Dual-arm manipulation module for use in decontamination and decommissioning operations

International Nuclear Information System (INIS)

Hamel, W.R.; Haley, D.C.; Dixon, W.E.

1994-01-01

A dual-arm manipulation module is under development for application in decontamination and decommissioning (D ampersand D) tasks. The development is led by Oak Ridge National Laboratory with support from Sandia National Laboratories, and with university and industry participation. The project is part of the Robotics Technology Development Program funded by the US Department of Energy, Environmental Restoration and Waste Management, Office of Technology Development. The dual-arm module is designed to provide dexterous manipulation capability for remote characterization, decontamination, and dismantlement operations, and the module is reconfigurable to meet various deployment requirements. Remote manipulation capability can benefit D ampersand D activities through reduced worker exposure to both contaminant and industrial hazards. When tasks conditions permit, increased use of robotic features reduce costs by increased efficiency of operation

Augmented reality user interface for mobile ground robots with manipulator arms

Science.gov (United States)

Vozar, Steven; Tilbury, Dawn M.

2011-01-01

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

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

Project W-340 tank 241-C-106 manipulator system closeout summary

International Nuclear Information System (INIS)

McDaniel, L.B.

1995-02-01

This document summarizes the work that was ongoing when Project W-340 was put on hold. Project W-340: Tank 241-C-106 Manipulator Retrieval System, was a candidate FY98 Major System Acquisition. The project was to develop, procure and deploy a Long Reach Manipulator (LRM) waste retrieval system to provide an alternate method to completing the in-tank demonstration of Single Shell Tank waste retrieval technology. The need for enhanced capabilities derives from (1) the inability of the baseline technology to retrieve certain hard waste forms; (2) uncertainty in the quantity of leakage which will be allowed. Numerous studies over the years have identified an arm architecture as a promising retrieval technology to overcome these concerns. The W340 project was intended to further develop and demonstrate this alternative, as part of selecting the best approach for all tanks. Prior to completing the effort, it was determined that an LRM system was too architecture specific and was envisioned to be too expensive for a one time demonstration of retrieval technology. At the time the work was stopped, an effort was underway to broaden the project scope to allow alternatives to an arm-based system

Traction-drive seven degrees-of-freedom telerobot arm: A concept for manipulation in space

International Nuclear Information System (INIS)

Kuban, D.P.; Williams, D.M.

1987-01-01

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. This paper summarizes the report of a study performed for NASA Langley Research Center. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation will be presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance. Further development of this arm is in progress at the Oak Ridge National Laboratory

A random-access microarray for programmable droplet storage, retrieval and manipulation

International Nuclear Information System (INIS)

Tseng, Yi-Ming; Wang, Jhih-Jhe; Su, Yu-Chuan

2012-01-01

This article presents an integrated microfluidic system that is capable of programmably metering, entrapping, coalescing, addressably storing, retrieving and manipulating emulsion droplets. A multilayer, flexible PDMS chip with specially designed fluidic channels dynamically reconfigured by pneumatically actuated diaphragms is utilized to integrate a variety of droplet manipulation schemes. Once droplets are formed, their motions are coordinated by a 2D multiplexing scheme, which exploits the bidirectional movement of diaphragms to implement a random-access microarray. In the prototype demonstration, a PDMS molding and bonding process is used to fabricate the proposed microfluidic system. Emulsion droplets with desired volumes and compositions are produced, addressably stored, manipulated and retrieved from a 4 × 4 array, which employs just 4 (= 2 × log 2 4) control inputs for the operation. It has been demonstrated that (1) the integration of droplet manipulation and 2D multiplexing schemes can be achieved readily using bidirectional diaphragm valves, (2) multiplexing of an N × N array could be realized utilizing only 2 × log 2 N control inputs and (3) a multifunctional, random-access microarray can be accomplished employing a multilayer PDMS chip. As such, the demonstrated random-access microarray could potentially serve as a platform for continuous tracking and multistep processing of emulsion droplets, which is desired for various biological and chemical applications. (paper)

Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

International Nuclear Information System (INIS)

Horschel, D.S.; Gibbons, P.W.; Draper, J.V.

1995-06-01

This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford's Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances

Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

Energy Technology Data Exchange (ETDEWEB)

Horschel, D.S. [Sandia National Labs., Albuquerque, NM (United States); Gibbons, P.W. [Westinghouse Hanford Co., Richland, WA (United States); Draper, J.V. [Oak Ridge National Lab., TN (United States)] [and others

1995-06-01

This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford`s Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances.

SNAKES manipulator and ARD sluicer testing - April 1997

International Nuclear Information System (INIS)

Berglin, E.J.

1997-01-01

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

A Study of Accuracy and Time Delay for Bilateral Master-Slave Industrial Robotic Arm Manipulator System

Directory of Open Access Journals (Sweden)

Mansor Nuratiqa Natrah

2018-01-01

Full Text Available Bilateral master-slave industrial robotic arm manipulator system is an advanced technology used to help human to interact with environments that are unreachable to human, due to its remoteness or perilous. The system has been used in different areas such as tele-surgery, autonomous tele-operation for sea and space operation and handling explosive or high radiation operation fields. It is beneficial both for science and society. Remarkably, the system is not common and generally used in Malaysia. Likewise, the number of research conducted that focused about this technology in our country manufacturing industry are not yet discovered and existent. The implementation of this bilateral manipulator system in an industrial robot could be useful for industrial imminent and development over our country and people, specifically for production yield size and human operative. Hence, the study of bilateral robotic arm manipulator system in an industrial robot and analyzation of its performance and time delay in 3 differ controllers will be discussed to attest the efficiency and its effectiveness on the said design system. The experiment conducted was on KUKA youBot arm in V-Rep simulation with three different controllers (P, PD, PID.

On Virtual Integrated Model of a 6DoF Manipulator Arm for Emergency Cases Interventions

Directory of Open Access Journals (Sweden)

Gigi Naidin

2011-09-01

Full Text Available This research deals with a virtual integrated model for a 6DoF manipulator arm dedicated to use for emergency situations intervention. The virtual model can simulates both the entire structural and mechanical configuration of the manipulator, and the driving system with automated command unit. The basic idea supposes to develop a complex simulator for kinematical and dynamic behavior analysis of 6DoF robot manipulator, and for facilely cross correlation and comparative evaluation between essential parameters and extremely bearing cases defining the manipulator working state. The analysis was developed in Matlab© - SimScape© software. The conclusions dignify the main functional capability of the manipulator supposing the capacity of driving system and mechanical structure.

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

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

International Nuclear Information System (INIS)

Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

1994-10-01

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

Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

Directory of Open Access Journals (Sweden)

Tianliang Liu

2016-05-01

Full Text Available When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we present three types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are, respectively, position-level, velocity-level and acceleration-level resolved motion control methods. The desired pose, velocity and acceleration of each end-effector are then resolved according to the desired motion of the payload and the constraints on the closed-chain system without consideration of the internal force. Corresponding to the three cases above, the joint variables of each arm are then calculated using the inverse kinematic equations, at position-level, velocity-level or acceleration-level. Finally, a dynamic modelling and simulation platform is established based on ADAMS and Matlab software. The proposed methods are verified by typical cases. The simulation results show that the proposed control strategy can realize the dual-arm coordinated operation and the internal force of the closed chain during the operation is controlled in a reasonable range at the same time.

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

International Nuclear Information System (INIS)

D.R. Jackson; G.R. Kiebel

1999-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

D.R. Jackson; G.R. Kiebel

1999-08-24

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

C-arm fluoroscopy: a reliable modality for retrieval of foreign bodies in the maxillofacial region.

Science.gov (United States)

Pandyan, Deepak; Nandakumar, N; Qayyumi, Burhanuddin N; Kumar, Santosh

2013-11-01

The anatomic complexity of the maxillofacial region makes the retrieval of foreign bodies a daunting task for the maxillofacial Surgeon. Moreover the inability of 2-dimensional imaging to precisely locate foreign bodies makes it challenging. The anatomic proximity of critical structures and esthetic considerations limits the access and thus poses a greater challenge for the surgeon in cases of foreign body retrieval. Hereby we propose a simple technique and a case report to support, the retrieval of small (mobile C arm Fluoroscopy and a needle triangulation method to precisely locate a loosened miniplate screw in the mandibular angle region.

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

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators.

Science.gov (United States)

Buzzi, Jacopo; Ferrigno, Giancarlo; Jansma, Joost M; De Momi, Elena

2017-01-01

Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

Directory of Open Access Journals (Sweden)

Jacopo Buzzi

2017-09-01

Full Text Available Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

Project W-340 long reach arm retrieval system balance of plant instrumentation workshop engineering study

International Nuclear Information System (INIS)

Schneider, T.C.

1994-01-01

This engineering study documents the results of a workshop held to resolve Issue No. 26 generated at a Arm Based Retrieval Functional Analysis Value Engineering Session. The issue deals with the scope of the Balance of Plant Instrumentation needs for the LRARS

First generation long-reach manipulator for retrieval of waste from Hanford single-shell tanks

International Nuclear Information System (INIS)

Gibbons, P.W.; McDaniel, L.B.

1994-10-01

The US Department of Energy, Richland Operations Office, has established the Tank Waste Remediation System to resolve environmental and safety issues related to underground waste-storage tanks at the Hanford Site. The Tank Waste Remediation System has identified the use of an advanced-technology, long-reach manipulator system as a low-water-addition retrieval alternative to past-practice sluicing

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.

DEVELOPMENT AND DEPLOYMENT OF THE MOBILE ARM RETRIEVAL SYSTEM (MARS) - 12187

Energy Technology Data Exchange (ETDEWEB)

BURKE CA; LANDON MR; HANSON CE

2011-11-08

Washington River Protection Solutions (WRPS) is developing and deploying Mobile Arm Retrieval System (MARS) technologies solutions to support retrieval of radioactive and chemical waste from underground single shell storage tanks (SST) located at the Hanford Site, which is near Richland, Washington. WRPS has developed the MARS using a standardized platform that is capable of deploying multiple retrieval technologies. To date, WRPS, working with their mentor-protege company, Columbia Energy and Environmental Services (CEES), has developed two retrieval mechanisms, MARS-Sluicing (MARS-S) and MARS-Vacuum (MARS-V). MARS-S uses pressurized fluids routed through spray nozzles to mobilize waste materials to a centrally located slurry pump (deployed in 2011). MARS-V uses pressurized fluids routed through an eductor nozzle. The eductor nozzle allows a vacuum to be drawn on the waste materials. The vacuum allows the waste materials to be moved to an in-tank vessel, then extracted from the SST and subsequently pumped to newer and safer double shell tanks (DST) for storage until the waste is treated for disposal. The MARS-S system is targeted for sound SSTs (i.e., non leaking tanks). The MARS-V is targeted for assumed leaking tanks or those tanks that are of questionable integrity. Both versions of MARS are beinglhave been developed in compliance with WRPS's TFC-PLN-90, Technology Development Management Plan [1]. TFC-PLN-90 includes a phased approach to design, testing, and ultimate deployment of new technologies. The MARS-V is scheduled to be deployed in tank 241-C-105 in late 2012.

DEVELOPMENT AND DEPLOYMENT OF THE MOBILE ARM RETRIEVAL SYSTEM (MARS) - 12187

Energy Technology Data Exchange (ETDEWEB)

BURKE CA; LANDON MR; HANSON CE

2012-01-30

Washington River Protection Solutions (WRPS) is developing and deploying Mobile Arm Retrieval System (MARS) technologies solutions to support retrieval of radioactive and chemical waste from underground single shell storage tanks (SST) located at the Hanford Site, which is near Richland, Washington. WRPS has developed the MARS using a standardized platform that is capable of deploying multiple retrieval technologies. To date, WRPS, working with their mentor-protege company, Columbia Energy and Environmental Services (CEES), has developed two retrieval mechanisms, MARS-Sluicing (MARS-S) and MARS-Vacuum (MARS-V). MARS-S uses pressurized fluids routed through spray nozzles to mobilize waste materials to a centrally located slurry pump (deployed in 2011). MARS-V uses pressurized fluids routed through an eductor nozzle. The eductor nozzle allows a vacuum to be drawn on the waste materials. The vacuum allows the waste materials to be moved to an in-tank vessel, then extracted from the SST and subsequently pumped to newer and safer double shell tanks (DST) for storage until the waste is treated for disposal. The MARS-S system is targeted for sound SSTs (i.e., non leaking tanks). The MARS-V is targeted for assumed leaking tanks or those tanks that are of questionable integrity. Both versions of MARS are being/have been developed in compliance with WRPS's TFC-PLN-90, Technology Development Management Plan. TFC-PLN-90 includes a phased approach to design, testing, and ultimate deployment of new technologies. The MARS-V is scheduled to be deployed in tank 241-C-105 in late 2012.

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.)

Engineering development of waste retrieval end effectors for the Oak Ridge gunite waste tanks

International Nuclear Information System (INIS)

Mullen, O.D.

1997-05-01

The Gunite and Associated Tanks Treatability Study at Oak Ridge National Laboratory selected the waterjet scarifying end effector, the jet pump conveyance system, and the Modified Light Duty Utility Arm and Houdini Remotely Operated Vehicle deployment and manipulator systems for evaluation. The waterjet-based retrieval end effector had been developed through several generations of test articles targeted at deployment in Hanford underground storage tanks with a large robotic arm. The basic technology had demonstrated effectiveness at retrieval of simulants bounding the foreseen range of waste properties and indicated compatibility with the planned deployment systems. The Retrieval Process Development and Enhancements team was tasked with developing a version of the retrieval end effector tailored to the Oak Ridge tanks, waste and deployment platforms. The finished prototype was delivered to PNNL and subjected to a brief round of characterization and performance testing at the Hydraulic Testbed prior to shipment to Oak Ridge. It has undergone extensive operational testing in the Oak Ridge National Laboratory Tanks Technology Cold Test Facility and performed well, as expected. A second unit has been delivered outfitted with the high pressure manifold

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.)

Hazardous waste retrieval strategies using a high-pressure water jet scarifier

International Nuclear Information System (INIS)

Hatchell, B.K.; Rinker, M.W.; Mullen, O.D.

1995-08-01

The Waste Dislodging and Conveyance Program is sponsored by the US Department of Energy Office of Technology Development to investigate waste dislodging and conveyance processes suitable for the retrieval of high-level radioactive waste. This program, represented by industry, national laboratories, and academia, has proposed a baseline technology of high-pressure water jet dislodging and pneumatic conveyance integrated as a scarifier as a means of retrieval of waste inside Hanford single-shell tanks. A testing program has been initiated to investigate system deployment techniques to determine appropriate mining strategies, level of control, sensor requirements, and address integration issues associated with deploying the scarifier by a long robotic manipulator arm. A test facility denoted the Hydraulics Testbed (HTB) is being constructed to achieve these objectives and to allow longer-duration, multiple-pass tests on large waste fields using a versatile gantry-style manipulator. Mining strategy tests with materials simulating salt cake and sludge waste forms will be conducted to evaluate the effectiveness of mining strategies, forces related to scarifier and conveyance line, and retrieval rate. This paper will describe the testbed facility and testing program and present initial test results to date

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)

Validation of satellite-retrieved MBL cloud properties using DOE ARM AMF measurements at the Azores

Science.gov (United States)

Xi, B.; Dong, X.; Minnis, P.; Sun-Mack, S.

2013-05-01

Marine Boundary Layer (MBL) cloud properties derived for the Clouds and the Earth's Radiant Energy System (CERES) Project using Terra and Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) data are compared with observations taken at the Atmospheric Radiation Measurement (ARM) AMF AZORES site from June 2009 through December 2010. Retrievals from ARM surface-based data were averaged over a 1-hour interval centered at the time of each satellite overpass, and the CERES-MODIS Ed4 cloud properties were averaged within a 30-km x 30-km box centered on the ARM AZORES site. Two datasets were analyzed: all of the single-layered unbroken decks (SL) and those cases without temperature inversions. The CERES-MODIS cloud top/base heights were determined from cloud top/base temperature by using a lapse rate method normalized to the 24-h mean surface air temperature. The preliminary results show: for all SL MBL at daytime, they are, on average, 0.148 km (cloud top) and 0.087 km (cloud base) higher than the ARM radar-lidar observed cloud top and base, respectively. At nighttime, they are 0.446 km (cloud top) and 0.334 km (cloud base). For those cases without temperature inversions, the comparisons are close to their SL counterparts. For cloud temperatures, the MODIS-derived cloud-top and -base temperatures are 1.6 K lower and 0.4 K higher than the surface values with correlations of 0.92 during daytime. At nighttime, the differences are slightly larger and correlations are lower than daytime comparisons. Variations in the height difference are mainly caused by uncertainties in the surface air temperatures and lapse rates. Based on a total of 61 daytime and 87 nighttime samples (ALL SL cases), the temperature inversion layers occur about 72% during daytime and 83% during nighttime. The difference of surface-observed lapse rate and the satellite derived lapse rate can be 1.6 K/km for daytime and 3.3K/km for nighttime. From these lapse rates, we can further analyze the surface

Remote control manipulator

Energy Technology Data Exchange (ETDEWEB)

Sugawara, T

1970-02-28

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

Task-oriented control of Single-Master Multi-Slave Manipulator System

International Nuclear Information System (INIS)

Kosuge, Kazuhiro; Ishikawa, Jun; Furuta, Katsuhisa; Hariki, Kazuo; Sakai, Masaru.

