in the areas of its kinetics and control system, and, at the same time, the flow distribution of sodium and temperature distribution of the initial FBR core system are calculated. (KAERI INIS Section)

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

    Directory of Open Access Journals (Sweden)

    Abdul Kadir Muhammad

    2015-10-01

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

  13. Neutron activation analysis of chemical impurities in manipulated samples of omeprazole

    Energy Technology Data Exchange (ETDEWEB)

    Sepe, Fernanda Peixoto; Leal, Alexandre Soares; Gomes, Tatiana Cristina Bomfim; Menezes, Maria Angela de Barros Correia; Silva, Maria Aparecida, E-mail: asleal@cdtn.br [Nuclear Technology Development Centre/Brazilian Commission for Nuclear Energy (CDTN/CNEN-MG), Belo Horizonte, MG (Brazil)

    2011-07-01

    In this work, samples of Omeprazole (C{sub 17}H{sub 19}N{sub 3}O{sub 3}S), a largely used drug in the treatment of dyspepsia and peptic ulcer, were acquired from five different pharmacies of manipulation - or retail pharmacies which prepare personalized drugs under medical recommendation - in Belo Horizonte/Brazil and investigated using the k{sub 0} - Neutron Activation Analysis (NAA). The preliminary results showed the presence of elements not foreseen in the original formula. It confirms the potential risk offered by medicines without suitable inspection. (author)

  14. Neutron activation analysis of chemical impurities in manipulated samples of omeprazole

    International Nuclear Information System (INIS)

    Sepe, Fernanda Peixoto; Leal, Alexandre Soares; Gomes, Tatiana Cristina Bomfim; Menezes, Maria Angela de Barros Correia; Silva, Maria Aparecida

    2011-01-01

    In this work, samples of Omeprazole (C 17 H 19 N 3 O 3 S), a largely used drug in the treatment of dyspepsia and peptic ulcer, were acquired from five different pharmacies of manipulation - or retail pharmacies which prepare personalized drugs under medical recommendation - in Belo Horizonte/Brazil and investigated using the k 0 - Neutron Activation Analysis (NAA). The preliminary results showed the presence of elements not foreseen in the original formula. It confirms the potential risk offered by medicines without suitable inspection. (author)

  15. A design of speed reducer with trapezoidal tooth profile for robot manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Nam, Won Ki; Oh, Se Hoon [Chung-Ang University, Seoul (Korea, Republic of)

    2011-01-15

    Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study.

  16. A design of speed reducer with trapezoidal tooth profile for robot manipulator

    International Nuclear Information System (INIS)

    Nam, Won Ki; Oh, Se Hoon

    2011-01-01

    Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study

  17. Analysis of Design Documentation

    DEFF Research Database (Denmark)

    Hansen, Claus Thorp

    1998-01-01

    In design practice a process where a satisfactory solution is created within limited resources is required. However, since the design process is not well understood, research into how engineering designers actually solve design problems is needed. As a contribution to that end a research project...

  18. Workspace quality analysis and application for a completely restrained 3-Dof planar cable-driven parallel manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Tang, Xiaoqiang; Tang, Lewei; Wang, Jinsong [Tsinghua University, Beijing (China); Sun, Dengfeng [Purdue University, West Lafayette (United States)

    2013-08-15

    With the advantage of large workspace, low energy consumption and small inertia, the cable-driven parallel manipulator (CDPM) is suitable for heavy workpieces in rapid velocity and acceleration. We present a workspace analysis approach to solve force and torque equilibriums of completely restrained CDPMs. By this approach, not only the distribution but also the value of tensions driven by cables is investigated together. Two new indices, all cable tension distribution index (ACTDI) and area of the global quality workspace (AG) are proposed to evaluate the quality of the workspace. By concentrating on the workspace and its quality combined with the tension characteristics, these criteria are used to determine the optimal workspace in CDPMs. To verify the capacity of the proposed method, simulation examples are presented and the results demonstrate the approach's effectiveness. In the end, the dimensional design for a planar CDPM is discussed with the indices of workspace quality.

  19. Workspace quality analysis and application for a completely restrained 3-Dof planar cable-driven parallel manipulator

    International Nuclear Information System (INIS)

    Tang, Xiaoqiang; Tang, Lewei; Wang, Jinsong; Sun, Dengfeng

    2013-01-01

    With the advantage of large workspace, low energy consumption and small inertia, the cable-driven parallel manipulator (CDPM) is suitable for heavy workpieces in rapid velocity and acceleration. We present a workspace analysis approach to solve force and torque equilibriums of completely restrained CDPMs. By this approach, not only the distribution but also the value of tensions driven by cables is investigated together. Two new indices, all cable tension distribution index (ACTDI) and area of the global quality workspace (AG) are proposed to evaluate the quality of the workspace. By concentrating on the workspace and its quality combined with the tension characteristics, these criteria are used to determine the optimal workspace in CDPMs. To verify the capacity of the proposed method, simulation examples are presented and the results demonstrate the approach's effectiveness. In the end, the dimensional design for a planar CDPM is discussed with the indices of workspace quality.

  20. Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2013-06-01

    Full Text Available Sliding mode controller (SMC is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness.  In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.

  1. Design of Hybrid Nanostructural Arrays to Manipulate SERS-Active Substrates by Nanosphere Lithography.

    Science.gov (United States)

    Zhao, Xiaoyu; Wen, Jiahong; Zhang, Mengning; Wang, Dunhui; Wang, Yaxin; Chen, Lei; Zhang, Yongjun; Yang, Jinghai; Du, Youwei

    2017-03-01

    An easy-handling and low-cost method is utilized to controllably fabricate nanopattern arrays as the surface-enhanced Raman scattering (SERS) active substrates with high density of SERS-active areas (hot spots). A hybrid silver array of nanocaps and nanotriangles are prepared by combining magnetron sputtering and plasma etching. By adjusting the etching time of polystyrene (PS) colloid spheres array in silver nanobowls, the morphology of the arrays can be easily manipulated to control the formation and distribution of hot spots. The experimental results show that the hybrid nanostructural arrays have large enhancement factor, which is estimated to be seven times larger than that in the array of nanocaps and three times larger than that in the array of nanorings and nanoparticles. According to the results of finite-difference time-domain simulation, the excellent SERS performance of this array is ascribed to the high density of hot spots and enhanced electromagnetic field.

  2. STRUCTURAL AND GEOMETRICAL ANALYSIS OF THE LIFTING MANIPULATORS FOR A GREEN ENVIRONMENT

    Directory of Open Access Journals (Sweden)

    Ioana POPESCU

    2015-12-01

    Full Text Available The lifting and getting off the bins, to and from the body of special waste trucks, by some planar linkage – manipulators are studied. These lifting manipulators are equipped with gripper systems in order to load and unload the bins. Several kinematical schemas of type mono– and bi-mobile manipulators are analyzed, these being driven by one or two linear actuators. The kinematical geometry of these planar manipulators by means of scale drawing of the kinematical schema is displayed. Two solutions for a better efficiency and a green environment have been proposed. Finally, a modeling and simulation case of the lifting manipulator is presented.

  3. Design and Analysis of Web Application Frameworks

    DEFF Research Database (Denmark)

    Schwarz, Mathias Romme

    -state manipulation vulnerabilities. The hypothesis of this dissertation is that we can design frameworks and static analyses that aid the programmer to avoid such errors. First, we present the JWIG web application framework for writing secure and maintainable web applications. We discuss how this framework solves...... some of the common errors through an API that is designed to be safe by default. Second, we present a novel technique for checking HTML validity for output that is generated by web applications. Through string analysis, we approximate the output of web applications as context-free grammars. We model......Numerous web application frameworks have been developed in recent years. These frameworks enable programmers to reuse common components and to avoid typical pitfalls in web application development. Although such frameworks help the programmer to avoid many common errors, we nd...

  4. DESIGN AND STUDY OF DRIVE SWIVEL JOINTS FOR HYDRAULIC MANIPULATION SYSTEMS OF MOBILE TRANSPORT-TECHNOLOGICAL MACHINES

    Directory of Open Access Journals (Sweden)

    Lagerev A.V.

    2018-03-01

    Full Text Available The paper presents the design and principle of operation of a new type of articulated connection of adjacent links of manipulation systems of mobile transport and technological machines – the drive swivel joints to provide a rotary rela-tive movement of the links. Their design allows to combine the function of ensuring the continuity of the kinematic chain and the function of providing rotary movement adjacent units and without the use of additional external devices. The design of the device is protected by a patent of the Russian Federation. Drive swivel joints are an alternative to tra-ditional designs of articulated joints with external power hydraulic drives. Developed a mathematical optimization model. The model is based on the minimization of the mass of the drive swivel joints when you complete the necessary design, installation, operating and strength constraints. Based on this mathematical model the proposed method of com-puter-aided design of the drive swivel joints, which is implemented in a computer program. A study was conducted of the influence of the main technical characteristics and magnitude of the operational load at the optimal weight and the optimal constructive dimensions of the drive swivel joints. It is shown that at equal freight-altitude characteristics of mobile crane-manipulator the drive swivel joint allows you to exclude a number of operational shortcomings of the tra-ditional swivel: 1 development over time of the additional dynamic load of metal due to the increased clearances in connection; 2 lowering the volume of the working area of the crane due to the presence of external power of hydraulic drives; 3 the appearance of cracks due to fatigue failure of the elements of the attachment point of the hydraulic drives to the links of manipulation system. It is possible that the transfer of the hydraulic system for lower operating pressure, which increases the efficiency of the crane and the efficiency of the

  5. Integrating reliability analysis and design

    International Nuclear Information System (INIS)

    Rasmuson, D.M.

    1980-10-01

    This report describes the Interactive Reliability Analysis Project and demonstrates the advantages of using computer-aided design systems (CADS) in reliability analysis. Common cause failure problems require presentations of systems, analysis of fault trees, and evaluation of solutions to these. Results have to be communicated between the reliability analyst and the system designer. Using a computer-aided design system saves time and money in the analysis of design. Computer-aided design systems lend themselves to cable routing, valve and switch lists, pipe routing, and other component studies. At EG and G Idaho, Inc., the Applicon CADS is being applied to the study of water reactor safety systems

  6. Integrating computer programs for engineering analysis and design

    Science.gov (United States)

    Wilhite, A. W.; Crisp, V. K.; Johnson, S. C.

    1983-01-01

    The design of a third-generation system for integrating computer programs for engineering and design has been developed for the Aerospace Vehicle Interactive Design (AVID) system. This system consists of an engineering data management system, program interface software, a user interface, and a geometry system. A relational information system (ARIS) was developed specifically for the computer-aided engineering system. It is used for a repository of design data that are communicated between analysis programs, for a dictionary that describes these design data, for a directory that describes the analysis programs, and for other system functions. A method is described for interfacing independent analysis programs into a loosely-coupled design system. This method emphasizes an interactive extension of analysis techniques and manipulation of design data. Also, integrity mechanisms exist to maintain database correctness for multidisciplinary design tasks by an individual or a team of specialists. Finally, a prototype user interface program has been developed to aid in system utilization.

  7. 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.

  8. Maximizing the Production of Biogas in an Instructional Manipulative Designed to Teach Energy Concepts to High School Students

    Science.gov (United States)

    McCall, Shakira Renee

    In an effort to stress the benefits of the application of renewable energy to the next generation of science, technology, engineering, arts, and mathematics (STEAM) professionals, instructional modules on energy and biogas were integrated into a summer camp curriculum that challenged students to apply STEAM concepts in the design and development of chain reaction machines. Each module comprised an interactive presentations and a hands-on component where students operated a manipulative relevant to the content. During summer 2013, this camp was implemented at two high schools in Arizona and one in Trinidad and Tobago. Assessments showed that the overall modules were effective in helping students learn and retain the information presented on energy and biogas production. To improve future implementations of these modules, specifically the module on biogas production, the anaerobic digester was redesigned. In addition, a designed experiment was conducted to determine how to optimize the influent and operational environment that is available in an average high school classroom to generate maximum biogas yield. Eight plug-flow anaerobic digesters made of PVC piping and fixtures were used in a 2x3 factorial design assessing: co-digestion (20mL or 50mL) used cooking oil, temperature (25°C or 40°C), and addition of inoculum (0mL or 200mL). Biogas production was captured at two intervals over a 30-day period, and the experiments were replicated three times. Results showed that temperature at 40°C significantly increased biogas production and should be used over 25°C when using anaerobic digesters. Other factors that may potentially increase biogas production are combination of temperature at 40°C and 50mL of used cooking oil. In the future, the improvements made in the design of the anaerobic digester, and the applications of the finding from the experimental design, are expected to lead to an improved manipulative for teaching students about biogas production.

  9. Designing a Fuzzy Adaptive Controller for a Rigid joint Two Link Non-Linear Manipulator with Uncertainty

    Directory of Open Access Journals (Sweden)

    Maryam Montazeri

    2013-01-01

    Full Text Available This paper presents a control approach to the fuzzy-adaptive control scheme for rigid manipulators with unknown parameters. Lagrange’s method is employed for computing robot motion dynamics. Stability analysis guaranteed through Lyapunov’s theory using some suitable adaptive rules that make sure all signals in the closed-loop system are bounded and tracking error ones asymptotically reaches to zero. Compared with other controllers, there are some numerical simulations that verify effectiveness of the proposed method. Also, simulation results verify that the proposed controller can deal with uncertainties in the system.

  10. Design and Development of Two Manipulators as a Key Element of a Space Robot Testing Facility

    Directory of Open Access Journals (Sweden)

    Seweryn Karol

    2015-09-01

    Full Text Available Podczas procesu projektowania układów sterowania robotów pracujących w warunkach mikrograwitacji niezbędna jest możliwość przeprowadzenia ich walidacji w relewantnym środowisku. Kluczowym problemem jest budowa stanowisk testowych pozwalających na analizowanie ruchu manipulatora umieszczonego na swobodnej bazie, której ruch odbywa się w trzech wymiarach. Artykuł zawiera opis dwóch stanowisk testowych wykorzystywanych do analizy działania algorytmów sterowania w zrobotyzowanych systemach satelitarnych. W artykule opisano symulator warunków mikrograwitacji w postaci manipulatora płaskiego ze swobodną bazą umieszczoną na łożyskach powietrznych oraz stanowisko testowe wyposażone w manipulator o 7 stopniach swobody z utwierdzona bazą pozwalającą na pomiar 3 składowych siły i momentu siły.

  11. Development of a mobile manipulator for nuclear plant disaster, HELIOS X. Mechanical design and basic experiments

    International Nuclear Information System (INIS)

    Noda, Satsuya; Hirose, Shigeo; Ueda, Koji; Nakano, Hisami; Horigome, Atsushi; Endo, Gen

    2016-01-01

    In places such as nuclear power plant disaster area, which it is difficult for human workers to enter, robots are required to scout those places instead of human workers. In this paper, we present a mobile manipulator HELIOS X for a nuclear plant decommissioning task. Firstly, we address demands and specifications for the robot, considering the mission of reconnaissance. Then we outline the system of the robot, mainly focusing on the following mechanism: 'Crank Wheel', 'Main Arm', 'Sphere Link Wrist', 'Camera Arm', 'Control System' and 'System architecture'. Especially, we installed 3 degree of freedom 'Camera Arm' on the 'Main Arm', in order to improve functionality of remote control system. This enables the operator to monitor both the gripper and its overall view of the robot. 'Camera Arm' helps the operator to recognize the distance from an object to the gripper, because the operator can interactively move the viewpoint of the camera, and monitor from another camera angle without changing the gripper's position. We confirmed the basic functionality of mobile base, 'Main Arm' and 'Camera Arm' through hardware experiments. We also demonstrated that HELIOS X could pass through the pull-to-open door with a substantial closing force when the operator watched camera view only. (author)

  12. Controlled manipulation of the Co-Alq3 interface by rational design of Alq3 derivatives.

    Science.gov (United States)

    Großmann, Nicolas; Magri, Andrea; Laux, Martin; Stadtmüller, Benjamin; Thielen, Philip; Schäfer, Bernhard; Fuhr, Olaf; Ruben, Mario; Cinchetti, Mirko; Aeschlimann, Martin

    2016-11-15

    Recently, research has revealed that molecules can be used to steer the local spin properties of ferromagnetic surfaces. One possibility to manipulate ferromagnetic-metal-molecule interfaces in a controlled way is to synthesize specific, non-magnetic molecules to obtain a desired interaction with the ferromagnetic substrate. Here, we have synthesized derivatives of the well-known semiconductor Alq 3 (with q = 8-hydroxyquinolinate), in which the 8-hydroxyquinolinate ligands are partially or completely replaced by similar ligands bearing O- or N-donor sets. The goal of this study was to investigate how the presence of (i) different donor atom sets and (ii) aromaticity in different conjugated π-systems influences the spin properties of the metal-molecule interface formed with a Co(100) surface. The spin-dependent metal-molecule-interface properties have been measured by spin-resolved photoemission spectroscopy, backed up by DFT calculations. Overall, our results show that, in the case of the Co-molecule interface, chemical synthesis of organic ligands leads to specific electronic properties of the interface, such as exciton formation or highly spin-polarized interface states. We find that these properties are even additive, i.e. they can be engineered into one single molecular system that incorporates all the relevant ligands.

  13. Design of a smart haptic system for repulsive force control under irregular manipulation environment

    International Nuclear Information System (INIS)

    Lee, Sang-Rock; Choi, Seung-Hyun; Choi, Seung-Bok; Cho, Myeong-Woo

    2014-01-01

    This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator’s movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented. (paper)

  14. Manipulating the optical properties of symmetrically branched Au/Pd nanocrystals through interior design.

    Science.gov (United States)

    DeSantis, Christopher J; Skrabalak, Sara E

    2014-05-25

    Au/Pd octopods with hollow, cubic interiors and Oh symmetry were synthesized for the first time by etching core@shell Pd@Au/Pd octopods to selectively remove their Pd interiors. Integration of multiple architectural features - in this case branching symmetry, composition, and interior design - into one nanostructure provides design strategies to new plasmonic colloids.

  15. Learning Unfair Trading: a Market Manipulation Analysis From the Reinforcement Learning Perspective

    OpenAIRE

    Martínez-Miranda, Enrique; McBurney, Peter; Howard, Matthew J.

    2015-01-01

    Market manipulation is a strategy used by traders to alter the price of financial assets. One type of manipulation is based on the process of buying or selling assets by using several trading strategies, among them spoofing is a popular strategy and is considered illegal by market regulators. Some promising tools have been developed to detect price manipulation, but cases can still be found in the markets. In this paper we model spoofing and pinging trading from a macroscopic perspective of p...

  16. Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

    Energy Technology Data Exchange (ETDEWEB)

    Qu, Haibo; Guo, Sheng [Beijing Jiaotong University, Beijing (China)

    2017-04-15

    In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.

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

    International Nuclear Information System (INIS)

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

    1993-07-01

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

  18. Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

    International Nuclear Information System (INIS)

    Qu, Haibo; Guo, Sheng

    2017-01-01

    In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations

  19. Evaluation of Pressure Capacitive Sensors for Application in Grasping and Manipulation Analysis.

    Science.gov (United States)

    Pessia, Paola; Cordella, Francesca; Schena, Emiliano; Davalli, Angelo; Sacchetti, Rinaldo; Zollo, Loredana

    2017-12-08

    The analysis of the human grasping and manipulation capabilities is paramount for investigating human sensory-motor control and developing prosthetic and robotic hands resembling the human ones. A viable solution to perform this analysis is to develop instrumented objects measuring the interaction forces with the hand. In this context, the performance of the sensors embedded in the objects is crucial. This paper focuses on the experimental characterization of a class of capacitive pressure sensors suitable for biomechanical analysis. The analysis was performed in three loading conditions (Distributed load, 9 Tips load, and Wave-shaped load, thanks to three different inter-elements) via a traction/compression testing machine. Sensor assessment was also carried out under human- like grasping condition by placing a silicon material with the same properties of prosthetic cosmetic gloves in between the sensor and the inter-element in order to simulate the human skin. Data show that the input-output relationship of the analyzed, sensor is strongly influenced by both the loading condition (i.e., type of inter-element) and the grasping condition (with or without the silicon material). This needs to be taken into account to avoid significant measurement error. To go over this hurdle, the sensors have to be calibrated under each specific condition in order to apply suitable corrections to the sensor output and significantly improve the measurement accuracy.

  20. The development and design of the manipulation and control rooms - ergonomic aspects

    International Nuclear Information System (INIS)

    Ivergaard, T.

    1980-01-01

    The handbook is intended to facilitate the design and construction of controlrooms. The book appeals to instrument makers, computer operators and process technicians among others. The ergonomic data and relevant information are presented. (G.B.)

  1. Reflecting metallic metasurfaces designed with stochastic optimization as waveplates for manipulating light polarization

    Science.gov (United States)

    Haberko, Jakub; Wasylczyk, Piotr

    2018-03-01

    We demonstrate that a stochastic optimization algorithm with a properly chosen, weighted fitness function, following a global variation of parameters upon each step can be used to effectively design reflective polarizing optical elements. Two sub-wavelength metallic metasurfaces, corresponding to broadband half- and quarter-waveplates are demonstrated with simple structure topology, a uniform metallic coating and with the design suited for the currently available microfabrication techniques, such as ion milling or 3D printing.

  2. Simulating quantum search algorithm using vibronic states of I2 manipulated by optimally designed gate pulses

    International Nuclear Information System (INIS)

    Ohtsuki, Yukiyoshi

    2010-01-01

    In this paper, molecular quantum computation is numerically studied with the quantum search algorithm (Grover's algorithm) by means of optimal control simulation. Qubits are implemented in the vibronic states of I 2 , while gate operations are realized by optimally designed laser pulses. The methodological aspects of the simulation are discussed in detail. We show that the algorithm for solving a gate pulse-design problem has the same mathematical form as a state-to-state control problem in the density matrix formalism, which provides monotonically convergent algorithms as an alternative to the Krotov method. The sequential irradiation of separately designed gate pulses leads to the population distribution predicted by Grover's algorithm. The computational accuracy is reduced by the imperfect quality of the pulse design and by the electronic decoherence processes that are modeled by the non-Markovian master equation. However, as long as we focus on the population distribution of the vibronic qubits, we can search a target state with high probability without introducing error-correction processes during the computation. A generalized gate pulse-design scheme to explicitly include decoherence effects is outlined, in which we propose a new objective functional together with its solution algorithm that guarantees monotonic convergence.

  3. 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.

  4. Parallel manipulators with two end-effectors : Getting a grip on Jacobian-based stiffness analysis

    NARCIS (Netherlands)

    Hoevenaars, A.G.L.

    2016-01-01

    Robots that are developed for applications which require a high stiffness-over-inertia ratio, such as pick-and-place robots, machining robots, or haptic devices, are often based on parallel manipulators. Parallel manipulators connect an end-effector to an inertial base using multiple serial

  5. Design of turning hydraulic engines for manipulators of mobile machines on the basis of multicriterial optimization

    Directory of Open Access Journals (Sweden)

    Lagerev I.A.

    2016-12-01

    Full Text Available In this paper the mathematical models of the main types of turning hydraulic engines, which at the present time widely used in the construction of handling systems of domestic and foreign mobile transport-technological machines wide functionality. They allow to take into consideration the most significant from the viewpoint of ensuring high technical-economic indicators of hydraulic efficiency criteria – minimum mass (weight, their volume and losses of power. On the basis of these mathematical models the problem of multicriterial constrained optimization of the constructive sizes of turning hydraulic engines are subject to complex constructive, strength and deformation limits. It allows you to de-velop the hydraulic engines in an optimized design which is required for the purpose of designing a comprehensive measure takes into account efficiency criteria. The multicriterial optimization problem is universal in nature, so when designing a turning hydraulic engines allows for one-, two - and three-criteria optimization without making any changes in the solution algorithm. This is a significant advantage for the development of universal software for the automation of design of mobile transport-technological machines.

  6. Single molecule manipulation at low temperature and laser scanning tunnelling photo-induced processes analysis through time-resolved studies

    International Nuclear Information System (INIS)

    Riedel, Damien

    2010-01-01

    This paper describes, firstly, the statistical analysis used to determine the processes that occur during the manipulation of a single molecule through electronically induced excitations with a low temperature (5 K) scanning tunnelling microscope (STM). Various molecular operation examples are described and the ability to probe the ensuing molecular manipulation dynamics is discussed within the excitation context. It is, in particular, shown that such studies can reveal reversible manipulation for tuning dynamics through variation of the excitation energy. Secondly, the photo-induced process arising from the irradiation of the STM junction is also studied through feedback loop dynamics analysis, allowing us to distinguish between photo-thermally and photo-electronically induced signals.

  7. Design and characterization of a microelectromechanical system electro-thermal linear motor with interlock mechanism for micro manipulators.

    Science.gov (United States)

    Hu, Tengjiang; Zhao, Yulong; Li, Xiuyuan; Zhao, You; Bai, Yingwei

    2016-03-01

    The design, fabrication, and testing of a novel electro-thermal linear motor for micro manipulators is presented in this paper. The V-shape electro-thermal actuator arrays, micro lever, micro spring, and slider are introduced. In moving operation, the linear motor can move nearly 1 mm displacement with 100 μm each step while keeping the applied voltage as low as 17 V. In holding operation, the motor can stay in one particular position without consuming energy and no creep deformation is found. Actuation force of 12.7 mN indicates the high force generation capability of the device. Experiments of lifetime show that the device can wear over two million cycles of operation. A silicon-on-insulator wafer is introduced to fabricate a high aspect ratio structure and the chip size is 8.5 mm × 8.5 mm × 0.5 mm.

  8. Design and analysis of cryptographic algorithms

    DEFF Research Database (Denmark)

    Kölbl, Stefan

    . From securing our passwords and personal data to protecting mobile communication from eavesdroppers and our electronic bank transactions from manipulation. These applications would be impossible without cryptography. The main topic of this thesis is the design and security analysis of the most......In today’s world computers are ubiquitous. They can be found in virtually any industry and most households own at least one personal computer or have a mobile phone. Apart from these fairly large and complex devices, we also see computers on a much smaller scale appear in everyday objects...... to this development. However, most of this communication happens over inherently insecure channels requiring methods to protect our communication. A further issue is the vast amount of data generated, which raises serious privacy concerns. Cryptography provides the key components for protecting our communication...

  9. Seismic analysis of design

    International Nuclear Information System (INIS)

    Jehlicka, P.

    1980-01-01

    The determination of the dynamic response of nuclear power plants is a necessary part of safe design against earthquake, or against other additional vibrational loading. The determination of these dynamic loads caused by external excitation is a requirement in calculating the related material loading on the structures. The purpose of this lecture is to present a general survey of analytical methods to determine the response of structural and mechanical equipment to earthquake. The main problems which complicate structural-dynamic calculations will be discussed. The necessity to control input parameters and the possibility to calculate with simplified methods will be pointed out. (orig./RW)

  10. Designing Plasmonic Materials and Optical Metasurfaces for Light Manipulation and Optical Sensing

    Science.gov (United States)

    Chen, Wenxiang

    Metamaterials are artificial materials designed to create optical properties that do not exist in nature. They are assemblies of subwavelength structures that are tailored in size, shape, composition, and orientation to realize the desired property. Metamaterials are promising for applications in diverse areas: optical filters, lenses, holography, sensors, photodetectors, photovoltaics, photocatalysts, medical devices, and many more, because of their excellent abilities in bending, absorbing, enhancing and blocking light. However, the practical use of metamaterials is challenged by the lack of plasmonic materials with proper permittivity for different applications and the slow and expensive fabrication methods available to pattern sub-wavelength structures. We have also only touched the surface in exploring the innovative uses of metamaterials to solve world problems. In this thesis, we study the fundamental optical properties of metamaterial building blocks by designing material permittivity. We continuously tune the interparticle distance in colloidal Au nanocrystal (NC) solids via the partial ligand exchange process. Then we combine top-down nanoimprint lithography with bottom-up assembly of colloidal NCs to develop a large-area, low-cost fabrication method for subwavelength nanostructures. Via this method, we fabricate and characterize nano-antenna arrays of different sizes and demonstrate metasurface quarter wave-plates of different bandwidth, and compare their performances with simulation results. We also integrate the metasurfaces with chemically- and mechanically-responsive polymers for strong-signal sensing. In the first design, we combine ultrathin plasmonic nanorods with hydrogel to fabricate optical moisture sensors for agricultural use. In the second application, we design mechanically tunable Au grating resonances on a polydimethylsiloxane (PDMS) substrate. The dimensions of Au grating are carefully engineered to achieve a hybridized, ultrasharp, and

  11. Nanochannel Device with Embedded Nanopore: a New Approach for Single-Molecule DNA Analysis and Manipulation

    Science.gov (United States)

    Zhang, Yuning; Reisner, Walter

    2013-03-01

    Nanopore and nanochannel based devices are robust methods for biomolecular sensing and single DNA manipulation. Nanopore-based DNA sensing has attractive features that make it a leading candidate as a single-molecule DNA sequencing technology. Nanochannel based extension of DNA, combined with enzymatic or denaturation-based barcoding schemes, is already a powerful approach for genome analysis. We believe that there is revolutionary potential in devices that combine nanochannels with embedded pore detectors. In particular, due to the fast translocation of a DNA molecule through a standard nanopore configuration, there is an unfavorable trade-off between signal and sequence resolution. With a combined nanochannel-nanopore device, based on embedding a pore inside a nanochannel, we can in principle gain independent control over both DNA translocation speed and sensing signal, solving the key draw-back of the standard nanopore configuration. We demonstrate that we can optically detect successful translocation of DNA from the nanochannel out through the nanopore, a possible method to 'select' a given barcode for further analysis. In particular, we show that in equilibrium DNA will not escape through an embedded sub-persistence length nanopore, suggesting that the pore could be used as a nanoscale window through which to interrogate a nanochannel extended DNA molecule. Furthermore, electrical measurements through the nanopore are performed, indicating that DNA sensing is feasible using the nanochannel-nanopore device.