1994-01-01

A master-slave manipulator system, in general, consists of a master arm manipulated by a human and a slave arm used for real tasks. Some tasks, such as manipulation of a heavy object, etc., require two or more slave arms operated simultaneously. A Single-Master Multi-Slave Manipulator System consists of a master arm with six degrees of freedom and two or more slave arms, each of which has six or more degrees of freedom. In this system, a master arm controls the task-oriented variables using Virtual Internal Model (VIM) based on the concept of 'Task-Oriented Control'. VIM is a reference model driven by sensory information and used to describe the desired relation between the motion of a master arm and task-oriented variables. The motion of slave arms are controlled based on the task oriented variables generated by VIM and tailors the system to meet specific tasks. A single-master multi-slave manipulator system, having two slave arms, is experimentally developed and illustrates the concept. (author)

Robotic-Movement Payload Lifter and Manipulator

Science.gov (United States)

Doggett, William R. (Inventor); King, Bruce D. (Inventor); Collins, Timothy J. (Inventor); Dorsey, John T. (Inventor)

2011-01-01

A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

Layout of the manipulator-arm (boom) for the TFTR fusion reactor (Princeton, USA) under UHV-conditions

International Nuclear Information System (INIS)

Klaubert, J.

1987-01-01

This presentation shows the main criteria for the layout of the manipulator - arm and the antechamber - vessel of the TFTR - FUSION - REACTOR at Princeton University, PLASMA PHYSICS LABORATORY (USA). The main problem during layout of a manipulator system like the TFTR - Boom has been the limitation of the vertical deflections due to deadweight of the construction. The design problem is rather a deformation problem and a problem of stability than a stress problem. The way of optimizing the ratio between stiffness and deadweight is the most important part during the complete design - process. Additional earthquake requirements need further investigations for a satisfying layout (horizontal forces, weak-axis of moment of inertia). The details of the construction (welding, connections etc.) have to be designed in respect to UHV - requirements --> no holes and no fillet welds (outgasing - rate.) are allowed. All weldings have to be designed as bevel-welds. This manipulator system is designed for working in a plane system (two degrees of freedom). A manipulator system with the same operating capabilities in a three degree of freedom system needs larger cross sections for the different beam-elements than those of the discussed TFTR - BOOM

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)

Control of master-slave manipulator using virtual force

International Nuclear Information System (INIS)

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

1994-01-01

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

Innovative technology summary report: Light duty utility arm

International Nuclear Information System (INIS)

1998-01-01

The Light-Duty Utility Arm (LDUA) System is a mobile, multi-axis positioning system capable of deploying tools and sensors (end effecters) inside radioactive waste tanks for tank wall inspection, waste characterization, and waste retrieval. The LDUA robotic manipulator enters a tank through existing openings (risers) in the tank dome of the underground tanks. Using various end effecters, the LDUA System is a versatile system for high-level waste tank remediation. The LDUA System provides a means to deploy tools, while increasing the technology resources available to the U.S. Department of Energy (DOE). Ongoing end effecter development will provide additional capabilities to remediate the waste tanks

In-cell maintenance by manipulator arm with 3D workspace information recreated by laser rangefinder

International Nuclear Information System (INIS)

Kitamura, Akihiro; Nakai, Koji; Namekawa, Takashi; Watahiki, Masatoshi

2011-01-01

Highlights: → We developed a remote control system for maintenance of in-cell type fuel fabrication equipment. → The system display recreated three-dimensional information of the workspace from data obtained by laser rangefinder and conventional cameras. It has allowed us to operate a manipulator arm remotely with several control modes. → We implemented remote handling experiments using mock up equipment. Performance was compared for remote operation conducted using several different display and operation modes. → It was observed that integration of 3D information from the laser rangefinder reduced operation time and reinforced visual information during remote operation. - Abstract: We developed a remote control system for maintenance of in-cell type fuel fabrication equipment. The system display recreated three-dimensional information of the workspace from data obtained by laser rangefinder and conventional cameras. It has allowed us to operate a manipulator arm remotely with several control modes. In order to evaluate the effectiveness and usefulness of developed system, we implemented remote handling experiments using mock up equipment. Performance was compared for remote operation conducted using several different display and operation modes. We confirmed that the system is able to maintain in-cell fuel fabrication equipment in each display and operation mode. Times required to complete the remote operations were collected and compared in each mode. It was observed that integration of 3D information from the laser rangefinder reduced operation time and reinforced visual information during remote operation.

Comparison of POLDER Cloud Phase Retrievals to Active Remote Sensors Measurements at the ARM SGP Site

International Nuclear Information System (INIS)

Riedi, J.; Goloub, P.; Marchand, Roger T.

2001-01-01

In our present study, cloud boundaries derived from a combination of active remote sensors at the ARM SGP site are compared to POLDER cloud top phase index which is derived from polarimetric measurements using an innovative method. This approach shows the viability of the POLDER phase retrieval algorithm, and also leads to interesting results. In particular, the analysis demonstrates the sensitivity of polarization measurements to ice crystal shape and indicates that occurrence of polycrystalline ice clouds has to be taken into account in order to improve the POLDER phase retrieval algorithm accuracy. Secondly, the results show that a temperature threshold of 240 K could serve for cloud top particle phase classification. Considering the limitations of the analysis, the temperature threshold could be biased high, but not by more than about 5 degrees

SAMSIN: the next-generation servo-manipulator

International Nuclear Information System (INIS)

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

1985-01-01

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

Master-slave type manipulator

International Nuclear Information System (INIS)

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

1979-01-01

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

Functional-anatomic study of episodic retrieval using fMRI. I. Retrieval effort versus retrieval success.

Science.gov (United States)

Buckner, R L; Koutstaal, W; Schacter, D L; Wagner, A D; Rosen, B R

1998-04-01

A number of recent functional imaging studies have identified brain areas activated during tasks involving episodic memory retrieval. The identification of such areas provides a foundation for targeted hypotheses regarding the more specific contributions that these areas make to episodic retrieval. As a beginning effort toward such an endeavor, whole-brain functional magnetic resonance imaging (fMRI) was used to examine 14 subjects during episodic word recognition in a block-designed fMRI experiment. Study conditions were manipulated by presenting either shallow or deep encoding tasks. This manipulation yielded two recognition conditions that differed with regard to retrieval effort and retrieval success: shallow encoding yielded low levels of recognition success with high levels of retrieval effort, and deep encoding yielded high levels of recognition success with low levels of effort. Many brain areas were activated in common by these two recognition conditions compared to a low-level fixation condition, including left and right prefrontal regions often detected during PET episodic retrieval paradigms (e.g., R. L. Buckner et al., 1996, J. Neurosci. 16, 6219-6235) thereby generalizing these findings to fMRI. Characterization of the activated regions in relation to the separate recognition conditions showed (1) bilateral anterior insular regions and a left dorsal prefrontal region were more active after shallow encoding, when retrieval demanded greatest effort, and (2) right anterior prefrontal cortex, which has been implicated in episodic retrieval, was most active during successful retrieval after deep encoding. We discuss these findings in relation to component processes involved in episodic retrieval and in the context of a companion study using event-related fMRI.

Hanford Tanks Initiative fiscal year 1997 retrieval technology demonstrations

International Nuclear Information System (INIS)

Berglin, E.J.

1998-01-01

The Hanford Tanks Initiative was established in 1996 to address a range of retrieval and closure issues associated with radioactive and hazardous waste stored in Hanford's single shell tanks (SSTs). One of HTI's retrieval goals is to ''Successfully demonstrate technology(s) that provide expanded capabilities beyond past practice sluicing and are extensible to retrieve waste from other SSTS.'' Specifically, HTI is to address ''Alternative technologies to past practice sluicing'' ... that can ... ''successfully remove the hard heel from a sluiced tank or to remove waste from a leaking SST'' (HTI Mission Analysis). During fiscal year 1997, the project contracted with seven commercial vendor teams to demonstrate retrieval technologies using waste simulants. These tests were conducted in two series: three integrated tests (IT) were completed in January 1997, and four more comprehensive Alternative Technology Retrieval Demonstrations (ARTD) were completed in July 1997. The goal of this testing was to address issues to minimize the risk, uncertainties, and ultimately the overall cost of removing waste from the SSTS. Retrieval technologies can be separated into three tracks based on how the tools would be deployed in the tank: globally (e.g., sluicing) or using vehicles or robotic manipulators. Accordingly, the HTI tests included an advanced sluicer (Track 1: global systems), two different vehicles (Track 2: vehicle based systems), and three unique manipulators (Track 3: arm-based systems), each deploying a wide range of dislodging tools and conveyance systems. Each industry team produced a system description as envisioned for actual retrieval and a list of issues that could prevent using the described system; defined the tests to resolve the issues; performed the test; and reported the results, lessons learned, and state of issue resolution. These test reports are cited in this document, listed in the reference section, and summarized in the appendices. This report

Hanford Tanks Initiative fiscal year 1997 retrieval technology demonstrations

Energy Technology Data Exchange (ETDEWEB)

Berglin, E.J.

1998-02-05

The Hanford Tanks Initiative was established in 1996 to address a range of retrieval and closure issues associated with radioactive and hazardous waste stored in Hanford`s single shell tanks (SSTs). One of HTI`s retrieval goals is to ``Successfully demonstrate technology(s) that provide expanded capabilities beyond past practice sluicing and are extensible to retrieve waste from other SSTS.`` Specifically, HTI is to address ``Alternative technologies to past practice sluicing`` ... that can ... ``successfully remove the hard heel from a sluiced tank or to remove waste from a leaking SST`` (HTI Mission Analysis). During fiscal year 1997, the project contracted with seven commercial vendor teams to demonstrate retrieval technologies using waste simulants. These tests were conducted in two series: three integrated tests (IT) were completed in January 1997, and four more comprehensive Alternative Technology Retrieval Demonstrations (ARTD) were completed in July 1997. The goal of this testing was to address issues to minimize the risk, uncertainties, and ultimately the overall cost of removing waste from the SSTS. Retrieval technologies can be separated into three tracks based on how the tools would be deployed in the tank: globally (e.g., sluicing) or using vehicles or robotic manipulators. Accordingly, the HTI tests included an advanced sluicer (Track 1: global systems), two different vehicles (Track 2: vehicle based systems), and three unique manipulators (Track 3: arm-based systems), each deploying a wide range of dislodging tools and conveyance systems. Each industry team produced a system description as envisioned for actual retrieval and a list of issues that could prevent using the described system; defined the tests to resolve the issues; performed the test; and reported the results, lessons learned, and state of issue resolution. These test reports are cited in this document, listed in the reference section, and summarized in the appendices. This report

Field performance of the waste retrieval end effectors in the Oak Ridge gunite tanks

International Nuclear Information System (INIS)

Mullen, O.D.

1997-09-01

Waterjet-based tank waste retrieval end effectors have been developed by Retrieval Process Development and Enhancements through several generations of test articles targeted at deployment in Hanford underground storage tanks with a large robotic arm. The basic technology has demonstrated effectiveness for retrieval of simulants bounding a wide range of waste properties and compatibility with foreseen deployment systems. The Oak Ridge National Laboratory (ORNL) selected the waterjet scarifying end effector, the jet pump conveyance system, and the Modified Light Duty Utility Arm and Houdini Remotely Operated Vehicle deployment and manipulator systems for evaluation in the Gunite and Associated Tanks Treatability Study (GAAT-TS). The Retrieval Process Development and Enhancements (RPD ampersand E) team was tasked with developing a version of the retrieval end effector tailored to the Oak Ridge tanks, waste, and deployment platforms. The conceptual design was done by the University of Missouri-Rolla in FY 1995-96. The university researchers conducted separate effects tests of the component concepts, scaled the basic design features, and constructed a full-scale test article incorporating their findings in early FY 1996. The test article was extensively evaluated in the Hanford Hydraulic Testbed and the design features were further refined. Detail design of the prototype item was started at Waterjet Technology, Inc. before the development testing was finished, and two of the three main subassemblies were substantially complete before final design of the waterjet manifold was determined from the Hanford hydraulic testbed (HTB) testing. The manifold on the first prototype was optimized for sludge retrieval; assembled with that manifold, the end effector is termed the Sludge Retrieval End Effector (SREE)

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.)

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)

A 3D steady-state model of a tendon-driven continuum soft manipulator inspired by the octopus arm

International Nuclear Information System (INIS)

Renda, F; Cianchetti, M; Giorelli, M; Arienti, A; Laschi, C

2012-01-01

Control and modelling of continuum robots are challenging tasks for robotic researchers. Most works on modelling are limited to piecewise constant curvature. In many cases they neglect to model the actuators or avoid a continuum approach. In particular, in the latter case this leads to a complex model hardly implemented. In this work, a geometrically exact steady-state model of a tendon-driven manipulator inspired by the octopus arm is presented. It takes a continuum approach, fast enough to be implemented in the control law, and includes a model of the actuation system. The model was experimentally validated and the results are reported. In conclusion, the model presented can be used as a tool for mechanical design of continuum tendon-driven manipulators, for planning control strategies or as internal model in an embedded system. (paper)

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.)

Positioning the laparoscopic camera with industrial robot arm

DEFF Research Database (Denmark)

Capolei, Marie Claire; Wu, Haiyan; Andersen, Nils Axel

2017-01-01

This paper introduces a solution for the movement control of the laparoscopic camera employing a teleoperated robotic assistant. The project propose an autonomous robotic solution based on an industrial manipulator, provided with a modular software which is applicable to large scale. The robot arm...... industrial robot arm is designated to accomplish this manipulation task. The software is implemented in ROS in order to facilitate future extensions. The experimental results shows a manipulator capable of moving fast and smoothly the surgical tool around a remote center of motion....

Dual arm master controller for a bilateral servo-manipulator

Science.gov (United States)

Kuban, Daniel P.; Perkins, Gerald S.

1989-01-01

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

A Unified Approach for Reporting ARM Measurement Uncertainties Technical Report

Energy Technology Data Exchange (ETDEWEB)

Campos, E [Argonne National Lab. (ANL), Argonne, IL (United States); Sisterson, Douglas [Argonne National Lab. (ANL), Argonne, IL (United States)

2016-12-01

The U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Climate Research Facility is observationally based, and quantifying the uncertainty of its measurements is critically important. With over 300 widely differing instruments providing over 2,500 datastreams, concise expression of measurement uncertainty is quite challenging. The ARM Facility currently provides data and supporting metadata (information about the data or data quality) to its users through a number of sources. Because the continued success of the ARM Facility depends on the known quality of its measurements, the Facility relies on instrument mentors and the ARM Data Quality Office (DQO) to ensure, assess, and report measurement quality. Therefore, an easily accessible, well-articulated estimate of ARM measurement uncertainty is needed. Note that some of the instrument observations require mathematical algorithms (retrievals) to convert a measured engineering variable into a useful geophysical measurement. While those types of retrieval measurements are identified, this study does not address particular methods for retrieval uncertainty. As well, the ARM Facility also provides engineered data products, or value-added products (VAPs), based on multiple instrument measurements. This study does not include uncertainty estimates for those data products. We propose here that a total measurement uncertainty should be calculated as a function of the instrument uncertainty (calibration factors), the field uncertainty (environmental factors), and the retrieval uncertainty (algorithm factors). The study will not expand on methods for computing these uncertainties. Instead, it will focus on the practical identification, characterization, and inventory of the measurement uncertainties already available in the ARM community through the ARM instrument mentors and their ARM instrument handbooks. As a result, this study will address the first steps towards reporting ARM measurement uncertainty

Emulating a robotic manipulator arm with an hybrid motion-control system

International Nuclear Information System (INIS)

Aragón-González, G; León-Galicia, A; Noriega-Hernández, M; Salazar-Hueta, A

2015-01-01

A motion control system with four and 1/2 degrees of freedom, designed to move small objects within a 0.25 m3 space, parallel to a horizontal table, with high speed and performance similar to a robotic manipulator arm was built. The machine employs several actuators and control devices. Its main characteristic is to incorporate a servomotor, steeper motors, electromechanical and fluid power actuators and diverse control resources. A group of actuators arranged on a spherical coordinates system is attached to the servomotor platform. A linear pneumatic actuator with an angular grip provides the radial extension and load clamping capacity. Seven inductive proximity sensors and one encoder provide feedback, for operating the actuators under closed loop conditions. Communication between the sensors and control devices is organized by a PLC. A touch screen allows governing the system remotely, easily and interactively, without knowing the specific programming language of each control component. The graphic environment on the touch screen guides the user to design and store control programs, establishing coordinated automatic routines for moving objects in space, simulation and implementation of industrial positioning or machining processes

Dual arm master controller for a bilateral servo-manipulator

International Nuclear Information System (INIS)

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

1989-01-01

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

Evaluation of a New Backtrack Free Path Planning Algorithm for Manipulators

Science.gov (United States)

Islam, Md. Nazrul; Tamura, Shinsuke; Murata, Tomonari; Yanase, Tatsuro

This paper evaluates a newly proposed backtrack free path planning algorithm (BFA) for manipulators. BFA is an exact algorithm, i.e. it is resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical and predetermined time even for manipulators with many arms, and it becomes possible to plan complicated motions of multi-arm manipulators in fully automated environments. The performance of BFA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements. Its performance under locus and attitude constraints is also evaluated. Evaluation results show that the computation volume of the algorithm is almost the same as the theoretical one, i.e. it increases linearly with the number of arms even in complicated environments. Moreover BFA achieves the constant performance independent of environments.

Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

Science.gov (United States)

Erickson, J. D.; Reuter, G. J.; Healey, Kathleen J.; Phinney, D. E.

1990-01-01

Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.

High precision detector robot arm system

Science.gov (United States)

Shu, Deming; Chu, Yong

2017-01-31

A method and high precision robot arm system are provided, for example, for X-ray nanodiffraction with an X-ray nanoprobe. The robot arm system includes duo-vertical-stages and a kinematic linkage system. A two-dimensional (2D) vertical plane ultra-precision robot arm supporting an X-ray detector provides positioning and manipulating of the X-ray detector. A vertical support for the 2D vertical plane robot arm includes spaced apart rails respectively engaging a first bearing structure and a second bearing structure carried by the 2D vertical plane robot arm.

Light Duty Utility Arm computer software configuration management plan

International Nuclear Information System (INIS)

Philipp, B.L.

1998-01-01

This plan describes the configuration management for the Light Duty Utility Arm robotic manipulation arm control software. It identifies the requirement, associated documents, and the software control methodology. The Light Duty Utility Ann (LDUA) System is a multi-axis robotic manipulator arm and deployment vehicle, used to perform surveillance and characterization operations in support of remediation of defense nuclear wastes currently stored in the Hanford Underground Storage Tanks (USTs) through the available 30.5 cm (12 in.) risers. This plan describes the configuration management of the LDUA software

Tolerance Towards Sensor Faults: An Application to a Flexible Arm Manipulator

Directory of Open Access Journals (Sweden)

Chee Pin Tan

2006-12-01

Full Text Available As more engineering operations become automatic, the need for robustness towards faults increases. Hence, a fault tolerant control (FTC scheme is a valuable asset. This paper presents a robust sensor fault FTC scheme implemented on a flexible arm manipulator, which has many applications in automation. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this paper, the non-faulty sensors are used to reconstruct the faults on the potentially faulty sensors. The reconstruction is subtracted from the faulty sensors to form a compensated ‘virtual sensor’ and this signal (instead of the normally used faulty sensor output is then used to generate the control input. A design method is also presented in which the FTC scheme is made insensitive to any system uncertainties. Two fault conditions are tested; total failure and incipient faults. Then the scheme robustness is tested by implementing the flexible joint's FTC scheme on a flexible link, which has different parameters. Excellent results have been obtained for both cases (joint and link; the FTC scheme caused the system performance is almost identical to the fault-free scenario, whilst providing an indication that a fault is present, even for simultaneous faults.

Advanced Bimanual Manipulation Results from the DEXMART Project

CERN Document Server

2012-01-01

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

Continuum robot arms inspired by cephalopods

Science.gov (United States)

Walker, Ian D.; Dawson, Darren M.; Flash, Tamar; Grasso, Frank W.; Hanlon, Roger T.; Hochner, Binyamin; Kier, William M.; Pagano, Christopher C.; Rahn, Christopher D.; Zhang, Qiming M.

2005-05-01

In this paper, we describe our recent results in the development of a new class of soft, continuous backbone ("continuum") robot manipulators. Our work is strongly motivated by the dexterous appendages found in cephalopods, particularly the arms and suckers of octopus, and the arms and tentacles of squid. Our ongoing investigation of these animals reveals interesting and unexpected functional aspects of their structure and behavior. The arrangement and dynamic operation of muscles and connective tissue observed in the arms of a variety of octopus species motivate the underlying design approach for our soft manipulators. These artificial manipulators feature biomimetic actuators, including artificial muscles based on both electro-active polymers (EAP) and pneumatic (McKibben) muscles. They feature a "clean" continuous backbone design, redundant degrees of freedom, and exhibit significant compliance that provides novel operational capacities during environmental interaction and object manipulation. The unusual compliance and redundant degrees of freedom provide strong potential for application to delicate tasks in cluttered and/or unstructured environments. Our aim is to endow these compliant robotic mechanisms with the diverse and dexterous grasping behavior observed in octopuses. To this end, we are conducting fundamental research into the manipulation tactics, sensory biology, and neural control of octopuses. This work in turn leads to novel approaches to motion planning and operator interfaces for the robots. The paper describes the above efforts, along with the results of our development of a series of continuum tentacle-like robots, demonstrating the unique abilities of biologically-inspired design.

Development master arm of 2-DOF planar parallel manipulator for In-Vitro Fertilization

Science.gov (United States)

Thamrongaphichartkul, Kitti; Vongbunyong, Supachai; Nuntakarn, Lalana

2018-01-01

Micromanipulator is a mechanical device used for manipulating miniature objects in the order of micron. It is widely used in In-Vitro Fertilization (IVF) in which sperms will be held in a micro-needle and penetrate to an oocyte for fertilization. IVF needs to be performed by high skill embryologists to control the movement of the needle accurately due to the lack of tactile perception of the user. Haptic device is a device that can transmit and simulate position, velocity and force in order to enhance interaction between the user and system. However, commercially available haptic devices have unnecessary degrees of freedom and limited workspace which are inappropriate for IVF process. This paper focuses on development of a haptic device for using in IVF process. It will be used as a master arm for the master-slave system for IVF process in order to enhance the ability of users to control the micromanipulator. As a result, the embryologist is able to carry out the IVF process more effectively with having tactile perception.

CHAMP: A bespoke integrated system for mobile manipulation

CSIR Research Space (South Africa)

Van Eden, B

2014-11-01

Full Text Available for Mobile Manipulation Beatrice van Eden, Benjamin Rosman, Daniel Withey, Terence Ratshidaho, Mogomotsi Keaikitse, Ditebogo Masha, Ashley Kleinhans, and Ahmed Shaik Mobile Intelligent Autonomous Systems Modelling and Digital Science Council for Scientific... as a rear caster. Each arm has 7 DoF, with an attached Barrett hand. UMAN [19], the UMass Mobile MANipulator also uses a 7 DoF Barrett WAM, with a three-fingered Barrett hand. The arm is mounted on modified Nomadic XR4000 mobile base having four caster...

Simulation of cooperating robot manipulators on a mobile platform

Science.gov (United States)

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

1990-01-01

The dynamic equations of motion for two manipulators holding a common object on a freely moving mobile platform are developed. The full dynamic interactions from arms to platform and arm-tip to arm-tip are included in the formulation. The development of the closed chain dynamics allows for the use of any solution for the open topological tree of base and manipulator links. In particular, because the system has 18 degrees of freedom, recursive solutions for the dynamic simulation become more promising for efficient calculations of the motion. Simulation of the system is accomplished through a MATLAB program, and the response is visualized graphically using the SILMA Cimstation.

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

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

2018-04-04

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

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

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

Octopus-inspired multi-arm robotic swimming.

Science.gov (United States)

Sfakiotakis, M; Kazakidi, A; Tsakiris, D P

2015-05-13

The outstanding locomotor and manipulation characteristics of the octopus have recently inspired the development, by our group, of multi-functional robotic swimmers, featuring both manipulation and locomotion capabilities, which could be of significant engineering interest in underwater applications. During its little-studied arm-swimming behavior, as opposed to the better known jetting via the siphon, the animal appears to generate considerable propulsive thrust and rapid acceleration, predominantly employing movements of its arms. In this work, we capture the fundamental characteristics of the corresponding complex pattern of arm motion by a sculling profile, involving a fast power stroke and a slow recovery stroke. We investigate the propulsive capabilities of a multi-arm robotic system under various swimming gaits, namely patterns of arm coordination, which achieve the generation of forward, as well as backward, propulsion and turning. A lumped-element model of the robotic swimmer, which considers arm compliance and the interaction with the aquatic environment, was used to study the characteristics of these gaits, the effect of various kinematic parameters on propulsion, and the generation of complex trajectories. This investigation focuses on relatively high-stiffness arms. Experiments employing a compliant-body robotic prototype swimmer with eight compliant arms, all made of polyurethane, inside a water tank, successfully demonstrated this novel mode of underwater propulsion. Speeds of up to 0.26 body lengths per second (approximately 100 mm s(-1)), and propulsive forces of up to 3.5 N were achieved, with a non-dimensional cost of transport of 1.42 with all eight arms and of 0.9 with only two active arms. The experiments confirmed the computational results and verified the multi-arm maneuverability and simultaneous object grasping capability of such systems.

Operating gains achieved by a new generation of remotely controlled manipulators

International Nuclear Information System (INIS)

Djedidi, A.; Selliez-Vandernotte, C.; Malcolm, F.

2014-01-01

A high performance remotely controlled mechanical master slave arm with direct transmission via cable and transmission rods has been converted to a new generation manipulator with electrical master slave arm and motion module with integrated software. The redesigned powered manipulator with software control improves efficiency and ergonomics while increasing operating field space. The mechanical master arm has been replaced by an electrical robotic master arm using haptic technology. The movements initiated by the operator are transmitted in real time to the slave arm via the servo-motors inside the motion module. The mechanical link between master and slave is eliminated and some mechanical constraints have been replaced by software applications. The operator benefits from an improved working position and vibration filtering plus full range high performance force feedback with reduced effort requirement. (authors)

The Effect of Overgeneral Autobiographical Memory Retrieval on Rumination

Directory of Open Access Journals (Sweden)

Filip Raes

2006-03-01

Full Text Available From distinct research traditions rumination and overgeneral autobiographical memory retrieval (OGM have emerged as two vulnerability markers for depression and depressive relapse (Nolen-Hoeksema, 2004; Williams, 2004. Recent research further suggests a causal relation between rumination and OGM (e.g., Watkins & Teasdale, 2001. The present study investigated the inverse relationship, that is, OGM causally influencing ruminative thinking. A scrambled sentences procedure was used to assess the extent to which 112 student participants were engaged in a mental mode consistent with ruminative thinking following either a specific or overgeneral memory retrieval style manipulation. Trait rumination was also assessed prior to the experimental retrieval manipulation, using a self-report scale. It was found that high ruminators, following an overgeneral (as compared to a specific retrieval style, unscrambled sentences relatively more into sentences with a ruminative meaning. In non or low ruminators this retrieval style manipulation had no such effect. Alongside the findings of Watkins and colleagues (e.g., Watkins & Teasdale, 2001, the present results are consistent with the view of rumination and OGM as two mutually reinforcing vulnerability factors for depression (Williams, 1996, 2004.

Development and testing of single-shell tank waste retrieval technologies: Milestone M-45-01 summary report

International Nuclear Information System (INIS)

Shen, E.J.

1994-08-01

This report summarizes the activities undertaken to develop single-shell tank (SST) waste retrieval technology and complete scale-model testing. Completion of these activities fulfills the commitment of Milestone M-45-01 of the Hanford Federal Facility Agreement and Consent Order (the Tri-Party Agreement). Initial activities included engineering studies that compiled and evaluated data on all known retrieval technologies. Based on selection criteria incorporating regulatory, safety, and operational issues, several technologies were selected for further evaluation and testing. The testing ranged from small-scale, bench-top evaluations of individual technologies to full-scale integrated tests of multiple subsystems operating concurrently as a system using simulated wastes. The current baseline retrieval method for SSTs is hydraulic sluicing. This method has been used successfully in the past to recover waste from SSTs. Variations of this hydraulic or ''past practice'' sluicing may be used to retrieve the waste from the majority of the SSTs. To minimize the potential for releases to the soil, arm-based retrieval systems may be used to recover waste from tanks that are known or suspected to have leaked. Both hydraulic sluicing and arm-based retrieval will be demonstrated in the first SST. Hydraulic sluicing is expected to retrieve most of the waste, and arm-based retrieval will retrieve wastes that remain after sluicing. Subsequent tanks will be retrieved by either hydraulic sluicing or arm-based methods, but not both. The method will be determined by waste characterization, tank integrity (leak status), and presence of in-tank hardware. Currently, it is assumed that approximately 75% of all SSTs will be retrieved by hydraulic sluicing and the remaining tanks by arm-based methods

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

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

Interim report spent nuclear fuel retrieval system fuel handling development testing

Energy Technology Data Exchange (ETDEWEB)

Ketner, G.L.; Meeuwsen, P.V.; Potter, J.D.; Smalley, J.T.; Baker, C.P.; Jaquish, W.R.

1997-06-01

Fuel handling development testing was performed in support of the Fuel Retrieval System (FRS) Sub-Project at the Hanford Site. The project will retrieve spent nuclear fuel, clean and remove fuel from canisters, repackage fuel into baskets, and load fuel into a multi-canister overpack (MCO) for vacuum drying and interim dry storage. The FRS is required to retrieve basin fuel canisters, clean fuel elements sufficiently of uranium corrosion products (or sludge), empty fuel from canisters, sort debris and scrap from whole elements, and repackage fuel in baskets in preparation for MCO loading. The purpose of fuel handling development testing was to examine the systems ability to accomplish mission activities, optimization of equipment layouts for initial process definition, identification of special needs/tools, verification of required design changes to support performance specification development, and validation of estimated activity times/throughput. The test program was set up to accomplish this purpose through cold development testing using simulated and prototype equipment; cold demonstration testing using vendor expertise and systems; and graphical computer modeling to confirm feasibility and throughput. To test the fuel handling process, a test mockup that represented the process table was fabricated and installed. The test mockup included a Schilling HV series manipulator that was prototypic of the Schilling Hydra manipulator. The process table mockup included the tipping station, sorting area, disassembly and inspection zones, fuel staging areas, and basket loading stations. The test results clearly indicate that the Schilling Hydra arm cannot effectively perform the fuel handling tasks required unless it is attached to some device that can impart vertical translation, azimuth rotation, and X-Y translation. Other test results indicate the importance of camera locations and capabilities, and of the jaw and end effector tool design. 5 refs., 35 figs., 3 tabs.

Retrieval-practice task affects relationship between working memory capacity and retrieval-induced forgetting.

Science.gov (United States)

Storm, Benjamin C; Bui, Dung C

2016-11-01

Retrieving a subset of items from memory can cause forgetting of other items in memory, a phenomenon referred to as retrieval-induced forgetting (RIF). Individuals who exhibit greater amounts of RIF have been shown to also exhibit superior working memory capacity (WMC) and faster stop-signal reaction times (SSRTs), results which have been interpreted as suggesting that RIF reflects an inhibitory process that is mediated by the processes of executive control. Across four experiments, we sought to further elucidate this issue by manipulating the way in which participants retrieved items during retrieval practice and examining how the resulting effects of forgetting correlated with WMC (Experiments 1-3) and SSRT (Experiment 4). Significant correlations were observed when participants retrieved items from an earlier study phase (within-list retrieval practice), but not when participants generated items from semantic memory (extra-list retrieval practice). These results provide important new insight into the role of executive-control processes in RIF.

Flexible kinesthetic distance perception: when do your arms tell you how far you have walked?

Science.gov (United States)

Harrison, Steven J; Kuznetsov, Nikita; Breheim, Samuel

2013-01-01

Given the flexible organization of locomotion evidenced in the many ways the limbs can be coordinated, the authors explored the potentially correspondingly flexible organization of nonvisual (kinesthetic) distance perception. As kinesthetic distance perception is known to be affected by how the limbs are coordinated, the authors probed the potential perceptual contribution of the arms during locomotion by manipulating arm-leg coordination patterns in blind-walked distance-matching tasks. Whereas manipulation of arm-leg coordination for walking with free-swinging arms had no observable perceptual consequences, comparable manipulation for walking with hiking poles did affect distance matching. These results suggest that under conditions in which the arms act to propel the body (e.g., crawling or stair-climbing) a person's nonvisual sense of movement is conveyed in the coordinated actions of all four limbs.

Cobra: A content-based video retrieval system

NARCIS (Netherlands)

Petkovic, M.; Jonker, W.; Jensen, C.S.; Jeffery, K.G.; Pokorny, J.; Saltenis, S.; Bertino, E.; Böhm, K.; Jarke, M.