  12. 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.

  13. Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

    Science.gov (United States)

    Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

    2008-01-01

    This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

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

    Institute of Scientific and Technical Information of China (English)

    CUI Genqun; LI Chunshu; ZHANG Minglu

    2006-01-01

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

  15. Research design and statistical analysis

    CERN Document Server

    Myers, Jerome L; Lorch Jr, Robert F

    2013-01-01

    Research Design and Statistical Analysis provides comprehensive coverage of the design principles and statistical concepts necessary to make sense of real data.  The book's goal is to provide a strong conceptual foundation to enable readers to generalize concepts to new research situations.  Emphasis is placed on the underlying logic and assumptions of the analysis and what it tells the researcher, the limitations of the analysis, and the consequences of violating assumptions.  Sampling, design efficiency, and statistical models are emphasized throughout. As per APA recommendations

  16. Stability Analysis of a Voltage-Based Controller for Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Jorge Orrante-Sakanassi

    2013-01-01

    Full Text Available A voltage-based control scheme for robot manipulators has been presented in recent literature, where feedback linearization is applied in the electrical equations of the DC motors in order to cancel the electrical current terms. However, in this paper we show that this control technique generates a system of the form Ex = Ax + Bu, where E is a singular matrix, that is to say, a generalized state-space system or singular system. This paper introduces a formal stability analysis of the respective system by considering the state-space equation as a singular system. Furthermore, in order to avoid the singularity of the closed-loop system, modified voltage-based control schemes are proposed, whose Lyapunov stability analyses conclude semiglobal asymptotic stability for the set-point control case and uniform boundedness of the solutions and semiglobal convergence of the position, as well as velocity errors for the tracking control case. The proposed control systems are simulated for the tracking and set-point cases using the CICESE Pelican robot driven by DC motors.

  17. A kinematic analysis of the Space Station remote manipulator system (SSRMS)

    Science.gov (United States)

    Crane, Carl D., III; Duffy, Joseph; Carnahan, Tim

    1991-01-01

    An efficient reverse analysis of three 6-degree-of-freedom (dof) subchains of the 7-dof SSRMS is presented. The first subchain is formed by locking the seventh joint. The second subchain is formed by locking the second joint, while the third subchain is formed by locking the first joint (the grounded joint is counted as the first joint in the chain). There are a maximum of eight different arm configurations in each of the three subchains, and these were determined by employing a computer-efficient algorithm, which required the rooting of only at most quadratic polynomials. The algorithms were implemented, and the SSRMS was employed in an animated environment to perform and practice a number of useful tasks for Space Station servicing. The locking of the second joint has the advantage in that an operator can choose the orientation of the plane that contains the two longest links so as to avoid collisions with obstacles. However, it has the disadvantage that when the second joint angle equals 0 deg or 180 deg, the manipulator is in a singularity configuration. This plane can also be oriented by specifying the first joint angle, so that the plane can be oriented arbitrarily and, in this, the singularity is avoided.

  18. Light at work: The use of optical forces for particle manipulation, sorting, and analysis

    Czech Academy of Sciences Publication Activity Database

    Jonáš, Alexandr; Zemánek, Pavel

    2008-01-01

    Roč. 29, č. 24 (2008), s. 4813-4851 ISSN 0173-0835 R&D Projects: GA MŠk(CZ) LC06007; GA MŠk OC08034 Institutional research plan: CEZ:AV0Z20650511 Keywords : microfluidics * optical chromatography and sorting * optical force and torque * optical tweezers and micro-manipulation / Optical tweezers and micro-manipulation / Raman microspectroscopy * Raman microspectroscopy Subject RIV: BH - Optics, Masers, Lasers Impact factor: 3.509, year: 2008

  19. Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance

    DEFF Research Database (Denmark)

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

    2012-01-01

    In this paper, the stiffness of 3-PPR planar parallel manipulator (PPM) is analyzed with the consideration of nonlinear actuation compliance. The characteristics of the stiffness matrix pertaining to the planar parallel manipulators are analyzed and discussed. Graphic representation of the stiffn...... of the stiffness characteristics by means of translational and rotational stiffness mapping is developed. The developed method is illustrated with an unsymmetrical 3-PPR PPM, being compared with its structure-symmetrical counterpart....

  20. Analysis and design of advice

    CERN Document Server

    Jureta, Ivan

    2011-01-01

    This innovative book offers a rigorous approach to the analysis and design of advice in real-world decision situations, in which the advisor must manage with variously imprecise, unclear, incomplete or conflicting qualitative information.

  1. A shuttle and space station manipulator system for assembly, docking, maintenance cargo handling and spacecraft retrieval (preliminary design). Volume 1: Management summary

    Science.gov (United States)

    1972-01-01

    A preliminary design is established for a general purpose manipulator system which can be used interchangeably on the shuttle and station and can be transferred back and forth between them. Control of the manipulator is accomplished by hard wiring from internal control stations in the shuttle or station. A variety of shuttle and station manipulator operations are considered including servicing the Large Space Telescope; however, emphasis is placed on unloading modules from the shuttle and assembling the space station. Simulation studies on foveal stereoscopic viewing and manipulator supervisory computer control have been accomplished to investigate the feasibility of their use in the manipulator system. The basic manipulator system consists of a single 18.3 m long, 7 degree of freedom (DOF), electrically acutated main boom with an auxiliary 3 DOF electrically actuated, extendible 18.3 m maximum length, lighting, and viewing boom. A 3 DOF orientor assembly is located at the tip of the viewing boom to provide camera pan, tilt, and roll.

  2. 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.)

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-07-01

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

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

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  5. Analysis of Possibilities of Detectnig the Manipulation of Financial Statements in Terms of the IFRS and Czech Accounting Standards

    Directory of Open Access Journals (Sweden)

    Zita Drábková

    2015-01-01

    Full Text Available The main objective of financial statements is to give information. The diversity of interests and objectives of individual groups of users and creators of financial statements presents the risk of manipulation of financial statements in the context of true and fair view as defined in the national accounting legislation. The paper is concerned with the different possibilities of detecting the manipulation of financial statements in terms of the Czech Accounting Standards and IFRS. The paper analyzes the selected risk detection models of the manipulation of financial statements using creative accounting methods, off-balance sheet financing methods and accounting frauds in specific case studies of selected accounting unit in terms of Czech accounting standards. Based on the analysis and comparison of the results thereof, the paper presents and evaluates the alternatives of users of financial statements to evaluate the risk of manipulation of financial statements beyond the scope of a fair and true view. The evaluation further includes a comparison of uses of these models with respect to the International Financial Reporting Standards.

  6. Design and implementation of a novel modal space active force control concept for spatial multi-DOF parallel robotic manipulators actuated by electrical actuators.

    Science.gov (United States)

    Yang, Chifu; Zhao, Jinsong; Li, Liyi; Agrawal, Sunil K

    2018-01-01

    Robotic spine brace based on parallel-actuated robotic system is a new device for treatment and sensing of scoliosis, however, the strong dynamic coupling and anisotropy problem of parallel manipulators result in accuracy loss of rehabilitation force control, including big error in direction and value of force. A novel active force control strategy named modal space force control is proposed to solve these problems. Considering the electrical driven system and contact environment, the mathematical model of spatial parallel manipulator is built. The strong dynamic coupling problem in force field is described via experiments as well as the anisotropy problem of work space of parallel manipulators. The effects of dynamic coupling on control design and performances are discussed, and the influences of anisotropy on accuracy are also addressed. With mass/inertia matrix and stiffness matrix of parallel manipulators, a modal matrix can be calculated by using eigenvalue decomposition. Making use of the orthogonality of modal matrix with mass matrix of parallel manipulators, the strong coupled dynamic equations expressed in work space or joint space of parallel manipulator may be transformed into decoupled equations formulated in modal space. According to this property, each force control channel is independent of others in the modal space, thus we proposed modal space force control concept which means the force controller is designed in modal space. A modal space active force control is designed and implemented with only a simple PID controller employed as exampled control method to show the differences, uniqueness, and benefits of modal space force control. Simulation and experimental results show that the proposed modal space force control concept can effectively overcome the effects of the strong dynamic coupling and anisotropy problem in the physical space, and modal space force control is thus a very useful control framework, which is better than the current joint

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

    KAUST Repository

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

    2016-01-01

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

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

    KAUST Repository

    Gooneratne, Chinthaka Pasan

    2016-08-26

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

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

    Directory of Open Access Journals (Sweden)

    Chinthaka P. Gooneratne

    2016-08-01

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

  10. Network Analysis, Architecture, and Design

    CERN Document Server

    McCabe, James D

    2007-01-01

    Traditionally, networking has had little or no basis in analysis or architectural development, with designers relying on technologies they are most familiar with or being influenced by vendors or consultants. However, the landscape of networking has changed so that network services have now become one of the most important factors to the success of many third generation networks. It has become an important feature of the designer's job to define the problems that exist in his network, choose and analyze several optimization parameters during the analysis process, and then prioritize and evalua

  11. Kindergarten Children's Interactions with Touchscreen Mathematics Virtual Manipulatives: An Innovative Mixed Methods Analysis

    Science.gov (United States)

    Tucker, Stephen I.; Lommatsch, Christina W.; Moyer-Packenham, Patricia S.; Anderson-Pence, Katie L.; Symanzik, Jürgen

    2017-01-01

    The purpose of this study was to examine patterns of mathematical practices evident during children's interactions with touchscreen mathematics virtual manipulatives. Researchers analyzed 33 Kindergarten children's interactions during activities involving apps featuring mathematical content of early number sense or quantity in base ten, recorded…

  12. Probabilistic Design and Analysis Framework

    Science.gov (United States)

    Strack, William C.; Nagpal, Vinod K.

    2010-01-01

    PRODAF is a software package designed to aid analysts and designers in conducting probabilistic analysis of components and systems. PRODAF can integrate multiple analysis programs to ease the tedious process of conducting a complex analysis process that requires the use of multiple software packages. The work uses a commercial finite element analysis (FEA) program with modules from NESSUS to conduct a probabilistic analysis of a hypothetical turbine blade, disk, and shaft model. PRODAF applies the response surface method, at the component level, and extrapolates the component-level responses to the system level. Hypothetical components of a gas turbine engine are first deterministically modeled using FEA. Variations in selected geometrical dimensions and loading conditions are analyzed to determine the effects of the stress state within each component. Geometric variations include the cord length and height for the blade, inner radius, outer radius, and thickness, which are varied for the disk. Probabilistic analysis is carried out using developing software packages like System Uncertainty Analysis (SUA) and PRODAF. PRODAF was used with a commercial deterministic FEA program in conjunction with modules from the probabilistic analysis program, NESTEM, to perturb loads and geometries to provide a reliability and sensitivity analysis. PRODAF simplified the handling of data among the various programs involved, and will work with many commercial and opensource deterministic programs, probabilistic programs, or modules.

  13. [Finite element analysis of lumbar pelvic and proximal femur model with simulate lumbar rotatory manipulation].

    Science.gov (United States)

    Hu, Hua; Xiong, Chang-Yuan; Han, Guo-Wu

    2012-07-01

    To study the changes of displacement and stress in the model of lumbar pelvic and proximal femur during lumbar rotatory manipulation. The date of lumbar pelvic and proximal femur CT scan by Mimics 10.01 software was established a lumbar pelvic and proximal femur geometric model, then the model was modified with Geomagic 9, at last the modified model was imported into hypermesh 10 and meshed with tetrahedron, at the same time,add disc and ligaments. According to the principle of lumbar rotatory manipulation,the lumbar rotatory manipulation were decomposed. The mechanical parameters assigned into the three-dimensional finite element model. The changes of displacement and stress in the model of lunbar pelvic and proximal femur under the four conditions were calculated with Abaqus model of Hypermesh 10. 1) Under the same condition,the displacement order of lumbar was L1>L2>L3>L5 L5, anterior column > middle column > posterior column. 2) Under the different conditions, the displacement order of lumbar,case 3>case 1>case 4>case 2. 3) Under the same conditions, the displacement order of lumbar inter-vertebral disc from L1,2 to L5S1 was L1,2>L2,3>L3,4>L4,5>L5S1, as for the same inter-vertebral disc, the order was: second quadrant>third quadrant>first quadrant>fourth quadrant. 4) Under the different conditions,the displacement order of the inter-vertebral disc was L1,2>L2,3>L3,4>L4,5>L5S1, but to same inter-vertebral disc: case 3>case 4>case 1 >case 2. 5) There were apparent displacement and stress concentration in pelvis and hip during the manipulation. 1) The principles of lumbar rotation manipulation closely related to the relative displacement caused by rotation of various parts of lumbar pelvic and proximal femur model; 2) During the process of lumbar rotatory manipulation, the angle of lateral bending and flexion can not be randomly increased; 3) During the process of lumbar rotatory manipulation, all the conditions of lumbar pelvic and proximal femur must be

  14. 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)

  15. Finite Element Analysis and Design of Experiments in Engineering Design

    OpenAIRE

    Eriksson, Martin

    1999-01-01

    Projects with the objective of introducing Finite Element Analysis (FEA) into the early phases of the design process have previously been carried out at the Department of Machine Design, see e.g. the Doctoral thesis by Burman [13]. These works clearly highlight the usefulness of introducing design analysis early in the design process. According to Bjärnemo and Burman [10] the most significant advantage of applying design analysis early in the design process was the shift from verification to ...

  16. Climaite - a three factor climate change ecosystem manipulation study: Set up and approaches for data analysis

    DEFF Research Database (Denmark)

    Mikkelsen, Teis Nørgaard; Beier, C.; Kappel Schhmidt, I.

    of each of the 8 treatments organized as a split-plot design with 12 octagonal plots with a diameter of 6.5m, each divided into four 8.3-m2 quadrants. The terrain is heterogeneous because it is hilly and has patches with trees. For improvement of the statistical power the plots have been grouped in pairs...... (based on vegetation analysis) containing each of the 8 treatments. Prior to initiation of the treatments 3rd October 2005, pre treatment measurements and studies were conducted for establishing the initial status of key variables e.g. soil and air temperature, soil moisture, species composition......, the physiological status of plants, soil water chemistry and emission of green house gasses. The CO2 is enhanced all year around during daylight hours in 6 plots by the use of a FACE system (F. Miglietta design). Temperature elevation is achieved by night time warming where IR reflective curtains automatically...

  17. Design professional activity analysis in design management

    Directory of Open Access Journals (Sweden)

    Claudia de Souza Libanio

    2013-08-01

    Full Text Available Design use perception, as an essential element for achieving competitive advantage, also suggests the need to manage the design activities in companies. However, a few is discussed about the activity of these design professionals who participate in this process, their roles, functions and competencies, including  their connections to a company and other involved sectors. This article aims to analyze, during the design management processes, the work relations of design professionals connected to organizations both internal and externally, in order to comprehend the structure and intervenient factors on the activity of these professionals, as well as the interactions with their main coworkers. The methodology was exploratory and qualitative, using in-depth interviews with three design professionals. Subsequently, the responses were analyzed allowing the comparison of these obtained data to the theoretical bases researched. Through this case study, it was possible to realize the aspects and the structure of the design professional activity, connected intern and externally to organizations, as well as its relations with the main coworkers.

  18. What have we learned from global change manipulative experiments in China? A meta-analysis

    OpenAIRE

    Zheng Fu; Shuli Niu; Jeffrey S. Dukes

    2015-01-01

    Although China has the largest population in the world, a faster rate of warming than the global average, and an active global change research program, results from many of the global change experiments in Chinese terrestrial ecosystems have not been included in global syntheses. Here, we specifically analyze the observed responses of carbon (C) and nitrogen (N) cycling in global change manipulative experiments in China, and compare these responses to those from other regions of the world. Mo...

  19. Analysis of digester design concepts

    Energy Technology Data Exchange (ETDEWEB)

    Ashare, E.; Wilson, E. H.

    1979-01-29

    Engineering economic analyses were performed on various digester design concepts to determine the relative performance for various biomass feedstocks. A comprehensive literature survey describing the state-of-the-art of the various digestion designs is included. The digester designs included in the analyses are CSTR, plug flow, batch, CSTR in series, multi-stage digestion and biomethanation. Other process options investigated included pretreatment processes such as shredding, degritting, and chemical pretreatment, and post-digestion processes, such as dewatering and gas purification. The biomass sources considered include feedlot manure, rice straw, and bagasse. The results of the analysis indicate that the most economical (on a unit gas cost basis) digester design concept is the plug flow reactor. This conclusion results from this system providing a high gas production rate combined with a low capital hole-in-the-ground digester design concept. The costs determined in this analysis do not include any credits or penalties for feedstock or by-products, but present the costs only for conversion of biomass to methane. The batch land-fill type digester design was shown to have a unit gas cost comparable to that for a conventional stirred tank digester, with the potential of reducing the cost if a land-fill site were available for a lower cost per unit volume. The use of chemical pretreatment resulted in a higher unit gas cost, primarily due to the cost of pretreatment chemical. A sensitivity analysis indicated that the use of chemical pretreatment could improve the economics provided a process could be developed which utilized either less pretreatment chemical or a less costly chemical. The use of other process options resulted in higher unit gas costs. These options should only be used when necessary for proper process performance, or to result in production of a valuable by-product.

  20. Minigenerator - Analysis, Design and Tests

    Directory of Open Access Journals (Sweden)

    Pavel Fiala

    2006-01-01

    Full Text Available The paper presents results of the analysis of the vibrational generator. The paper deals with the design of a vibrational generator that is used as a power supply for independent electric circuits. The vibrational generator can be used in the various areas, e.g. traffic, electronics, special-purpose machines, and robotics. The proposed design employs magnetic damping of the core movement. It was numerically evaluated and it was shown that it was possible to obtain significantly larger output voltage and output power than in experimental settings used previously [1].

  1. Study on force mechanism for therapeutic effect of pushing manipulation with one-finger meditation base on similarity analysis of force and waveform.

    Science.gov (United States)

    Fang, Lei; Fang, Min; Guo, Min-Min

    2016-12-27

    To reveal the force mechanism for therapeutic effect of pushing manipulation with one-finger meditation. A total of 15 participants were recruited in this study and assigned to an expert group, a skilled group and a novice group, with 5 participants in each group. Mechanical signals were collected from a biomechanical testing platform, and these data were further observed via similarity analysis and cluster analysis. Comparing the force waveforms of manipulation revealed that the manipulation forces were similar between the expert group and the skilled group (P>0.05). The mean value of vertical force was 9.8 N, and 95% CI rang from 6.37 to 14.70 N, but there were significant differences compared with the novice group (PPushing manipulation with one-finger meditation is a kind of light stimulation manipulation on the acupoint, and force characteristics of double waveforms continuously alternated during manual operation.

  2. Design and analysis of experiments

    CERN Document Server

    Dean, Angela; Draguljić, Danel

    2017-01-01

    This textbook takes a strategic approach to the broad-reaching subject of experimental design by identifying the objectives behind an experiment and teaching practical considerations that govern design and implementation, concepts that serve as the basis for the analytical techniques covered. Rather than a collection of miscellaneous approaches, chapters build on the planning, running, and analyzing of simple experiments in an approach that results from decades of teaching the subject. In most experiments, the procedures can be reproduced by readers, thus giving them a broad exposure to experiments that are simple enough to be followed through their entire course. Outlines of student and published experiments appear throughout the text and as exercises at the end of the chapters. The authors develop the theory of estimable functions and analysis of variance with detail, but at a mathematical level that is simultaneously approachable. Throughout the book, statistical aspects of analysis complement practical as...

  3. Software Design for Smile Analysis

    Directory of Open Access Journals (Sweden)

    A. Sarkhosh

    2010-12-01

    Full Text Available Introduction: Esthetics and attractiveness of the smile is one of the major demands in contemporary orthodontic treatment. In order to improve a smile design, it is necessary to record “posed smile” as an intentional, non-pressure, static, natural and reproduciblesmile. The record then should be analyzed to determine its characteristics. In this study,we intended to design and introduce a software to analyze the smile rapidly and precisely in order to produce an attractive smile for the patients.Materials and Methods: For this purpose, a practical study was performed to design multimedia software “Smile Analysis” which can receive patients’ photographs and videographs. After giving records to the software, the operator should mark the points and lines which are displayed on the system’s guide and also define the correct scale for each image. Thirty-three variables are measured by the software and displayed on the report page. Reliability of measurements in both image and video was significantly high(=0.7-1.Results: In order to evaluate intra- operator and inter-operator reliability, five cases were selected randomly. Statistical analysis showed that calculations performed in smile analysis software were both valid and highly reliable (for both video and photo.Conclusion: The results obtained from smile analysis could be used in diagnosis,treatment planning and evaluation of the treatment progress.

  4. Application of FLIA to the evaluation of newly incorporated control panel. 2. Determination of balance of manipulated/automated phase by cluster analysis

    International Nuclear Information System (INIS)

    Sano, Norihide; Takahashi, Ryoichi.

    1996-01-01

    Human reliability in a complex system has been studied to establish safety systems by analyzing the operator's performance in a control room of a nuclear power plant. In this paper, results of a mathematical model and a questionnaire given to plant designers and operators led to the proposal of a fuzzy tool for evaluating the quality of recent automated control systems. The first report described a method which is capable of calculating human performance by summing the weighted utility of attributes. The modified fuzzy measures learning identification algorithm (FLIA) reduces a set of attributes until human tasks are represented clearly. A change in the performance is illustrated on a two-dimensional map of the dominant attributes as a function of the automated level. The designers and the operators determined the balance of the manipulated/automated phase on the map after careful individual interviews. In the present paper, we attempt to interpret the boundary with a cluster-analysis theory, where the Euclidian square distance and the nearest-neighbor method are applied. The evaluated aspect of the boundary on the map can be divided into the manipulated/automated phase. It is shown that the calculated boundary is equal to the vertical bisector between the center of gravity of the clusters. The analytical boundary agrees precisely with the questionnaire result. (author)

  5. Software Performs Complex Design Analysis

    Science.gov (United States)

    2008-01-01

    Designers use computational fluid dynamics (CFD) to gain greater understanding of the fluid flow phenomena involved in components being designed. They also use finite element analysis (FEA) as a tool to help gain greater understanding of the structural response of components to loads, stresses and strains, and the prediction of failure modes. Automated CFD and FEA engineering design has centered on shape optimization, which has been hindered by two major problems: 1) inadequate shape parameterization algorithms, and 2) inadequate algorithms for CFD and FEA grid modification. Working with software engineers at Stennis Space Center, a NASA commercial partner, Optimal Solutions Software LLC, was able to utilize its revolutionary, one-of-a-kind arbitrary shape deformation (ASD) capability-a major advancement in solving these two aforementioned problems-to optimize the shapes of complex pipe components that transport highly sensitive fluids. The ASD technology solves the problem of inadequate shape parameterization algorithms by allowing the CFD designers to freely create their own shape parameters, therefore eliminating the restriction of only being able to use the computer-aided design (CAD) parameters. The problem of inadequate algorithms for CFD grid modification is solved by the fact that the new software performs a smooth volumetric deformation. This eliminates the extremely costly process of having to remesh the grid for every shape change desired. The program can perform a design change in a markedly reduced amount of time, a process that would traditionally involve the designer returning to the CAD model to reshape and then remesh the shapes, something that has been known to take hours, days-even weeks or months-depending upon the size of the model.

  6. 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)

  7. 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…

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

    Directory of Open Access Journals (Sweden)

    Esfandiar, H.

    2013-05-01

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

  9. Implementation and analysis of trajectory schemes for informate: a serial link robot manipulator

    International Nuclear Information System (INIS)

    Rauf, A.; Ahmed, S.M.; Asif, M.; Ahmad, M.

    1997-01-01

    Trajectory planning schemes generally interpolate or approximate the desired path by a class of polynomial functions and generate a sequence of time based control set points for the control of the manipulator movement from certain initial configuration to final configuration. Schemes for trajectory generation can be implemented in Joint space and in Cartesian space. This paper describes Joint Space trajectory schemes and Cartesian Space trajectory schemes and their implementation for Infomate, a six degrees of freedom serial link robot manipulator. LSPBs and cubic Spline are chosen as interpolating functions of time for each type of schemes. Modules developed have been incorporated in an OLP system for Infomate. Trajectory planning Schemes discussed in this paper incorporate the constraints of velocities and accelerations of the actuators. comparison with respect to computation and motion time is presented for above mentioned trajectory schemes. Algorithms have been developed that enable the end effector to follow a straight line; other paths like circle, ellipse, etc. can be approximated by straight line segments. (author)

  10. Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

    Science.gov (United States)

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

    2015-09-01

    The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Multidiscipline simulation of elastic manipulators

    Directory of Open Access Journals (Sweden)

    T. Rølvåg

    1992-10-01

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

  12. Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments

    Directory of Open Access Journals (Sweden)

    Moussab eBennehar

    2015-12-01

    Full Text Available This paper deals with a new control scheme for Parallel Kinematic Manipulators (PKMs based on the L1 adaptive control theory. The original L1 adaptive controller is extended by including an adaptive loop based on the dynamics of the PKM. The additional model-based term is in charge of the compensation of the modeled nonlinear dynamics in the aim of improving the tracking performance. Moreover, the proposed controller is enhanced to reduce the internal forces, which may appear in the case of Redundantly Actuated PKMs (RA-PKMs. The generated control inputs are first regulated through a projection mechanism that reduces the antagonistic internal forces, before being applied to the manipulator. To validate the proposed controller and to show its effectiveness, real-time experiments are conducted on a new four degrees-of-freedom (4-DOFs RA-PKM developed in our laboratory.

  13. Analysis and manipulation of atomic and molecular collisions using laser light

    International Nuclear Information System (INIS)

    Grimpe, A.

    2006-01-01

    Optical collisions in a crossed beam experiment are examined for the atomic collision pairs LiHe, LiNe, NaNe. Differential cross sections are measured in order to probe the quality of quantum chemical calculated and spectroscopical determined molecular potentials. The linear polarization of the excitation laser is used to manipulate the contrast of the differential cross sections for NaNe. Using elliptical polarized light total control over the angular position and the contrast of the interference pattern is demonstrated. Differential cross sections for the collision pairs LiH 2 and LiD 2 show a pronounced oscillatory structure, which for the first time is observed for atom-molecule optical collisions. (orig.)

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

    Directory of Open Access Journals (Sweden)

    Saeed Pezeshki

    2012-11-01

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

  15. 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

  16. Formal analysis of design process dynamics

    NARCIS (Netherlands)

    Bosse, T.; Jonker, C.M.; Treur, J.

    2010-01-01

    This paper presents a formal analysis of design process dynamics. Such a formal analysis is a prerequisite to come to a formal theory of design and for the development of automated support for the dynamics of design processes. The analysis was geared toward the identification of dynamic design

  17. Formal Analysis of Design Process Dynamics

    NARCIS (Netherlands)

    Bosse, T.; Jonker, C.M.; Treur, J.

    2010-01-01

    This paper presents a formal analysis of design process dynamics. Such a formal analysis is a prerequisite to come to a formal theory of design and for the development of automated support for the dynamics of design processes. The analysis was geared toward the identification of dynamic design

  18. Rotors stress analysis and design

    CERN Document Server

    Vullo, Vincenzo

    2013-01-01

    Stress and strain analysis of rotors subjected to surface and body loads, as well as to thermal loads deriving from temperature variation along the radius, constitutes a classic subject of machine design. Nevertheless attention is limited to rotor profiles for which governing equations are solvable in closed form. Furthermore very few actual engineering issues may relate to structures for which stress and strain analysis in the linear elastic field and, even more, under non-linear conditions (i.e. plastic or viscoelastic conditions) produces equations to be solved in closed form. Moreover, when a product is still in its design stage, an analytical formulation with closed-form solution is of course simpler and more versatile than numerical methods, and it allows to quickly define a general configuration, which may then be fine-tuned using such numerical methods. In this view, all subjects are based on analytical-methodological approach, and some new solutions in closed form are presented. The analytical formul...