2002-01-01

An increasing number of large publicly available video libraries results in a demand for techniques that can manipulate the video data based on content. In this paper, we present a content-based video retrieval system called Cobra. The system supports automatic extraction and retrieval of high-level

Practical application with plc in manipulation of a robotic arm

Directory of Open Access Journals (Sweden)

Cristian Barz

2014-12-01

Full Text Available This paper presents the use of a robotic arm PLC Siemens in order not using CNC commands. This is done by programming the PLC ladder diagram language that makes movement on the three axes of the arm by means of stepper motors. Required command console PLC is built with the help of a touch screen HMI Weintek. In the user interface are introduced distances and displacement speeds on the three axes.

Data Discretization for Novel Relationship Discovery in Information Retrieval.

Science.gov (United States)

Benoit, G.

2002-01-01

Describes an information retrieval, visualization, and manipulation model which offers the user multiple ways to exploit the retrieval set, based on weighted query terms, via an interactive interface. Outlines the mathematical model and describes an information retrieval application built on the model to search structured and full-text files.…

Transmission Characteristics on Wire-Driven Links of a Bridge Transported Servo Manipulator for the ACP Equipment Maintenance

International Nuclear Information System (INIS)

Park, Byung Suk; Jin, Jae Hyun; Song, Tae Gil; Kim, Sung Hyun; Yoon, Ji Sup

2004-01-01

A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tube sets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan and tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations

Development of a super-redundant multijoint manipulator for maintenance of nuclear reactors

International Nuclear Information System (INIS)

Ma, Shugen; Hirose, Shigeo.

1994-01-01

A tendon-driven manipulator, the CT Arm, has a specific tendon traction transmission mechanism, in which a pair of tendons for driving a joint is pulled from base actuators via pulleys mounted on the based-side joints. The mechanism makes the most of the coupled drive function of the tendon tractions and thus enables the lightweight manipulator to exhibit enormous payload capability. By this tendon-driven mechanism, a multijoint manipulator with super-redundant degrees of freedom could be realized, which is suitable to the maintenance of nuclear reactors. In this article, we introduce the CT Arm and discuss the possibility to generate a multijoint maintenance manipulator which has a super-redundant degrees of freedom. (author)

Neural Mechanisms of Episodic Retrieval Support Divergent Creative Thinking.

Science.gov (United States)

Madore, Kevin P; Thakral, Preston P; Beaty, Roger E; Addis, Donna Rose; Schacter, Daniel L

2017-11-17

Prior research has indicated that brain regions and networks that support semantic memory, top-down and bottom-up attention, and cognitive control are all involved in divergent creative thinking. Kernels of evidence suggest that neural processes supporting episodic memory-the retrieval of particular elements of prior experiences-may also be involved in divergent thinking, but such processes have typically been characterized as not very relevant for, or even a hindrance to, creative output. In the present study, we combine functional magnetic resonance imaging with an experimental manipulation to test formally, for the first time, episodic memory's involvement in divergent thinking. Following a manipulation that facilitates detailed episodic retrieval, we observed greater neural activity in the hippocampus and stronger connectivity between a core brain network linked to episodic processing and a frontoparietal brain network linked to cognitive control during divergent thinking relative to an object association control task that requires little divergent thinking. Stronger coupling following the retrieval manipulation extended to a subsequent resting-state scan. Neural effects of the episodic manipulation were consistent with behavioral effects of enhanced idea production on divergent thinking but not object association. The results indicate that conceptual frameworks should accommodate the idea that episodic retrieval can function as a component process of creative idea generation, and highlight how the brain flexibly utilizes the retrieval of episodic details for tasks beyond simple remembering. © The Author 2017. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Comprehensive Information Retrieval and Model Input Sequence (CIRMIS)

International Nuclear Information System (INIS)

Friedrichs, D.R.

1977-04-01

The Comprehensive Information Retrieval and Model Input Sequence (CIRMIS) was developed to provide the research scientist with man--machine interactive capabilities in a real-time environment, and thereby produce results more quickly and efficiently. The CIRMIS system was originally developed to increase data storage and retrieval capabilities and ground-water model control for the Hanford site. The overall configuration, however, can be used in other areas. The CIRMIS system provides the user with three major functions: retrieval of well-based data, special application for manipulating surface data or background maps, and the manipulation and control of ground-water models. These programs comprise only a portion of the entire CIRMIS system. A complete description of the CIRMIS system is given in this report. 25 figures, 7 tables

Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

Directory of Open Access Journals (Sweden)

M. Riedel

2010-12-01

Full Text Available In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

ARM Mentor Selection Process

Energy Technology Data Exchange (ETDEWEB)

Sisterson, D. L. [Argonne National Lab. (ANL), Argonne, IL (United States)

2015-10-01

The Atmospheric Radiation Measurement (ARM) Program was created in 1989 with funding from the U.S. Department of Energy (DOE) to develop several highly instrumented ground stations to study cloud formation processes and their influence on radiative transfer. In 2003, the ARM Program became a national scientific user facility, known as the ARM Climate Research Facility. This scientific infrastructure provides for fixed sites, mobile facilities, an aerial facility, and a data archive available for use by scientists worldwide through the ARM Climate Research Facility—a scientific user facility. The ARM Climate Research Facility currently operates more than 300 instrument systems that provide ground-based observations of the atmospheric column. To keep ARM at the forefront of climate observations, the ARM infrastructure depends heavily on instrument scientists and engineers, also known as lead mentors. Lead mentors must have an excellent understanding of in situ and remote-sensing instrumentation theory and operation and have comprehensive knowledge of critical scale-dependent atmospheric processes. They must also possess the technical and analytical skills to develop new data retrievals that provide innovative approaches for creating research-quality data sets. The ARM Climate Research Facility is seeking the best overall qualified candidate who can fulfill lead mentor requirements in a timely manner.

Euler-Lagrange modeling for a seven degree of freedom Manipulator

NARCIS (Netherlands)

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

2011-01-01

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

W-026, acceptance test report manipulator system

International Nuclear Information System (INIS)

Watson, T.L.

1997-01-01

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

Counterweight system for master-slave manipulator

International Nuclear Information System (INIS)

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

1981-01-01

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

The evolution of teleoperated manipulators at ORNL

International Nuclear Information System (INIS)

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

1996-01-01

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

[Competition-dependence on retrieval-induced forgetting: the influence of the amount of retrieval cues].

Science.gov (United States)

Yamada, Yohei; Tsukimoto, Takashi; Hirano, Tetsuji

2010-02-01

Remembering some of the studied (target) items impairs subsequent remembrance of relevant (non-target) items. This phenomenon, retrieval-induced forgetting (RIF), occurs when non-targets actively compete with the retrieval of a target. Researchers suggest that suppression mechanisms reduce interference from relevant items to facilitate the retrieval of target items (Anderson, 2003). Competition-dependence is one of the properties that support the suppression hypothesis (Anderson, Bjork, & Bjork, 1994). In the present study, we manipulated the type of retrieval practice (normal, last-letter, or category-name) in order to vary the degree of competition between the target and the non-targets. For the high-scoring retrieval practice group, RIF occurred in the normal retrieval condition, but not in the last-letter or in the category-name conditions. For the low-scoring retrieval practice group, RIF did not occur in any of the conditions. These findings provide new evidence that the occurrence of RIF depends on the degree of competition between a target item and related non-target items during retrieval practice.

Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

Directory of Open Access Journals (Sweden)

Mohamed J. Bakari

2008-11-01

Full Text Available This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID and Proportional-Integral-Plus (PIP control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

MPL-net at ARM Sites

Science.gov (United States)

Spinhirne, J. D.; Welton, E. J.; Campbell, J. R.; Berkoff, T. A.; Starr, David OC. (Technical Monitor)

2002-01-01

The NASA MPL-net project goal is consistent data products of the vertical distribution of clouds and aerosol from globally distributed lidar observation sites. The four ARM micro pulse lidars are a basis of the network to consist of over twelve sites. The science objective is ground truth for global satellite retrievals and accurate vertical distribution information in combination with surface radiation measurements for aerosol and cloud models. The project involves improvement in instruments and data processing and cooperation with ARM and other partners.

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

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

Dynamics, control and sensor issues pertinent to robotic hands for the EVA retriever system

Science.gov (United States)

Mclauchlan, Robert A.

1987-01-01

Basic dynamics, sensor, control, and related artificial intelligence issues pertinent to smart robotic hands for the Extra Vehicular Activity (EVA) Retriever system are summarized and discussed. These smart hands are to be used as end effectors on arms attached to manned maneuvering units (MMU). The Retriever robotic systems comprised of MMU, arm and smart hands, are being developed to aid crewmen in the performance of routine EVA tasks including tool and object retrieval. The ultimate goal is to enhance the effectiveness of EVA crewmen.

Species-relevant inescapable stress differently influences memory consolidation and retrieval of mice in a spatial radial arm maze.

Science.gov (United States)

Janitzky, K; Schwegler, H; Kröber, A; Roskoden, T; Yanagawa, Y; Linke, R

2011-05-16

Stress affects learning and there are both facilitating and impairing actions of stressors on memory processes. Here we investigated the influence of acute exposure to 2,5-dihydro-2,4,5-trimethylthiazoline (TMT), an ethological relevant stressor for rodents, on spatial memory formation and performance in a radial arm maze (RAM) task and studied TMT effects on corticosterone levels in GAD67-GFP knock-in mice and their wildtype littermates. Our results suggest that predator odor-exposure differently affects consolidation and retrieval of memory in a hippocampus-dependent spatial learning task in adult male mice, independently from their genotypes. Acute TMT-stress before retrieval facilitates performance, whereas repeated TMT-stress during consolidation exerts no influence. Additionally, we found genotype specific effects of TMT on corticosterone release. While TMT-stress tend to result in increased corticosterone release in wildtypes there was a significant decrease in transgenic mice. Taken together, these findings indicate that biologically significant predator odor-induced stress can have different actions on the strength of spatial memory formation depending on the timing with regard to memory phases. Furthermore, we suppose an impact of GABAergic mechanisms on HPA-stress axis activation to TMT resulting in absent peripheral corticosterone release of GAD67-GFP mice. Copyright © 2011 Elsevier B.V. All rights reserved.

Retrieval System for Calcined Waste for the Idaho Cleanup Project - 12104

Energy Technology Data Exchange (ETDEWEB)

Eastman, Randy L.; Johnston, Beau A.; Lower, Danielle E. [CH2M-WG Idaho, LLC. The Idaho Cleanup Project at the Idaho National Laboratory (United States)

2012-07-01

This paper describes the conceptual approach to retrieve radioactive calcine waste, hereafter called calcine, from stainless steel storage bins contained within concrete vaults. The retrieval system will allow evacuation of the granular solids (calcine) from the storage bins through the use of stationary vacuum nozzles. The nozzles will use air jets for calcine fluidization and will be able to rotate and direct the fluidization or displacement of the calcine within the bin. Each bin will have a single retrieval system installed prior to operation to prevent worker exposure to the high radiation fields. The addition of an articulated camera arm will allow for operations monitoring and will be equipped with contingency tools to aid in calcine removal. Possible challenges (calcine bridging and rat-holing) associated with calcine retrieval and transport, including potential solutions for bin pressurization, calcine fluidization and waste confinement, are also addressed. The Calcine Disposition Project has the responsibility to retrieve, treat, and package HLW calcine. The calcine retrieval system has been designed to incorporate the functions and technical characteristics as established by the retrieval system functional analysis. By adequately implementing the highest ranking technical characteristics into the design of the retrieval system, the system will be able to satisfy the functional requirements. The retrieval system conceptual design provides the means for removing bulk calcine from the bins of the CSSF vaults. Top-down vacuum retrieval coupled with an articulating camera arm will allow for a robust, contained process capable of evacuating bulk calcine from bins and transporting it to the processing facility. The system is designed to fluidize, vacuum, transport and direct the calcine from its current location to the CSSF roof-top transport lines. An articulating camera arm, deployed through an adjacent access riser, will work in conjunction with the

Kinesthetic coupling between operator and remote manipulator

Science.gov (United States)

Bejczy, A. K.; Salisbury, J. K., Jr.

1980-01-01

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

The MVACS Robotic Arm Camera

Science.gov (United States)

Keller, H. U.; Hartwig, H.; Kramm, R.; Koschny, D.; Markiewicz, W. J.; Thomas, N.; Fernades, M.; Smith, P. H.; Reynolds, R.; Lemmon, M. T.; Weinberg, J.; Marcialis, R.; Tanner, R.; Boss, B. J.; Oquest, C.; Paige, D. A.

2001-08-01

The Robotic Arm Camera (RAC) is one of the key instruments newly developed for the Mars Volatiles and Climate Surveyor payload of the Mars Polar Lander. This lightweight instrument employs a front lens with variable focus range and takes images at distances from 11 mm (image scale 1:1) to infinity. Color images with a resolution of better than 50 μm can be obtained to characterize the Martian soil. Spectral information of nearby objects is retrieved through illumination with blue, green, and red lamp sets. The design and performance of the camera are described in relation to the science objectives and operation. The RAC uses the same CCD detector array as the Surface Stereo Imager and shares the readout electronics with this camera. The RAC is mounted at the wrist of the Robotic Arm and can characterize the contents of the scoop, the samples of soil fed to the Thermal Evolved Gas Analyzer, the Martian surface in the vicinity of the lander, and the interior of trenches dug out by the Robotic Arm. It can also be used to take panoramic images and to retrieve stereo information with an effective baseline surpassing that of the Surface Stereo Imager by about a factor of 3.

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

Energy Technology Data Exchange (ETDEWEB)

Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng [Yanshan University, Hebei (China)

2015-10-15

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

International Nuclear Information System (INIS)

Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng

2015-01-01

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

Graphics and control of the guide tube assembly reinforcement manipulators at Sizewell 'A'

International Nuclear Information System (INIS)

Burden, C.

1996-01-01

A method was devised to reinforce the lower lug welds of the Guide Tube Assemblies (GTA's) at Sizewell 'A'. A six degree of freedom manipulator was designed to place a clamp around the lugs and tighten it. The manipulator was fitted with the three fixed cameras but required another surveillance manipulator positioned in an adjacent standpipe to provide additional views. The need to prepare two standpipes limited the rate at which reinforcements could be made. Therefore an articulated two arm camera manipulator, which could be used on the existing manipulator mast was designed and built. The two manipulators were driven from separate desks and were controlled by the same supervisory computer linked to online graphics. The camera arm joints were driven on preplanned routes using a single joystick because of the complex moves and tight spaces involved. A large number of GTA sites have now been reinforced including a dropped GTA which had to be raised to carry out clamping. (Author)

Special Gripper for a Robotic Arm

Directory of Open Access Journals (Sweden)

Miguel Angel SELLES

2012-12-01

Full Text Available New structures for gripping objects in robotic manipulation processes are oriented to the new arrangement of mechanical structures using new materials and processing technologies and innovative procedures for the implementation of contact gripping element links to an object with a high degree of adaptively of applications together with the ability to alter the structure of grip and limiting the intensity of the contact stiffness variation of snap elements custody and pliability. The application of elastomeric materials and surface finishes is important. This paper presents both a new gripper design for robot arms but also the search of the selected materials to make an experimental evaluation of technical parameters that are used to assess their application potential and suitability for the targeted applications. Also the results and conclusions for gripper testing in manipulation operations with two different robot arms are presented.

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.

Probabilistic approach to manipulator kinematics and dynamics

International Nuclear Information System (INIS)

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

2001-01-01

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

Micro manipulators to handle micro machines. ; Aiming at developing clever and deft robots. Micro machine wo handling surutameno micro manipulator. ; Kashikoku kiyo na robot kaihatsu wo mezashite

Energy Technology Data Exchange (ETDEWEB)

Fujie, M [Hitachi, Ltd., Tokyo (Japan)

1991-11-15

The current state of micro manipulators (MM) to control micro machines is described. No MM can be realized with the conventional robots of which finger positions and attitudes are controlled by information on angles of each articulate. To solve this problem, such a system using the conception called a master slave manipulator with complex structure is proposed, in which human ways of manipulation are coupled with master arms with simple structure and slave arms facilitating works via a computer. The MM requires a flexible articulate chaining mechanism when the considerations on smallness of the arm structure and chaining of the multiple actuators are taken. To control the relative positions and attitudes, development of the control algorithm is required, which can learn the command signals given to a large number of actuators to drive mechanisms with ultra high freedoms and the relationship among changes in the end effector movements, rotation and directions, and can perform works according to precise relative positioning of objects to be handled. 8 refs., 4 figs.

A novel UCS memory retrieval-extinction procedure to inhibit relapse to drug seeking

Science.gov (United States)

Luo, Yi-xiao; Xue, Yan-xue; Liu, Jian-feng; Shi, Hai-shui; Jian, Min; Han, Ying; Zhu, Wei-li; Bao, Yan-ping; Wu, Ping; Ding, Zeng-bo; Shen, Hao-wei; Shi, Jie; Shaham, Yavin; Lu, Lin

2015-01-01

We recently reported that a conditioned stimulus (CS) memory retrieval-extinction procedure decreases reinstatement of cocaine and heroin seeking in rats and heroin craving in humans. Here we show that non-contingent cocaine or methylphenidate injections (UCS retrieval) 1 h before the extinction sessions decreases cocaine-priming-induced reinstatement, spontaneous recovery, and renewal of cocaine seeking in rats. Unlike the CS-based memory retrieval-extinction procedure, the UCS memory retrieval manipulation decreases renewal and reinstatement of cocaine seeking in the presence of cocaine cues that were not present during extinction training and also decreases cocaine seeking when the procedure commences after 28 days of abstinence. The inhibitory effect of the UCS retrieval manipulation on cocaine-priming-induced reinstatement is mediated by regulation of AMPA-receptor endocytosis in the basolateral amygdala. The UCS memory retrieval-extinction procedure has superior relapse prevention characteristics than the CS memory retrieval-extinction procedure and could be a promising method for decreasing relapse in human addicts. PMID:26169171

A novel UCS memory retrieval-extinction procedure to inhibit relapse to drug seeking.

Science.gov (United States)

Luo, Yi-xiao; Xue, Yan-xue; Liu, Jian-feng; Shi, Hai-shui; Jian, Min; Han, Ying; Zhu, Wei-li; Bao, Yan-ping; Wu, Ping; Ding, Zeng-bo; Shen, Hao-wei; Shi, Jie; Shaham, Yavin; Lu, Lin

2015-07-14

We recently reported that a conditioned stimulus (CS) memory retrieval-extinction procedure decreases reinstatement of cocaine and heroin seeking in rats and heroin craving in humans. Here we show that non-contingent cocaine or methylphenidate injections (UCS retrieval) 1 h before the extinction sessions decreases cocaine-priming-induced reinstatement, spontaneous recovery, and renewal of cocaine seeking in rats. Unlike the CS-based memory retrieval-extinction procedure, the UCS memory retrieval manipulation decreases renewal and reinstatement of cocaine seeking in the presence of cocaine cues that were not present during extinction training and also decreases cocaine seeking when the procedure commences after 28 days of abstinence. The inhibitory effect of the UCS retrieval manipulation on cocaine-priming-induced reinstatement is mediated by regulation of AMPA-receptor endocytosis in the basolateral amygdala. The UCS memory retrieval-extinction procedure has superior relapse prevention characteristics than the CS memory retrieval-extinction procedure and could be a promising method for decreasing relapse in human addicts.

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

Design of mechanical arm for an automatic sorting system of recyclable cans

Science.gov (United States)

Resti, Y.; Mohruni, A. S.; Burlian, F.; Yani, I.; Amran, A.

2018-04-01

The use of a mechanical arm for an automatic sorting system of used cans should be designed carefully. The right design will result in a high precision sorting rate and a short sorting time. The design includes first; design manipulator,second; determine link and joint specifications, and third; build mechanical systems and control systems. This study aims to design the mechanical arm as a hardware system for automatic cans sorting system. The material used for the manipulator is the aluminum plate. The manipulator is designed using 6 links and 6 join where the 6th link is the end effectorand the 6th join is the gripper. As a driving motor used servo motor, while as a microcontroller used Arduino Uno which is connected with Matlab programming language. Based on testing, a mechanical arm designed for this recyclable canned recycling system has a precision sorting rate at 93%, where the average total time required for sorting is 10.82 seconds.

Dynamic Modelling for Planar Extensible Continuum Robot Manipulators

Science.gov (United States)

2006-01-01

to the OCTARM continuum ma- nipulator. The OCTARM manipulator is a biologically inspired soft robot manipulator resembling an elephant trunk or an... octopus arm [18]. The OCTARM, shown in Figure 1, is a three-section robot with nine degrees of freedom. Aside from two axis bending with constant...increasing interest in designing �biologically inspired � continuum robots . Some of these designs are mimicking trunks [8], [25], tentacles [17], [21], [24

Definition of an automatic information retrieval system independent from the data base used

International Nuclear Information System (INIS)

Cunha, E.R.

1983-04-01

A bibliographic information retrieval system using data stored at the standardized interchange format ISO 2709 or ANSI Z39.2, is specified. A set of comands for interchange format manipulation wich allows the data access at the logical level, achieving the data independence, are used. A data base description language, a storage structure and data base manipulation comands are specified, using retrieval techniques which consider the applications needs. (Author) [pt

Sensory-Feedback Exoskeletal Arm Controller

Science.gov (United States)

An, Bin; Massie, Thomas H.; Vayner, Vladimir

2004-01-01

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

Science.gov (United States)

O'Hara, John M.

1987-01-01

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

Interaction Between Encoding and Retrieval Operations in Cued Recall

Science.gov (United States)

Fisher, Ronald P.; Craik, Fergus I. M.

1977-01-01

Three experiments are described in which the qualitative nature of memorial processing was manipulated at both input (encoding) and output (retrieval). As in earlier research, it was found that retention levels were highest when the same type of information was used as a retrieval cue. Concludes that the notions of encoding specificity and depth…

Manipulator for inspection or repair of heat exchanger tubes, in particular in steam generators for nuclear reactors

International Nuclear Information System (INIS)

Gugel, G.

1979-01-01

The manipulator used to inspect or repair pipes in the steam generator chamber of a PWR can be introduced and removed through a penetration nozzle which can be sealed tightly by means of a blind flange. The front end of the manipulator carries a swivel arm which can be operated remotely to be moved in a plane parallel to the tube plate. The end of the swivel arm carries a holder for a mouthpiece which can be extended and retracted. This carrier can also be operated remotely so as to be aligned to the pipe orifices in a direction normal to the swivel plane of the swivel arm. The manipulator is supported in antifriction bearings in the penetration nozzle so as to be movable longitudinally. (DG) [de

Monetary rewards influence retrieval orientations.

Science.gov (United States)

Halsband, Teresa M; Ferdinand, Nicola K; Bridger, Emma K; Mecklinger, Axel

2012-09-01

Reward anticipation during learning is known to support memory formation, but its role in retrieval processes is so far unclear. Retrieval orientations, as a reflection of controlled retrieval processing, are one aspect of retrieval that might be modulated by reward. These processes can be measured using the event-related potentials (ERPs) elicited by retrieval cues from tasks with different retrieval requirements, such as via changes in the class of targeted memory information. To determine whether retrieval orientations of this kind are modulated by reward during learning, we investigated the effects of high and low reward expectancy on the ERP correlates of retrieval orientation in two separate experiments. The reward manipulation at study in Experiment 1 was associated with later memory performance, whereas in Experiment 2, reward was directly linked to accuracy in the study task. In both studies, the participants encoded mixed lists of pictures and words preceded by high- or low-reward cues. After 24 h, they performed a recognition memory exclusion task, with words as the test items. In addition to a previously reported material-specific effect of retrieval orientation, a frontally distributed, reward-associated retrieval orientation effect was found in both experiments. These findings suggest that reward motivation during learning leads to the adoption of a reward-associated retrieval orientation to support the retrieval of highly motivational information. Thus, ERP retrieval orientation effects not only reflect retrieval processes related to the sought-for materials, but also relate to the reward conditions with which items were combined during encoding.

Out of sight, out of mind: racial retrieval cues increase the accessibility of social justice concepts.

Science.gov (United States)

Salter, Phia S; Kelley, Nicholas J; Molina, Ludwin E; Thai, Luyen T

2017-09-01

Photographs provide critical retrieval cues for personal remembering, but few studies have considered this phenomenon at the collective level. In this research, we examined the psychological consequences of visual attention to the presence (or absence) of racially charged retrieval cues within American racial segregation photographs. We hypothesised that attention to racial retrieval cues embedded in historical photographs would increase social justice concept accessibility. In Study 1, we recorded gaze patterns with an eye-tracker among participants viewing images that contained racial retrieval cues or were digitally manipulated to remove them. In Study 2, we manipulated participants' gaze behaviour by either directing visual attention toward racial retrieval cues, away from racial retrieval cues, or directing attention within photographs where racial retrieval cues were missing. Across Studies 1 and 2, visual attention to racial retrieval cues in photographs documenting historical segregation predicted social justice concept accessibility.

Remote telerobotic replacement for master-slave manipulator

International Nuclear Information System (INIS)

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

1997-01-01

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

Making planned paths look more human-like in humanoid robot manipulation planning

DEFF Research Database (Denmark)

Zacharias, F.; Schlette, C.; Schmidt, F.

2011-01-01

It contradicts the human's expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm's target...... for the robot arm....

A combined impedance-PD approach for controlling a dual-arm space manipulator in the capture of a non-cooperative target

Science.gov (United States)

Stolfi, A.; Gasbarri, P.; Sabatini, M.

2017-10-01

In the near future robotic systems will be playing an increasingly important role in space applications such as repairing, refueling, re-orbiting spacecraft and cleaning up the increasing amount of space debris. Space Manipulator Systems (SMSs) are robotic systems made of a platform (which has its own actuators such as thrusters and reaction wheels) equipped with one or more deployable arms. The present paper focuses on the issue of maintaining a stable first contact between the arms terminal parts (i.e. the end-effectors) and a target satellite, before the actual grasp is performed. The selected approach is a modified version of the Impedance Control algorithm, in which the end-effector is controlled in order to make it behave like a mass-spring-damper system regardless of the reaction motion of the base, so to absorb the impact energy. The usual approach consists in considering a point mass target and one-dimensional contact dynamics; however, the contact between the chaser and the target could generate a perturbation on the attitude of the target. On account of this, in the present work a more realistic scenario, consisting in a 2D rigid target and a relevant 2D contact dynamics, is considered. A two-arm configuration of the SMS is modelled and its effectiveness analyzed. The performance of the proposed control architecture is evaluated by means of a co-simulation involving the MSC Adams multibody code (for describing the dynamics of the space robot and target) together with Simulink (for the determination of the control actions). The co-simulation is a particularly useful tool to implement robust control applied to detailed dynamic systems. Several numerical results complete the work.

End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

OpenAIRE

Jolly Atit Shah; S.S. Rattan; B.C. Nakra

2013-01-01

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H) model is used to m...

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

Science.gov (United States)

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

2015-05-13

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

Divided Attention Improves Delayed, but Not Immediate Retrieval of a Consolidated Memory

OpenAIRE

Kessler, Yoav; Vandermorris, Susan; Gopie, Nigel; Daros, Alexander; Winocur, Gordon; Moscovitch, Morris

2014-01-01

A well-documented dissociation between memory encoding and retrieval concerns the role of attention in the two processes. The typical finding is that divided attention (DA) during encoding impairs future memory, but retrieval is relatively robust to attentional manipulations. However, memory research in the past 20 years had demonstrated that retrieval is a memory-changing process, in which the strength and availability of information are modified by various characteristics of the retrieval p...

Whole-arm obstacle avoidance system conceptual design

International Nuclear Information System (INIS)

Wintenberg, A.L.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Britton, C.L. Jr.

1993-04-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER ampersand WM Program, the potential for significant problems resulting from collisions between manipulators and the environment in which they are utilized is great. The conceptual design for a sensing system that will provide protection against such collisions is described herein. The whole-arm obstacle avoidance system consists of a set of sensor ''bracelets,'' which cover the surface area of the manipulator links to the maximum extent practical, and a host processor. The host processor accepts commands from the robot control system, controls the operation of the sensors, manipulates data received from the bracelets, and makes the data available to the manipulator control system. The bracelets consist of a subset of the sensors, associated sensor interface electronics, and a bracelet interface. Redundant communications links between the host processor and the bracelets are provided, allowing single-point failure protection. The system allows reporting of 8-bit data from up to 1000 sensors at a minimum of 50 Hz. While the initial prototype implementation of the system utilizes capacitance proximity sensor, the system concept allows multiple types of sensors. These sensors are uniquely addressable, allowing remote calibration, thresholding at the bracelet, and correlation of a sensor measurement with the associated sensor and its location on the manipulator. Variable resolution allows high-speed, single-bit sensing as well as lower-speed higher-resolution sensing, which is necessary for sensor calibration and potentially useful in control

A portable modular architecture for robotic manipulator control

International Nuclear Information System (INIS)

Butler, P.L.

1993-01-01

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

Dual Arm Work Module Development and Appplications

Energy Technology Data Exchange (ETDEWEB)

Noakes, M.W.

1999-04-25

The dual arm work module (DAWM) was developed at Oak Ridge National Laboratory (ORNL) by the Robotics Technology Development Program (RTDP) as a development test bed to study issues related to dual arm manipulation, including platform cotilguration, controls, automation, operations, and tooling. The original platform was based on two Schilling Titan II manipulators mounted to a 5-degree-of- freedom (DOF) base fabricated by RedZone Robotics, Inc. The 5-DOF articulation provided a center torso rotation, linear actuation to change the separation between the arms, and arm base rotation joints to provide "elbows up," elbows down," or "elbows out" orientation. A series of tests were conducted on operations, tooling, and task space scene analysis (TSSA)-driven robotics for overhead transporter- mounted and crane hook-deployed scenarios. A concept was developed for DAWM deployment from a large remote work vehicle, but the project was redirected to support dismantlement of the Chicago Pile #5 (CP-5) reactor at Argonne National Laboratory in fiscal year (FY) 1997. Support of CP-5 required a change in focus of the dual arm technology from that of a development test bed to a system focussed for a specific end user. ORNL teamed with the Idaho National Environmental ,Engineering Laboratory, Sandia National Laboratory, and the Savannah River Technology Center to deliver a crane-deployed derivative of the DAWM, designated the dual arm work platform (DAWP). RTDP staff supported DAWP at CP-5 for one FY; Argonne staff continued operation through to dismantlement of the reactor internals. Lessons learned from this interaction were extensive. Beginning in FY 1999, dual arm development activities are again being pursued in the context of those lessons learned. This paper describes the progression of philosophy of the DAWM from initial test bed to lessons learned through interaction at CP-5 and to the present investigation of telerobotic assist of teleoperation and TSSA- driven robotics.

MAESTRO, a hydraulic manipulator for maintenance and decommissioning applications

International Nuclear Information System (INIS)

Olivier David; Yvan Measson; Catherine Bidard; Christine Libersa

2006-01-01

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

An interactive graphics program to retrieve, display, compare, manipulate, curve fit, difference and cross plot wind tunnel data

Science.gov (United States)

Elliott, R. D.; Werner, N. M.; Baker, W. M.

1975-01-01

The Aerodynamic Data Analysis and Integration System (ADAIS), developed as a highly interactive computer graphics program capable of manipulating large quantities of data such that addressable elements of a data base can be called up for graphic display, compared, curve fit, stored, retrieved, differenced, etc., was described. The general nature of the system is evidenced by the fact that limited usage has already occurred with data bases consisting of thermodynamic, basic loads, and flight dynamics data. Productivity using ADAIS of five times that for conventional manual methods of wind tunnel data analysis is routinely achieved. In wind tunnel data analysis, data from one or more runs of a particular test may be called up and displayed along with data from one or more runs of a different test. Curves may be faired through the data points by any of four methods, including cubic spline and least squares polynomial fit up to seventh order.

The effects of retrieval ease on health issue judgments: implications for campaign strategies.

Science.gov (United States)

Chang, Chingching

2010-12-01

This paper examines the effects of retrieving information about a health ailment on judgments of the perceived severity of the disease and self-efficacy regarding prevention and treatment. The literature on metacognition suggests that recall tasks render two types of information accessible: the retrieved content, and the subjective experience of retrieving the content. Both types of information can influence judgments. Content-based thinking models hold that the more instances of an event people can retrieve, the higher they will estimate the frequency of the event to be. In contrast, experience-based thinking models suggest that when people experience difficulty in retrieving information regarding an event, they rate the event as less likely to occur. In the first experiment, ease of retrieval was manipulated by asking participants to list either a high or low number of consequences of an ailment. As expected, retrieval difficulty resulted in lower perceived disease severity. In the second experiment, ease of retrieval was manipulated by varying the number of disease prevention or treatment measures participants attempted to list. As predicted, retrieval difficulty resulted in lower self-efficacy regarding prevention and treatment. In experiment three, when information regarding a health issue was made accessible by exposure to public service announcements (PSAs), ease-of-retrieval effects were attenuated. Finally, in experiment four, exposure to PSAs encouraged content-based judgments when the issue was of great concern.

Influence of gravity compensation on muscle activity during reach and retrieval in healthy elderly.

NARCIS (Netherlands)

Prange, Grada Berendina; Kallenberg, L.A.C.; Jannink, M.J.A.; Stienen, Arno; van der Kooij, Herman; IJzerman, Maarten Joost; Hermens, Hermanus J.