  19. Currency Manipulation

    OpenAIRE

    Weithing Zhang; Thomas Mertens; Tarek Hassan

    2014-01-01

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

  20. Analysis of Load-Carrying Capacity for Redundant Free-Floating Space Manipulators in Trajectory Tracking Task

    Directory of Open Access Journals (Sweden)

    Qingxuan Jia

    2014-01-01

    Full Text Available The aim of this paper is to analyze load-carrying capacity of redundant free-floating space manipulators (FFSM in trajectory tracking task. Combined with the analysis of influential factors in load-carrying process, evaluation of maximum load-carrying capacity (MLCC is described as multiconstrained nonlinear programming problem. An efficient algorithm based on repeated line search within discontinuous feasible region is presented to determine MLCC for a given trajectory of the end-effector and corresponding joint path. Then, considering the influence of MLCC caused by different initial configurations for the starting point of given trajectory, a kind of maximum payload initial configuration planning method is proposed by using PSO algorithm. Simulations are performed for a particular trajectory tracking task of the 7-DOF space manipulator, of which MLCC is evaluated quantitatively. By in-depth research of the simulation results, significant gap between the values of MLCC when using different initial configurations is analyzed, and the discontinuity of allowable load-carrying capacity is illustrated. The proposed analytical method can be taken as theoretical foundation of feasibility analysis, trajectory optimization, and optimal control of trajectory tracking task in on-orbit load-carrying operations.

  1. Antenna theory: Analysis and design

    Science.gov (United States)

    Balanis, C. A.

    The book's main objective is to introduce the fundamental principles of antenna theory and to apply them to the analysis, design, and measurements of antennas. In a description of antennas, the radiation mechanism is discussed along with the current distribution on a thin wire. Fundamental parameters of antennas are examined, taking into account the radiation pattern, radiation power density, radiation intensity, directivity, numerical techniques, gain, antenna efficiency, half-power beamwidth, beam efficiency, bandwidth, polarization, input impedance, and antenna temperature. Attention is given to radiation integrals and auxiliary potential functions, linear wire antennas, loop antennas, linear and circular arrays, self- and mutual impedances of linear elements and arrays, broadband dipoles and matching techniques, traveling wave and broadband antennas, frequency independent antennas and antenna miniaturization, the geometrical theory of diffraction, horns, reflectors and lens antennas, antenna synthesis and continuous sources, and antenna measurements.

  2. Design and analysis of HYPER

    International Nuclear Information System (INIS)

    Song, T.Y.; Kim, Y.; Lee, B.O.; Cho, C.H.

    2007-01-01

    KAERI (Korea Atomic Energy Research Institute) has been developing an accelerator driven transmutation system called HYPER (hybrid power extraction reactor). It is designed to transmute long-lived TRU and fission products such as Tc-99 and I-129. HYPER is a 1000 MW th system with k eff = 0.98 which requires 17 mA proton beam for an operation at EOC (end of cycle). Pb-Bi is used as the coolant and target material at the same time. HYPER core has 186 ductless hexagonal fuel assemblies. The fuel blanket is divided into three TRU (transuranic elements) enrichment zones to flatten the radial power distribution. The core height of HYPER was compromised at 150 cm, and the power density was determined such that the average coolant speed could be about 1.64 m/s. The inlet and exit coolant temperatures are 340 and 490 o C, respectively, in the core. The cylindrical beam tube and spherical window is adopted as the basic window design of HYPER. We have also introduced an Lead-Bismuth eutectic injection tube to maximize the allowable proton beam current. A metallic alloy of U-TRU-Zr is considered as the HYPER fuel, in which pure lead is used as the bonding material. As a result, a large gas plenum is placed above the active core. TRU transmutation rate is 282 kg/yr. In the case of a FP transmutation, 28.0 kg of Tc-99 and 7.0 kg of I-129 are incinerated per year. The MACSIS-H (metal fuel performance analysis code for simulating the in-reactor behavior under steady-state conditions-HYPER) for an metallic fuel was developed as the steady-state performance computer code. The MATRA (multichannel analyzer for transient and steady-state in rod array) code was used to perform the thermal-hydraulic analysis of HYPER core

  3. Sensitivity analysis and multidisciplinary optimization for aircraft design: Recent advances and results

    Science.gov (United States)

    Sobieszczanski-Sobieski, Jaroslaw

    1988-01-01

    Optimization by decomposition, complex system sensitivity analysis, and a rapid growth of disciplinary sensitivity analysis are some of the recent developments that hold promise of a quantum jump in the support engineers receive from computers in the quantitative aspects of design. Review of the salient points of these techniques is given and illustrated by examples from aircraft design as a process that combines the best of human intellect and computer power to manipulate data.

  4. What have we learned from global change manipulative experiments in China? A meta-analysis

    Science.gov (United States)

    Fu, Zheng; Niu, Shuli; Dukes, Jeffrey S.

    2015-01-01

    Although China has the largest population in the world, a faster rate of warming than the global average, and an active global change research program, results from many of the global change experiments in Chinese terrestrial ecosystems have not been included in global syntheses. Here, we specifically analyze the observed responses of carbon (C) and nitrogen (N) cycling in global change manipulative experiments in China, and compare these responses to those from other regions of the world. Most global change factors, vegetation types, and treatment methods that have been studied or used elsewhere in the world have also been studied and applied in China. The responses of terrestrial ecosystem C and N cycles to N addition and climate warming in China are similar in both direction and intensity to those reported in global syntheses. In Chinese ecosystems as elsewhere, N addition significantly increased aboveground (AGB) and belowground biomass (BGB), litter mass, dissolved organic C, net ecosystem productivity (NEP), and gross ecosystem productivity (GEP). Warming stimulated AGB, BGB and the root-shoot ratio. Increasing precipitation accelerated GEP, NEP, microbial respiration, soil respiration, and ecosystem respiration. Our findings complement and support previous global syntheses and provide insight into regional responses to global change. PMID:26205333

  5. Automated visual attention manipulation

    NARCIS (Netherlands)

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

    2009-01-01

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

  6. Automated analysis and design of complex structures

    International Nuclear Information System (INIS)

    Wilson, E.L.

    1977-01-01

    This paper discusses the following: 1. The relationship of analysis to design. 2. New methods of analysis. 3. Improved finite elements. 4. Effect of minicomputer on structural analysis methods. 5. The use of system of microprocessors for nonlinear structural analysis. 6. The role of interacting graphics systems in future analysis and design. The discussion focusses on the impact of new inexpensive computer hardware on design and analysis methods. (Auth.)

  7. Transformers: analysis, design, and measurement

    National Research Council Canada - National Science Library

    López-Fernández, Xose M; Ertan, H. Bülent; Turowski, J

    2013-01-01

    "This book focuses on contemporary economic, design, diagnostics, and maintenance aspects of power, instrument, and high frequency transformers, which are critical to designers for a transformer stations...

  8. 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)

  9. Group-wise ANOVA simultaneous component analysis for designed omics experiments

    NARCIS (Netherlands)

    Saccenti, Edoardo; Smilde, Age K.; Camacho, José

    2018-01-01

    Introduction: Modern omics experiments pertain not only to the measurement of many variables but also follow complex experimental designs where many factors are manipulated at the same time. This data can be conveniently analyzed using multivariate tools like ANOVA-simultaneous component analysis

  10. In vitro manipulation techniques of porcine embryos: a meta-analysis related to transfers, pregnancies and piglets.

    Science.gov (United States)

    Liu, Ying; Li, Juan; Løvendahl, Peter; Schmidt, Mette; Larsen, Knud; Callesen, Henrik

    2015-03-01

    During the last 17 years, considerable advancements have been achieved in the production of pigs, transgenic and non-transgenic, by methods of somatic cell nuclear transfer, in vitro fertilisation, intracytoplasmic sperm injection, microinjection and sperm-mediated gene transfer by artificial insemination. Therefore, a review of the overall efficiency for the developmental competence of embryos produced by these in vitro methods would be useful in order to obtain a more thorough overview of this growing area with respect to its development and present status. In this review a meta-analysis was used to analyse data collected from all published articles with a focus on zygotes and embryos for transfer, pregnancy, full-term development and piglets born. It was generally concluded that an increasing level of in vitro manipulation of porcine embryos decreased the overall efficiency for production of piglets. The techniques of nuclear transfer have been developed markedly through the increasing number of studies performed, and the results have become more stable. Prolonged in vitro culture period did not lead to any negative effect on nuclear transfer embryos after their transfer and it resulted in a similar or even higher litter size. More complete information is needed in future scientific articles about these in vitro manipulation techniques to establish a more solid basis for the evaluation of their status and to reveal and further investigate any eventual problems.

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

    Directory of Open Access Journals (Sweden)

    J. Ju

    2017-07-01

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

  12. 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...

  13. 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)

  14. Hand-held multi-DOF robotic forceps for neurosurgery designed for dexterous manipulation in deep and narrow space.

    Science.gov (United States)

    Okubo, Takuro; Harada, Kanako; Fujii, Masahiro; Tanaka, Shinichi; Ishimaru, Tetsuya; Iwanaka, Tadashi; Nakatomi, Hirohumi; Sora, Sigeo; Morita, Akio; Sugita, Naohiko; Mitsuishi, Mamoru

    2014-01-01

    Neurosurgical procedures require precise and dexterous manipulation of a surgical suture in narrow and deep spaces in the brain. This is necessary for surgical tasks such as the anastomosis of microscopic blood vessels and dura mater suturing. A hand-held multi-degree of freedom (DOF) robotic forceps was developed to aid the performance of such difficult tasks. The diameter of the developed robotic forceps is 3.5 mm, and its tip has three DOFs, namely, bending, rotation, and grip. Experimental results showed that the robotic forceps had an average needle insertion force of 1.7 N. Therefore, an increase in the needle insertion force is necessary for practical application of the developed device.

  15. Transformers analysis, design, and measurement

    CERN Document Server

    Lopez-Fernandez, Xose M; Turowski, Janusz

    2012-01-01

    This book focuses on contemporary economic, design, diagnostics, and maintenance aspects of power, instrument, and high frequency transformers, which are critical to designers for a transformer stations. The text covers such topics as shell type and superconducting transformers as well as coreless PCB and planar transformers. It emphasizes challenges and strategies in transformer design and illustrates the importance of economics in transformers management by reviewing life cycle cost design and the use of decision methods to manage risk.

  16. Trends in lignin modification: a comprehensive analysis of the effects of genetic manipulations/mutations on lignification and vascular integrity

    Science.gov (United States)

    Anterola, Aldwin M.; Lewis, Norman G.

    2002-01-01

    A comprehensive assessment of lignin configuration in transgenic and mutant plants is long overdue. This review thus undertook the systematic analysis of trends manifested through genetic and mutational manipulations of the various steps associated with monolignol biosynthesis; this included consideration of the downstream effects on organized lignin assembly in the various cell types, on vascular function/integrity, and on plant growth and development. As previously noted for dirigent protein (homologs), distinct and sophisticated monolignol forming metabolic networks were operative in various cell types, tissues and organs, and form the cell-specific guaiacyl (G) and guaiacyl-syringyl (G-S) enriched lignin biopolymers, respectively. Regardless of cell type undergoing lignification, carbon allocation to the different monolignol pools is apparently determined by a combination of phenylalanine availability and cinnamate-4-hydroxylase/"p-coumarate-3-hydroxylase" (C4H/C3H) activities, as revealed by transcriptional and metabolic profiling. Downregulation of either phenylalanine ammonia lyase or cinnamate-4-hydroxylase thus predictably results in reduced lignin levels and impaired vascular integrity, as well as affecting related (phenylpropanoid-dependent) metabolism. Depletion of C3H activity also results in reduced lignin deposition, albeit with the latter being derived only from hydroxyphenyl (H) units, due to both the guaiacyl (G) and syringyl (S) pathways being blocked. Apparently the cells affected are unable to compensate for reduced G/S levels by increasing the amounts of H-components. The downstream metabolic networks for G-lignin enriched formation in both angiosperms and gymnosperms utilize specific cinnamoyl CoA O-methyltransferase (CCOMT), 4-coumarate:CoA ligase (4CL), cinnamoyl CoA reductase (CCR) and cinnamyl alcohol dehydrogenase (CAD) isoforms: however, these steps neither affect carbon allocation nor H/G designations, this being determined by C4H/C3H

  17. Design and Analysis of simulation experiments : Tutorial

    NARCIS (Netherlands)

    Kleijnen, J.P.C.

    2017-01-01

    This tutorial reviews the design and analysis of simulation experiments. These experiments may have various goals: validation, prediction, sensitivity analysis, optimization (possibly robust), and risk or uncertainty analysis. These goals may be realized through metamodels. Two types of metamodels

  18. Combinatorial designs constructions and analysis

    CERN Document Server

    Stinson, Douglas R

    2004-01-01

    Created to teach students many of the most important techniques used for constructing combinatorial designs, this is an ideal textbook for advanced undergraduate and graduate courses in combinatorial design theory. The text features clear explanations of basic designs, such as Steiner and Kirkman triple systems, mutual orthogonal Latin squares, finite projective and affine planes, and Steiner quadruple systems. In these settings, the student will master various construction techniques, both classic and modern, and will be well-prepared to construct a vast array of combinatorial designs. Design theory offers a progressive approach to the subject, with carefully ordered results. It begins with simple constructions that gradually increase in complexity. Each design has a construction that contains new ideas or that reinforces and builds upon similar ideas previously introduced. A new text/reference covering all apsects of modern combinatorial design theory. Graduates and professionals in computer science, applie...

  19. 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.

  20. Manipulatives and Problem Situations as Escalators for Students' Geometric Understanding: A Semiotic Analysis

    Science.gov (United States)

    Daher, Wajeeh M.

    2014-01-01

    Mathematical learning and teaching are increasingly seen as a multimodal experience involved in cultural and social semiotic registers and means, and as such social-cultural semiotic analysis is expected to shed light on learning and teaching processes occurring in the mathematics classroom. In this research, three social-cultural semiotic…

  1. Green Pharmaceutical Analysis of Drugs Coformulated with Highly Different Concentrations Using Spiking and Manipulation of Their Ratio Spectra.

    Science.gov (United States)

    Ayoub, Bassam M

    2017-07-01

    Introducing green analysis to pharmaceutical products is considered a significant approach to preserving the environment. This method can be an environmentally friendly alternative to the existing methods, accompanied by a validated automated procedure for the analysis of a drug with the lowest possible number of samples. Different simple spectrophotometric methods were developed for the simultaneous determination of empagliflozin (EG) and metformin (MT) by manipulating their ratio spectra in their application on a recently approved pharmaceutical combination, Synjardy tablets. A spiking technique was used to increase the concentration of EG in samples prepared from the tablets to allow for the simultaneous determination of EG with MT without prior separation. Validation parameters according to International Conference on Harmonization guidelines were acceptable over a concentration range of 2-12 μg/mL for both drugs using derivative ratio and ratio subtraction coupled with extended ratio subtraction. The optimized methods were compared using one-way analysis of variance and proved to be suitable as ecofriendly approaches for industrial QC laboratories.

  2. The analysis of energy consumption of the transport and manipulation process of Fanuc AM100iB robot

    Science.gov (United States)

    Cholewa, A.; Świder, J.; Zbilski, A.

    2017-08-01

    This article describes test results of energy consumption of Fanuc ArcMate 100iB robot during realization of the transport and manipulation process. The energy consumption test involved the acquisition of values of angular positions of the robot’s encoder shafts and values of tensions and expansions of the electrical currents in three phases of each engine. Based on the simulation results, the analysis of energy consumption was carried out, which specified the tested palletizing process using the set of complete and partial decompositions of the energy consumption of all these factors, which in significant degree impacted the amount of energy taken during the process. Quality of the data provided by the analysis of energy consumption was assessed through validation of results, which involved direct comparison of corresponding parameters, which values were measured and calculated. With regards to the developed analysis of energy consumption, computerized techniques were used to determine the impact of all material factors on the total energy consumption of the machine. The work presents the most significant results of the obtained outcomes.

  3. Reliability analysis techniques in power plant design

    International Nuclear Information System (INIS)

    Chang, N.E.

    1981-01-01

    An overview of reliability analysis techniques is presented as applied to power plant design. The key terms, power plant performance, reliability, availability and maintainability are defined. Reliability modeling, methods of analysis and component reliability data are briefly reviewed. Application of reliability analysis techniques from a design engineering approach to improving power plant productivity is discussed. (author)

  4. Immersive Interaction, Manipulation and Analysis of Large 3D Datasets for Planetary and Earth Sciences

    Science.gov (United States)

    Pariser, O.; Calef, F.; Manning, E. M.; Ardulov, V.

    2017-12-01

    We will present implementation and study of several use-cases of utilizing Virtual Reality (VR) for immersive display, interaction and analysis of large and complex 3D datasets. These datasets have been acquired by the instruments across several Earth, Planetary and Solar Space Robotics Missions. First, we will describe the architecture of the common application framework that was developed to input data, interface with VR display devices and program input controllers in various computing environments. Tethered and portable VR technologies will be contrasted and advantages of each highlighted. We'll proceed to presenting experimental immersive analytics visual constructs that enable augmentation of 3D datasets with 2D ones such as images and statistical and abstract data. We will conclude by presenting comparative analysis with traditional visualization applications and share the feedback provided by our users: scientists and engineers.

  5. Ion thruster design and analysis

    Science.gov (United States)

    Kami, S.; Schnelker, D. E.

    1976-01-01

    Questions concerning the mechanical design of a thruster are considered, taking into account differences in the design of an 8-cm and a 30-cm model. The components of a thruster include the thruster shell assembly, the ion extraction electrode assembly, the cathode isolator vaporizer assembly, the neutralizer isolator vaporizer assembly, ground screen and mask, and the main isolator vaporizer assembly. Attention is given to the materials used in thruster fabrication, the advanced manufacturing methods used, details of thruster performance, an evaluation of thruster life, structural and thermal design considerations, and questions of reliability and quality assurance.

  6. Stereoscopically Observing Manipulative Actions.

    Science.gov (United States)

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

    2016-08-01

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

  7. ADVERTISING AND LANGUAGE MANIPULATION

    Directory of Open Access Journals (Sweden)

    Cristina-Maria PRELIPCEANU

    2013-11-01

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

  8. Body weight manipulation, reinforcement value and choice between sucrose and wheel running: a behavioral economic analysis.

    Science.gov (United States)

    Belke, Terry W; Pierce, W David

    2009-02-01

    Twelve female Long-Evans rats were exposed to concurrent variable (VR) ratio schedules of sucrose and wheel-running reinforcement (Sucrose VR 10 Wheel VR 10; Sucrose VR 5 Wheel VR 20; Sucrose VR 20 Wheel VR 5) with predetermined budgets (number of responses). The allocation of lever pressing to the sucrose and wheel-running alternatives was assessed at high and low body weights. Results showed that wheel-running rate and lever-pressing rates for sucrose and wheel running increased, but the choice of wheel running decreased at the low body weight. A regression analysis of relative consumption as a function of relative price showed that consumption shifted toward sucrose and interacted with price differences in a manner consistent with increased substitutability. Demand curves showed that demand for sucrose became less elastic while demand for wheel running became more elastic at the low body weight. These findings reflect an increase in the difference in relative value of sucrose and wheel running as body weight decreased. Discussion focuses on the limitations of response rates as measures of reinforcement value. In addition, we address the commonalities between matching and demand curve equations for the analysis of changes in relative reinforcement value.

  9. Manipulating measurement scales in medical statistical analysis and data mining: A review of methodologies

    Directory of Open Access Journals (Sweden)

    Hamid Reza Marateb

    2014-01-01

    Full Text Available Background: selecting the correct statistical test and data mining method depends highly on the measurement scale of data, type of variables, and purpose of the analysis. Different measurement scales are studied in details and statistical comparison, modeling, and data mining methods are studied based upon using several medical examples. We have presented two ordinal-variables clustering examples, as more challenging variable in analysis, using Wisconsin Breast Cancer Data (WBCD. Ordinal-to-Interval scale conversion example: a breast cancer database of nine 10-level ordinal variables for 683 patients was analyzed by two ordinal-scale clustering methods. The performance of the clustering methods was assessed by comparison with the gold standard groups of malignant and benign cases that had been identified by clinical tests. Results: the sensitivity and accuracy of the two clustering methods were 98% and 96%, respectively. Their specificity was comparable. Conclusion: by using appropriate clustering algorithm based on the measurement scale of the variables in the study, high performance is granted. Moreover, descriptive and inferential statistics in addition to modeling approach must be selected based on the scale of the variables.

  10. Manipulating measurement scales in medical statistical analysis and data mining: A review of methodologies

    Science.gov (United States)

    Marateb, Hamid Reza; Mansourian, Marjan; Adibi, Peyman; Farina, Dario

    2014-01-01

    Background: selecting the correct statistical test and data mining method depends highly on the measurement scale of data, type of variables, and purpose of the analysis. Different measurement scales are studied in details and statistical comparison, modeling, and data mining methods are studied based upon using several medical examples. We have presented two ordinal–variables clustering examples, as more challenging variable in analysis, using Wisconsin Breast Cancer Data (WBCD). Ordinal-to-Interval scale conversion example: a breast cancer database of nine 10-level ordinal variables for 683 patients was analyzed by two ordinal-scale clustering methods. The performance of the clustering methods was assessed by comparison with the gold standard groups of malignant and benign cases that had been identified by clinical tests. Results: the sensitivity and accuracy of the two clustering methods were 98% and 96%, respectively. Their specificity was comparable. Conclusion: by using appropriate clustering algorithm based on the measurement scale of the variables in the study, high performance is granted. Moreover, descriptive and inferential statistics in addition to modeling approach must be selected based on the scale of the variables. PMID:24672565

  11. Design and analysis of experiments with SAS

    CERN Document Server

    Lawson, John

    2010-01-01

    IntroductionStatistics and Data Collection Beginnings of Statistically Planned Experiments Definitions and Preliminaries Purposes of Experimental Design Types of Experimental Designs Planning Experiments Performing the Experiments Use of SAS SoftwareCompletely Randomized Designs with One Factor Introduction Replication and Randomization A Historical Example Linear Model for Completely Randomized Design (CRD) Verifying Assumptions of the Linear Model Analysis Strategies When Assumptions Are Violated Determining the Number of Replicates Comparison of Treatments after the F-TestFactorial Designs

  12. Initial Multidisciplinary Design and Analysis Framework

    Science.gov (United States)

    Ozoroski, L. P.; Geiselhart, K. A.; Padula, S. L.; Li, W.; Olson, E. D.; Campbell, R. L.; Shields, E. W.; Berton, J. J.; Gray, J. S.; Jones, S. M.; hide

    2010-01-01

    Within the Supersonics (SUP) Project of the Fundamental Aeronautics Program (FAP), an initial multidisciplinary design & analysis framework has been developed. A set of low- and intermediate-fidelity discipline design and analysis codes were integrated within a multidisciplinary design and analysis framework and demonstrated on two challenging test cases. The first test case demonstrates an initial capability to design for low boom and performance. The second test case demonstrates rapid assessment of a well-characterized design. The current system has been shown to greatly increase the design and analysis speed and capability, and many future areas for development were identified. This work has established a state-of-the-art capability for immediate use by supersonic concept designers and systems analysts at NASA, while also providing a strong base to build upon for future releases as more multifidelity capabilities are developed and integrated.

  13. 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.

  14. NPP Engineering and Servicing / Design Analysis Department

    International Nuclear Information System (INIS)

    Sik, J.

    2006-01-01

    The article provides an overview of the activities of the SKODA JS's Design Analysis Department performed recently in the fields of reactor physics, shielding physics, thermal hydraulics and mechanical structure stresses and life analysis. (orig.)

  15. Design and analysis of sustainable paper bicycle

    Science.gov (United States)

    Roni Sahroni, Taufik; Nasution, Januar

    2017-12-01

    This paper presents the design of sustainable paper bicycle which describes the stage by stage in the production of paper bicycle. The objective of this project is to design a sustainable paper bicycles to be used for children under five years old. The design analysis emphasizes in screening method to ensure the design fulfil the safety purposes. The evaluation concept is presented in designing a sustainable paper bicycle to determine highest rating. Project methodology is proposed for developing a sustainable paper bicycle. Design analysis of pedal, front and rear wheel, seat, and handle were presented using AutoCAD software. The design optimization was performed to fulfil the safety factors by modifying the material size and dimension. Based on the design analysis results, it is found that the optimization results met the factor safety. As a result, a sustainable paper bicycle was proposed for children under five years old.

  16. Indentation analysis of nano-particle using nano-contact mechanics models during nano-manipulation based on atomic force microscopy

    International Nuclear Information System (INIS)

    Daeinabi, Khadijeh; Korayem, Moharam Habibnejad

    2011-01-01

    Atomic force microscopy is applied to measure intermolecular forces and mechanical properties of materials, nano-particle manipulation, surface scanning and imaging with atomic accuracy in the nano-world. During nano-manipulation process, contact forces cause indentation in contact area between nano-particle and tip/substrate which is considerable at nano-scale and affects the nano-manipulation process. Several nano-contact mechanics models such as Hertz, Derjaguin–Muller–Toporov (DMT), Johnson–Kendall–Roberts–Sperling (JKRS), Burnham–Colton–Pollock (BCP), Maugis–Dugdale (MD), Carpick–Ogletree–Salmeron (COS), Pietrement–Troyon (PT), and Sun et al. have been applied as the continuum mechanics approaches at nano-scale. In this article, indentation depth and contact radius between tip and substrate with nano-particle for both spherical and conical tip shape during nano-manipulation process are analyzed and compared by applying theoretical, semiempirical, and empirical nano-contact mechanics models. The effects of adhesion force, as the main contrast point in different nano-contact mechanics models, on nano-manipulation analysis is investigated for different contact radius, and the critical point is discussed for mentioned models.

  17. Real-time systems design and analysis

    CERN Document Server

    Laplante, Phillip A

    2004-01-01

    "Real-Time Systems Design and Analysis, Third Edition is essential for students and practicing software engineers who want improved designs, faster computation, and ultimate cost savings. Chapters discuss hardware considerations and software requirements, software systems design, the software production process, performance estimation and optimization, and engineering considerations."--Jacket.

  18. Mobile-Dose: A Dose-Meter Designed for Use in Automatic Machineries for Dose Manipulation in Nuclear Medicine

    Science.gov (United States)

    de Asmundis, Riccardo; Boiano, Alfonso; Ramaglia, Antonio

    2008-06-01

    Mobile-Dose has been designed for a very innovative use: the integration in a robotic machinery for automatic preparation of radioactive doses, to be injected to patients in Nuclear Medicine Departments, with real time measurement of the activity under preparation. Mobile-Dose gives a constant measurement of the dose during the filling of vials or syringes, triggering the end of the filling process based on a predefined dose limit. Several applications of Mobile-Dose have been delivered worldwide, from Italian hospitals and clinics to European and Japanese ones. The design of such an instrument and its integration in robotic machineries, was required by an Italian company specialised in radiation protection tools for nuclear applications, in the period 2001-2003. At the time of its design, apparently no commercial instruments with a suitable interfacing capability to the external world existed: we designed it in order to satisfy all the strict requirements coming from the medical aspects (precision within 10%, repeatability, stability, time response) and from the industrial conceiving principles that are mandatory to ensure a good reliability in such a complicated environment. The instrument is suitable to be used in standalone mode too, thanks to its portability and compactness and to the intelligent operator panel programmed for this purpose.

  19. Object-oriented analysis and design

    CERN Document Server

    Deacon, John

    2005-01-01

    John Deacon’s in-depth, highly pragmatic approach to object-oriented analysis and design, demonstrates how to lay the foundations for developing the best possible software. Students will learn how to ensure that analysis and design remain focused and productive. By working through the book, they will gain a solid working knowledge of best practices in software development.

  20. Structural Analysis in a Conceptual Design Framework

    Science.gov (United States)

    Padula, Sharon L.; Robinson, Jay H.; Eldred, Lloyd B.

    2012-01-01

    Supersonic aircraft designers must shape the outer mold line of the aircraft to improve multiple objectives, such as mission performance, cruise efficiency, and sonic-boom signatures. Conceptual designers have demonstrated an ability to assess these objectives for a large number of candidate designs. Other critical objectives and constraints, such as weight, fuel volume, aeroelastic effects, and structural soundness, are more difficult to address during the conceptual design process. The present research adds both static structural analysis and sizing to an existing conceptual design framework. The ultimate goal is to include structural analysis in the multidisciplinary optimization of a supersonic aircraft. Progress towards that goal is discussed and demonstrated.

  1. Design, Development and Analysis of Centrifugal Blower

    Science.gov (United States)

    Baloni, Beena Devendra; Channiwala, Salim Abbasbhai; Harsha, Sugnanam Naga Ramannath

    2018-06-01

    Centrifugal blowers are widely used turbomachines equipment in all kinds of modern and domestic life. Manufacturing of blowers seldom follow an optimum design solution for individual blower. Although centrifugal blowers are developed as highly efficient machines, design is still based on various empirical and semi empirical rules proposed by fan designers. There are different methodologies used to design the impeller and other components of blowers. The objective of present study is to study explicit design methodologies and tracing unified design to get better design point performance. This unified design methodology is based more on fundamental concepts and minimum assumptions. Parametric study is also carried out for the effect of design parameters on pressure ratio and their interdependency in the design. The code is developed based on a unified design using C programming. Numerical analysis is carried out to check the flow parameters inside the blower. Two blowers, one based on the present design and other on industrial design, are developed with a standard OEM blower manufacturing unit. A comparison of both designs is done based on experimental performance analysis as per IS standard. The results suggest better efficiency and more flow rate for the same pressure head in case of the present design compared with industrial one.