2007-01-01

INTRODUCTION: Arm support like gravity compensation may improve arm movements during stroke rehabilitation. It is unknown how gravity compensation affects muscle activation patterns during reach and retrieval movements. Since muscle activity during reach is represented by a component varying with

Comparison of Marine Boundary Layer Cloud Properties From CERES-MODIS Edition 4 and DOE ARM AMF Measurements at the Azores

Science.gov (United States)

Dong, X.; Xi, B.; Minnis, P.; Sun-Mack, S.

2014-12-01

Marine Boundary Layer (MBL) cloud properties derived for the NASA CERES Project using Terra and Aqua MODIS data are compared with observations taken at DOE ARM Mobile Facility at the Azores site from Jun. 2009 to Dec. 2010. Cloud properties derived from ARM ground-based observations were averaged over a 1-hour interval centered at the satellite overpass time, while the CERES-MODIS (CM) results were averaged within a 30×30 km2 grid box centered over the Azores site. A total of 63 daytime and 92 nighttime single-layered overcast MBL cloud cases were selected from 19 months of ARM radar-lidar and satellite observations. The CM cloud-top/base heights (Htop/Hbase) were determined from cloud-top/base temperatures (Ttop/Tbase) using a regional boundary-layer lapse rate method. For daytime comparisons, the CM-derived Htop (Hbase), on average, is 0.063 km (0.068 km) higher (lower) than its ARM radar-lidar observed counterpart, and the CM-derived Ttop and Tbase are 0.9 K less and 2.5 K greater than the surface values with high correlations (R2=0.82 and 0.84, respectively). In general, the cloud-top comparisons agree better than cloud-base comparisons because the CM Tbase and Hbase are secondary product determined from Ttop and Htop. No significant day-night difference was found in the analyses. The comparisons of microphysical properties reveal that, when averaged over a 30x30 km2 area, the CM-retrieved cloud-droplet effective radius (re) is 1.3 µm larger than that from the ARM retrievals (12.8 µm). While the CM-retrieved cloud liquid water path (LWP) is 13.5 gm-2 less than its ARM counterpart (114.2 gm-2) due to its small optical depth (τ, 9.6 vs. 13.7). The differences are reduced by 50% when the CM averages are computed only using the MODIS pixel nearest the AMF site. Using effective radius retrieved at 2.1-µm channel to calculate LWP can reduce the difference between the CM and ARM from -13.7 to 2.1 gm-2. The 10% differences between the ARM and CM LWP and re

Remarks on manipulator classification and reversibility - deflection - backlash - inertia - balance and friction trade off

International Nuclear Information System (INIS)

Vertut, Jean.

1976-01-01

In a previous work the author proposed a time efficiency quotient based on time to perform a task for a man controlling a manipulator (RO MAN SY 73). This quotient is also a global evaluation of a man-manipulator system, and can be extended to teaching programmed manipulators. Classification based on this quotient emphasizes the importance of force feed-back to the operator, and enables to project the same concept to computer control. This paper concentrates on characteristics reflecting directly to the mechanics of the arm, to the actuators and to the control. They need delicate trade off: reversibility is key to force feed-back, deflection reflects on arm dynamics (oscillation) and precision, backlash allows lower friction but limits servo performances, inertia is high when limited deflection is required, friction is limiting the man in the loop performances, force transducers can compensate irreversibility and/or friction but lead to control sophistication. These trade offs are developed, and some proposed constants are given for force feed-back manipulators

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

International Nuclear Information System (INIS)

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

1993-01-01

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

Strategies for redundancy resolution of dual-arm systems with passive elements for tank waste removal

International Nuclear Information System (INIS)

Dubey, R.

1997-01-01

The work described in this paper focuses on the coordination and control of two manipulators coupled by passive elements operating in a confined space. An example of one such system is the hardware used for the environmental response treatability study funded by the Department of Energy at Oak Ridge National Laboratory (ORNL). The motivation for this project is to establish the methodology necessary to extract large volumes of hazardous waste from underground storage facilities. The hardware used at ORNL consists of two long-reach manipulators. The first robot, the Modified Light Duty Utility Arm (MLDUA), is an 8-degree-of-freedom long-reach manipulator. The second arm, the Hose Management Arm (HMA), has two active degrees-of-freedom and provides hardware to break up and extract materials from the tank. Current strategies call for the MLDUA to grasp a combined sluicing end-effector attached, by a long flexible hose, to the HMA. The MLDUA will then move the combined system through the waste, extracting material. This paper describes many of the issues related to redundancy resolution and the coordinated control of these two robots. First, the authors provide a brief outline of the project and the existing hardware. This is followed by a description of existing redundancy resolution techniques and the impact redundancy has on the success of the project. Finally, preliminary simulation results show the effect cooperative control has on the level of forces generated between the dual-arm systems when coupled by an elastic exhaust hose. These results show a significant reduction in forces when both arms are active and have a combined manipulation strategy

Strategies for redundancy resolution of dual-arm systems with passive elements for tank waste removal

Energy Technology Data Exchange (ETDEWEB)

Dubey, R. [Univ. of Tennessee, Knoxville, TN (United States). Dept. of Mechanical Engineering; Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States)

1997-03-01

The work described in this paper focuses on the coordination and control of two manipulators coupled by passive elements operating in a confined space. An example of one such system is the hardware used for the environmental response treatability study funded by the Department of Energy at Oak Ridge National Laboratory (ORNL). The motivation for this project is to establish the methodology necessary to extract large volumes of hazardous waste from underground storage facilities. The hardware used at ORNL consists of two long-reach manipulators. The first robot, the Modified Light Duty Utility Arm (MLDUA), is an 8-degree-of-freedom long-reach manipulator. The second arm, the Hose Management Arm (HMA), has two active degrees-of-freedom and provides hardware to break up and extract materials from the tank. Current strategies call for the MLDUA to grasp a combined sluicing end-effector attached, by a long flexible hose, to the HMA. The MLDUA will then move the combined system through the waste, extracting material. This paper describes many of the issues related to redundancy resolution and the coordinated control of these two robots. First, the authors provide a brief outline of the project and the existing hardware. This is followed by a description of existing redundancy resolution techniques and the impact redundancy has on the success of the project. Finally, preliminary simulation results show the effect cooperative control has on the level of forces generated between the dual-arm systems when coupled by an elastic exhaust hose. These results show a significant reduction in forces when both arms are active and have a combined manipulation strategy.

Deception and Manipulation: The Arms of Leishmania, a Successful Parasite

Science.gov (United States)

Cecílio, Pedro; Pérez-Cabezas, Begoña; Santarém, Nuno; Maciel, Joana; Rodrigues, Vasco; Cordeiro da Silva, Anabela

2014-01-01

Leishmania spp. are intracellular parasitic protozoa responsible for a group of neglected tropical diseases, endemic in 98 countries around the world, called leishmaniasis. These parasites have a complex digenetic life cycle requiring a susceptible vertebrate host and a permissive insect vector, which allow their transmission. The clinical manifestations associated with leishmaniasis depend on complex interactions between the parasite and the host immune system. Consequently, leishmaniasis can be manifested as a self-healing cutaneous affliction or a visceral pathology, being the last one fatal in 85–90% of untreated cases. As a result of a long host–parasite co-evolutionary process, Leishmania spp. developed different immunomodulatory strategies that are essential for the establishment of infection. Only through deception and manipulation of the immune system, Leishmania spp. can complete its life cycle and survive. The understanding of the mechanisms associated with immune evasion and disease progression is essential for the development of novel therapies and vaccine approaches. Here, we revise how the parasite manipulates cell death and immune responses to survive and thrive in the shadow of the immune system. PMID:25368612

Deception and Manipulation: the arms of Leishmania, a successful parasite

Directory of Open Access Journals (Sweden)

Pedro eCecílio

2014-10-01

Full Text Available Leishmania spp. are intracellular parasitic protozoa responsible for a group of neglected tropical diseases, endemic in 98 countries around the world, called leishmaniasis. These parasites have a complex digenetic life cycle requiring a susceptible vertebrate host and a permissive insect vector, which allow their transmission. The clinical manifestations associated with leishmaniasis depend on complex interactions between the parasite and the host immune system. Consequently, leishmaniasis can be manifested as a self-healing cutaneous affliction or a visceral pathology, being the last one fatal in 85-90% of untreated cases. As a result of a long host-parasite co-evolutionary process, Leishmania spp. developed different immunomodulatory strategies that are essential for the establishment of infection. Only through deception and manipulation of the immune system, Leishmania spp. can complete its life cycle and survive. The understanding of the mechanisms associated with immune evasion and disease progression is essential for the development of novel therapies and vaccine approaches. Here, we revise how the parasite manipulates cell death and immune responses to survive and thrive in the shadow of the immune system.

End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

Directory of Open Access Journals (Sweden)

Jolly Atit Shah

2013-03-01

Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Pravak Robot Arm is a simple and safe robotic system designed for laboratory training and research applications. This robot allows to gain theoretical and practical experience in robotics, automation and control systems. The MATLAB R2007 is used to analyse end effectors position for a set of joint parameter.

Retrievals and uncertainty analysis of aerosol single scattering albedo from MFRSR measurements

International Nuclear Information System (INIS)

Yin, Bangsheng; Min, Qilong; Joseph, Everette

2015-01-01

Aerosol single scattering albedo (SSA) can be retrieved from the ratio of diffuse horizontal and direct normal fluxes measured from multifilter rotating shadowband radiometer (MFRSR). In this study, the measurement channels at 415 nm and 870 nm are selected for aerosol optical depth (AOD) and Angstrom coefficient retrievals, and the measurements at 415 nm are used for aerosol SSA retrievals with the constraint of retrieved Angstrom coefficient. We extensively assessed various issues impacting on the accuracy of SSA retrieval from measurements to input parameters and assumptions. For cloud-free days with mean aerosol loading of 0.13–0.60, our sensitivity study indicated that: (1) 1% calibration uncertainty can result in 0.8–3.7% changes in retrieved SSA; (2) without considering the cosine respond correction and/or forward scattering correction will result in underestimation of 1.1–3.3% and/or 0.73% in retrieved SSA; (3) an overestimation of 0.1 in asymmetry factor can result in an underestimation of 2.54–3.4% in retrieved SSA; (4) for small aerosol loading (e.g., 0.13), the uncertainty associated with the choice of Rayleigh optical depth value can result in non-negligible change in retrieved SSA (e.g., 0.015); (5) an uncertainty of 0.05 for surface albedo can result in changes of 1.49–5.4% in retrieved SSA. We applied the retrieval algorithm to the MFRSR measurements at the Atmospheric Radiation Measurements (ARM) Southern Great Plains (SGP) site. The retrieved results of AOD, Angstrom coefficient, and SSA are basically consistent with other independent measurements from co-located instruments at the site. - Highlights: • Aerosol SSA is derived from MFRSR measured diffuse to direct normal irradiance ratio. • We extensively assessed various issues impacting on the accuracy of SSA retrieval. • The issues are mainly from measurements and model input parameters and assumptions. • We applied the retrieval algorithm to the MFRSR measurements at ARM SGP

CONTROL SYSTEM FOR UNMANNED AIRCRAFT EQUIPPED WITH ROBOTICS ARM

Directory of Open Access Journals (Sweden)

Alexei A. Margun

2014-11-01

Full Text Available The paper deals with the problem of control system synthesis for multi rotational UAV equipped with robotics arm. Control algorithm is proposed based on the method of feedback linearization and synthesis of proportional-differential controller with the real time computation of the inertia tensor and center of mass changes and compensation of the reactive torque generated by the dynamics of the manipulator. Quadrocopter with attached articulated manipulator is selected as a model of the control object. Systems of equations describing the behavior of considered dynamical system are obtained according to the Newton and Euler-Lagrange laws. Expressions are offered, defining the inertia tensor and the position of the system center of mass depending on the current position of the manipulator, and the torque acting on the quadrocopter from the manipulator. Feedback linearization with arm influence compensation on quadrocopter is applied for the resulting nonlinear coupled system. As a result, robot dynamics equations have been converted to a linear stationary system. Converted system control is achieved by a proportional-differential controller. Examined system simulation is done with control method described in the paper and the classical method based on a proportional-differential controller. Simulation results confirm the effectiveness of the proposed approach and demonstrate that the proposed approach provides higher accuracy of the tracking error, than control method by means of proportional-differential regulator.

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

Energy Technology Data Exchange (ETDEWEB)

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

2011-09-15

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

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

International Nuclear Information System (INIS)

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

2011-01-01

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

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

Science.gov (United States)

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

2011-09-01

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

Comparison of Marine Boundary Layer Cloud Properties from CERES-MODIS Edition 4 and DOE ARM AMF Measurements at the Azores

Science.gov (United States)

Xi, Baike; Dong, Xiquan; Minnis, Patrick; Sun-Mack, Sunny

2014-01-01

Marine boundary layer (MBL) cloud properties derived from the NASA Clouds and the Earth's Radiant Energy System (CERES) project using Terra and Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) data are compared with observations taken at the Department of Energy Atmospheric Radiation Measurement (ARM) Mobile Facility at the Azores (AMF-Azores) site from June 2009 through December 2010. Cloud properties derived from ARM ground-based observations were averaged over a 1 h interval centered at the satellite overpass time, while the CERES-MODIS (CM) results were averaged within a 30 km×30 km grid box centered over the Azores site. A total of 63 daytime and 92 nighttime single-layered overcast MBL cloud cases were selected from 19 months of ARM radar-lidar and satellite observations. The CM cloud top/base heights (Htop/Hbase) were determined from cloud top/base temperatures (Ttop/Tbase) using a regional boundary layer lapse rate method. For daytime comparisons, the CM-derived Htop (Hbase), on average, is 0.063 km (0.068 km) higher (lower) than its ARM radar-lidar-observed counterpart, and the CM-derived Ttop and Tbase are 0.9 K less and 2.5 K greater than the surface values with high correlations (R(sup 2) = 0.82 and 0.84, respectively). In general, the cloud top comparisons agree better than the cloud base comparisons, because the CM cloud base temperatures and heights are secondary products determined from cloud top temperatures and heights. No significant day-night difference was found in the analyses. The comparisons of MBL cloud microphysical properties reveal that when averaged over a 30 km× 30 km area, the CM-retrieved cloud droplet effective radius (re) at 3.7 micrometers is 1.3 micrometers larger than that from the ARM retrievals (12.8 micrometers), while the CM-retrieved cloud liquid water path (LWP) is 13.5 gm( exp -2) less than its ARM counterpart (114.2 gm( exp-2) due to its small optical depth (9.6 versus 13.7). The differences are reduced by 50

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)

Commander manipulator scoops prestigious mulit-million pound BNFL contract

International Nuclear Information System (INIS)

Bailey, Andrew.

1997-01-01

Twenty-one Commander robotic arms are on order from INBIS (formerly Ricardo Hitec) and BNFL Engineering Limited (''BEL'', the engineering arm of parent company BNFL). The multi-million pound contract was won amid fierce competition from other well-known names in robotic engineering. The specially designed Commander manipulators will be engaged in remotely handling Intermediate Level Waste (ILW) in a suite of four BNFL ILW plants, which are currently either under construction or planned at Sellafield. The first Commander will delivered to BNFL's Sellafield Silo Emptying Project in January 1998. (Author)

Robot training of upper limb in multiple sclerosis: comparing protocols with or without manipulative task components.

Science.gov (United States)

Carpinella, Ilaria; Cattaneo, Davide; Bertoni, Rita; Ferrarin, Maurizio

2012-05-01

In this pilot study, we compared two protocols for robot-based rehabilitation of upper limb in multiple sclerosis (MS): a protocol involving reaching tasks (RT) requiring arm transport only and a protocol requiring both objects' reaching and manipulation (RMT). Twenty-two MS subjects were assigned to RT or RMT group. Both protocols consisted of eight sessions. During RT training, subjects moved the handle of a planar robotic manipulandum toward circular targets displayed on a screen. RMT protocol required patients to reach and manipulate real objects, by moving the robotic arm equipped with a handle which left the hand free for distal tasks. In both trainings, the robot generated resistive and perturbing forces. Subjects were evaluated with clinical and instrumental tests. The results confirmed that MS patients maintained the ability to adapt to the robot-generated forces and that the rate of motor learning increased across sessions. Robot-therapy significantly reduced arm tremor and improved arm kinematics and functional ability. Compared to RT, RMT protocol induced a significantly larger improvement in movements involving grasp (improvement in Grasp ARAT sub-score: RMT 77.4%, RT 29.5%, p=0.035) but not precision grip. Future studies are needed to evaluate if longer trainings and the use of robotic handles would significantly improve also fine manipulation.

Advanced manipulator system for large hot cells

International Nuclear Information System (INIS)

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

1981-01-01

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

Dual arm master controller development

Science.gov (United States)

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

1985-01-01

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape driven manipulators. Studies were performed which addressed to human factor design and performance tradeoffs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented.