  2. Experiment Design and Analysis Guide - Neutronics & Physics

    Energy Technology Data Exchange (ETDEWEB)

    Misti A Lillo

    2014-06-01

    The purpose of this guide is to provide a consistent, standardized approach to performing neutronics/physics analysis for experiments inserted into the Advanced Test Reactor (ATR). This document provides neutronics/physics analysis guidance to support experiment design and analysis needs for experiments irradiated in the ATR. This guide addresses neutronics/physics analysis in support of experiment design, experiment safety, and experiment program objectives and goals. The intent of this guide is to provide a standardized approach for performing typical neutronics/physics analyses. Deviation from this guide is allowed provided that neutronics/physics analysis details are properly documented in an analysis report.

  3. Design and analysis of experiments

    CERN Document Server

    Hinkelmann, Klaus

    This book discusses special modifications and extensions of designs that arise in certain fields of application such as genetics, bioinformatics, agriculture, medicine, manufacturing, marketing, etc. Well-known and highly-regarded contributors have written individual chapters that have been extensively reviewed by the Editor to ensure that each individual contribution relates to material found in Volumes 1 and 2 of this book series. The chapters in Volume 3 have an introductory/historical component and proceed to a more advanced technical level to discuss the latest results and future developm

  4. Use of inelastic analysis in cask design

    International Nuclear Information System (INIS)

    Ammerman, Douglas J.; Breivik, Nicole L.

    2000-01-01

    In this paper, the advantages and disadvantages of inelastic analysis are discussed. Example calculations and designs showing the implications and significance of factors affecting inelastic analysis are given. From the results described in this paper it can be seen that inelastic analysis provides an improved method for the design of casks. It can also be seen that additional code and standards work is needed to give designers guidance in the use of inelastic analysis. Development of these codes and standards is an area where there is a definite need for additional work. The authors hope that this paper will help to define the areas where that need is most acute

  5. Analysis of Possibilities of Detectnig the Manipulation of Financial Statements in Terms of the IFRS and Czech Accounting Standards

    OpenAIRE

    Zita Drábková

    2015-01-01

    The main objective of financial statements is to give information. The diversity of interests and objectives of individual groups of users and creators of financial statements presents the risk of manipulation of financial statements in the context of true and fair view as defined in the national accounting legislation. The paper is concerned with the different possibilities of detecting the manipulation of financial statements in terms of the Czech Accounting Standards and IFRS. The paper an...

  6. The analysis and design of linear circuits

    CERN Document Server

    Thomas, Roland E; Toussaint, Gregory J

    2009-01-01

    The Analysis and Design of Linear Circuits, 6e gives the reader the opportunity to not only analyze, but also design and evaluate linear circuits as early as possible. The text's abundance of problems, applications, pedagogical tools, and realistic examples helps engineers develop the skills needed to solve problems, design practical alternatives, and choose the best design from several competing solutions. Engineers searching for an accessible introduction to resistance circuits will benefit from this book that emphasizes the early development of engineering judgment.

  7. Automated reasoning applications to design analysis

    International Nuclear Information System (INIS)

    Stratton, R.C.

    1984-01-01

    Given the necessary relationships and definitions of design functions and components, validation of system incarnation (the physical product of design) and sneak function analysis can be achieved via automated reasoners. The relationships and definitions must define the design specification and incarnation functionally. For the design specification, the hierarchical functional representation is based on physics and engineering principles and bounded by design objectives and constraints. The relationships and definitions of the design incarnation are manifested as element functional definitions, state relationship to functions, functional relationship to direction, element connectivity, and functional hierarchical configuration

  8. Seismic design and analysis methods

    International Nuclear Information System (INIS)

    Varpasuo, P.

    1993-01-01

    Seismic load is in many areas of the world the most important loading situation from the point of view of structural strength. Taking this into account it is understandable, that there has been a strong allocation of resources in the seismic analysis during the past ten years. In this study there are three areas of the center of gravity: (1) Random vibrations; (2) Soil-structure interaction and (3) The methods for determining structural response. The solution of random vibration problems is clarified with the aid of applications in this study and from the point of view of mathematical treatment and mathematical formulations it is deemed sufficient to give the relevant sources. In the soil-structure interaction analysis the focus has been the significance of frequency dependent impedance functions. As a result it was obtained, that the description of the soil with the aid of frequency dependent impedance functions decreases the structural response and it is thus always the preferred method when compared to more conservative analysis types. From the methods to determine the C structural response the following four were tested: (1) The time history method; (2) The complex frequency-response method; (3) Response spectrum method and (4) The equivalent static force method. The time history appeared to be the most accurate method and the complex frequency-response method did have the widest area of application. (orig.). (14 refs., 35 figs.)

  9. Design by analysis of composite pressure equipment

    International Nuclear Information System (INIS)

    Durand, S.; Mallard, H.

    2004-01-01

    Design by analysis has been particularly pointed out by the european pressure equipment directive. Advanced mechanical analysis like finite element method are used instead of classical design by formulas or graphs. Structural behaviour can be understood by the designer. Design by analysis of metallic pressure equipments is widely used. Material behaviour or limits analysis is based on sophisticated approach (elasto-plastic analysis,..). Design by analysis of composite pressure equipments is not systematically used for industrial products. The difficulty comes from the number of information to handle. The laws of mechanics are the same for composite materials than for steel. The authors want to show that in design by analysis, the composite material approach is only more complete than the metallic approach. Mechanics is more general but not more complicated. A multi-material approach is a natural evolution of design by analysis of composite equipments. The presentation is illustrated by several industrial cases - composite vessel: analogy with metallic calculations; - composite pipes and fittings; - welding and bounding of thermoplastic equipments. (authors)

  10. Automated analysis and design of complex structures

    International Nuclear Information System (INIS)

    Wilson, E.L.

    1977-01-01

    The present application of optimum design appears to be restricted to components of the structure rather than to the total structural system. Since design normally involved many analysis of the system any improvement in the efficiency of the basic methods of analysis will allow more complicated systems to be designed by optimum methods. The evaluation of the risk and reliability of a structural system can be extremely important. Reliability studies have been made of many non-structural systems for which the individual components have been extensively tested and the service environment is known. For such systems the reliability studies are valid. For most structural systems, however, the properties of the components can only be estimated and statistical data associated with the potential loads is often minimum. Also, a potentially critical loading condition may be completely neglected in the study. For these reasons and the previous problems associated with the reliability of both linear and nonlinear analysis computer programs it appears to be premature to place a significant value on such studies for complex structures. With these comments as background the purpose of this paper is to discuss the following: the relationship of analysis to design; new methods of analysis; new of improved finite elements; effect of minicomputer on structural analysis methods; the use of system of microprocessors for nonlinear structural analysis; the role of interacting graphics systems in future analysis and design. This discussion will focus on the impact of new, inexpensive computer hardware on design and analysis methods

  11. Analysis of the physico-chemical quality Enalapril and Simvastatin drugs manipulated in magistral pharmacies from Belo Horizonte, MG, Brazil

    International Nuclear Information System (INIS)

    Gomes, Tatiana Cristina Bomfim

    2013-01-01

    The increasing expansion of compounding pharmacy associated with several reports on variances in the quality of compounded drugs demonstrates the need for verification of quality, safety and efficacy of these products. In this work, physical and chemical analyzes were performed to evaluate the quality of some capsules manipulated enalapril and simvastatin, acquired in five pharmacies in Belo Horizonte /Brazil. Among the analyzes are pharmacopoeial tests for appearance, identification, determination of weight, content, related compounds and uniformity of dosage units, and was also performed neutron activation analysis for the determination of inorganic impurities in drugs sampled. The results showed that 60% of the samples were unsatisfactory for pharmacopoeial tests. The contents of the capsules sampled for individual testing unit dose uniformity between 0% and 136.2%. This test is important in evaluating the quality, which influences the safety and efficacy of drug treatment, since it allows you to check if the product contains the proper dosage and necessary for successful pharmacotherapy. On the other hand, underdosing can lead to reduced or absent desired therapeutic response, and overdoses can provide an undesirable effects and even toxic. The concentration of inorganic impurities was considered to be relatively small. However, no specific limits for some chemical elements in medicine hamper a better thread. In addition, further studies must be performed to assess chronic exposure to low concentrations of inorganic impurities, since drugs can be continuously used, and other sources of exposure must also be considered in order to evaluate the risk. The problems related to the quality and safety of compounded drugs are still reality in the country and reveal a serious public health problem, especially regarding the lack of uniformity between the unit doses of medications. It is suggested that the competent authorities to sanitary products, propose changes in

  12. Design and analysis for piping systems

    International Nuclear Information System (INIS)

    Sterkel, H.-P.; Cutrim, J.H.C.

    1981-01-01

    The procedure and the typical techniques that are used in NUCLEN for the design and the calculation of the piping of Nuclear Plants. The classification system are generically described and the analysis techniques which are used for the design and verification of the piping systems, i.e. pressure design for the dimensioning of the wallthicknesses, temperature and dead weight analysis together with determination of support points, are shown. The techniques of dynamic design and analyses are described for earthquake and pressure impulse loadings. (Author) [pt

  13. Manipulating the Geometric Computer-aided Design of the Operational Requirements-based Casualty Assessment Model within BRL-CAD

    Science.gov (United States)

    2018-03-30

    aided Design of the Operational Requirements-based Casualty Assessment Model within BRL-CAD 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ...upper_arm_r.s upper_arm_r.s-bool r upper_leg_l.r - lower_leg_l.s-bool r upper_leg_r.r - lower_leg_r.s-bool r upper_arm_r.r - lower_arm_r.s-bool r ...upper_arm_l.r - lower_arm_l.s-bool r pelvis.r - hip_l.s-bool - hip_r.s-bool - upper_leg_l.s-bool - upper_leg_r.s-bool r thorax.r - shoulder_l.s-bool

  14. Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs

    DEFF Research Database (Denmark)

    Aditya, Sai Krishna Venkata; Ignasov, Jevgeni; Filonenko, Konstantin

    2017-01-01

    The African dung beetle Scarabaeus galenus can use its front legs to walk and manipulate or form a dung ball. The interesting multifunctional legs have not been fully investigated or even used as inspiration for robot leg design. Thus, in this paper, we present the development of real dung beetle......-like front legs based on biological investigation. As a result, each leg consists of three main segments which were built using 3D printing. The segments were combined with in total four active DOFs in order to mimic locomotion and object manipulation of the beetle. Kinematics analysis of the leg was also...... performed to identify its workspace as well as to design its trajectory. To this end, the study contributes not only novel multifunctional robotic legs but also the methodology of the bio-inspired leg design....

  15. Improved Laser Manipulation for On-chip Fabricated Microstructures Based on Solution Replacement and Its Application in Single Cell Analysis

    Directory of Open Access Journals (Sweden)

    Tao Yue

    2014-02-01

    Full Text Available In this paper, we present the fabrication and assembly of microstructures inside a microfluidic device based on a photocrosslinkable resin and optical tweezers. We also report a method of solution replacement inside the microfluidic channel in order to improve the manipulation performance and apply the assembled microstructures for single cell cultivation. By the illumination of patterned ultraviolet (UV through a microscope, microstructures of arbitrary shape were fabricated by the photocrosslinkable resin inside a microfluidic channel. Based on the microfluidic channel with both glass and polydimethylsiloxane (PDMS surfaces, immovable and movable microstructures were fabricated and manipulated. The microstructures were fabricated at the desired places and manipulated by the optical tweezers. A rotational microstructure including a microgear and a rotation axis was assembled and rotated in demonstrating this technique. The improved laser manipulation of microstructures was achieved based on the on-chip solution replacement method. The manipulation speed of the microstructures increased when the viscosity of the solvent decreased. The movement efficiency of the fabricated microstructures inside the lower viscosity solvent was evaluated and compared with those microstructures inside the former high viscosity solvent. A novel cell cage was fabricated and the cultivation of a single yeast cell (w303 was demonstrated in the cell cage, inside the microfluidic device.

  16. 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.

  17. Design-for-analysis or the unintended role of analysis in the design of piping systems

    International Nuclear Information System (INIS)

    Antaki, G.A.

    1991-01-01

    The paper discusses the evolution of piping design in the nuclear industry with its increasing reliance on dynamic analysis. While it is well recognized that the practice has evolved from ''design-by- rule '' to ''design-by-analysis,'' examples are provided of cases where the choice of analysis technique has determined the hardware configuration, which could be called ''design-for-analysis.'' The paper presents practical solutions to some of these cases and summarizes the important recent industry and regulatory developments which, if successful, will reverse the trend towards ''design-for-analysis.'' 14 refs

  18. Design and Simulation of 5-DOF Vision-Based Manipulator to Increase Radiation Safety for Industrial Cobalt-60 Irradiators

    International Nuclear Information System (INIS)

    Solyman, A.E.; Keshk, A.B.; Sharshar, K.A.; Roman, M.R.

    2016-01-01

    Robotics has proved its efficiency in nuclear and radiation fields. Computer vision is one of the advanced approaches used to enhance robotic efficiency. The current work investigates the possibility of using a vision-based controlled arm robot to collect the fallen hot Cobalt-60 capsules inside wet storage pool of industrial irradiator. A 5-DOF arm robot is designed and vision algorithms are established to pick the fallen capsules on the bottom surface of the storage pool, read the information printed on its edge (cap) and move it to a safe storage place. Two object detection approaches are studied; RGB-based filter and background subtraction technique. Vision algorithms and camera calibration are done using MATLAB/SIMULINK program. Robot arm forward and inverse kinematics are developed and programmed using an embedded micro controller system. Experiments show the validity of the proposed system and prove its success. The collecting process will be done without interference of operators, hence radiation safety will be increased.

  19. Integrated Radiation Analysis and Design Tools

    Data.gov (United States)

    National Aeronautics and Space Administration — The Integrated Radiation Analysis and Design Tools (IRADT) Project develops and maintains an integrated tool set that collects the current best practices, databases,...

  20. Seismic analysis and design of NPP structures

    International Nuclear Information System (INIS)

    de Carvalho Santos, S.H.; da Silva, R.E.

    1989-01-01

    Numerical methods for static and dynamic analysis of structures, as well as for the design of individual structural elements under the applied loads are under continuous development, being very sophisticated methods nowadays available for the engineering practice. Nevertheless, this sophistication will be useless if some important aspects necessary to assure full compatability between analysis and design are disregarded. Some of these aspects are discussed herein. This paper presents an integrated approach for the seismic analysis and design of NPP structures: the development of models for the seismic analysis, the distribution of the global seismic forces among the seismic-resistant elements and the criteria for the design of the individual elements for combined static and dynamic forces are the main topics to be discussed herein. The proposed methodology is illustrated. Some examples taken from the project practice are presented for illustration the exposed concepts

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

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  2. NDARC - NASA Design and Analysis of Rotorcraft

    Science.gov (United States)

    Johnson, Wayne

    2015-01-01

    The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail

  3. NDARC NASA Design and Analysis of Rotorcraft

    Science.gov (United States)

    Johnson, Wayne R.

    2009-01-01

    The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool intended to support both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility; a hierarchy of models; and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with lowfidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single main-rotor and

  4. Micromechatronics modeling, analysis, and design with Matlab

    CERN Document Server

    Giurgiutiu, Victor

    2009-01-01

    Focusing on recent developments in engineering science, enabling hardware, advanced technologies, and software, Micromechatronics: Modeling, Analysis, and Design with MATLAB®, Second Edition provides clear, comprehensive coverage of mechatronic and electromechanical systems. It applies cornerstone fundamentals to the design of electromechanical systems, covers emerging software and hardware, introduces the rigorous theory, examines the design of high-performance systems, and helps develop problem-solving skills. Along with more streamlined material, this edition adds many new sections to exist

  5. The Manipulation of Hydrophobicity in Catalyst Design for Applications of Aerobic Alcohols Oxidation and Electrocatalytic Water Oxidation

    KAUST Repository

    Chen, Batian

    2016-05-17

    Hydrophobicity is the generalized characteristic of non-polar substances that brings about their exclusion from aqueous phases. This property, entropic in its nature, drives key self-assembly and phase separation processes in water. Protein folding, the formation of DNA double helix, the existence of lipid bilayers and the wetting properties of leaf surfaces are all due to hydrophobic interactions. Inspired by Nature, we aimed to use hydrophobicity for creating novel and improved catalytic systems. (I) A number of fluorous amphiphilic star block-copolymers containing a tris(benzyltriazolylmethyl)amine motif have been prepared. These polymers assembled into well-defined nanostructures in water, and their mode of assembly could be controlled by changing the composition of the polymer. The polymers were used for enzyme-inspired catalysis of alcohol oxidation. (II) An enzyme-inspired catalytic system based on a rationally designed multifunctional surfactant was developed. The resulting micelles feature metal-binding sites and stable free radical moieties as well as fluorous pockets that attract and preconcentrate molecular oxygen. In the presence of copper ions, the micelles effect chemoselective aerobic alcohol oxidation under ambient conditions in water, a transformation that is challenging to achieve nonenzymatically. (III) Development of a facile means of photo/electrocatalytic water splitting is one of the main barriers to establishing of a solar hydrogen economy. Of the two half-reactions involved in splitting water into O2 and H2, water oxidation presents the most challenge due to its mechanistic complexity. A practical water oxidation catalyst must be highly active, yet inexpensive and indefinitely stable under harsh oxidative conditions. Here, I shall describe the synthesis of a library of molecular water oxidation catalysts based on the Co complex of tris(2-benzimidazolylmethyl)amine, (BimH)3. A wide range of catalysts differing in their electronic properties

  6. Computation for the analysis of designed experiments

    CERN Document Server

    Heiberger, Richard

    2015-01-01

    Addresses the statistical, mathematical, and computational aspects of the construction of packages and analysis of variance (ANOVA) programs. Includes a disk at the back of the book that contains all program codes in four languages, APL, BASIC, C, and FORTRAN. Presents illustrations of the dual space geometry for all designs, including confounded designs.

  7. Demand analysis and design about NDPDMS

    International Nuclear Information System (INIS)

    Gao Yanfeng; Qian Bing; Wu Jianlei; Zhang Yishu; Shi Wenbin

    1997-01-01

    The authors give a simple introduction to Nuclear Power Engineering Database Plan and Development Management System (NDPDMS), including functions explanation, relations of subsystems, the interface of the system and other applications, etc. The system analysis, conceptual design and logic design are briefed

  8. Development of AIJ Design Analysis and Modules System Version V

    International Nuclear Information System (INIS)

    Yamaguchi, Daisuke

    2017-01-01

    IHI Corp. continues to develop ADAMS system as a steel structure analysis program of nuclear power plant. This paper introduces its latest version, ADAMS-V, with a focus on the development concept, system configuration, and analysis functions. Without changing the reliability of NEWADAMS, which achieved satisfactory results as a structural analysis program for large structures and piping support structures, ADAMS-V abolished command line input and text manipulation on the workstation, enabled intuitive operation via GUI on multiple personal terminals, and switched the analysis input work to the input mainly based on screen display. In addition, it enabled complicated evaluation when multiple loads act on the structure, as well as the evaluation of design evaluation items such as (1) consideration of friction load, (2) local buckling evaluation, (3) architectural hardware evaluation, (4) rigidity evaluation, and (5) welded part evaluation. In addition, it has achieved more efficient work than in the past by forming the common database in collaboration with 3D-CAD shift ISAP and LUNA developed by IHI. (A.O.)

  9. Smart grid fundamentals of design and analysis

    CERN Document Server

    Momoh, James

    2012-01-01

    The book is written as primer hand book for addressing the fundamentals of smart grid. It provides the working definition the functions, the design criteria and the tools and techniques and technology needed for building smart grid. The book is needed to provide a working guideline in the design, analysis and development of Smart Grid. It incorporates all the essential factors of Smart Grid appropriate for enabling the performance and capability of the power system. There are no comparable books which provide information on the how to of the design and analysis. The book prov.

  10. Practical stress analysis in engineering design

    CERN Document Server

    Huston, Ronald

    2008-01-01

    Presents the application of engineering design and analysis based on the approach of understanding the physical characteristics of a given problem and then modeling the important aspects of the physical system. This book covers such topics as contact stress analysis, singularity functions, gear stresses, fasteners, shafts, and shaft stresses.

  11. Systems Analysis and Design: Know Your Audience

    Science.gov (United States)

    Reinicke, Bryan A.

    2012-01-01

    Systems analysis and design (SAD) classes are required in both Information Systems and Accounting programs, but these audiences have very different needs for these skills. This article will review the requirements for SAD within each of these disciplines and compare and contrast the different requirements for teaching systems analysis and design…

  12. Mechatronic Systems Analysis, Design and Implementation

    CERN Document Server

    Boukas, El-Kébir

    2012-01-01

    This book deals with the analysis, the design and the implementation of the mechatronic systems. Classical and modern tools are developed for the analysis and the design for such systems. Robust control, H-Infinity and guaranteed cost control theory are also used for analysis and design of mechatronic systems. Different controller such as state feedback, static output feedback and dynamic output feedback controllers are used to stabilize mechatronic systems. Heuristic algorithms are provided to solve the design of the classical controller such as PID, phase lead, phase lag and phase lead-lag controllers while linear matrix inequalities (LMI) algorithms are provided for finding solutions to the state feedback, static output feedback and dynamic output feedback controllers. The theory presented in the different chapters of the volume is applied to numerical examples to show the usefulness of the theoretical results. Some case studies are also provided to show how the developed concepts apply for real system. Em...

  13. Structural analysis at aircraft conceptual design stage

    Science.gov (United States)

    Mansouri, Reza

    In the past 50 years, computers have helped by augmenting human efforts with tremendous pace. The aircraft industry is not an exception. Aircraft industry is more than ever dependent on computing because of a high level of complexity and the increasing need for excellence to survive a highly competitive marketplace. Designers choose computers to perform almost every analysis task. But while doing so, existing effective, accurate and easy to use classical analytical methods are often forgotten, which can be very useful especially in the early phases of the aircraft design where concept generation and evaluation demands physical visibility of design parameters to make decisions [39, 2004]. Structural analysis methods have been used by human beings since the very early civilization. Centuries before computers were invented; the pyramids were designed and constructed by Egyptians around 2000 B.C, the Parthenon was built by the Greeks, around 240 B.C, Dujiangyan was built by the Chinese. Persepolis, Hagia Sophia, Taj Mahal, Eiffel tower are only few more examples of historical buildings, bridges and monuments that were constructed before we had any advancement made in computer aided engineering. Aircraft industry is no exception either. In the first half of the 20th century, engineers used classical method and designed civil transport aircraft such as Ford Tri Motor (1926), Lockheed Vega (1927), Lockheed 9 Orion (1931), Douglas DC-3 (1935), Douglas DC-4/C-54 Skymaster (1938), Boeing 307 (1938) and Boeing 314 Clipper (1939) and managed to become airborne without difficulty. Evidencing, while advanced numerical methods such as the finite element analysis is one of the most effective structural analysis methods; classical structural analysis methods can also be as useful especially during the early phase of a fixed wing aircraft design where major decisions are made and concept generation and evaluation demands physical visibility of design parameters to make decisions

  14. Analysis and design of SSC underground structures

    International Nuclear Information System (INIS)

    Clark, G.T.

    1993-01-01

    This paper describes the analysis and design of underground structures for the Superconducting Super Collider (SSC) Project. A brief overview of the SSC Project and the types of underground structures are presented. Engineering properties and non-linear behavior of the geologic materials are reviewed. The three-dimensional sequential finite element rock-structure interaction analysis techniques developed by the author are presented and discussed. Several examples of how the method works, specific advantages, and constraints are presented. Finally, the structural designs that resulted from the sequential interaction analysis are presented

  15. 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

  16. DESIGN PACKAGE 1E SYSTEM SAFETY ANALYSIS

    Energy Technology Data Exchange (ETDEWEB)

    M. Salem

    1995-06-23

    The purpose of this analysis is to systematically identify and evaluate hazards related to the Yucca Mountain Project Exploratory Studies Facility (ESF) Design Package 1E, Surface Facilities, (for a list of design items included in the package 1E system safety analysis see section 3). This process is an integral part of the systems engineering process; whereby safety is considered during planning, design, testing, and construction. A largely qualitative approach was used since a radiological System Safety Analysis is not required. The risk assessment in this analysis characterizes the accident scenarios associated with the Design Package 1E structures/systems/components(S/S/Cs) in terms of relative risk and includes recommendations for mitigating all identified risks. The priority for recommending and implementing mitigation control features is: (1) Incorporate measures to reduce risks and hazards into the structure/system/component design, (2) add safety devices and capabilities to the designs that reduce risk, (3) provide devices that detect and warn personnel of hazardous conditions, and (4) develop procedures and conduct training to increase worker awareness of potential hazards, on methods to reduce exposure to hazards, and on the actions required to avoid accidents or correct hazardous conditions.

  17. Force Reflection Control for Master/Slave Tele-manipulators

    International Nuclear Information System (INIS)

    Kang, Min Sig; Kim, Doo Ho; Choi, Sun Il; Kim, Nam Hyung; Lee, Jong Bee

    2009-04-01

    This report concerns on a master/slave tele-manipulator which is used in highly hazardous hot cell. To design a force reflection and fine tracking control for the master-slave telemanipulator, the following has been carried out. (1) Variation of the moment of inertia of each link in the operating angle range, (2) Variation of the gratitational torque of each link in the operating angle range, (3) Dynamic characteristic analysis of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Optimal static output feedback PD-control design by using modal analysis, (5) Controller design for each joint, (6) Adams-MatLab Simulink simulation model development. The results this project are as follows: (1) Program for analysis of the moment of inertia of each link in the operating angle range and simulation results, (2) Program for analysis of the gratitational torque of each link in the operating angle range and simulation results, (3) Dynamic characteristic of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Program for designing optimal output PD-control by using modal analysis, (5) Controller designed for each joint, (6) Adams-MatLab Simulink simulation model, (7) Simulation results form output PD-control, etc

  18. A Content Analysis of Instructional Design and Web Design Books: Implications for Inclusion of Web Design in Instructional Design Textbooks

    Science.gov (United States)

    Obilade, Titilola T.; Burton, John K.

    2015-01-01

    This textual content analysis set out to determine the extent to which the theories, principles, and guidelines in 4 standard books of instructional design and technology were also addressed in 4 popular books on web design. The standard books on instructional design and the popular books on web design were chosen by experts in the fields. The…

  19. Radial basis function (RBF) neural network control for mechanical systems design, analysis and Matlab simulation

    CERN Document Server

    Liu, Jinkun

    2013-01-01

    Radial Basis Function (RBF) Neural Network Control for Mechanical Systems is motivated by the need for systematic design approaches to stable adaptive control system design using neural network approximation-based techniques. The main objectives of the book are to introduce the concrete design methods and MATLAB simulation of stable adaptive RBF neural control strategies. In this book, a broad range of implementable neural network control design methods for mechanical systems are presented, such as robot manipulators, inverted pendulums, single link flexible joint robots, motors, etc. Advanced neural network controller design methods and their stability analysis are explored. The book provides readers with the fundamentals of neural network control system design.   This book is intended for the researchers in the fields of neural adaptive control, mechanical systems, Matlab simulation, engineering design, robotics and automation. Jinkun Liu is a professor at Beijing University of Aeronautics and Astronauti...

  20. Design and analysis of prestressed reactor vessels

    International Nuclear Information System (INIS)

    Burrow, R.E.D.

    1978-01-01

    This review is intended to draw attention to subjects of interest from papers given at two sessions of the SMiRT 4 conference. The first of these is the structural engineering of prestressed reactor vessels. The topics include developments in the general design of prestressed vessels, structural analysis of PCVRs, model tests and design of penetration, closures and liners for PCVRs. The question of gas cracks was amongst other issues raised. The second of the sessions was concerned with loading conditions and structural analysis of reactor containment. Reference is made to a variety of topics discussed in this session. Particular attention is given to the effects caused by missiles. In concluding, the reviewer suggests the need for a critical assessment of the existing mass of information to sort out the essentials and to bring back some simplicity into design analysis. (UK)

  1. Thermal energy systems design and analysis

    CERN Document Server

    Penoncello, Steven G

    2015-01-01

    IntroductionThermal Energy Systems Design and AnalysisSoftwareThermal Energy System TopicsUnits and Unit SystemsThermophysical PropertiesEngineering DesignEngineering EconomicsIntroductionCommon Engineering Economics NomenclatureEconomic Analysis Tool: The Cash Flow DiagramTime Value of MoneyTime Value of Money ExamplesUsing Software to Calculate Interest FactorsEconomic Decision MakingDepreciation and TaxesProblemsAnalysis of Thermal Energy SystemsIntroductionNomenclatureThermophysical Properties of SubstancesSuggested Thermal Energy Systems Analysis ProcedureConserved and Balanced QuantitiesConservation of MassConservation of Energy (The First Law of Thermodynamics)Entropy Balance (The Second Law of Thermodynamics)Exergy Balance: The Combined LawEnergy and Exergy Analysis of Thermal Energy CyclesDetailed Analysis of Thermal Energy CyclesProblemsFluid Transport in Thermal Energy SystemsIntroductionPiping and Tubing StandardsFluid Flow FundamentalsValves and FittingsDesign and Analysis of Pipe NetworksEconomi...

  2. Design analysis of liquid metal pipe supports

    International Nuclear Information System (INIS)

    Margolin, L.L.; LaSalle, F.R.

    1979-02-01

    Design guidelines pertinent to liquid metal pipe supports are presented. The numerous complex conditions affecting the support stiffness and strength are addressed in detail. Topics covered include modeling of supports for natural frequency and stiffness calculations, support hardware components, formulas for deflection due to torsion, plate bending, and out-of-plane flexibility. A sample analysis and a discussion on stress analysis of supports are included. Also presented are recommendations for design improvements for increasing the stiffness of pipe supports and which were utilized in the FFTF system

  3. Essentials of Systems Analysis and Design

    DEFF Research Database (Denmark)

    Kotzab, Herbert

    2010-01-01

    Book review of: Essentials of Systems Analysis and Design: An international version / Joseph V. Valacich, Joey F. George and Jeffrey A. Hoffer. ( Pearson Education Int., 4th edition, 2009. 464 pages. ISBN: 978-0-13-506984-4; 0-13-506984-X)......Book review of: Essentials of Systems Analysis and Design: An international version / Joseph V. Valacich, Joey F. George and Jeffrey A. Hoffer. ( Pearson Education Int., 4th edition, 2009. 464 pages. ISBN: 978-0-13-506984-4; 0-13-506984-X)...

  4. 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...

  5. Manipulating a stated choice experiment

    DEFF Research Database (Denmark)

    Fosgerau, Mogens; Borjesson, Maria

    2015-01-01

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

  6. Modeling of Flexible Beams for Robotic Manipulators

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  7. Computational Chemical Synthesis Analysis and Pathway Design

    Directory of Open Access Journals (Sweden)

    Fan Feng

    2018-06-01

    Full Text Available With the idea of retrosynthetic analysis, which was raised in the 1960s, chemical synthesis analysis and pathway design have been transformed from a complex problem to a regular process of structural simplification. This review aims to summarize the developments of computer-assisted synthetic analysis and design in recent years, and how machine-learning algorithms contributed to them. LHASA system started the pioneering work of designing semi-empirical reaction modes in computers, with its following rule-based and network-searching work not only expanding the databases, but also building new approaches to indicating reaction rules. Programs like ARChem Route Designer replaced hand-coded reaction modes with automatically-extracted rules, and programs like Chematica changed traditional designing into network searching. Afterward, with the help of machine learning, two-step models which combine reaction rules and statistical methods became the main stream. Recently, fully data-driven learning methods using deep neural networks which even do not require any prior knowledge, were applied into this field. Up to now, however, these methods still cannot replace experienced human organic chemists due to their relatively low accuracies. Future new algorithms with the aid of powerful computational hardware will make this topic promising and with good prospects.

  8. Analysis, Control and Design of Walking Robots

    NARCIS (Netherlands)

    van Oort, Gijs

    2011-01-01

    In this thesis five research questions are discussed that are related to the development of two-legged (bipedal) walking robots. The research questions are categorized in three main topics: analysis, control and actuation and design. The research questions are: - How can we analyze the behavior of a

  9. Spinal manipulative therapy versus Graston Technique in the treatment of non-specific thoracic spine pain: Design of a randomised controlled trial

    Directory of Open Access Journals (Sweden)

    Walker Bruce

    2008-10-01

    Full Text Available Abstract Background The one year prevalence of thoracic back pain has been estimated as 17% compared to 64% for neck pain and 67% for low back pain. At present only one randomised controlled trial has been performed assessing the efficacy of spinal manipulative therapy (SMT for thoracic spine pain. In addition no high quality trials have been performed to test the efficacy and effectiveness of Graston Technique® (GT, a soft tissue massage therapy using hand-held stainless steel instruments. The objective of this trial is to determine the efficacy of SMT and GT compared to a placebo for the treatment of non specific thoracic spine pain. Methods Eighty four eligible people with non specific thoracic pain mid back pain of six weeks or more will be randomised to one of three groups, either SMT, GT, or a placebo (de-tuned ultrasound. Each group will receive up to 10 supervised treatment sessions at the Murdoch University Chiropractic student clinic over a 4-week period. Treatment outcomes will be measured at baseline, one week after their first treatment, upon completion of the 4-week intervention period and at three, six and twelve months post randomisation. Outcome measures will include the Oswestry Back Pain Disability Index and the Visual Analogue Scale (VAS. Intention to treat analysis will be utilised in the statistical analysis of any group treatment effects. Trial Registration This trial was registered with the Australia and New Zealand Clinical Trials Registry on the 7th February 2008. Trial number: ACTRN12608000070336

  10. Finite elements for analysis and design

    CERN Document Server

    Akin, J E; Davenport, J H

    1994-01-01

    The finite element method (FEM) is an analysis tool for problem-solving used throughout applied mathematics, engineering, and scientific computing. Finite Elements for Analysis and Design provides a thoroughlyrevised and up-to-date account of this important tool and its numerous applications, with added emphasis on basic theory. Numerous worked examples are included to illustrate the material.Key Features* Akin clearly explains the FEM, a numerical analysis tool for problem-solving throughout applied mathematics, engineering and scientific computing* Basic theory has bee

  11. 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

  12. ANALYSIS OF DOSE RATES DURING REPLACEMENT OF MANIPULATORS IN THE FFTF INTERIM EXAMINATION and MAINTENANCE (IEM) CELL

    International Nuclear Information System (INIS)

    NELSON, J.V.

    2002-01-01

    Replacement of a master-slave manipulator in the Interim Examination and Maintenance Cell at the Fast Flux Test Facility was carried out in August 2001. This operation created a 178-mm opening in the thick concrete wall of the hot cell. To aid in radiological work planning, dose rates outside the penetration in the wall were predicted using MCNP(trademark) photon transport calculations. The predicted dose rate was 7.7 mrem/h, which was reasonably close to the value of 10.4 mrem/h inferred from measurements

  13. Currency Manipulation versus Current Account Manipulation

    OpenAIRE

    Junning Cai

    2005-01-01

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

  14. Limit analysis and design of containment vessels

    International Nuclear Information System (INIS)

    Save, M.

    1984-01-01

    In the introduction, the theory of plastic analysis of shells is briefly recalled. Minimum-volume design for assigned load factor at plastic collapse is then considered and optimality criteria are derived for plates and shells of continuously varying or piecewise-constant thickness. In the first part, containers made of metal are examined. Analytical and numerical limit analysis solutions and corresponding experimental results are considered for various types of vessels, including intersecting shells. Attention is given to experimental post-yield behavior. Some tests up to fracture are discussed. New theoretical and experimental results of limit analysis of stiffened cylindrical vessels are presented, in which reinforcing rings are treated as discrete structural element (no smearing out) and due account is taken of their strong curvature. Cases of collapse by instability under internal pressure are pointed out. Minimum-volume design of circular plates and cylindrical shells is then formulated and various examples are presented of sandwich and solid metal structures. Containers of piecewise-constant thickness are given particular attention. Available experimental evidence on minimum-volume design of plates and shells is reviewed and commented upon. The second part deals with reinforced concrete vessels. Cylindrical containers are studied, from both points of view of limit analysis and of limit design with minimum volume of reinforcement. The practical use of the latter solutions is discussed. A third part reviews other loading cases (including cyclic and impact loads) and gives indications on corresponding theories, formulations and solution methods. The last part is devoted to a discussion of the limitations of the methods presented, within the frame of the 'limit states' design philosophy, which is first briefly recalled. Considerations on further research in the field conclude the paper. (orig.)

  15. Reliability analysis techniques for the design engineer

    International Nuclear Information System (INIS)

    Corran, E.R.; Witt, H.H.

    1982-01-01

    This paper describes a fault tree analysis package that eliminates most of the housekeeping tasks involved in proceeding from the initial construction of a fault tree to the final stage of presenting a reliability analysis in a safety report. It is suitable for designers with relatively little training in reliability analysis and computer operation. Users can rapidly investigate the reliability implications of various options at the design stage and evolve a system which meets specified reliability objectives. Later independent review is thus unlikely to reveal major shortcomings necessitating modification and project delays. The package operates interactively, allowing the user to concentrate on the creative task of developing the system fault tree, which may be modified and displayed graphically. For preliminary analysis, system data can be derived automatically from a generic data bank. As the analysis proceeds, improved estimates of critical failure rates and test and maintenance schedules can be inserted. The technique is applied to the reliability analysis of the recently upgraded HIFAR Containment Isolation System. (author)

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

    Directory of Open Access Journals (Sweden)

    Abdul Kadir Muhammad

    2017-03-01

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

  17. Beam manipulating by metallic nano-slits with variant widths.

    Science.gov (United States)

    Shi, Haofei; Wang, Changtao; Du, Chunlei; Luo, Xiangang; Dong, Xiaochun; Gao, Hongtao

    2005-09-05

    A novel method is proposed to manipulate beam by modulating light phase through a metallic film with arrayed nano-slits, which have constant depth but variant widths. The slits transport electro-magnetic energy in the form of surface plasmon polaritons (SPPs) in nanometric waveguides and provide desired phase retardations of beam manipulating with variant phase propagation constant. Numerical simulation of an illustrative lens design example is performed through finite-difference time-domain (FDTD) method and shows agreement with theory analysis result. In addition, extraordinary optical transmission of SPPs through sub-wavelength metallic slits is observed in the simulation and helps to improve elements' energy using factor.

  18. ARIES-AT safety design and analysis

    Energy Technology Data Exchange (ETDEWEB)

    Petti, D.A. [Idaho National Engineering and Environmental Laboratory, Fusion Safety Program, P.O. Box 1625, Idaho Falls, ID 83415 (United States)]. E-mail: David.Petti@inl.gov; Merrill, B.J. [Idaho National Engineering and Environmental Laboratory, Fusion Safety Program, P.O. Box 1625, Idaho Falls, ID 83415 (United States); Moore, R.L. [Idaho National Engineering and Environmental Laboratory, Fusion Safety Program, P.O. Box 1625, Idaho Falls, ID 83415 (United States); Longhurst, G.R. [Idaho National Engineering and Environmental Laboratory, Fusion Safety Program, P.O. Box 1625, Idaho Falls, ID 83415 (United States); El-Guebaly, L. [Fusion Technology Institute, 1500 Engineering Drive, University of Wisconsin-Madison, Madison, WI 53706 (United States); Mogahed, E. [Fusion Technology Institute, 1500 Engineering Drive, University of Wisconsin-Madison, Madison, WI 53706 (United States); Henderson, D. [Fusion Technology Institute, 1500 Engineering Drive, University of Wisconsin-Madison, Madison, WI 53706 (United States); Wilson, P. [Fusion Technology Institute, 1500 Engineering Drive, University of Wisconsin-Madison, Madison, WI 53706 (United States); Abdou, A. [Fusion Technology Institute, 1500 Engineering Drive, University of Wisconsin-Madison, Madison, WI 53706 (United States)

    2006-01-15

    ARIES-AT is a 1000 MWe conceptual fusion power plant design with a very low projected cost of electricity. The design contains many innovative features to improve both the physics and engineering performance of the system. From the safety and environmental perspective, there is greater depth to the overall analysis than in past ARIES studies. For ARIES-AT, the overall spectrum of off-normal events to be examined has been broadened. They include conventional loss of coolant and loss of flow events, an ex-vessel loss of coolant, and in-vessel off-normal events that mobilize in-vessel inventories (e.g., tritium and tokamak dust) and bypass primary confinement such as a loss of vacuum and an in-vessel loss of coolant with bypass. This broader examination of accidents improves the robustness of the design from the safety perspective and gives additional confidence that the facility can meet the no-evacuation requirement under average weather conditions. We also provide a systematic assessment of the design to address key safety functions such as confinement, decay heat removal, and chemical energy control. In the area of waste management, both the volume of the component and its hazard are used to classify the waste. In comparison to previous ARIES designs, the overall waste volume is less because of the compact design.

  19. 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...

  20. 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

  1. 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)

  2. Reliability analysis techniques for the design engineer

    International Nuclear Information System (INIS)

    Corran, E.R.; Witt, H.H.

    1980-01-01

    A fault tree analysis package is described that eliminates most of the housekeeping tasks involved in proceeding from the initial construction of a fault tree to the final stage of presenting a reliability analysis in a safety report. It is suitable for designers with relatively little training in reliability analysis and computer operation. Users can rapidly investigate the reliability implications of various options at the design stage, and evolve a system which meets specified reliability objectives. Later independent review is thus unlikely to reveal major shortcomings necessitating modification and projects delays. The package operates interactively allowing the user to concentrate on the creative task of developing the system fault tree, which may be modified and displayed graphically. For preliminary analysis system data can be derived automatically from a generic data bank. As the analysis procedes improved estimates of critical failure rates and test and maintenance schedules can be inserted. The computations are standard, - identification of minimal cut-sets, estimation of reliability parameters, and ranking of the effect of the individual component failure modes and system failure modes on these parameters. The user can vary the fault trees and data on-line, and print selected data for preferred systems in a form suitable for inclusion in safety reports. A case history is given - that of HIFAR containment isolation system. (author)

  3. Probabilistic Durability Analysis in Advanced Engineering Design

    Directory of Open Access Journals (Sweden)

    A. Kudzys

    2000-01-01

    Full Text Available Expedience of probabilistic durability concepts and approaches in advanced engineering design of building materials, structural members and systems is considered. Target margin values of structural safety and serviceability indices are analyzed and their draft values are presented. Analytical methods of the cumulative coefficient of correlation and the limit transient action effect for calculation of reliability indices are given. Analysis can be used for probabilistic durability assessment of carrying and enclosure metal, reinforced concrete, wood, plastic, masonry both homogeneous and sandwich or composite structures and some kinds of equipments. Analysis models can be applied in other engineering fields.

  4. MMW [multimegawatt] shielding design and analysis

    International Nuclear Information System (INIS)

    Olson, A.P.

    1988-01-01

    Reactor shielding for multimegawatt (MMW) space power must satisfy a mass constraint as well as performance specifications for neutron fluence and gamma dose. A minimum mass shield is helpful in attaining the launch mass goal for the entire vehicle, because the shield comprises about 1% to 2% of the total vehicle mass. In addition, the shield internal heating must produce tolerable temperatures. The analysis of shield performance for neutrons and gamma rays is emphasized. Topics addressed include cross section preparation for multigroup 2D S/sub n/-transport analyses, and the results of parametric design studies on shadow shield performance and mass versus key shield design variables such as cone angle, number, placement, and thickness of layers of tungsten, and shield top radius. Finally, adjoint methods are applied to the shield in order to spatially map its relative contribution to dose reduction, and to provide insight into further design optimization. 7 refs., 2 figs., 3 tabs

  5. Stress Analysis for Mobile Hot Cell Design

    International Nuclear Information System (INIS)

    Muhammad Hannan Bahrin; Anwar Abdul Rahman; Mohd Arif Hamzah

    2015-01-01

    Prototype and Plant Development Centre (PDC) is developing a Mobile Hot Cell (MHC) to handle and manage Spent High Activity Radioactive Sources (SHARS), such as teletherapy heads and dry irradiators. At present, there are two units of MHC in the world, one in South Africa and the other one in China. Malaysian Mobile MHC is developed by Malaysian Nuclear Agency with the assistance of IAEA expert, based on the design of South Africa and China, but with improved features. Stress analysis has been performed on the design to fulfill the safety requirement in MHC operation. This paper discusses the loading effect analysis from the radiation shielding materials to the MHC wall structure, roof supporting column and window structure. (author)

  6. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2004-01-01

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

  7. ARIES-RS safety design and analysis

    International Nuclear Information System (INIS)

    Steiner, D.; El-Guebaly, L.; Herring, S.; Khater, H.; Mogahed, E.; Thayer, R.; Tillack, M.S.

    1997-01-01

    The ARIES-RS safety design and analysis focused on achieving two objectives: (1) The avoidance of sheltering or evacuation in the event of an accident; and (2) the generation of only low-level waste, no greater than Class C. The ARIES-RS baseline design employs V-4Cr-4Ti as the blanket structural material and a low activation ferritic steel in the reflector and shield. In the event of a LOCA, the baseline design first wall maximum temperature falls in the range of 1100-1200 C. For this temperature range, the hazard assessment indicates that the dose at the site boundary will be less than 1 rem per year. Thus, no sheltering or evacuation would be required in the event of a LOCA. Although the baseline design satisfies the first safety objective noted above, a first wall maximum temperature of ∝1100-1200 C would likely compromise the integrity of the vanadium blanket structure and would require blanket replacement following such a temperature excursion. To avoid this situation, a modified blanket design incorporating supplemental heat removal is also proposed. Preliminary analysis of this modified design suggests that the first wall maximum temperature can be kept below the temperature range of concern, ∝1000-1100 C, in the event of a LOCA. When the ferritic steel used in the reflector and shield is one reduced in Ir and Ag impurities, all in-vessel components qualify for near-surface shallow land burial as Class C low-level waste. (orig.)

  8. Empirical direction in design and analysis

    CERN Document Server

    Anderson, Norman H

    2001-01-01

    The goal of Norman H. Anderson's new book is to help students develop skills of scientific inference. To accomplish this he organized the book around the ""Experimental Pyramid""--six levels that represent a hierarchy of considerations in empirical investigation--conceptual framework, phenomena, behavior, measurement, design, and statistical inference. To facilitate conceptual and empirical understanding, Anderson de-emphasizes computational formulas and null hypothesis testing. Other features include: *emphasis on visual inspection as a basic skill in experimental analysis to help student

  9. ITER containment design-assist analysis

    International Nuclear Information System (INIS)

    Nguyen, T.H.

    1992-03-01

    In this report, the analysis methods, models and assumptions used to predict the pressure and temperature transients in the ITER containment following a loss of coolant accident are presented. The ITER reactor building is divided into 10 different volumes (zones) based on their functional design. The base model presented in this report will be modified in volume 2 in order to determine the peak pressure, the required size of openings between various functional zones and the differential pressures on walls separating these zones

  10. Analysis and design of hybrid control systems

    Energy Technology Data Exchange (ETDEWEB)

    Malmborg, J.

    1998-05-01

    Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales. The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool. To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method 78 refs, 51 figs, 2 tabs

  11. Design and Analysis: Payroll of Accounting Information System

    Directory of Open Access Journals (Sweden)

    Suryanto Suryanto

    2011-05-01

    Full Text Available Purpose of the research are to analyze, design, and recommended the payroll of accounting information system that support the internal control to solve the problem. Research methods used are book studies, field studies, and design studies. Fields studies done by survey and interview. The expected result are to give a review about the payroll of accounting information system in the ongoing business process of company and to solve all the weakness in the payroll system, so the company can use the integrated information system in counting of the payroll. Conclusion that can take from the research are there’s some manipulation risk of attendance data and documentation of form still using a manual system and simple data backup. Then, there’s also manipulation risk in allowance cash system and all the report that include in the payroll.Index Terms - Accounting Information System, Payroll

  12. Analysis and design optimization of flexible pavement

    Energy Technology Data Exchange (ETDEWEB)

    Mamlouk, M.S.; Zaniewski, J.P.; He, W.

    2000-04-01

    A project-level optimization approach was developed to minimize total pavement cost within an analysis period. Using this approach, the designer is able to select the optimum initial pavement thickness, overlay thickness, and overlay timing. The model in this approach is capable of predicting both pavement performance and condition in terms of roughness, fatigue cracking, and rutting. The developed model combines the American Association of State Highway and Transportation Officials (AASHTO) design procedure and the mechanistic multilayer elastic solution. The Optimization for Pavement Analysis (OPA) computer program was developed using the prescribed approach. The OPA program incorporates the AASHTO equations, the multilayer elastic system ELSYM5 model, and the nonlinear dynamic programming optimization technique. The program is PC-based and can run in either a Windows 3.1 or a Windows 95 environment. Using the OPA program, a typical pavement section was analyzed under different traffic volumes and material properties. The optimum design strategy that produces the minimum total pavement cost in each case was determined. The initial construction cost, overlay cost, highway user cost, and total pavement cost were also calculated. The methodology developed during this research should lead to more cost-effective pavements for agencies adopting the recommended analysis methods.

  13. Design and analysis of roll cage

    Science.gov (United States)

    Angadi, Gurusangappa; Chetan, S.

    2018-04-01

    Wildlife fire fighting vehicles are used to extinguish fires in forests, in this process vehicles face falling objects like rocks, tree branches and other objects. Also due to uneven conditions of the terrain like cliff edges, uneven surfaces etc. makes the vehicle to roll over and these can cause injuries to both the driver and the operator. Roll over of a vehicle is a common incident which makes fatal injuries to the operator and also stands next to the crash accidents. In order to reduce the injury level and continuous roll over of the vehicle it is necessary to equip suitable roll cage according to standards of vehicle. In this present work roll cage for pump operator in wildfire fighting vehicle is designed and analysis is carried out in computer simulated environment when seating position of operator seated outside of the cabin. According to NFPA 1906 standards wildlife fire apparatus, Design and Test procedures that are carried out in Hyperworks maintaining SAE J1194.1983 standards. G load case, roof crush analysis and pendulum impact analysis tests are carried out on roll cage to ensure the saftey of design. These load cases are considerd to satisfy the situation faced in forest terrain. In these test procedures roll cage is analysed for stresses and deformation in various load cases. After recording results these are compared with standards mentioned in SAE J1194.1983.

  14. 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)

  15. Analysis and Design of Rolling Stock Elements

    Directory of Open Access Journals (Sweden)

    M. V. Chugunov

    2014-01-01

    Full Text Available The work solves the problem of equal-strength design of the rolling stock elements in option of discrete equal-strength. For this purpose, has been developed the software built in SolidWorks and SolidWorks Simulation as an AddIn-application using necessary basic functionality and extending it in the specified part on the basis of API SolidWorks and COM technology.The SolidWorks software is used to develop a 3D-model for general force frame of the wagon as an assembly. As this assembly is quite complicated and includes many elements both standard, and non-standard type, 3D - specification is developed by 3Dvia Composer software, which is included in the article in the form of the gif-animation and via-roller. This means is very useful for the evident analysis of topology and geometrical properties of a design as a whole, facilitates a procedure of adequate formation of the FE model providing accuracy and profitability of computing. From the point of view of profitability and opportunities of definition of concentrators of stresses with a sufficient accuracy for practice the combined model including volume and shell FEM is optimum.In the work the analysis results of stress-strain state of a design are given in two options of static loading in the form of stress diagrams, the main areas of stress concentration are revealed.Results of equal-strength design in the form of thickness distribution on thin-walled elements of a design, considered within FEM as shells, are received. It is shown that the developed software doesn't allow optimum design results, however it is economically viable, simple in use and can be applied to the solution of problems of rational design in design practice.SolidWorks, as well as the majority of similar CADs, possess an open architecture and allow users to apply its functionality. This work continues a series of publications of the author of this paper and other authors concerning the API-based CAD/CAE adaptation and

  16. Design and analysis of biomedical studies

    DEFF Research Database (Denmark)

    Hansen, Merete Kjær

    been allocated this field. It is utterly important to utilize these ressources responsibly and efficiently by constantly striving to ensure high-quality biomedical studies. This involves the use of a sound statistical methodology regarding both the design and analysis of biomedical studies. The focus...... have conducted a literature study strongly indicating that this structure commonly is neglected in the statistical analysis. Based on this closed-form expressions for the approximate type I error rate are formulated. The type I error rates are assessed for a number of factor combinations as they appear...... in practice and in all cases the type I error rates are demonstrated to be severely inflated. Prior to conducting a study it is important to perform power and sample size determinations to ensure that reliable conclusions can be drawn from the statistical analysis. We have formulated closed-form expressions...

  17. Basic conceptions for reactor pressure vessel manipulators and their evaluation

    International Nuclear Information System (INIS)

    Popp, P.

    1987-01-01

    The study deals with application fields and basic design conceptions of manipulators in reactor pressure vessels as well as their evaluation. It is shown that manipulators supported at the reactor flange have essential advantages

  18. 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.

  19. SHARK-NIR system design analysis overview

    Science.gov (United States)

    Viotto, Valentina; Farinato, Jacopo; Greggio, Davide; Vassallo, Daniele; Carolo, Elena; Baruffolo, Andrea; Bergomi, Maria; Carlotti, Alexis; De Pascale, Marco; D'Orazi, Valentina; Fantinel, Daniela; Magrin, Demetrio; Marafatto, Luca; Mohr, Lars; Ragazzoni, Roberto; Salasnich, Bernardo; Verinaud, Christophe

    2016-08-01

    In this paper, we present an overview of the System Design Analysis carried on for SHARK-NIR, the coronagraphic camera designed to take advantage of the outstanding performance that can be obtained with the FLAO facility at the LBT, in the near infrared regime. Born as a fast-track project, the system now foresees both coronagraphic direct imaging and spectroscopic observing mode, together with a first order wavefront correction tool. The analysis we here report includes several trade-offs for the selection of the baseline design, in terms of optical and mechanical engineering, and the choice of the coronagraphic techniques to be implemented, to satisfy both the main scientific drivers and the technical requirements set at the level of the telescope. Further care has been taken on the possible exploitation of the synergy with other LBT instrumentation, like LBTI. A set of system specifications is then flown down from the upper level requirements to finally ensure the fulfillment of the science drivers. The preliminary performance budgets are presented, both in terms of the main optical planes stability and of the image quality, including the contributions of the main error sources in different observing modes.

  20. Design and analysis of submarine radome

    Science.gov (United States)

    Sandeep, C. Satya; Prasad, U. Shiva; Suresh, R.; Rathan, A.; Sravanthi, G.; Govardhan, D.

    2017-07-01

    Radomes are the electromagnetic windows that protect microwave sub-systems from the environmental effects. The major requirement of radome is its transparency to microwaves and for most of the cases mechanical properties are also equally important. Radome for underwater applications has to withstand high water pressure of the order of 45 bars. Composite materials owing to their high strength to weight ratio, high stiffness and better corrosion resistance are potential source for under water applications. The concept of 'tailoring' the material properties to suit the radome is obtained by selecting proper reinforcement, resin matrix and their compositions. The mechanical properties of composite material, evaluated by testing specimens as per ASTM standards, are utilized in designing the radome. The modulus properties calculated using classical theories of composite materials and compared with test results. ANSYS a Finite Element software package used to analyse the problem. As the cross sectional thickness of radome varies, the complexity in fabrication is overcome by adopting matched die techniques. The radome design and finite element analysis validation concluded by conducting the pressure test on radome. On the design a modal analysis is also carried to check for the natural frequency, So that resonance does not occur if the natural frequency of the radome coincides with the excitation frequency of the submarine Clinical information system (CIS) for UNRWA is a computerized distributed application that used in clinics which follows the United Nations Relief and Works Agency (UNRWA) to manage the clinical requirements and services.

  1. 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)

  2. 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

  3. Optics Program Simplifies Analysis and Design

    Science.gov (United States)

    2007-01-01

    Engineers at Goddard Space Flight Center partnered with software experts at Mide Technology Corporation, of Medford, Massachusetts, through a Small Business Innovation Research (SBIR) contract to design the Disturbance-Optics-Controls-Structures (DOCS) Toolbox, a software suite for performing integrated modeling for multidisciplinary analysis and design. The DOCS Toolbox integrates various discipline models into a coupled process math model that can then predict system performance as a function of subsystem design parameters. The system can be optimized for performance; design parameters can be traded; parameter uncertainties can be propagated through the math model to develop error bounds on system predictions; and the model can be updated, based on component, subsystem, or system level data. The Toolbox also allows the definition of process parameters as explicit functions of the coupled model and includes a number of functions that analyze the coupled system model and provide for redesign. The product is being sold commercially by Nightsky Systems Inc., of Raleigh, North Carolina, a spinoff company that was formed by Mide specifically to market the DOCS Toolbox. Commercial applications include use by any contractors developing large space-based optical systems, including Lockheed Martin Corporation, The Boeing Company, and Northrup Grumman Corporation, as well as companies providing technical audit services, like General Dynamics Corporation

  4. 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...

  5. Repository surface design site layout analysis

    International Nuclear Information System (INIS)

    Montalvo, H.R.