Efficient inverse position transformation for TR 4000S robot manipulator

Directory of Open Access Journals (Sweden)

Kesheng Wang

1989-04-01

Full Text Available An efficient method is developed for computing the inverse kinematic position solution with a closed form for the TR 4000S spray painting robot manipulator with five degrees of freedom and non-spherical wrist construction. The inverse kinematic problem is defined as the transformation from Cartesian space to the joint space. The solution is based on the geometrical separation of the arm and wrist of a robot manipulator and shows that it is very systematic, efficient and easily derived.

Intelligent Hierarchical Modal Control of a Novel Manipulator with Slewing and Deployable Links

Science.gov (United States)

Modi, V. J.; Zhang, J.; de Silva, C. W.

1. Introduction The Space Shuttle based Canada arm has vividly demonstrated its application in launching of satellites as well as retrieval of disabled spacecraft for repair. There have been proposals for free flying robotic systems with appropriate instrumentation to monitor health of spacecraft, identify problems and even perform corrective measures. Most of these applications involve multilink manipulators with revolute joints for which there is a vast body of literature [1]. On the other hand, manipulators with revolute as well as prismatic joints, permitting slewing as well as deployment/retrieval of links, have received relatively little attention [2]. Such variable geometry, snake-like manipulators have distinct advantages of reduced coupling effects leading to simpler equations of motion and inverse kinematics, less number of singularity conditions, and ease of obstacle avoidance [3]. 2. Hierarchical Structure The control system developed for the deployable manipulator has a three-level structure. This hierarchical structure takes the advantages of a crisp controller; specially, a modal controller, with those of a soft, knowledge-based, supervisory control . The overall structure can be separated and developed as three main layers. The first layer is the lowest layer of the control system. It deals with information coming from sensors attached to the plant ( manipulator). This type of information is characterized by a large amount of individual data points of high resolution, produced and collected at high frequency. The crisp controller that is used is a state feedback regulator with its feedback gain matrix determined using the eigenstructure assignment approach. The data processing for monitoring and evaluation of the system performance occurs in this intermediate or second layer. Here high-resolution, crisp data from sensors are filtered to afford representation of the current state of the manipulator. This servo-expert layer acts as an interface

Low-Inertia STEM Arm (LISA) Manipulators for Assistive Free-Flyers, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Altius Space Machines proposes the development of lightweight robotic manipulators, that utilize rollable composite STEM booms to provide a prismatic...

Technology and control for hydraulic manipulators

International Nuclear Information System (INIS)

Measson, Y.; David, O.; Louveau, F.; Friconneau, J.P.

2003-01-01

Hydraulic manipulators are candidate for fusion reactor maintenance. Their main advantages are their large payload with respect to volume and mass, their reliability and their robustness. However, due to their force control limitations, they are disqualified for precise manipulation and are dangerous for the environment and themselves in case of unexpected collision. CEA, in collaboration with CYBERNETIX and IFREMER has developed the advanced hydraulic robot MAESTRO. Force and hybrid control has been developed in order to avoid the previous problems. Using 'pressure' control servo-valve instead of the standard 'flow' control servo-valve (standard configuration of the MAESTRO) makes a real simplification of the control loop. No more pressure sensors are needed for monitoring the hydraulic joint in force control mode and using this kind of valves makes big safety improvements. The French company IN-LHC, designed and manufactured a prototype of servo-valve that fits the performances and space constraints of the Maestro arm. A characterisation of this new product was made on a mock-up and a set of these prototypes integrated in the Maestro slave-arm. A comparison between the two actuating technologies was made and showed that the performances of the pressure servo-valves make it applicable to general application

Telerobotic operation of structurally flexible, long-reach manipulators

International Nuclear Information System (INIS)

Kwon, D.S.; Hwang, D.H.; Babcock, S.M.

1994-01-01

As a part of the Department of Energy's Environmental Restoration and Waste Management Program, long-reach manipulators are being considered for the retrieval of waste from large storage tanks. Long-reach manipulators may have characteristics significantly different from those of typical industrial robots because of the flexibility of long links needed to cover the large workspace. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A new approach that uses embedded simulation was developed and compared with others. In the new approach, generation of joint trajectories considering link flexibility was also investigated

Detecting elementary arm movements by tracking upper limb joint angles with MARG sensors

OpenAIRE

Mazomenos, Evangelos B.; Biswas, Dwaipayan; Cranny, Andy; Rajan, Amal; Maharatna, Koushik; Achner, Josy; Klemke, Jasmin; Jobges, Michael; Ortmann, Steffen; Langendorfer, Peter

2015-01-01

This paper reports an algorithm for the detection of three elementary upper limb movements, i.e., reach and retrieve, bend the arm at the elbow and rotation of the arm about the long axis. We employ two MARG sensors, attached at the elbow and wrist, from which the kinematic properties (joint angles, position) of the upper arm and forearm are calculated through data fusion using a quaternion-based gradient-descent method and a two-link model of the upper limb. By studying the kinematic pattern...

Glucocorticoids mediate stress-induced impairment of retrieval of stimulus-response memory.

Science.gov (United States)

Atsak, Piray; Guenzel, Friederike M; Kantar-Gok, Deniz; Zalachoras, Ioannis; Yargicoglu, Piraye; Meijer, Onno C; Quirarte, Gina L; Wolf, Oliver T; Schwabe, Lars; Roozendaal, Benno

2016-05-01

Acute stress and elevated glucocorticoid hormone levels are well known to impair the retrieval of hippocampus-dependent 'declarative' memory. Recent findings suggest that stress might also impair the retrieval of non-hippocampal memories. In particular, stress shortly before retention testing was shown to impair the retrieval of striatal stimulus-response associations in humans. However, the mechanism underlying this stress-induced retrieval impairment of non-hippocampal stimulus-response memory remains elusive. In the present study, we investigated whether an acute elevation in glucocorticoid levels mediates the impairing effects of stress on retrieval of stimulus-response memory. Male Sprague-Dawley rats were trained on a stimulus-response task in an eight-arm radial maze until they learned to associate a stimulus, i.e., cue, with a food reward in one of the arms. Twenty-four hours after successful acquisition, they received a systemic injection of vehicle, corticosterone (1mg/kg), the corticosterone-synthesis inhibitor metyrapone (35mg/kg) or were left untreated 1h before retention testing. We found that the corticosterone injection impaired the retrieval of stimulus-response memory. We further found that the systemic injection procedure per se was stressful as the vehicle administration also increased plasma corticosterone levels and impaired the retrieval of stimulus-response memory. However, memory retrieval was not impaired when rats were tested 2min after the systemic vehicle injection, before any stress-induced elevation in corticosterone levels had occurred. Moreover, metyrapone treatment blocked the effect of injection stress on both plasma corticosterone levels and memory retrieval impairment, indicating that the endogenous corticosterone response mediates the stress-induced memory retrieval impairment. None of the treatments affected rats' locomotor activity or motivation to search for the food reward within the maze. These findings show that stress

Dynamic whole-body robotic manipulation

Science.gov (United States)

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

2013-05-01

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

Multi-control modes for a master-slave manipulator with different configurations and its maneuverability

International Nuclear Information System (INIS)

Matsuhira, Nobuto; Asakura, Makoto; Bamba, Hiroyuki

1995-01-01

The new master-slave control method is proposed on multi-control modes for a master-slave manipulator with different configurations. A virtual internal model following control is applied to position symmetrical bilateral control. In our method, a master-slave control mode (MS-mode), a joystick control mode (JS-mode), a master arm offset mode (OM-mode), and a servo hold mode (LK-mode) are able to be realized by operating the desired output values of the virtual internal models in a common control algorithm. There is compliant characteristic between the master and slave models. In the result of evaluation experiments between the MS-mode and the JS-mode, although the MS-mode is superior to the JS-mode in manipulating a fine task, our JS-mode is found to be useful to carry out such a task compared with a conventional JS-mode which only directs the rates for the slave arm. In the JS-mode, the slave arm moves to the position where the reaction force of the slave arm and the operating force of the master arm are balanced. Thus, it is possible either to control an overload for an object and to control the contact force. The validity of the proposed method is verified. (author)

Optimal trajectory generation for mechanical arms. M.S. Thesis

Science.gov (United States)

Iemenschot, J. A.

1972-01-01

A general method of generating optimal trajectories between an initial and a final position of an n degree of freedom manipulator arm with nonlinear equations of motion is proposed. The method is based on the assumption that the time history of each of the coordinates can be expanded in a series of simple time functions. By searching over the coefficients of the terms in the expansion, trajectories which minimize the value of a given cost function can be obtained. The method has been applied to a planar three degree of freedom arm.

Three-Dimensional Model Retrieval Using Dynamic Multi-Descriptor Fusion

Institute of Scientific and Technical Information of China (English)

Jau-Ling Shi; Chang-Hsing Lee; Yao-Wen Hou; Po-Ting Yeh

2017-01-01

In this paper, we propose a dynamic multi-descriptor fusion (DMDF) approach to improving the retrieval accuracy of 3-dimensional (3D) model retrieval systems. First, an independent retrieval list is generated by using each individual descriptor. Second, we propose an automatic relevant/irrelevant models selection (ARMS) approach to selecting the relevant and irrelevant 3D models automatically without any user interaction. A weighted distance, in which the weight associated with each individual descriptor is learnt by using the selected relevant and irrelevant models, is used to measure the similarity between two 3D models. Furthermore, a descriptor-dependent adaptive query point movement (AQPM) approach is employed to update every feature vector. This set of new feature vectors is used to index 3D models in the next search process. Four 3D model databases are used to compare the retrieval accuracy of our proposed DMDF approach with several descriptors as well as some well-known information fusion methods. Experimental results have shown that our proposed DMDF approach provides a promising retrieval result and always yields the best retrieval accuracy.

Sensor-based whole-arm obstacle avoidance for unstructured environments

International Nuclear Information System (INIS)

Wintenberg, AL.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Britton, C.L. Jr.; Hamel, W.R.

1992-01-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined work spaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER ampersand WM program, the potential for significant problems resulting from collisions between manipulators and the environment in which they are utilized is great. A sensing system under development, which will provide protection against such collisions, is described in this paper

Maximizing Use of Robot-Arm No. 3 in Da Vinci–Assisted Thoracic Surgery

Science.gov (United States)

Kajiwara, Naohiro; Maeda, Junichi; Yoshida, Koichi; Kato, Yasufumi; Hagiwara, Masaru; Kakihana, Masatoshi; Ohira, Tatsuo; Kawate, Norihiko; Ikeda, Norihiko

2015-01-01

We have previously reported on the importance of appropriate robot-arm settings and replacement of instrument ports in robot-assisted thoracic surgery, because the thoracic cavity requires a large space to access all lesions in various areas of the thoracic cavity from the apex to the diaphragm and mediastinum and the chest wall.1–3 Moreover, it can be difficult to manipulate the da Vinci Surgical System using only arms No. 1 and No. 2 depending on the tumor location. However, arm No. 3 is usually positioned on the same side as arm No. 2, and sometimes it is only used as an assisting-arm to avoid conflict with other arms (Fig. 1). In this report, we show how robot-arm No. 3 can be used with maximum effectiveness in da Vinci-assisted thoracic surgery. PMID:26011219

A visual retrieval environment for hypermedia information system

Energy Technology Data Exchange (ETDEWEB)

Lucarella, D; Zanzi, A [ENEL s.p.a., Centro Ricerca di Automatica, Cologno Monzese, Milan (Italy)

1995-03-01

The authors a graph-based object model that may be used as a uniform framework for direct manipulation of multimedia information. After an introduction motivating the need for abstraction and structuring mechanisms in hypermedia systems, the authors introduce the data model and the notion of perspective, a form of data abstraction that acts as a user interface to the system, providing control over the visibility of the objects and their properties. A perspective is defined to include an intention and an extension. The authors present a visual retrieval environment that effectively combines filtering, browsing, and navigation to provide an integrated view of the retrieval problem. Design and implementation issues are outlined for MORE (Multimedia Object Retrieval Environment), a prototype system relying on the proposed model. The focus is on the main user interface functionalities, and actual interaction sessions are presented including schema creation, information loading, and information retrieval

Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

Science.gov (United States)

Lew, Jae Young; Book, Wayne J.

1991-01-01

Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Dual arm master controller concept

International Nuclear Information System (INIS)

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

1984-01-01

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures

The inferior parietal lobule and recognition memory : expectancy violation or successful retrieval?

OpenAIRE

O'Connor, Akira R.; Han, Sanghoon; Dobbins, Ian G.

2010-01-01

Functional neuroimaging studies of episodic recognition demonstrate an increased lateral parietal response for studied versus new materials, often termed a retrieval success effect. Using a novel memory analog of attentional cueing, we manipulated the correspondence between anticipated and actual recognition evidence by presenting valid or invalid anticipatory cues (e. g., "likely old") before recognition judgments. Although a superior parietal region demonstrated the retrieval success patter...

Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly

Science.gov (United States)

Klein, C. A.; Patterson, M. R.

1982-01-01

Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.

Virtual modeling of robot-assisted manipulations in abdominal surgery.

Science.gov (United States)

Berelavichus, Stanislav V; Karmazanovsky, Grigory G; Shirokov, Vadim S; Kubyshkin, Valeriy A; Kriger, Andrey G; Kondratyev, Evgeny V; Zakharova, Olga P

2012-06-27

To determine the effectiveness of using multidetector computed tomography (MDCT) data in preoperative planning of robot-assisted surgery. Fourteen patients indicated for surgery underwent MDCT using 64 and 256-slice MDCT. Before the examination, a specially constructed navigation net was placed on the patient's anterior abdominal wall. Processing of MDCT data was performed on a Brilliance Workspace 4 (Philips). Virtual vectors that imitate robotic and assistant ports were placed on the anterior abdominal wall of the 3D model of the patient, considering the individual anatomy of the patient and the technical capabilities of robotic arms. Sites for location of the ports were directed by projection on the roentgen-positive tags of the navigation net. There were no complications observed during surgery or in the post-operative period. We were able to reduce robotic arm interference during surgery. The surgical area was optimal for robotic and assistant manipulators without any need for reinstallation of the trocars. This method allows modeling of the main steps in robot-assisted intervention, optimizing operation of the manipulator and lowering the risk of injuries to internal organs.

Development of a Control System for PRIDE Remote Servo-manipulator

International Nuclear Information System (INIS)

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

2009-12-01

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

Development of a Control System for PRIDE Remote Servo-manipulator

Energy Technology Data Exchange (ETDEWEB)

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

2009-12-15

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

Shifting visual perspective during retrieval shapes autobiographical memories.

Science.gov (United States)

St Jacques, Peggy L; Szpunar, Karl K; Schacter, Daniel L

2017-03-01

The dynamic and flexible nature of memories is evident in our ability to adopt multiple visual perspectives. Although autobiographical memories are typically encoded from the visual perspective of our own eyes they can be retrieved from the perspective of an observer looking at our self. Here, we examined the neural mechanisms of shifting visual perspective during long-term memory retrieval and its influence on online and subsequent memories using functional magnetic resonance imaging (fMRI). Participants generated specific autobiographical memories from the last five years and rated their visual perspective. In a separate fMRI session, they were asked to retrieve the memories across three repetitions while maintaining the same visual perspective as their initial rating or by shifting to an alternative perspective. Visual perspective shifting during autobiographical memory retrieval was supported by a linear decrease in neural recruitment across repetitions in the posterior parietal cortices. Additional analyses revealed that the precuneus, in particular, contributed to both online and subsequent changes in the phenomenology of memories. Our findings show that flexibly shifting egocentric perspective during autobiographical memory retrieval is supported by the precuneus, and suggest that this manipulation of mental imagery during retrieval has consequences for how memories are retrieved and later remembered. Copyright © 2017 Elsevier Inc. All rights reserved.

A retrieval-based approach to eliminating hindsight bias.

Science.gov (United States)

Van Boekel, Martin; Varma, Keisha; Varma, Sashank

2017-03-01

Individuals exhibit hindsight bias when they are unable to recall their original responses to novel questions after correct answers are provided to them. Prior studies have eliminated hindsight bias by modifying the conditions under which original judgments or correct answers are encoded. Here, we explored whether hindsight bias can be eliminated by manipulating the conditions that hold at retrieval. Our retrieval-based approach predicts that if the conditions at retrieval enable sufficient discrimination of memory representations of original judgments from memory representations of correct answers, then hindsight bias will be reduced or eliminated. Experiment 1 used the standard memory design to replicate the hindsight bias effect in middle-school students. Experiments 2 and 3 modified the retrieval phase of this design, instructing participants beforehand that they would be recalling both their original judgments and the correct answers. As predicted, this enabled participants to form compound retrieval cues that discriminated original judgment traces from correct answer traces, and eliminated hindsight bias. Experiment 4 found that when participants were not instructed beforehand that they would be making both recalls, they did not form discriminating retrieval cues, and hindsight bias returned. These experiments delineate the retrieval conditions that produce-and fail to produce-hindsight bias.