    1998-01-01

    The purpose of this analysis is to establish the arrangement of the Yucca Mountain Repository surface facilities and features near the North Portal. The analysis updates and expands the North Portal area site layout concept presented in the ACD, including changes to reflect the resizing of the Waste Handling Building (WHB), Waste Treatment Building (WTB), Carrier Preparation Building (CPB), and site parking areas; the addition of the Carrier Washdown Buildings (CWBs); the elimination of the Cask Maintenance Facility (CMF); and the development of a concept for site grading and flood control. The analysis also establishes the layout of the surface features (e.g., roads and utilities) that connect all the repository surface areas (North Portal Operations Area, South Portal Development Operations Area, Emplacement Shaft Surface Operations Area, and Development Shaft Surface Operations Area) and locates an area for a potential lag storage facility. Details of South Portal and shaft layouts will be covered in separate design analyses. The objective of this analysis is to provide a suitable level of design for the Viability Assessment (VA). The analysis was revised to incorporate additional material developed since the issuance of Revision 01. This material includes safeguards and security input, utility system input (size and location of fire water tanks and pump houses, potable water and sanitary sewage rates, size of wastewater evaporation pond, size and location of the utility building, size of the bulk fuel storage tank, and size and location of other exterior process equipment), main electrical substation information, redundancy of water supply and storage for the fire support system, and additional information on the storm water retention pond

  6. Dynamic analysis and design of offshore structures

    CERN Document Server

    Chandrasekaran, Srinivasan

    2015-01-01

    This book  attempts to provide readers with an overall idea of various types of offshore platform geometries. It covers the various environmental loads encountered by these structures, a detailed description of the fundamentals of structural dynamics in a class-room style, estimate of damping in offshore structures and their applications in the preliminary analysis and design. Basic concepts of structural dynamics are emphasized through simple illustrative examples and exercises. Design methodologies and guidelines, which are FORM based concepts are explained through a few applied example structures. Each chapter also has tutorials and exercises for self-learning. A dedicated chapter on stochastic dynamics will help the students to extend the basic concepts of structural dynamics to this advanced domain of research. Hydrodynamic response of offshore structures with perforated members is one of the recent research applications, which is found to be one of the effective manner of retrofitting offshore structur...

  7. Design and analysis of gasket cutting machine

    Directory of Open Access Journals (Sweden)

    Vipin V. Gopal

    2016-03-01

    Full Text Available Paper is about the design and analysis of the optimized gasket cutting machine which can be provide to the companies where there is use of gaskets at a certain interval of time. The paper contain the cost optimized machine which is provide at a much lower cost as compared to the machines presently available in the market. This machine can be specifically used for the boiler and refrigeration companies where the gaskets are used to avoid the leakage due to the joining of two different diametric pipes. Inspite of giving a large order of gaskets, they can prepare the same at small rate whenever needed at the location.

  8. Code comparison for accelerator design and analysis

    International Nuclear Information System (INIS)

    Parsa, Z.

    1988-01-01

    We present a comparison between results obtained from standard accelerator physics codes used for the design and analysis of synchrotrons and storage rings, with programs SYNCH, MAD, HARMON, PATRICIA, PATPET, BETA, DIMAD, MARYLIE and RACE-TRACK. In our analysis we have considered 5 (various size) lattices with large and small angles including AGS Booster (10/degree/ bend), RHIC (2.24/degree/), SXLS, XLS (XUV ring with 45/degree/ bend) and X-RAY rings. The differences in the integration methods used and the treatment of the fringe fields in these codes could lead to different results. The inclusion of nonlinear (e.g., dipole) terms may be necessary in these calculations specially for a small ring. 12 refs., 6 figs., 10 tabs

  9. Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg

    International Nuclear Information System (INIS)

    Nam, Yun Joo; Park, Myeong Kwan

    2006-01-01

    In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator

  10. Job analysis for training design and evaluation

    International Nuclear Information System (INIS)

    Andersson, H.; Baeck, P.; Wirstad, J.

    1979-01-01

    The report describes a job analysis method which has been used for competency requirements and training evaluation purposes on three jobs in a Swedish nuclear power station. The jobs are the shift supervisor, the reactor operator and the turbine operator. The method is based on a system analytical approach. Through a topdown analysis of the power generation system a structure is derived which is used for an inventory of possible operator tasks. The primary source for actual task generation was interviews with operators and with other personnel who are cooperating with the operators. The method suggests alternative sources for the task generation when operator interviews are not feasible, e.g. in systems which are being developed or when operator experiences are lacking. The result of the job analysis is a set of typical tasks for each job. These tasks represent the contents of the job to be considered in the planning of job training and for recruitment requirements. The same job analysis method was used for training design and evaluation in a Finnish nuclear power station. The concluding remarks of this report are made in the light of this study also. This report is based on a research project B15/77 from the Swedish Nuclear Power Inspectorate. (author)

  11. 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.)

  12. 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

  13. Permeable treatment wall design and cost analysis

    International Nuclear Information System (INIS)

    Manz, C.; Quinn, K.

    1997-01-01

    A permeable treatment wall utilizing the funnel and gate technology has been chosen as the final remedial solution for one industrial site, and is being considered at other contaminated sites, such as a closed municipal landfill. Reactive iron gates will be utilized for treatment of chlorinated VOCs identified in the groundwater. Alternatives for the final remedial solution at each site were evaluated to achieve site closure in the most cost effective manner. This paper presents the remedial alternatives and cost analyses for each site. Several options are available at most sites for the design of a permeable treatment wall. Our analysis demonstrates that the major cost factor's for this technology are the design concept, length, thickness, location and construction methods for the reactive wall. Minimizing the amount of iron by placement in the most effective area and construction by the lowest cost method is critical to achieving a low cost alternative. These costs dictate the design of a permeable treatment wall, including selection of a variety of alternatives (e.g., a continuous wall versus a funnel and gate system, fully penetrating gates versus partially penetrating gates, etc.). Selection of the appropriate construction methods and materials for the site can reduce the overall cost of the wall

  14. Design and Analysis of Collapsible Scissor Bridge

    Directory of Open Access Journals (Sweden)

    Biro Mohamad Nabil Aklif

    2018-01-01

    Full Text Available Collapsible scissor bridge is a portable bridge that can be deployed during emergency state to access remote areas that are affected by disaster such as flood. The objective of this research is to design a collapsible scissor bridge which is able to be transported by a 4x4 vehicle and to be deployed to connect remote areas. The design is done by using Solidworks and numerical analysis for structural strength is conducted via ANSYS. The research starts with parameters setting and modelling. Finite element analysis is conducted to analyze the strength by determining the safety factor of the bridge. Kutzbach equation is also analyzed to ensure that the mechanism is able to meet the targeted degree of motion. There are five major components of the scissor structure; pin, deck, cross shaft and deck shaft. The structure is controlled by hydraulic pump driven by a motor for the motions. Material used in simulation is A36 structural steel due to limited library in ANSYS. However, the proposed material is Fiber Reinforced Polymer (FRP composites as they have a high strength to weight ratio. FRP also tends to be corrosion resistance and this characteristic is useful in flooded area.

  15. 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

  16. 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.

  17. 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.

  18. Animated Character Analysis and Costume Design with Structured Analysis

    OpenAIRE

    Yıldırım Artaç, Berna; Ağaç, Saliha

    2016-01-01

    In various genres, costumes complement fictional characters and not onlyconstitute the external appearance of the fictional character, but are alsoused for purposes of fun or style by fans who dress up as the character andinternalize that character’s state of mind. This phenomenon is calledcosplay. A literature review of the field has revealed no study made previouslyon the cosplay costume design process according to character analysis. Thepresent study emphasizes the link between an...

  19. Analysis the effect of different geometries of AFM's cantilever on the dynamic behavior and the critical forces of three-dimensional manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Korayem, Moharam Habibnejad, E-mail: hkorayem@iust.ac.ir; Saraie, Maniya B.; Saraee, Mahdieh B.

    2017-04-15

    An important challenge when using an atomic force microscope (AFM) is to be able to control the force exerted by the AFM for performing various tasks. Nevertheless, the exerted force is proportional to the deflection of the AFM cantilever, which itself is affected by a cantilever's stiffness coefficient. Many papers have been published so far on the methods of obtaining the stiffness coefficients of AFM cantilevers in 2D; however, a comprehensive model is yet to be presented on 3D cantilever motion. The discrepancies between the equations of the 2D and 3D analysis are due to the number and direction of forces and moments that are applied to a cantilever. Moreover, in the 3D analysis, contrary to the 2D analysis, due to the interaction between the forces and moments applied on a cantilever, its stiffness values cannot be separately expressed for each direction; and instead, a stiffness matrix should be used to correctly derive the relevant equations. In this paper, 3D stiffness coefficient matrices have been obtained for three common cantilever geometries including the rectangular, V-shape and dagger-shape cantilevers. The obtained equations are validated by two methods. In the first approach, the Finite Element Method is combined with the cantilever deflection values computed by using the obtained stiffness matrices. In the second approach, by reducing the problem's parameters, the forces applied on a cantilever along different directions are compared with each other in 2D and 3D cases. Then the 3D manipulation of a stiff nanoparticle is modeled and simulated by using the stiffness matrices obtained for the three cantilever geometries. The obtained results indicate that during the manipulation process, the dagger-shaped and rectangular cantilevers exert the maximum and minimum amounts of forces on the stiff nanoparticle, respectively. Also, by examining the effects of different probe tip geometries, it is realized that a probe tip of cylindrical geometry

  20. Analysis the effect of different geometries of AFM's cantilever on the dynamic behavior and the critical forces of three-dimensional manipulation

    International Nuclear Information System (INIS)

    Korayem, Moharam Habibnejad; Saraie, Maniya B.; Saraee, Mahdieh B.

    2017-01-01

    An important challenge when using an atomic force microscope (AFM) is to be able to control the force exerted by the AFM for performing various tasks. Nevertheless, the exerted force is proportional to the deflection of the AFM cantilever, which itself is affected by a cantilever's stiffness coefficient. Many papers have been published so far on the methods of obtaining the stiffness coefficients of AFM cantilevers in 2D; however, a comprehensive model is yet to be presented on 3D cantilever motion. The discrepancies between the equations of the 2D and 3D analysis are due to the number and direction of forces and moments that are applied to a cantilever. Moreover, in the 3D analysis, contrary to the 2D analysis, due to the interaction between the forces and moments applied on a cantilever, its stiffness values cannot be separately expressed for each direction; and instead, a stiffness matrix should be used to correctly derive the relevant equations. In this paper, 3D stiffness coefficient matrices have been obtained for three common cantilever geometries including the rectangular, V-shape and dagger-shape cantilevers. The obtained equations are validated by two methods. In the first approach, the Finite Element Method is combined with the cantilever deflection values computed by using the obtained stiffness matrices. In the second approach, by reducing the problem's parameters, the forces applied on a cantilever along different directions are compared with each other in 2D and 3D cases. Then the 3D manipulation of a stiff nanoparticle is modeled and simulated by using the stiffness matrices obtained for the three cantilever geometries. The obtained results indicate that during the manipulation process, the dagger-shaped and rectangular cantilevers exert the maximum and minimum amounts of forces on the stiff nanoparticle, respectively. Also, by examining the effects of different probe tip geometries, it is realized that a probe tip of cylindrical geometry exerts the

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

    Science.gov (United States)

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

    2015-02-01

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

  2. Analysis and design of energy systems

    International Nuclear Information System (INIS)

    Bajura, R.A.; Marston, C.H.; Tstsaronis, G.

    1989-01-01

    The 1980s saw growing public awareness of environmental issues. Events such as an unusually hot and dry summer in parts of the world, contamination of community drinking water supplies by leakage from abandoned waste disposal sites, and the discovery of a hole in the ozone layer in the upper stratosphere over Antarctica made headlines in the popular press. The long-range impact of these events on the environment or on human health is still being debated by the scientific and technical communities. In the interim, however, it is prudent to mitigate any possible environmental problems by continuing to develop high-efficiency energy utilization systems that are also cost effective and environmentally sound. High-efficiency fossil energy systems have a number of environmental benefits: carbon dioxide production is reduced and this, in turn, reduces the potential environmental insult which may occur during resource extraction or shipping. Thermodynamic analysis coupled with economic analysis is a useful tool to identify practical, high-efficiency systems. The Symposium on the Analysis and Design of Energy Systems is intended to provide a forum to present both advances in analytical techniques for this type of system and case studies applying these techniques

  3. 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.

  4. 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

  5. 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.

  6. 3D investigation of dynamic behavior and sensitivity analysis of the parameters of spherical biological particles in the first phase of AFM-based manipulations with the consideration of humidity effect.

    Science.gov (United States)

    Korayem, M H; Mahmoodi, Z; Mohammadi, M

    2018-01-07

    The imaging and manipulation tools being the same in an AFM has necessitated the modeling and simulation of the AFM-based manipulation processes. In earlier studies, the dynamic behavior of biological particles in the course of manipulation has been modeled and simulated two-dimensionally. Now, with the advancements made in the modeling techniques, a 3D model of the manipulation of biological particles is more accurate than its 2D counterpart. In this paper, the effect of humidity has been taken into consideration in the three-dimensional modeling of the manipulation. By employing this model, the equations for the motion modes of particles (sliding, rolling, and spinning) at the onset of movement have been derived and the critical force magnitude has been obtained. In order to reduce the potential damage to the manipulated biological particle, the maximum radius of the tip has been determined. The effective parameters in this process have been extracted by performing sensitivity analysis using the Sobol method. In comparison to the results obtained for a dry environment, the results obtained by simulating the manipulation of a yeast particle in a wet environment shows that the critical force for the onset of particle movement diminishes by considering the moisture effect (high humidity levels). The parameters influencing the magnitude of the critical force include the particle radius, particle material, surface energy of the chosen substrate, amount of preload and the contact angle. Also, the results of the performed sensitivity analysis indicate a very high influence of particle radius on the critical manipulation force and a very low impact of cantilever width on the critical force. Copyright © 2017 Elsevier Ltd. All rights reserved.

  7. Comparative Modal Analysis of Sieve Hardware Designs

    Science.gov (United States)

    Thompson, Nathaniel

    2012-01-01

    The CMTB Thwacker hardware operates as a testbed analogue for the Flight Thwacker and Sieve components of CHIMRA, a device on the Curiosity Rover. The sieve separates particles with a diameter smaller than 150 microns for delivery to onboard science instruments. The sieving behavior of the testbed hardware should be similar to the Flight hardware for the results to be meaningful. The elastodynamic behavior of both sieves was studied analytically using the Rayleigh Ritz method in conjunction with classical plate theory. Finite element models were used to determine the mode shapes of both designs, and comparisons between the natural frequencies and mode shapes were made. The analysis predicts that the performance of the CMTB Thwacker will closely resemble the performance of the Flight Thwacker within the expected steady state operating regime. Excitations of the testbed hardware that will mimic the flight hardware were recommended, as were those that will improve the efficiency of the sieving process.

  8. Sustainable process design & analysis of hybrid separations

    DEFF Research Database (Denmark)

    Kumar Tula, Anjan; Befort, Bridgette; Garg, Nipun

    2016-01-01

    Distillation is an energy intensive operation in chemical process industries. There are around 40,000 distillation columns in operation in the US, requiring approximately 40% of the total energy consumption in US chemical process industries. However, analysis of separations by distillation has...... shown that more than 50% of energy is spent in purifying the last 5-10% of the distillate product. Membrane modules on the other hand can achieve high purity separations at lower energy costs, but if the flux is high, it requires large membrane area. A hybrid scheme where distillation and membrane...... modules are combined such that each operates at its highest efficiency, has the potential for significant energy reduction without significant increase of capital costs. This paper presents a method for sustainable design of hybrid distillation-membrane schemes with guaranteed reduction of energy...

  9. NIF ICCS network design and loading analysis

    International Nuclear Information System (INIS)

    Tietbohl, G; Bryant, R

    1998-01-01

    The National Ignition Facility (NIF) is housed within a large facility about the size of two football fields. The Integrated Computer Control System (ICCS) is distributed throughout this facility and requires the integration of about 40,000 control points and over 500 video sources. This integration is provided by approximately 700 control computers distributed throughout the NIF facility and a network that provides the communication infrastructure. A main control room houses a set of seven computer consoles providing operator access and control of the various distributed front-end processors (FEPs). There are also remote workstations distributed within the facility that allow provide operator console functions while personnel are testing and troubleshooting throughout the facility. The operator workstations communicate with the FEPs which implement the localized control and monitoring functions. There are different types of FEPs for the various subsystems being controlled. This report describes the design of the NIF ICCS network and how it meets the traffic loads that will are expected and the requirements of the Sub-System Design Requirements (SSDR's). This document supersedes the earlier reports entitled Analysis of the National Ignition Facility Network, dated November 6, 1996 and The National Ignition Facility Digital Video and Control Network, dated July 9, 1996. For an overview of the ICCS, refer to the document NIF Integrated Computer Controls System Description (NIF-3738)

  10. Economic analysis of KNGR's conceptual design

    International Nuclear Information System (INIS)

    Roh, Myung-Sub; Chung, Kyung-Nam; Hong, Jang-Hee

    1997-01-01

    During the last two decades in Korea, with the rapid economic growth and industrialization, nuclear power has played an important role in electric power production. At present, Korea has 11 nuclear units in operation with total installed capacity of 9,916MWe and 7 units under construction with total capacity of 6,100MWe. An advanced reactor development program, called Korean Next Generation Reactor (KNGR), has been started for the coming 21st century. It aims to enhance safety features compared to existing plants and follow the target to maintain the economic competitiveness of nuclear energy with alternative energy sources. In order to meet these requirements, a number of technical and economical factors have been taken into the program. These factors include the economy of plant size, design simplification and optimization, and reduction of construction period. This paper addresses the preliminary economic analysis results for the KNGR design. It is indicated that KNGR has about 17% economic advantage compared to the current 1,000 MWe PWR. This paper also describes some of the experiences gained and important factors related to reducing the investment and operation costs. 5 refs., 2 figs., 5 tabs

  11. Development of shielding design analysis system

    International Nuclear Information System (INIS)

    Tada, Keiko; Shiraki, Takako

    2001-03-01

    The aim of this work is to develop insufficient auxiliary routines which manage input and output data and interface the main codes and to establish a shielding design analysis system on work stations (SUN, DEC). In shielding design analyses, one- and two- dimensional (1-D and 2-D) transport Sn codes are used mainly with some auxiliary codes which generate input data of Sn calculation and edit Sn calculation outputs. The main transport calculation codes can be obtained from the Code Center of RIST (Research Organization for Information Science and Technology). In this work, peripheral codes are developed to generate cross sections, produce Sn quadrature sets, edit calculation outputs or draw contour figures. In shielding calculations around a reactor, the boot-strapping technique is often employed to treat a large area extending from the core to the biological shield to improve the calculation accuracy. When a three-dimensional (3-D) calculation for a complex geometry with shielding defects, 2-D and 3-D coupling calculation is employed frequently. To use this coupling method conversion cods are prepared which read flux file from DORT and prepare an external boundary source file for the 2-D or the 3-D calculation codes. For further conveniences well used data such as the Sn quadrature sets, the dose rate conversion factors, the reaction cross section sets are stored as a data base and code manuals including sample inputs of typical problems are prepared which are comprehensible to beginners. (author)

  12. 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

  13. Comparative study between different simple methods manipulating ratio spectra for the analysis of alogliptin and metformin co-formulated with highly different concentrations.

    Science.gov (United States)

    Zaghary, Wafaa A; Mowaka, Shereen; Hassan, Mostafa A; Ayoub, Bassam M

    2017-11-05

    Different simple spectrophotometric methods were developed for simultaneous determination of alogliptin and metformin manipulating their ratio spectra with successful application on recently approved combination, Kazano® tablets. Spiking was implemented to detect alogliptin in spite of its low contribution in the pharmaceutical formulation as low quantity in comparison to metformin. Linearity was acceptable over the concentration range of 2.5-25.0μg/mL and 2.5-15.0μg/mL for alogliptin and metformin, respectively using derivative ratio, ratio subtraction coupled with extended ratio subtraction and spectrum subtraction coupled with constant multiplication. The optimized methods were compared using one-way analysis of variance (ANOVA) and proved to be accurate for assay of the investigated drugs in their pharmaceutical dosage form. Copyright © 2017 Elsevier B.V. All rights reserved.

  14. 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.

  15. 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

  16. 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)

  17. 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

  18. 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)

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

    International Nuclear Information System (INIS)

    Khosla, P.K.; Kanade, Takeo

    1996-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Khosla, P.K.; Kanade, Takeo

    1996-12-31

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

  1. 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)

  2. 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.

  3. 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...

  4. List manipulation in Turbo Prolog

    Directory of Open Access Journals (Sweden)

    V.Cotelea

    1995-06-01

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

  5. Houdini: Site and locomotion analysis-driven design of an in-tank mobile cleanup robot

    International Nuclear Information System (INIS)

    Schempf, H.

    1995-10-01

    This paper describes design and locomotion analysis efforts to develop a new reconfigurable and collapsible working machine, dubbed Houdini, to remotely clean up hazardous-waste and petroleum storage tanks. The tethered robot system is designed to allow remote entry through man-way openings as small as 0.61 m in diameter, after which it expands its locomotors and opens up its collapsible backhoe/manipulator and plow to subsequently perform waste or material handling operations. The design is optimized to meet stringent site and safety requirements, and represents a viable alternative to (1) the long-reach manipulation systems proposed for hazardous storage tank cleanup, and (2) confined-entry manual cleanup approaches. The system development has been funded to provide waste mobilization and removal solutions for the hazardous waste storage tanks in the Department of Energy (DoE) Fernald and Oak Ridge complexes. Other potential applications areas are the cleanup of heavy-crude petroleum storage tanks. The author has developed a fully operational prototype which is currently undergoing testing

  6. Design analysis report for the canister

    International Nuclear Information System (INIS)

    Raiko, Heikki; Sandstroem, Rolf; Ryden, Haakan; Johansson, Magnus

    2010-04-01

    The mechanical strength of the canister (BWR and PWR types) has been studied. The loading processes are taken from the design premises report and some of them, especially the uneven bentonite swelling cases, are further developed in this study and in its references. The canister geometry is described in detail including the manufacturing tolerances of the dimensions. The canister material properties are summarised and the wide material testing programmes and model developments are referenced. The combination of various load cases are rationalised and the conservative combinations are defined. Also the probabilities of various load cases and combinations are assessed for setting reasonable safety margins. The safety margins are used according to ASME Code principles for safety class 1 components. The governing load cases are analysed with 2D- or global 3D-finite-element models including large deformation and non-linear material modelling and, in some cases, also creep. The integrity assessments are partly made from the stress and strain results using global models and partly from fracture resistance analyses using the sub-modelling technique. The sub-model analyses utilize the deformations from the global analyses as constraints on the sub-model boundaries and more detailed finite-element meshes are defined with defects included in the models together with elastic-plastic material models. The J-integral is used as the fracture parameter for the postulated defects. The allowable defect sizes are determined using the measured fracture resistance curves of the insert iron as a reference with respective safety factors according to the ASME Pressure Vessel Code requirements. Based on the BWR canister analyses, the following conclusions can be drawn. The 45 MPa isostatic pressure load case shows very robust and distinct results in that the risk for local collapse is vanishingly small. The probabilistic analysis of plastic collapse only considers the initial local collapse

  7. Adaptive hybrid control of manipulators

    Science.gov (United States)

    Seraji, H.

    1987-01-01

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

  8. 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.

  9. Exergy analysis of an IGCC design configuration for Plant Wansley

    International Nuclear Information System (INIS)

    Tsatsaronis, G.; Tawfik, T.; Lin, L.; Gallaspy, D.T.

    1989-01-01

    An integrated gasification-combined-cycle power plant design was developed for Georgia Power Company's Plant Wansley. This paper discusses the plant configuration and presents the most important results obtained from a detailed exergy analysis of the plant design. This analysis will be completed in a subsequent paper through an exergoeconomic analysis to identify design improvements for reducing the electricity cost

  10. Wave Manipulation by Topology Optimization

    DEFF Research Database (Denmark)

    Andkjær, Jacob Anders

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

  11. Analysis and monitoring design for networks

    Energy Technology Data Exchange (ETDEWEB)

    Fedorov, V.; Flanagan, D.; Rowan, T.; Batsell, S.

    1998-06-01

    The idea of applying experimental design methodologies to develop monitoring systems for computer networks is relatively novel even though it was applied in other areas such as meteorology, seismology, and transportation. One objective of a monitoring system should always be to collect as little data as necessary to be able to monitor specific parameters of the system with respect to assigned targets and objectives. This implies a purposeful monitoring where each piece of data has a reason to be collected and stored for future use. When a computer network system as large and complex as the Internet is the monitoring subject, providing an optimal and parsimonious observing system becomes even more important. Many data collection decisions must be made by the developers of a monitoring system. These decisions include but are not limited to the following: (1) The type data collection hardware and software instruments to be used; (2) How to minimize interruption of regular network activities during data collection; (3) Quantification of the objectives and the formulation of optimality criteria; (4) The placement of data collection hardware and software devices; (5) The amount of data to be collected in a given time period, how large a subset of the available data to collect during the period, the length of the period, and the frequency of data collection; (6) The determination of the data to be collected (for instance, selection of response and explanatory variables); (7) Which data will be retained and how long (i.e., data storage and retention issues); and (8) The cost analysis of experiments. Mathematical statistics, and, in particular, optimal experimental design methods, may be used to address the majority of problems generated by 3--7. In this study, the authors focus their efforts on topics 3--5.

  12. 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)

  13. 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...

  14. TPX: Contractor preliminary design review. Volume 3, Design and analysis

    International Nuclear Information System (INIS)

    1995-01-01

    Several models have been formed for investigating the maximum electromagnetic loading and magnetic field levels associated with the Tokamak Physics eXperiment (TPX) superconducting Poloidal Field (PF) coils. The analyses have been performed to support the design of the individual fourteen hoop coils forming the PF system. The coils have been sub-divided into three coil systems consisting of the central solenoid (CS), PF5 coils, and the larger radius PF6 and PF7 coils. Various electromagnetic analyses have been performed to determine the electromagnetic loadings that the coils will experience during normal operating conditions, plasma disruptions, and fault conditions. The loadings are presented as net body forces acting individual coils, spatial variations throughout the coil cross section, and force variations along the path of the conductor due to interactions with the TF coils. Three refined electromagnetic models of the PF coil system that include a turn-by-turn description of the fields and forces during a worst case event are presented in this report. A global model including both the TF and PF system was formed to obtain the force variations along the path of the PF conductors resulting from interactions with the TF currents. In addition to spatial variations, the loadings are further subdivided into time-varying and steady components so that structural fatigue issues can be addressed by designers and analysts. Other electromagnetic design issues such as the impact of the detailed coil designs on field errors are addressed in this report. Coil features that are analyzed include radial transitions via short jogs vs. spiral type windings and the effects of layer-to-layer rotations (i.e clocking) on the field errors

  15. TPX: Contractor preliminary design review. Volume 3, Design and analysis

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-06-30

    Several models have been formed for investigating the maximum electromagnetic loading and magnetic field levels associated with the Tokamak Physics eXperiment (TPX) superconducting Poloidal Field (PF) coils. The analyses have been performed to support the design of the individual fourteen hoop coils forming the PF system. The coils have been sub-divided into three coil systems consisting of the central solenoid (CS), PF5 coils, and the larger radius PF6 and PF7 coils. Various electromagnetic analyses have been performed to determine the electromagnetic loadings that the coils will experience during normal operating conditions, plasma disruptions, and fault conditions. The loadings are presented as net body forces acting individual coils, spatial variations throughout the coil cross section, and force variations along the path of the conductor due to interactions with the TF coils. Three refined electromagnetic models of the PF coil system that include a turn-by-turn description of the fields and forces during a worst case event are presented in this report. A global model including both the TF and PF system was formed to obtain the force variations along the path of the PF conductors resulting from interactions with the TF currents. In addition to spatial variations, the loadings are further subdivided into time-varying and steady components so that structural fatigue issues can be addressed by designers and analysts. Other electromagnetic design issues such as the impact of the detailed coil designs on field errors are addressed in this report. Coil features that are analyzed include radial transitions via short jogs vs. spiral type windings and the effects of layer-to-layer rotations (i.e clocking) on the field errors.

  16. Sensitivity Analysis Applied in Design of Low Energy Office Building

    DEFF Research Database (Denmark)

    Heiselberg, Per; Brohus, Henrik

    2008-01-01

    satisfies the design requirements and objectives. In the design of sustainable Buildings it is beneficial to identify the most important design parameters in order to develop more efficiently alternative design solutions or reach optimized design solutions. A sensitivity analysis makes it possible...

  17. Application of Sensitivity Analysis in Design of Sustainable Buildings

    DEFF Research Database (Denmark)

    Heiselberg, Per; Brohus, Henrik; Hesselholt, Allan Tind

    2007-01-01

    satisfies the design requirements and objectives. In the design of sustainable Buildings it is beneficial to identify the most important design parameters in order to develop more efficiently alternative design solutions or reach optimized design solutions. A sensitivity analysis makes it possible...

  18. The Analysis of Silver Nanoparticles After the Manipulation of Synthesis Parameters and with the Addition of Potassium 2-(9-Carboxy-1-Octylnonylsulfanyl)-Malonate

    International Nuclear Information System (INIS)

    Chin, S.Y.; Hakam, M.A.O.; Goh, S.C.; Yarmo, M.A.

    2011-01-01

    This research aimed to synthesize and characterize silver nanoparticles by manipulating the parameters involved in stabilizing the particles. The silver nanoparticles in this research were synthesized by reduction process of silver nitrate (AgNO 3 ) with sodium borohydrate (NaBH 4 ) as the reducing agent. The addition of potassium 2- (9-carboxy-1-octylnonylsulfanyl)-malonate into silver nanoparticles solution functioned as a stabilizing agent. The parameters involved in this research were the effect of time towards stability of silver nanoparticles, the effect of addition of potassium 2-(9-carboxy-1-octylnonylsulfanyl)- malonate and the pH level effect towards the synthesized silver nanoparticles. Based on the results obtained from Transmission Electron Microscopy (TEM), we have observed that the incorporation of potassium 2-(9-carboxy-1- octyl-nonanesulfonyl)-malonate as the stabilizing agent can prevent the agglomeration of silver nanoparticles within 16 days which is a breakthrough for the synthesis of silver nanoparticles by using sodium borohydride. The micrograph showed that the size of silver nanoparticles synthesized were within the range of 1.5 nm to 8.3 nm. In addition to that, Dynamic Light Scattering (DLS) technique was used in this research to measure the average size of the silver nanoparticles which stabilized with potassium 2-(9-carboxy-1-octyl-nonanesulfonyl)-malonate. X-Ray Diffraction (XRD) analysis was carried out to view the effect of manipulated pH level on crystalline silver nanoparticles structure. The XRD diffractogram showed the diffraction peaks which can be indexed to planes of face- centered cubic (fcc) of pure silver. (author)

  19. Integration of rocket turbine design and analysis through computer graphics

    Science.gov (United States)

    Hsu, Wayne; Boynton, Jim

    1988-01-01

    An interactive approach with engineering computer graphics is used to integrate the design and analysis processes of a rocket engine turbine into a progressive and iterative design procedure. The processes are interconnected through pre- and postprocessors. The graphics are used to generate the blade profiles, their stacking, finite element generation, and analysis presentation through color graphics. Steps of the design process discussed include pitch-line design, axisymmetric hub-to-tip meridional design, and quasi-three-dimensional analysis. The viscous two- and three-dimensional analysis codes are executed after acceptable designs are achieved and estimates of initial losses are confirmed.

  20. Application of Sensitivity Analysis in Design of Sustainable Buildings

    DEFF Research Database (Denmark)

    Heiselberg, Per; Brohus, Henrik; Rasmussen, Henrik

    2009-01-01

    satisfies the design objectives and criteria. In the design of sustainable buildings, it is beneficial to identify the most important design parameters in order to more efficiently develop alternative design solutions or reach optimized design solutions. Sensitivity analyses make it possible to identify...... possible to influence the most important design parameters. A methodology of sensitivity analysis is presented and an application example is given for design of an office building in Denmark....

  1. Nonfunctional requirements in systems analysis and design

    CERN Document Server

    Adams, Kevin MacG

    2015-01-01

    This book will help readers gain a solid understanding of non-functional requirements inherent in systems design endeavors. It contains essential information for those who design, use, and maintain complex engineered systems, including experienced designers, teachers of design, system stakeholders, and practicing engineers. Coverage approaches non-functional requirements in a novel way by presenting a framework of four systems concerns into which the 27 major non-functional requirements fall: sustainment, design, adaptation, and viability. Within this model, the text proceeds to define each non-functional requirement, to specify how each is treated as an element of the system design process, and to develop an associated metric for their evaluation. Systems are designed to meet specific functional needs. Because non-functional requirements are not directly related to tasks that satisfy these proposed needs, designers and stakeholders often fail to recognize the importance of such attributes as availability, su...

  2. Design and Analysis of Offshore Macroalgae Biorefineries.

    Science.gov (United States)

    Golberg, Alexander; Liberzon, Alexander; Vitkin, Edward; Yakhini, Zohar

    2018-03-15

    Displacing fossil fuels and their derivatives with renewables, and increasing sustainable food production are among the major challenges facing the world in the coming decades. A possible, sustainable direction for addressing this challenge is the production of biomass and the conversion of this biomass to the required products through a complex system coined biorefinery. Terrestrial biomass and microalgae are possible sources; however, concerns over net energy balance, potable water use, environmental hazards, and uncertainty in the processing technologies raise questions regarding their actual potential to meet the anticipated food, feed, and energy challenges in a sustainable way. Alternative sustainable sources for biorefineries are macroalgae grown and processed offshore. However, implementation of the offshore biorefineries requires detailed analysis of their technological, economic, and environmental performance. In this chapter, the basic principles of marine biorefineries design are shown. The methods to integrate thermodynamic efficiency, investment, and environmental aspects are discussed. The performance improvement by development of new cultivation methods that fit macroalgae physiology and development of new fermentation methods that address macroalgae unique chemical composition is shown.

  3. Automating risk analysis of software design models.

    Science.gov (United States)

    Frydman, Maxime; Ruiz, Guifré; Heymann, Elisa; César, Eduardo; Miller, Barton P

    2014-01-01

    The growth of the internet and networked systems has exposed software to an increased amount of security threats. One of the responses from software developers to these threats is the introduction of security activities in the software development lifecycle. This paper describes an approach to reduce the need for costly human expertise to perform risk analysis in software, which is common in secure development methodologies, by automating threat modeling. Reducing the dependency on security experts aims at reducing the cost of secure development by allowing non-security-aware developers to apply secure development with little to no additional cost, making secure development more accessible. To automate threat modeling two data structures are introduced, identification trees and mitigation trees, to identify threats in software designs and advise mitigation techniques, while taking into account specification requirements and cost concerns. These are the components of our model for automated threat modeling, AutSEC. We validated AutSEC by implementing it in a tool based on data flow diagrams, from the Microsoft security development methodology, and applying it to VOMS, a grid middleware component, to evaluate our model's performance.

  4. Manipulation of Cash-Settled Futures Contracts.

    OpenAIRE

    Pirrong, Craig

    2001-01-01

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

  5. 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...

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

    Energy Technology Data Exchange (ETDEWEB)

    BLACK, DEREK; GRUPINSKI, STEPHEN

    1998-10-08

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

  7. Study on integrated design and analysis platform of NPP

    International Nuclear Information System (INIS)

    Lu Dongsen; Gao Zuying; Zhou Zhiwei

    2001-01-01

    Many calculation software have been developed to nuclear system's design and safety analysis, such as structure design software, fuel design and manage software, thermal hydraulic analysis software, severe accident simulation software, etc. This study integrates those software to a platform, develops visual modeling tool for Retran, NGFM90. And in this platform, a distribution calculation method is also provided for couple calculation between different software. The study will improve the design and analysis of NPP

  8. Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

    Science.gov (United States)

    Shao, Zhu-Feng; Mo, Jiao; Tang, Xiao-Qiang; Wang, Li-Ping

    2017-11-01

    Performance index is the standard of performance evaluation, and is the foundation of both performance analysis and optimal design for the parallel manipulator. Seeking the suitable kinematic indices is always an important and challenging issue for the parallel manipulator. So far, there are extensive studies in this field, but few existing indices can meet all the requirements, such as simple, intuitive, and universal. To solve this problem, the matrix orthogonal degree is adopted, and generalized transmission indices that can evaluate motion/force transmissibility of fully parallel manipulators are proposed. Transmission performance analysis of typical branches, end effectors, and parallel manipulators is given to illustrate proposed indices and analysis methodology. Simulation and analysis results reveal that proposed transmission indices possess significant advantages, such as normalized finite (ranging from 0 to 1), dimensionally homogeneous, frame-free, intuitive and easy to calculate. Besides, proposed indices well indicate the good transmission region and relativity to the singularity with better resolution than the traditional local conditioning index, and provide a novel tool for kinematic analysis and optimal design of fully parallel manipulators.

  9. SIMION, Electrostatic Lens Analysis and Design

    International Nuclear Information System (INIS)

    Dahl, David A.

    2001-01-01

    1 - Description of program or function: SIMION is an electrostatic lens analysis and design program. In SIMION an electrostatic lens is defined as a two-dimensional electrostatic potential array containing both electrode and non-electrode points. The potential array is refined using over-relaxation methods allowing voltage contours and ion trajectories to be computed and plotted. Planar and cylindrical symmetry assumptions allow the two-dimensional fields to support three-dimensional ion trajectory calculations. In addition, the user has the option of writing simple programs which can among other actions control field scale factors, dynamically adjust electrodes, and define explicit three-dimensional field functions (e.g. a quadrupole) used in lieu of array fields in specified portions of the potential array. Magnetic fields can be specified for computing ion trajectories in many electrostatic and magnetic field environments. An interactive graphics interface that uses a high resolution color display and mouse allows the user to view electrodes, trajectories, and contours on the screen prior to plotting, and a memory zoom feature permits expansion of selected areas in the current view. The mouse can be operated to edit the potential array, initialize voltage gradients, or resize the potential array. 2 - Method of solution: SIMION is designed to model the electrostatic fields and forces created by a collection of shaped electrodes given certain symmetry assumptions. The electrostatic fields are modeled as boundary value problem solutions of a Laplace elliptical partial differential equation. A finite difference technique called dynamically self-adjusting over-relaxation is applied to the two-dimensional potential array of points representing electrode and non-electrode regions to obtain a best estimate of the voltages for those points within the array that depict non-electrode regions. A standard fourth-order Runge-Kutta method is used for numerical integration of

  10. Design analysis report for the canister

    Energy Technology Data Exchange (ETDEWEB)

    Raiko, Heikki (VTT (Finland)); Sandstroem, Rolf (Materials Science and Engineering, Royal Inst. of Technology, Stockholm (Sweden)); Ryden, Haakan; Johansson, Magnus (Swedish Nuclear Fuel and Waste Management Co., Stockholm (Sweden))

    2010-04-15

    The mechanical strength of the canister (BWR and PWR types) has been studied. The loading processes are taken from the design premises report and some of them, especially the uneven bentonite swelling cases, are further developed in this study and in its references. The canister geometry is described in detail including the manufacturing tolerances of the dimensions. The canister material properties are summarised and the wide material testing programmes and model developments are referenced. The combination of various load cases are rationalised and the conservative combinations are defined. Also the probabilities of various load cases and combinations are assessed for setting reasonable safety margins. The safety margins are used according to ASME Code principles for safety class 1 components. The governing load cases are analysed with 2D- or global 3D-finite-element models including large deformation and non-linear material modelling and, in some cases, also creep. The integrity assessments are partly made from the stress and strain results using global models and partly from fracture resistance analyses using the sub-modelling technique. The sub-model analyses utilize the deformations from the global analyses as constraints on the sub-model boundaries and more detailed finite-element meshes are defined with defects included in the models together with elastic-plastic material models. The J-integral is used as the fracture parameter for the postulated defects. The allowable defect sizes are determined using the measured fracture resistance curves of the insert iron as a reference with respective safety factors according to the ASME Pressure Vessel Code requirements. Based on the BWR canister analyses, the following conclusions can be drawn. The 45 MPa isostatic pressure load case shows very robust and distinct results in that the risk for local collapse is vanishingly small. The probabilistic analysis of plastic collapse only considers the initial local collapse

  11. Analysis and design of robust decentralized controllers for nonlinear systems

    Energy Technology Data Exchange (ETDEWEB)

    Schoenwald, D.A.

    1993-07-01

    Decentralized control strategies for nonlinear systems are achieved via feedback linearization techniques. New results on optimization and parameter robustness of non-linear systems are also developed. In addition, parametric uncertainty in large-scale systems is handled by sensitivity analysis and optimal control methods in a completely decentralized framework. This idea is applied to alleviate uncertainty in friction parameters for the gimbal joints on Space Station Freedom. As an example of decentralized nonlinear control, singular perturbation methods and distributed vibration damping are merged into a control strategy for a two-link flexible manipulator.

  12. Kinematics and trajectory synthesis of manipulation robots

    CERN Document Server

    Vukobratović, Miomir

    1986-01-01

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

  13. Space Shuttle Orbiter - Leading edge structural design/analysis and material allowables

    Science.gov (United States)

    Johnson, D. W.; Curry, D. M.; Kelly, R. E.

    1986-01-01

    Reinforced Carbon-Carbon (RCC), a structural composite whose development was targeted for the high temperature reentry environments of reusable space vehicles, has successfully demonstrated that capability on the Space Shuttle Orbiter. Unique mechanical properties, particularly at elevated temperatures up to 3000 F, make this material ideally suited for the 'hot' regions of multimission space vehicles. Design allowable characterization testing, full-scale development and qualification testing, and structural analysis techniques will be presented herein that briefly chart the history of the RCC material from infancy to eventual multimission certification for the Orbiter. Included are discussions pertaining to the development of the design allowable data base, manipulation of the test data into usable forms, and the analytical verification process.

  14. Life cycle analysis in preliminary design stages

    OpenAIRE

    Agudelo , Lina-Maria; Mejía-Gutiérrez , Ricardo; Nadeau , Jean-Pierre; PAILHES , Jérôme

    2014-01-01

    International audience; In a design process the product is decomposed into systems along the disciplinary lines. Each stage has its own goals and constraints that must be satisfied and has control over a subset of design variables that describe the overall system. When using different tools to initiate a product life cycle, including the environment and impacts, its noticeable that there is a gap in tools that linked the stages of preliminary design and the stages of materialization. Differen...

  15. Regression analysis as a design optimization tool

    Science.gov (United States)

    Perley, R.

    1984-01-01

    The optimization concepts are described in relation to an overall design process as opposed to a detailed, part-design process where the requirements are firmly stated, the optimization criteria are well established, and a design is known to be feasible. The overall design process starts with the stated requirements. Some of the design criteria are derived directly from the requirements, but others are affected by the design concept. It is these design criteria that define the performance index, or objective function, that is to be minimized within some constraints. In general, there will be multiple objectives, some mutually exclusive, with no clear statement of their relative importance. The optimization loop that is given adjusts the design variables and analyzes the resulting design, in an iterative fashion, until the objective function is minimized within the constraints. This provides a solution, but it is only the beginning. In effect, the problem definition evolves as information is derived from the results. It becomes a learning process as we determine what the physics of the system can deliver in relation to the desirable system characteristics. As with any learning process, an interactive capability is a real attriubute for investigating the many alternatives that will be suggested as learning progresses.

  16. Process of system design and analysis

    International Nuclear Information System (INIS)

    Gardner, B.

    1995-01-01

    The design of an effective physical protection system includes the determination of the physical protection system objectives, the initial design of a physical protection system, the evaluation of the design, and, probably, a redesign or refinement of the system. To develop the objectives, the designer must begin by gathering information about facility operations and conditions, such as a comprehensive description of the facility, operating states, and the physical protection requirements. The designer then needs to define the threat. This involves considering factors about potential adversaries: Class of adversary, adversary's capabilities, and range of adversary's tactics. Next, the designer should identify targets. Determination of whether or not nuclear materials are attractive targets is based mainly on the ease or difficulty of acquisition and desirability of the materiaL The designer now knows the objectives of the physical protection system, that is, ''What to protect against whom.'' The next step is to design the system by determining how best to combine such elements as fences, vaults, sensors, procedures, communication devices, and protective force personnel to meet the objectives of the system. Once a physical protection system is designed, it must be analyzed and evaluated to ensure it meets the physical protection objectives. Evaluation must allow for features working together to assure protection rather than regarding each feature separately. Due to the complexity of protection systems, an evaluation usually requires modeling techniques. If any vulnerabilities are found, the initial system must be redesigned to correct the vulnerabilities and a reevaluation conducted

  17. Design as intentional action: a conceptual analysis

    DEFF Research Database (Denmark)

    Galle, Per

    1999-01-01

    Drawing on methods and literature from the field of philosophy, an account is given of the general nature of the artefact production process in order to provide a conceptual platform for design research. Designing itself is defined as the production of design representations; and the latter notion......, and so the major philosophical difficulty is to propose a reasonably precise definition of ‘design representation’ without implying the existence of such non-existent things. To overcome that difficulty, a definition is developed in terms of human agents, their actions and ideas (including intentions...

  18. 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

  19. An overview of the design and analysis of simulation experiments for sensitivity analysis

    NARCIS (Netherlands)

    Kleijnen, J.P.C.

    2005-01-01

    Sensitivity analysis may serve validation, optimization, and risk analysis of simulation models. This review surveys 'classic' and 'modern' designs for experiments with simulation models. Classic designs were developed for real, non-simulated systems in agriculture, engineering, etc. These designs

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

    Directory of Open Access Journals (Sweden)

    Xiulan BAO

    2017-04-01

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

  1. Oscillator circuits frontiers in design, analysis and applications

    CERN Document Server

    2016-01-01

    This book surveys recent developments in the design, analysis and applications of oscillator circuit design. It highlights developments in the analysis of synchronization and wave phenomena, new analytical and design methods and their application, and novel engineering applications of oscillator circuits.

  2. 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.

  3. Economics In Optical Design, Analysis, And Production

    Science.gov (United States)

    Willey, Ronald R.

    1983-10-01

    There are indications that we are entering an era wherein economics will play an increasing role in the optical design and production process. Economics has always been a factor in the competition between commercial ventures in the product arena. Now, we may begin to see competition between different technologies for the scarce resources of the society, including money. A proper design approach begins with a thorough examination and refinement of the requirements from the top down. The interrelationships of the various components must be properly understood and balanced. The specifications must be clear, complete, and realistic. Improper or incomplete system design can cause an extensive waste of resources. The detail optical design to meet the performance requirements has sometimes been the only part of the process that the designer has considered his own responsibility. The final optimization should also consider economic related factors: the cost of tolerances, the available tools test plates, materials, and test equipment. In the preliminary design stage, he should have decided which alignment and test methods are most appropriate to the system. The distribution of tolerances in an optical/mechanical system is a frequently neglected opportunity to reduce cost. We have reported previously on our work in this area, and expand further on it in the context of this paper. The designer now has an opportunity to generate better designs at a lower cost that are more economical to produce. The watchword for the 1980's may become the one found in the assembly automation industry: "more, better, for less".

  4. Preliminary safety design analysis of KALIMER

    Energy Technology Data Exchange (ETDEWEB)

    Suk, Soo Dong; Kwon, Y. M.; Kim, K. D. [Korea Atomic Energy Research Institute, Taejon (Korea)

    1999-03-01

    The national long-term R and D program updated in 1997 requires Korea Atomic Energy Research Institute(KAERI) to complete by the year 2006 the basic design of Korea Advanced Liquid Metal Reactor (KALIMER), along with supporting R and D work, with the capability of resolving the issue of spent fuel storage as well as with significantly enhanced safety. KALIMER is a 150 MWe pool-type sodium cooled prototype reactor that uses metallic fuel. The conceptual design is currently under way to establish a self consistent design meeting a set of the major safety design requirements for accident prevention. Some of current emphasis include those for inherent and passive means of negative reactivity insertion and decay heat removal, high shutdown reliability, prevention of and protection from sodium chemical reaction, and high seismic margin, among others. All of these requirements affect the reactor design significantly and involve supporting R and D programs of substance. This document first introduces a set of safety design requirements and accident evaluation criteria established for the conceptual design of KALIMER and then summarizes some of the preliminary results of engineering and design analyses performed for the safety of KALIMER. 19 refs., 19 figs., 6 tabs. (Author)

  5. Interactive Graphics Analysis for Aircraft Design

    Science.gov (United States)

    Townsend, J. C.

    1983-01-01

    Program uses higher-order far field drag minimization. Computer program WDES WDEM preliminary aerodynamic design tool for one or two interacting, subsonic lifting surfaces. Subcritical wing design code employs higher-order far-field drag minimization technique. Linearized aerodynamic theory used. Program written in FORTRAN IV.

  6. 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....

  7. 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.

  8. 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

  9. Machine Learnig for Robotic Manipulation in cluttered environments

    OpenAIRE

    Alet Puig, Ferran

    2016-01-01

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

  10. Human upper limb manipulator mass center motion and mass moments of inertia variation

    Directory of Open Access Journals (Sweden)

    Nikolova Gergana

    2018-01-01

    Full Text Available Motion control is complicated for people having traumas or neurological diseases. An underlying assumption in our work is that the motion of healthy people is optimal with respect to positioning accuracy, movement response, and energy expenditure. In this paper, a new approach for determination of the human upper limb mass-inertial characteristics is presented by using the 3D geometrical mathematical modeling analysis approach. Two examples will be given to illustrate the main features and advantages of the proposed design concepts. The objective of the work presented in this paper is a determination of the mass properties of a two joints human upper limb manipulator. Results are aimed to have application in an exoskeleton design, the design of manipulation system and external manipulation system, serving people with some motion difficulties, as well as in sport and rehabilitation.

  11. Experimental design matters for statistical analysis

    DEFF Research Database (Denmark)

    Jensen, Signe Marie; Schaarschmidt, Frank; Onofri, Andrea

    2018-01-01

    , the experimental design is often more or less neglected when analyzing data. Two data examples were analyzed using different modelling strategies: Firstly, in a randomized complete block design, mean heights of maize treated with a herbicide and one of several adjuvants were compared. Secondly, translocation...... of an insecticide applied to maize as a seed treatment was evaluated using incomplete data from an unbalanced design with several layers of hierarchical sampling. Extensive simulations were carried out to further substantiate the effects of different modelling strategies. RESULTS: It was shown that results from sub...

  12. Reliability Analysis and Optimal Design of Monolithic Vertical Wall Breakwaters

    DEFF Research Database (Denmark)

    Sørensen, John Dalsgaard; Burcharth, Hans F.; Christiani, E.

    1994-01-01

    Reliability analysis and reliability-based design of monolithic vertical wall breakwaters are considered. Probabilistic models of the most important failure modes, sliding failure, failure of the foundation and overturning failure are described . Relevant design variables are identified...

  13. Finite element analysis of plastic recycling machine designed for ...

    African Journals Online (AJOL)

    ... design was evaluated using finite element analysis (FEA) tool in Solid Works Computer ... Also, a minimum factor of safety value of 5.3 was obtained for shredder shaft ... Machine; Design; Recycling; Sustainability; Finite Element; Simulation ...

  14. Needs Analysis and Course Design; A Framework for Designing Exam Courses

    Directory of Open Access Journals (Sweden)

    Reza Eshtehardi

    2017-09-01

    Full Text Available This paper introduces a framework for designing exam courses and highlights the importance of needs analysis in designing exam courses. The main objectives of this paper are to highlight the key role of needs analysis in designing exam courses, to offer a framework for designing exam courses, to show the language needs of different students for IELTS (International English Language Testing System exam, to offer an analysis of those needs and to explain how they will be taken into account for the design of the course. First, I will concentrate on some distinguishing features in exam classes, which make them different from general English classes. Secondly, I will introduce a framework for needs analysis and diagnostic testing and highlight the importance of needs analysis for the design of syllabus and language courses. Thirdly, I will describe significant features of syllabus design, course assessment, and evaluation procedures.

  15. Canister storage building design basis accident analysis documentation

    International Nuclear Information System (INIS)

    KOPELIC, S.D.

    1999-01-01

    This document provides the detailed accident analysis to support HNF-3553, Spent Nuclear Fuel Project Final Safety Analysis Report, Annex A, ''Canister Storage Building Final Safety Analysis Report.'' All assumptions, parameters, and models used to provide the analysis of the design basis accidents are documented to support the conclusions in the Canister Storage Building Final Safety Analysis Report

  16. Canister storage building design basis accident analysis documentation

    Energy Technology Data Exchange (ETDEWEB)

    KOPELIC, S.D.

    1999-02-25

    This document provides the detailed accident analysis to support HNF-3553, Spent Nuclear Fuel Project Final Safety Analysis Report, Annex A, ''Canister Storage Building Final Safety Analysis Report.'' All assumptions, parameters, and models used to provide the analysis of the design basis accidents are documented to support the conclusions in the Canister Storage Building Final Safety Analysis Report.

  17. Canister Storage Building (CSB) Design Basis Accident Analysis Documentation

    International Nuclear Information System (INIS)

    CROWE, R.D.

    1999-01-01

    This document provides the detailed accident analysis to support ''HNF-3553, Spent Nuclear Fuel Project Final Safety, Analysis Report, Annex A,'' ''Canister Storage Building Final Safety Analysis Report.'' All assumptions, parameters, and models used to provide the analysis of the design basis accidents are documented to support the conclusions in the Canister Storage Building Final Safety Analysis Report

  18. Canister Storage Building (CSB) Design Basis Accident Analysis Documentation

    International Nuclear Information System (INIS)

    CROWE, R.D.; PIEPHO, M.G.

    2000-01-01

    This document provided the detailed accident analysis to support HNF-3553, Spent Nuclear Fuel Project Final Safety Analysis Report, Annex A, ''Canister Storage Building Final Safety Analysis Report''. All assumptions, parameters, and models used to provide the analysis of the design basis accidents are documented to support the conclusions in the Canister Storage Building Final Safety Analysis Report

  19. Design-Build Partnership Attributes Survey Analysis

    National Research Council Canada - National Science Library

    Pyle, Raymond

    1998-01-01

    Two basic hypotheses were investigated: 1. Finding these attributes for success for a design-build partnership may be accomplished by transferring concepts and ideas from business research on partnership formation. 2...

  20. Analysis and Design of Complex Network Environments

    Science.gov (United States)

    2012-03-01

    and J. Lowe, “The myths and facts behind cyber security risks for industrial control systems ,” in the Proceedings of the VDE Kongress, VDE Congress...questions about 1) how to model them, 2) the design of experiments necessary to discover their structure (and thus adapt system inputs to optimize the...theoretical work that clarifies fundamental limitations of complex networks with network engineering and systems biology to implement specific designs and

  1. Graphical Acoustic Liner Design and Analysis Tool

    Science.gov (United States)

    Howerton, Brian M. (Inventor); Jones, Michael G. (Inventor)

    2016-01-01

    An interactive liner design and impedance modeling tool comprises software utilized to design acoustic liners for use in constrained spaces, both regularly and irregularly shaped. A graphical user interface allows the acoustic channel geometry to be drawn in a liner volume while the surface impedance calculations are updated and displayed in real-time. A one-dimensional transmission line model may be used as the basis for the impedance calculations.

  2. 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.

  3. Manipulating the Gradient

    Science.gov (United States)

    Gaze, Eric C.

    2005-01-01

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

  4. Microrobots to Manipulate Cells

    DEFF Research Database (Denmark)

    Glückstad, Jesper

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

  5. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2015-01-01

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

  6. 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.)

  7. 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…

  8. Evaluation of head-collision safety of a 7-DOF manipulator according to posture variation

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Ki Hong, E-mail: rome582@khu.ac.kr; Park, In Jun, E-mail: demianjun@gmail.com; Choi, Jin-Hwan, E-mail: jhchoi@khu.ac.kr; Rhim, Sungsoo, E-mail: ssrhim@khu.ac.kr [Kyung Hee University, Department of Mechanical Engineering (Korea, Republic of)

    2016-05-15

    As the need for the improvement of the productivity in the manufacturing process grows, industrial robots are brought out of the safety fences and used in the direct collaborative operation with human workers. Consequently, the intended and/or unintended contact between the human and the robot in the collaborative operation is no longer an extraordinary event and is a mundane possibility. The level of the risk of the collision depends on various quantities associated with the collision, for example, inertia, velocity, stiffness, and so on. MSI (manipulator safety index) which is based on HIC (head injury criteria) conventionally used in the automotive industry is one of the practically available measures to estimate the risk of the collision between the human and the manipulator. In this paper MSI is applied to evaluate the collision safety of a 7-DOF articulated human-arm-like manipulator. The risk of the collision could be reduced by choosing different postures without deviating from the given end-effector trajectory using the redundant degree of freedom in the 7-DOF manipulator. The paper shows how the redundant degree of the freedom is utilized to design safer trajectories and/or safer manipulator configurations among many available. A parametric analysis and simulation results for a given trajectory illustrate the usefulness of the concept of the trajectory design for alleviating the risk of the manipulator operation in the human–robot coexisting workspace.

  9. Improvement of product design process by knowledge value analysis

    OpenAIRE

    XU, Yang; BERNARD, Alain; PERRY, Nicolas; LAROCHE, Florent

    2013-01-01

    Nowadays, design activities remain the core issue for global product development. As knowledge is more and more integrated, effective analysis of knowledge value becomes very useful for the improvement of product design processes. This paper aims at proposing a framework of knowledge value analysis in the context of product design process. By theoretical analysis and case study, the paper illustrates how knowledge value can be calculated and how the results can help the improvement of product...

  10. ANALYSIS OF DESIGN ELEMENTS IN SKI SUITS

    Directory of Open Access Journals (Sweden)

    Birsen Çileroğlu

    2014-06-01

    Full Text Available Popularity of Ski Sport in 19th century necessitated a new perspective on protective skiing clothing ag ainst the mountain climates and excessive cold. Winter clothing were the basis of ski attire during this period. By the beginning of 20th century lining cloth were used to minimize the wind effect. The difference between the men and women’s ski attire of the time consisted of a knee - length skirts worn over the golf trousers. Subsequent to the First World War, skiing suit models were influenced by the period uniforms and the producers reflected the fashion trends to the ski clothing. In conformance with th e prevailing trends, ski trousers were designed and produced for the women thus leading to reduction in gender differences. Increases in the ski tourism and holding of the first winter olympics in 1924 resulted in variations in ski attires, development of design characteristics, growth in user numbers, and enlargement of production capacities. Designers emphasized in their collections combined presence of elegance and practicality in the skiing attire. In 1930s, the ski suits influenced by pilots’ uniforms included characteristics permitting freedom of motion, and the design elements exhibited changes in terms of style, material and aerodynamics. In time, the ski attires showed varying design features distinguishing professionals from the amateurs. While protective functionality was primary consideration for the amateurs, for professionals the aerodynamic design was also a leading factor. Eventually, the increased differences in design characteristics were exhibited in ski suit collections, World reknown brands were formed, production and sales volumes showed significant rise. During 20th century the ski suits influenced by fashion trends to acquire unique styles reached a position of dominance to impact current fashion trends, and apart from sports attir es they became a style determinant in the clothing of cold climates. Ski suits

  11. Multi-Purpose Anthropomorphic Robotic Hand Design for Extra-Vehicular Activity Manipulation Tasks using Embedded Fiber Optic Sensors, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — IFOS proposes to design and build fiber-optically sensorized robotic fingers that can sense force and, objects using only tactile feedback, similar to the skin on a...

  12. Activation analysis for ITER design options

    International Nuclear Information System (INIS)

    Attaya, H.

    1995-09-01

    This paper presents a summary of the activation analyses that have been performed for the shielding blanket (SS/water) and for the breeding blanket (Li/V) of ITER design options. The activation code RACC-P, which has been modified for pulsed operation, has been used in these calculations. The spatial distributions of the radioactive inventory, decay heat, biological hazard potential, and the contact dose were calculated for the two designs for different operation modes and targeted fluences. A one-dimensional toroidal cylindrical geometrical model has been utilized to determine the neutron fluxes in the two designs. The results are normalized for an inboard and outboard neutron wall loadings of 0.91 and 1.2 MW/m 2 respectively

  13. Static timing analysis for nanometer designs

    CERN Document Server

    Bhasker, J

    2009-01-01

    Covers topics such as cell timing and power modeling; interconnect modeling and analysis, delay calculation, crosstalk, noise and the chip timing verification using static timing analysis. For each of these topics, this book provides a theoretical background as well as detailed examples to elaborate the concepts.

  14. Design and Analysis of Hydrostatic Transmission System

    Science.gov (United States)

    Mistry, Kayzad A.; Patel, Bhaumikkumar A.; Patel, Dhruvin J.; Parsana, Parth M.; Patel, Jitendra P.

    2018-02-01

    This study develops a hydraulic circuit to drive a conveying system dealing with heavy and delicate loads. Various safety circuits have been added in order to ensure stable working at high pressure and precise controlling. Here we have shown the calculation procedure based on an arbitrarily selected load. Also the circuit design and calculations of various components used is depicted along with the system simulation. The results show that the system is stable and efficient enough to transmit heavy loads by functioning of the circuit. By this information, one can be able to design their own hydrostatic circuits for various heavy loading conditions.

  15. Sensitivity Analysis for Design Optimization Integrated Software Tools, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this proposed project is to provide a new set of sensitivity analysis theory and codes, the Sensitivity Analysis for Design Optimization Integrated...

  16. ANALYSIS OF MODERN ELEVATOR DESIGNS AND TENDENCIES OF THEIR DEVELOPMENT

    Directory of Open Access Journals (Sweden)

    A. I. Antonevich

    2010-01-01

    Full Text Available An analysis of modern elevator designs and control systems, their classification and characteristics are given in the paper. Tendencies and prospects of their development are revealed on the basis of the executed analysis.

  17. Fatigue and rutting strain analysis of flexible pavements designed ...

    African Journals Online (AJOL)

    ELO

    The study was carried out with the layered elastic analysis software EVERSTRESS. Key words: Layered elastic analysis, fatigue, rutting, strains, design, flexible pavement, CBR. ..... Numerical Computational Stresses and Strains in Multi-Layer ...

  18. Boiler inspection manipulator for Torness Power Station

    International Nuclear Information System (INIS)

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

    1996-01-01

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

  19. Specifying design conservatism: Worst case versus probabilistic analysis

    Science.gov (United States)

    Miles, Ralph F., Jr.

    1993-01-01

    Design conservatism is the difference between specified and required performance, and is introduced when uncertainty is present. The classical approach of worst-case analysis for specifying design conservatism is presented, along with the modern approach of probabilistic analysis. The appropriate degree of design conservatism is a tradeoff between the required resources and the probability and consequences of a failure. A probabilistic analysis properly models this tradeoff, while a worst-case analysis reveals nothing about the probability of failure, and can significantly overstate the consequences of failure. Two aerospace examples will be presented that illustrate problems that can arise with a worst-case analysis.

  20. DESIGN ANALYSIS FOR THE NAVAL SNF WASTE PACKAGE

    International Nuclear Information System (INIS)

    T.L. Mitchell

    2000-01-01

    The purpose of this analysis is to demonstrate the design of the naval spent nuclear fuel (SNF) waste package (WP) using the Waste Package Department's (WPD) design methodologies and processes described in the ''Waste Package Design Methodology Report'' (CRWMS MandO [Civilian Radioactive Waste Management System Management and Operating Contractor] 2000b). The calculations that support the design of the naval SNF WP will be discussed; however, only a sub-set of such analyses will be presented and shall be limited to those identified in the ''Waste Package Design Sensitivity Report'' (CRWMS MandO 2000c). The objective of this analysis is to describe the naval SNF WP design method and to show that the design of the naval SNF WP complies with the ''Naval Spent Nuclear Fuel Disposal Container System Description Document'' (CRWMS MandO 1999a) and Interface Control Document (ICD) criteria for Site Recommendation. Additional criteria for the design of the naval SNF WP have been outlined in Section 6.2 of the ''Waste Package Design Sensitivity Report'' (CRWMS MandO 2000c). The scope of this analysis is restricted to the design of the naval long WP containing one naval long SNF canister. This WP is representative of the WPs that will contain both naval short SNF and naval long SNF canisters. The following items are included in the scope of this analysis: (1) Providing a general description of the applicable design criteria; (2) Describing the design methodology to be used; (3) Presenting the design of the naval SNF waste package; and (4) Showing compliance with all applicable design criteria. The intended use of this analysis is to support Site Recommendation reports and assist in the development of WPD drawings. Activities described in this analysis were conducted in accordance with the technical product development plan (TPDP) ''Design Analysis for the Naval SNF Waste Package (CRWMS MandO 2000a)

  1. Simulation Experiments in Practice: Statistical Design and Regression Analysis

    OpenAIRE

    Kleijnen, J.P.C.

    2007-01-01

    In practice, simulation analysts often change only one factor at a time, and use graphical analysis of the resulting Input/Output (I/O) data. The goal of this article is to change these traditional, naïve methods of design and analysis, because statistical theory proves that more information is obtained when applying Design Of Experiments (DOE) and linear regression analysis. Unfortunately, classic DOE and regression analysis assume a single simulation response that is normally and independen...

  2. Backbone Diversity Analysis in Catalyst Design

    NARCIS (Netherlands)

    Maldonado, A.G.; Hageman, J.A.; Mastroianni, S.; Rothenberg, G.

    2009-01-01

    We present a computer-based heuristic framework for designing libraries of homogeneous catalysts. In this approach, a set of given bidentate ligand-metal complexes is disassembled into key substructures (building blocks). These include metal atoms, ligating groups, backbone groups, and residue

  3. Design and analysis of ITER shield blanket

    Energy Technology Data Exchange (ETDEWEB)

    Ohmori, Junji; Hatano, Toshihisa; Ezato, Kouichiro [Japan Atomic Energy Research Inst., Naka, Ibaraki (Japan). Naka Fusion Research Establishment] [and others

    1998-12-01

    This report includes electromagnetic analyses for ITER shielding blanket modules, fabrication methods for the blanket modules and the back plate, the design and the fabrication methods for port limiter have been investigated. Studies on the runaway electron impact for Be armor have been also performed. (J.P.N.)

  4. Microwave Radiometer Systems, Design and Analysis

    DEFF Research Database (Denmark)

    Skou, Niels; Vine, David Le

    Two important microwave remote sensors are the radar and the radiometer. There have been a number of books written on various aspects of radar, but there have been only a few written on microwave radiometers, especially on subjects of how to design and build radiometer systems. This book, which...

  5. Development of design and safety analysis supporting system for casks

    International Nuclear Information System (INIS)

    Ohsono, Katsunari; Higashino, Akira; Endoh, Shuji

    1993-01-01

    Mitsubishi heavy Industries has developed a design and safety analysis supporting system 'CADDIE' (Cask Computer Aided Design, Drawing and Integrated Evaluation System), with the following objectives: (1) Enhancement of efficiency of the design and safety analysis (2) Further advancement of design quality (3) Response to the diversification of design requirements. The features of this system are as follows: (1) The analysis model data common to analyses is established, and it is prepared automatically from the model made by CAD. (2) The input data for the analysis code is available by simple operation of conversation type from the analysis model data. (3) The analysis results are drawn out in diagrams by output generator, so as to facilitate easy observation. (4) The data of material properties, fuel assembly data, etc. required for the analyses are made available as a data base. (J.P.N.)

  6. Analysis of the TREAT LEU Conceptual Design

    Energy Technology Data Exchange (ETDEWEB)

    Connaway, H. M. [Argonne National Lab. (ANL), Argonne, IL (United States); Kontogeorgakos, D. C. [Argonne National Lab. (ANL), Argonne, IL (United States); Papadias, D. D. [Argonne National Lab. (ANL), Argonne, IL (United States); Brunett, A. J. [Argonne National Lab. (ANL), Argonne, IL (United States); Mo, K. [Argonne National Lab. (ANL), Argonne, IL (United States); Strons, P. S. [Argonne National Lab. (ANL), Argonne, IL (United States); Fei, T. [Argonne National Lab. (ANL), Argonne, IL (United States); Wright, A. E. [Argonne National Lab. (ANL), Argonne, IL (United States)

    2016-03-01

    Analyses were performed to evaluate the performance of the low enriched uranium (LEU) conceptual design fuel for the conversion of the Transient Reactor Test Facility (TREAT) from its current highly enriched uranium (HEU) fuel. TREAT is an experimental nuclear reactor designed to produce high neutron flux transients for the testing of reactor fuels and other materials. TREAT is currently in non-operational standby, but is being restarted under the U.S. Department of Energy’s Resumption of Transient Testing Program. The conversion of TREAT is being pursued in keeping with the mission of the Department of Energy National Nuclear Security Administration’s Material Management and Minimization (M3) Reactor Conversion Program. The focus of this study was to demonstrate that the converted LEU core is capable of maintaining the performance of the existing HEU core, while continuing to operate safely. Neutronic and thermal hydraulic simulations have been performed to evaluate the performance of the LEU conceptual-design core under both steady-state and transient conditions, for both normal operation and reactivity insertion accident scenarios. In addition, ancillary safety analyses which were performed for previous LEU design concepts have been reviewed and updated as-needed, in order to evaluate if the converted LEU core will function safely with all existing facility systems. Simulations were also performed to evaluate the detailed behavior of the UO2-graphite fuel, to support future fuel manufacturing decisions regarding particle size specifications. The results of these analyses will be used in conjunction with work being performed at Idaho National Laboratory and Los Alamos National Laboratory, in order to develop the Conceptual Design Report project deliverable.

  7. Remote Decontamination Facility and Repair Station for hot-cell manipulators

    International Nuclear Information System (INIS)

    Ryz, M.A.

    1977-01-01

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

  8. 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

  9. Cold Vacuum Drying (CVD) Facility Design Basis Accident Analysis Documentation

    Energy Technology Data Exchange (ETDEWEB)

    PIEPHO, M.G.

    1999-10-20

    This document provides the detailed accident analysis to support HNF-3553, Annex B, Spent Nuclear Fuel Project Final Safety Analysis Report, ''Cold Vacuum Drying Facility Final Safety Analysis Report (FSAR).'' All assumptions, parameters and models used to provide the analysis of the design basis accidents are documented to support the conclusions in the FSAR.

  10. Cold Vacuum Drying Facility Design Basis Accident Analysis Documentation

    International Nuclear Information System (INIS)

    PIEPHO, M.G.

    1999-01-01

    This document provides the detailed accident analysis to support HNF-3553, Annex B, Spent Nuclear Fuel Project Final Safety Analysis Report, ''Cold Vacuum Drying Facility Final Safety Analysis Report (FSAR).'' All assumptions, parameters and models used to provide the analysis of the design basis accidents are documented to support the conclusions in the FSAR

  11. Fundamentals of statistical experimental design and analysis

    CERN Document Server

    Easterling, Robert G

    2015-01-01

    Professionals in all areas - business; government; the physical, life, and social sciences; engineering; medicine, etc. - benefit from using statistical experimental design to better understand their worlds and then use that understanding to improve the products, processes, and programs they are responsible for. This book aims to provide the practitioners of tomorrow with a memorable, easy to read, engaging guide to statistics and experimental design. This book uses examples, drawn from a variety of established texts, and embeds them in a business or scientific context, seasoned with a dash of humor, to emphasize the issues and ideas that led to the experiment and the what-do-we-do-next? steps after the experiment. Graphical data displays are emphasized as means of discovery and communication and formulas are minimized, with a focus on interpreting the results that software produce. The role of subject-matter knowledge, and passion, is also illustrated. The examples do not require specialized knowledge, and t...

  12. Design and Analysis of Symmetric Primitives

    DEFF Research Database (Denmark)

    Lauridsen, Martin Mehl

    . In the second part, we delve into the matter of the various aspects of designing a symmetric cryptographic primitive. We start by considering generalizations of the widely acclaimed Advanced Encryption Standard (AES) block cipher. In particular, our focus is on a component operation in the cipher which permutes...... analyze and implement modes recommended by the National Institute of Standards and Technology (NIST), as well as authenticated encryption modes from the CAESAR competition, when instantiated with the AES. The data processed in our benchmarking has sizes representative to that of typical Internet traffic...... linear cryptanalysis. We apply this model to the standardized block cipher PRESENT. Finally, we present very generic attacks on two authenticated encryption schemes, AVALANCHE and RBS, by pointing out severe design flaws that can be leveraged to fully recover the secret key with very low complexity...

  13. Nuclear design and analysis for PWR

    International Nuclear Information System (INIS)

    Lee, C.K.; Kim, J.S.; Lee, S.K.; Moon, K.S.; Chun, B.J.; Chang, J.W.

    1981-01-01

    The list of the developed code family in this Institute has been increased after having developed two linkage codes, namely, SHUFFLE/KIDD and LEOTOKID. The former can be harnessed to supply input burnup history data to KIDD being based on the reloading patterns at the beginning of each cycle using the concentration file of KIDD, whereas the latter is able to supply the group constants to KIDD directly from the calculated results of LEOKARD by means of tapes or disks. DOT and KENO are selected specifically for benchmarking the design methods and procedures of the nuclear design codes. On the other hand, AMPX Modular code systems have been adopted for the generation of fine-or broad-group cross-sections for these benchmark codes. Language conversion and modifications of AMPX Module are taking place at the present time

  14. 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.

  15. ANALYSIS AND TRANSFORMATION OF WORKS IN DESIGN

    DEFF Research Database (Denmark)

    Thomsen, Bente Dahl

    2017-01-01

    værkanalysen for arkitektur er der med den som udgangs punkt udvikle en guidelines værkanalyse af designs og undersøgt betingelserne for en vellykket transformation af æstetiske kvaliteter fra et værk til et nyt produkt. Master studerende har samtidig undersøgt hvad værkers beskriver som værende poetisk...

  16. Analysis and Design of Footwear Antennas

    OpenAIRE

    Gaetano, Domenico

    2014-01-01

    Wearable technologies are found in an increasing number of applications including sport and medical monitoring, gaming and consumer electronics. Sensors are used to monitor vital signs and are located on various parts of the body. Footwear sensors permit the collection of data relating to gait, running style, physiotherapy and research. The data is sent from sensors to on-body hubs, often using wired technology, which can impact gait characteristics. This thesis describes the design of footwe...

  17. A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 2: Concept development and selection

    Science.gov (United States)

    1972-01-01

    The overall program background, the various system concepts considered, and the rationale for the selected design are described. The concepts for each subsystem are also described and compared. Details are given for the requirements, boom configuration and dynamics, actuators, man/machine interface and control, visual system, control system, environmental control and life support, data processing, and materials.

  18. Designing a ticket to ride with the Cognitive Work Analysis Design Toolkit.

    Science.gov (United States)

    Read, Gemma J M; Salmon, Paul M; Lenné, Michael G; Jenkins, Daniel P

    2015-01-01

    Cognitive work analysis has been applied in the design of numerous sociotechnical systems. The process used to translate analysis outputs into design concepts, however, is not always clear. Moreover, structured processes for translating the outputs of ergonomics methods into concrete designs are lacking. This paper introduces the Cognitive Work Analysis Design Toolkit (CWA-DT), a design approach which has been developed specifically to provide a structured means of incorporating cognitive work analysis outputs in design using design principles and values derived from sociotechnical systems theory. This paper outlines the CWA-DT and describes its application in a public transport ticketing design case study. Qualitative and quantitative evaluations of the process provide promising early evidence that the toolkit fulfils the evaluation criteria identified for its success, with opportunities for improvement also highlighted. The Cognitive Work Analysis Design Toolkit has been developed to provide ergonomics practitioners with a structured approach for translating the outputs of cognitive work analysis into design solutions. This paper demonstrates an application of the toolkit and provides evaluation findings.

  19. Microradiographic microsphere manipulator

    International Nuclear Information System (INIS)

    Singleton, R.M.

    1980-01-01

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

  20. Manipulation of quantum evolution

    Science.gov (United States)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

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

  1. Manipulating atoms with photons

    International Nuclear Information System (INIS)

    Cohen-Tannoudji, C.N.

    1998-01-01

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

  2. On the Integration of Digital Design and Analysis Tools

    DEFF Research Database (Denmark)

    Klitgaard, Jens; Kirkegaard, Poul Henning

    2006-01-01

    The aim of this research is to look into integrated digital design and analysis tools in order to find out if it is suited for use by architects and designers or only by specialists and technicians - and if not, then to look at what can be done to make them more available to architects and design...

  3. Design and Analysis of Winglets for Military Aircraft

    Science.gov (United States)

    1976-02-03

    Company to determine the aerodynamic characteristics and performance benefits from winglets on the KC-135 aircraft. Unclassified SECURITY CLASSIFICATION...1 II ANALYSIS OF WINGLETS ...... ............................................ 3 A Aerodynamic ...were estimated and compared to the conventional design. The aerodynamic shape of the winglet was designed for the KC-135 and this design was then used

  4. Design tradeoff studies and sensitivity analysis. Appendix B

    Energy Technology Data Exchange (ETDEWEB)

    1979-05-25

    The results of the design trade-off studies and the sensitivity analysis of Phase I of the Near Term Hybrid Vehicle (NTHV) Program are presented. The effects of variations in the design of the vehicle body, propulsion systems, and other components on vehicle power, weight, cost, and fuel economy and an optimized hybrid vehicle design are discussed. (LCL)

  5. Advanced Concept Architecture Design and Integrated Analysis (ACADIA)

    Science.gov (United States)

    2017-11-03

    1 Advanced Concept Architecture Design and Integrated Analysis (ACADIA) Submitted to the National Institute of Aerospace (NIA) on...Research Report 20161001 - 20161030 Advanced Concept Architecture Design and Integrated Analysis (ACADIA) W911NF-16-2-0229 8504Cedric Justin, Youngjun

  6. Design analysis of the ITER divertor

    International Nuclear Information System (INIS)

    Samuelli, G.; Marin, A.; Roccella, M.; Lucca, F.; Merola, M.; Riccardi, B.; Petrizzi, L.; Villari, R.

    2007-01-01

    The divertor is one of the most challenging components of the ITER machine. Its function is to reduce the impurity in the plasma and consists essentially of two parts: the plasma facing components (PFCs) and a massive support structure called the cassette body (CB). Considerable R and D effort (developed by EFDA CSU GARCHING and the ITER International Team together with the EU Associations and the EU Industries) has been spent in designing divertor components capable of withstanding the expected electromagnetic (EM) loads and to take into account the latest ITER design conditions. In support of such efforts extensive and very detailed Neutronic, Thermal, EM and Structural analyses have been performed. A summary of the analyses performed will be presented. One of the main result is a typical exercise of integration between the different kind of analyses and the importance of keeping the consistency between the different assumptions and simplifications. The models used for the numerical analyses include a detailed geometrical description of the CB, the inlet, outlet hydraulic manifolds, the CB to vacuum vessel locking system and three configurations of the PFU. The effect of electrical bridging, both in poloidal and toroidal direction, of the PFU castellation, due to a possible melting at the W mono-block or tiles, occurring during the plasma disruptions, has been analyzed. For all these configurations 2 VDE scenarios including the effect of the Toroidal Field Variation and the HaloCurrent with the related out of plane induced EM forces have been extensively analyzed and a detailed poloidal and radial distribution of the nuclear heating has been used for the neutronic flux on the divertor components. The aim of this activity is to produce a comprehensive design and assessment of the ITER divertor via: -The estimation of the neutronic heat deposition and shielding capability; -The calculation of the related thermal and mechanical effects and the comparison of the

  7. Design analysis of the ITER divertor

    Energy Technology Data Exchange (ETDEWEB)

    Samuelli, G.; Marin, A.; Roccella, M.; Lucca, F. [L.T. Calcoli SaS, Merate (Lecco) (Italy); Merola, M. [ITER Team, Cadarache (France); Riccardi, B. [EFDA CSU Garching (Germany); Petrizzi, L.; Villari, R. [CRE ENEA sulla Fusione Frascati, Roma (Italy)

    2007-07-01

    The divertor is one of the most challenging components of the ITER machine. Its function is to reduce the impurity in the plasma and consists essentially of two parts: the plasma facing components (PFCs) and a massive support structure called the cassette body (CB). Considerable R and D effort (developed by EFDA CSU GARCHING and the ITER International Team together with the EU Associations and the EU Industries) has been spent in designing divertor components capable of withstanding the expected electromagnetic (EM) loads and to take into account the latest ITER design conditions. In support of such efforts extensive and very detailed Neutronic, Thermal, EM and Structural analyses have been performed. A summary of the analyses performed will be presented. One of the main result is a typical exercise of integration between the different kind of analyses and the importance of keeping the consistency between the different assumptions and simplifications. The models used for the numerical analyses include a detailed geometrical description of the CB, the inlet, outlet hydraulic manifolds, the CB to vacuum vessel locking system and three configurations of the PFU. The effect of electrical bridging, both in poloidal and toroidal direction, of the PFU castellation, due to a possible melting at the W mono-block or tiles, occurring during the plasma disruptions, has been analyzed. For all these configurations 2 VDE scenarios including the effect of the Toroidal Field Variation and the HaloCurrent with the related out of plane induced EM forces have been extensively analyzed and a detailed poloidal and radial distribution of the nuclear heating has been used for the neutronic flux on the divertor components. The aim of this activity is to produce a comprehensive design and assessment of the ITER divertor via: -The estimation of the neutronic heat deposition and shielding capability; -The calculation of the related thermal and mechanical effects and the comparison of the

  8. Thermal analysis and design of passive solar buildings

    CERN Document Server

    Athienitis, AK

    2013-01-01

    Passive solar design techniques are becoming increasingly important in building design. This design reference book takes the building engineer or physicist step-by-step through the thermal analysis and design of passive solar buildings. In particular it emphasises two important topics: the maximum utilization of available solar energy and thermal storage, and the sizing of an appropriate auxiliary heating/cooling system in conjunction with good thermal control.Thermal Analysis and Design of Passive Solar Buildings is an important contribution towards the optimization of buildings as systems th

  9. Multidisciplinary Analysis and Optimal Design: As Easy as it Sounds?

    Science.gov (United States)

    Moore, Greg; Chainyk, Mike; Schiermeier, John

    2004-01-01

    The viewgraph presentation examines optimal design for precision, large aperture structures. Discussion focuses on aspects of design optimization, code architecture and current capabilities, and planned activities and collaborative area suggestions. The discussion of design optimization examines design sensitivity analysis; practical considerations; and new analytical environments including finite element-based capability for high-fidelity multidisciplinary analysis, design sensitivity, and optimization. The discussion of code architecture and current capabilities includes basic thermal and structural elements, nonlinear heat transfer solutions and process, and optical modes generation.

  10. Analysis and design of VEK for extreme events - a challenge

    International Nuclear Information System (INIS)

    Woelfel, H.P.; Technische Univ. Darmstadt

    2006-01-01

    For analysis and design of the VEK building - especially for design against earthquake and airplane crash - a 3D-integral-model had been developed, being able of yielding any global response quantities - displacements, accelerations, sectional forces, response spectra, global reinforcement - for any load actions from one mathematical model. Especially for airplane crash a so called dynamic design results in reinforcement quantities at every time step and so leads to a realistic and economic design. The advantages of the integral-model had been transferred to the design of the processing installation where the structural analysis of steel structures, vessels and piping had been dealt with in one integral mathematical model. (orig.)

  11. Basic earthquake engineering from seismology to analysis and design

    CERN Document Server

    Sucuoğlu, Halûk

    2014-01-01

    This book provides senior undergraduate students, master students and structural engineers who do not have a background in the field with core knowledge of structural earthquake engineering that will be invaluable in their professional lives. The basics of seismotectonics, including the causes, magnitude, and intensity of earthquakes, are first explained. Then the book introduces basic elements of seismic hazard analysis and presents the concept of a seismic hazard map for use in seismic design. Subsequent chapters cover key aspects of the response analysis of simple systems and building struc­tures to earthquake ground motions, design spectrum, the adoption of seismic analysis procedures in seismic design codes, seismic design principles and seismic design of reinforced concrete structures. Helpful worked examples on seismic analysis of linear, nonlinear and base isolated buildings, earthquake-resistant design of frame and frame-shear wall systems are included, most of which can be solved using a hand calcu...

  12. Systemization of Design and Analysis Technology for Advanced Reactor

    International Nuclear Information System (INIS)

    Kim, Keung Koo; Lee, J.; Zee, S. K.

    2009-01-01

    The present study is performed to establish the base for the license application of the original technology by systemization and enhancement of the technology that is indispensable for the design and analysis of the advanced reactors including integral reactors. Technical reports and topical reports are prepared for this purpose on some important design/analysis methodology; design and analysis computer programs, structural integrity evaluation of main components and structures, digital I and C systems and man-machine interface design. PPS design concept is complemented reflecting typical safety analysis results. And test plans and requirements are developed for the verification of the advanced reactor technology. Moreover, studies are performed to draw up plans to apply to current or advanced power reactors the original technologies or base technologies such as patents, computer programs, test results, design concepts of the systems and components of the advanced reactors. Finally, pending issues are studied of the advanced reactors to improve the economics and technology realization

  13. 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)

  14. 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.

  15. 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.

  16. Designing discovery learning environments: process analysis and implications for designing an information system

    NARCIS (Netherlands)

    Pieters, Julius Marie; Limbach, R.; de Jong, Anthonius J.M.

    2004-01-01

    A systematic analysis of the design process of authors of (simulation based) discovery learning environments was carried out. The analysis aimed at identifying the design activities of authors and categorising knowledge gaps that they experience. First, five existing studies were systematically

  17. Design and analysis of sustainable computer mouse using design for disassembly methodology

    Science.gov (United States)

    Roni Sahroni, Taufik; Fitri Sukarman, Ahmad; Agung Mahardini, Karunia

    2017-12-01

    This paper presents the design and analysis of computer mouse using Design for Disassembly methodology. Basically, the existing computer mouse model consist a number of unnecessary part that cause the assembly and disassembly time in production. The objective of this project is to design a new computer mouse based on Design for Disassembly (DFD) methodology. The main methodology of this paper was proposed from sketch generation, concept selection, and concept scoring. Based on the design screening, design concept B was selected for further analysis. New design of computer mouse is proposed using fastening system. Furthermore, three materials of ABS, Polycarbonate, and PE high density were prepared to determine the environmental impact category. Sustainable analysis was conducted using software SolidWorks. As a result, PE High Density gives the lowers amount in the environmental category with great maximum stress value.

  18. Task analysis in neurosciences programme design - neurological ...

    African Journals Online (AJOL)

    Defining educational objectives is the key to achieving the goal of professional competence in students. The technique of task analysis was selected to determine components of competence in clinical neurology appropriate to the needs of primary care. A survey of neurological problems in general practice revealed that ...

  19. Design and analysis of Monte Carlo experiments

    NARCIS (Netherlands)

    Kleijnen, Jack P.C.; Gentle, J.E.; Haerdle, W.; Mori, Y.

    2012-01-01

    By definition, computer simulation or Monte Carlo models are not solved by mathematical analysis (such as differential calculus), but are used for numerical experimentation. The goal of these experiments is to answer questions about the real world; i.e., the experimenters may use their models to

  20. Design and analysis of environmental monitoring programs

    DEFF Research Database (Denmark)

    Lophaven, Søren Nymand

    2005-01-01

    This thesis describes statistical methods for modelling space-time phenomena. The methods were applied to data from the Danish marine monitoring program in the Kattegat, measured in the five-year period 1993-1997. The proposed model approaches are characterised as relatively simple methods, which...... into account. Thus, it serves as a compromise between existing methods. The space-time model approaches and geostatistical design methods used in this thesis are generally applicable, i.e. with minor modifications they could equally well be applied within areas such as soil and air pollution. In Danish: Denne...