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1989-01-01

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

A new one-man submarine is tested as vehicle for solid rocket booster retrieval

Science.gov (United States)

2000-01-01

- The one-man submarine known as DeepWorker 2000 is tested in Atlantic waters near Cape Canaveral, Fla. Nearby are divers; inside the sub is the pilot, Anker Rasmussen. The sub is being tested on its ability to duplicate the sometimes hazardous job United Space Alliance (USA) divers perform to recover the expended boosters in the ocean after a launch. The boosters splash down in an impact area about 140 miles east of Jacksonville and after recovery are towed back to KSC for refurbishment by the specially rigged recovery ships. DeepWorker 2000 will be used in a demonstration during retrieval operations after the upcoming STS-101 launch. The submarine pilot will demonstrate capabilities to cut tangled parachute riser lines using a manipulator arm and attach a Diver Operator Plug to extract water and provide flotation for the booster. DeepWorker 2000 was built by Nuytco Research Ltd., North Vancouver, British Columbia. It is 8.25 feet long, 5.75 feet high, and weighs 3,800 pounds. USA is a prime contractor to NASA for the Space Shuttle program.

Sensor-based whole-arm obstacle avoidance for unstructured environments

International Nuclear Information System (INIS)

Wintenberg, A.L.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Armstrong, G.A.; Britton, C.L. Jr.; Hamel, W.R.

1992-01-01

Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER ampersand WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. However, many hazardous environments are unstructured or poorly defined, providing a significant potential for collisions between manipulators and the environment. In order to allow applications of robotics in such situations, a sensing system is under development which will provide protection against collisions. Specifics of this system including system architecture and projected implementation are described

Single-photon manipulation in Nanophotonic Circuits

DEFF Research Database (Denmark)

Hansen, Sofie Lindskov

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

The effect of retrieval practice in primary school vocabulary learning

NARCIS (Netherlands)

Goossens, Nicole; Camp, Gino; Verkoeijen, Peter; Tabbers, Huib

2018-01-01

The testing effect refers to the finding that retrieval practice leads to better long-term retention than additional study of course material. In the present study, we examined whether this finding generalizes to primary school vocabulary learning. We also manipulated the word learning context.

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

Science.gov (United States)

Seraji, Homayoun

1989-01-01

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

Computer control of ET-RR-1 hot cell manipulators

International Nuclear Information System (INIS)

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

1990-01-01

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

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.

Impact Vibration Attenuation for a Flexible Robotic Manipulator through Transfer and Dissipation of Energy

Directory of Open Access Journals (Sweden)

Yushu Bian

2013-01-01

Full Text Available Due to the presence of system flexibility, impact can excite severe large amplitude vibration responses of the flexible robotic manipulator. This impact vibration exhibits characteristics of remarkable nonlinearity and strong energy. The main goal of this study is to put forward an energy-based control method to absorb and attenuate large amplitude impact vibration of the flexible robotic manipulator. The method takes advantage of internal resonance and is implemented through a vibration absorber based on the transfer and dissipation of energy. The addition of the vibration absorber to the flexible arm generates a coupling effect between vibration modes of the system. By means of analysis on 2:1 internal resonance, the exchange of energy is proven to be existent. The impact vibrational energy can be transferred from the arm to the absorber and dissipated through the damping of the absorber. The results of numerical simulations are promising and preliminarily verify that the method is feasible and can be used to combat large amplitude impact vibration of the flexible manipulator undergoing rigid motion.

Advance of the new MA 23 force reflecting manipulator system

International Nuclear Information System (INIS)

Vertut, Jean; Coiffet, Philippe; Petit, Michel

1976-01-01

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

Electrophysiological correlates of competitor activation predict retrieval-induced forgetting.

Science.gov (United States)

Hellerstedt, Robin; Johansson, Mikael

2014-06-01

The very act of retrieval modifies the accessibility of memory for knowledge and past events and can also cause forgetting. A prominent theory of such retrieval-induced forgetting (RIF) holds that retrieval recruits inhibition to overcome interference from competing memories, rendering these memories inaccessible. The present study tested a fundamental tenet of the inhibitory-control account: The competition-dependence assumption. Event-related potentials (ERPs) were recorded while participants engaged in a competitive retrieval task. Competition levels were manipulated within the retrieval task by varying the cue-item associative strength of competing items. In order to temporally separate ERP correlates of competitor activation and target retrieval, memory was probed with the sequential presentation of 2 cues: A category cue, to reactivate competitors, and a target cue. As predicted by the inhibitory-control account, competitors with strong compared with weak cue-competitor association were more susceptible to forgetting. Furthermore, competition-sensitive ERP modulations, elicited by the category cue, were observed over anterior regions and reflected individual differences in ensuing forgetting. The present study demonstrates ERP correlates of the reactivation of tightly bound associated memories (the competitors) and provides support for the inhibitory-control account of RIF.

Storage and retrieval properties of dual codes for pictures and words in recognition memory.

Science.gov (United States)

Snodgrass, J G; McClure, P

1975-09-01

Storage and retrieval properties of pictures and words were studied within a recognition memory paradigm. Storage was manipulated by instructing subjects either to image or to verbalize to both picture and word stimuli during the study sequence. Retrieval was manipulated by representing a proportion of the old picture and word items in their opposite form during the recognition test (i.e., some old pictures were tested with their corresponding words and vice versa). Recognition performance for pictures was identical under the two instructional conditions, whereas recognition performance for words was markedly superior under the imagery instruction condition. It was suggested that subjects may engage in dual coding of simple pictures naturally, regardless of instructions, whereas dual coding of words may occur only under imagery instructions. The form of the test item had no effect on recognition performance for either type of stimulus and under either instructional condition. However, change of form of the test item markedly reduced item-by-item correlations between the two instructional conditions. It is tentatively proposed that retrieval is required in recognition, but that the effect of a form change is simply to make the retrieval process less consistent, not less efficient.

Software Development for the Kinematic Analysis of a Lynx 6 Robot Arm

OpenAIRE

Baki Koyuncu; Mehmet Güzel

2007-01-01

The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used to model robot links and joints in this study. Both forward and inverse kinematics solutions for th...

Emotion experienced during encoding enhances odor retrieval cue effectiveness.

Science.gov (United States)

Herz, R S

1997-01-01

Emotional potentiation may be a key variable in the formation of odor-associated memory. Two experiments were conducted in which a distinctive ambient odor was present or absent during encoding and retrieval sessions and subjects were in an anxious or neutral mood during encoding. Subjects' mood at retrieval was not manipulated. The laboratory mood induction used in Experiment 1 suggested that anxiety might increase the effectiveness of an odor retrieval cue. This trend was confirmed in Experiment 2 by capturing a naturally stressful situation. Subjects who had an ambient odor cue available and were in a preexam state during encoding recalled more words than subjects in any other group. These data are evidence that heightened emotion experienced during encoding with an ambient odor can enhance the effectiveness of an odor as a cue to memory.

Development of manipulator system with good portability and usability

International Nuclear Information System (INIS)

Anon.

1990-01-01

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

Identification of single-shell tank in-tank hardware obstructions to retrieval at Hanford Site Tank Farms

International Nuclear Information System (INIS)

Ballou, R.A.

1994-10-01

Two retrieval technologies, one of which uses robot-deployed end effectors, will be demonstrated on the first single-shell tank (SST) waste to be retrieved at the Hanford Site. A significant impediment to the success of this technology in completing the Hanford retrieval mission is the presence of unique tank contents called in-tank hardware (ITH). In-tank hardware includes installed and discarded equipment and various other materials introduced into the tank. This paper identifies those items of ITH that will most influence retrieval operations in the arm-based demonstration project and in follow-on tank operations within the SST farms

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation.

Science.gov (United States)

Low, Jin-Huat; Yeow, Chen-Hua

2016-08-02

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

The astronaut and the banana peel: An EVA retriever scenario

Science.gov (United States)

Shapiro, Daniel G.

1989-01-01

To prepare for the problem of accidents in Space Station activities, the Extravehicular Activity Retriever (EVAR) robot is being constructed, whose purpose is to retrieve astronauts and tools that float free of the Space Station. Advanced Decision Systems is at the beginning of a project to develop research software capable of guiding EVAR through the retrieval process. This involves addressing problems in machine vision, dexterous manipulation, real time construction of programs via speech input, and reactive execution of plans despite the mishaps and unexpected conditions that arise in uncontrolled domains. The problem analysis phase of this work is presented. An EVAR scenario is used to elucidate major domain and technical problems. An overview of the technical approach to prototyping an EVAR system is also presented.

Parallel control method for a bilateral master-slave manipulator

International Nuclear Information System (INIS)

Miyazaki, Tomohiro; Hagihara, Shiro

1989-01-01

In this paper, a new control method for a bilateral master-slave manipulator is proposed. The proposed method yields stable and fast response of the control system. These are essential to obtain a precise position control and a sensitive force reflection control. In the conventional position-force control method, each control loop of the master and the slave arms are connected in series to construct a bilateral control loop. Therefore the total phase lag through the bilateral control loop becomes twice as much as that of one arm control. Such phase lag makes the control system unstable and control performance worse. To improve the stability and the control performance, we propose 'parallel control method.' In the proposed method, the control loops of the master and the slave arms are connected in parallel so that the total phase lag is reduced to as much as that of one arm. The stability condition of the proposed method is studied and it is proved that the stability of this method can be guaranteed independent of the rigidness of a reaction surface and the position/force ratio between the master and the slave arms while the stability of the conventional method depends on them. (author)

Robotically facilitated virtual rehabilitation of arm transport integrated with finger movement in persons with hemiparesis

OpenAIRE

Davidow Amy; Lafond Ian; Saleh Soha; Qiu Qinyin; Fluet Gerard G; Merians Alma S; Adamovich Sergei V

2011-01-01

Abstract Background Recovery of upper extremity function is particularly recalcitrant to successful rehabilitation. Robotic-assisted arm training devices integrated with virtual targets or complex virtual reality gaming simulations are being developed to deal with this problem. Neural control mechanisms indicate that reaching and hand-object manipulation are interdependent, suggesting that training on tasks requiring coordinated effort of both the upper arm and hand may be a more effective me...

Effect of arm swing strategy on local dynamic stability of human gait.

Science.gov (United States)

Punt, Michiel; Bruijn, Sjoerd M; Wittink, Harriet; van Dieën, Jaap H

2015-02-01

Falling causes long term disability and can even lead to death. Most falls occur during gait. Therefore improving gait stability might be beneficial for people at risk of falling. Recently arm swing has been shown to influence gait stability. However at present it remains unknown which mode of arm swing creates the most stable gait. To examine how different modes of arm swing affect gait stability. Ten healthy young male subjects volunteered for this study. All subjects walked with four different arm swing instructions at seven different gait speeds. The Xsens motion capture suit was used to capture gait kinematics. Basic gait parameters, variability and stability measures were calculated. We found an increased stability in the medio-lateral direction with excessive arm swing in comparison to normal arm swing at all gait speeds. Moreover, excessive arm swing increased stability in the anterior-posterior and vertical direction at low gait speeds. Ipsilateral and inphase arm swing did not differ compared to a normal arm swing. Excessive arm swing is a promising gait manipulation to improve local dynamic stability. For excessive arm swing in the ML direction there appears to be converging evidence. The effect of excessive arm swing on more clinically relevant groups like the more fall prone elderly or stroke survivors is worth further investigating. Excessive arm swing significantly increases local dynamic stability of human gait. Copyright © 2014 Elsevier B.V. All rights reserved.

Isotropy of an Upper Limb Exoskeleton and the Kinematics and Dynamics of the Human Arm

Directory of Open Access Journals (Sweden)

Joel C. Perry

2009-01-01

Full Text Available The integration of human and robot into a single system offers remarkable opportunities for a new generation of assistive technology. Despite the recent prominence of upper limb exoskeletons in assistive applications, the human arm kinematics and dynamics are usually described in single or multiple arm movements that are not associated with any concrete activity of daily living (ADL. Moreover, the design of an exoskeleton, which is physically linked to the human body, must have a workspace that matches as close as possible with the workspace of the human body, while at the same time avoid singular configurations of the exoskeleton within the human workspace. The aims of the research reported in this manuscript are (1 to study the kinematics and the dynamics of the human arm during daily activities in a free and unconstrained environment, (2 to study the manipulability (isotropy of a 7-degree-of-freedom (DOF-powered exoskeleton arm given the kinematics and the dynamics of the human arm in ADLs. Kinematic data of the upper limb were acquired with a motion capture system while performing 24 daily activities from six subjects. Utilising a 7-DOF model of the human arm, the equations of motion were used to calculate joint torques from measured kinematics. In addition, the exoskeleton isotropy was calculated and mapped with respect to the spacial distribution of the human arm configurations during the 24 daily activities. The results indicate that the kinematic joint distributions representing all 24 actions appear normally distributed except for elbow flexion–extension with the emergence of three modal centres. Velocity and acceleration components of joint torque distributions were normally distributed about 0 Nm, whereas gravitational component distributions varied with joint. Additionally, velocity effects were found to contribute only 1/100th of the total joint torque, whereas acceleration components contribute 1/10th of the total torque at the

Spatial memory deficits in a virtual reality eight-arm radial maze in schizophrenia.

Science.gov (United States)

Spieker, Elena A; Astur, Robert S; West, Jeffrey T; Griego, Jacqueline A; Rowland, Laura M

2012-03-01

Learning and memory impairments are present in schizophrenia (SZ) throughout the illness course and predict psychosocial function. Abnormalities in prefrontal and hippocampal function are thought to contribute to SZ deficits. The radial arm maze (RAM) is a test of spatial learning and memory in rodents that relies on intact prefrontal and hippocampal function. The goal of the present study was to investigate spatial learning in SZ using a virtual RAM. Thirty-three subjects with SZ and thirty-nine healthy controls (HC) performed ten trials of a virtual RAM task. Subjects attempted to learn to retrieve four rewards each located in separate arms. As expected, subjects with SZ used more time and traveled more distance to retrieve rewards, made more reference (RM) and working memory (WM) errors, and retrieved fewer rewards than HC. It is important to note that the SZ group did learn but did not reach the level of HC. Whereas RM errors decreased across trials in the SZ group, WM errors did not. There were no significant relationships between psychiatric symptom severity and maze performance. To our knowledge, use of a virtual 8-arm radial maze task in SZ to assess spatial learning is novel. Impaired virtual RAM performance in SZ is consistent with studies that examined RAM performance in animal models of SZ. Results provide further support for compromised prefrontal and hippocampal function underlying WM and RM deficits in SZ. The virtual RAM task could help bridge preclinical and clinical research for testing novel drug treatments of SZ. Copyright © 2011 Elsevier B.V. All rights reserved.

Dual arm master controller development

International Nuclear Information System (INIS)

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

1985-01-01

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. This work was performed as part of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 5 refs., 7 figs., 1 tab

High degree-of-freedom dynamic manipulation

Science.gov (United States)

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

2012-06-01

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

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

Directory of Open Access Journals (Sweden)

Tashiro Yosuke

2017-01-01

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

Rotational manipulation of single cells and organisms using acoustic waves.

Science.gov (United States)

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

2016-03-23

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

Test plan for the retrieval demonstration

International Nuclear Information System (INIS)

Valentich, D.J.

1993-05-01

This test plan describes a simulated buried waste retrieval demonstration that will be performed at the Caterpillar, Inc., Edwards Training Center located near Peoria, Illinois. The purpose of the demonstration is to determine the effectiveness of using readily available excavation equipment to retrieve, size, and handle various simulated waste forms that are similar in size, structure, and composition to those expected to be found in US Department of Energy contaminated waste pits and trenches. The objectives of this demonstration are to: meet and maintain daily production goals of 80 yd 3 /day; minimize spillage and dust generation through careful and deliberate operations; document and evaluate methods for manipulating, sizing, and/or working around large objects; and document and evaluate requirements for operator augmentation and remote operation for hot test pit excavation operations. Four conditions comprising the range of environments to be evaluated include excavation of random material from below grade; stacked boxes and barrels from below grade; random materials from at grade; and stacked boxes and barrels from at grade. Results of the retrieval demonstration will reduce unknowns in the body of knowledge about retrieval equipment and procedural options for removal of buried transuranic (TRU) waste at the Idaho National Engineering Laboratory. It is anticipated that DOE will factor this information into a remedial investigation/feasibility plan leading to a final record of decision for disposition of buried TRU waste

Kinematic modeling of a 7-degree of freedom spatial hybrid manipulator for medical surgery.

Science.gov (United States)

Singh, Amanpreet; Singla, Ekta; Soni, Sanjeev; Singla, Ashish

2018-01-01

The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to model manipulators consisting of lower pairs. However, the method leads to ambiguities when applied to closed-loop, tree-like and hybrid manipulators. Furthermore, in the dearth of any direct method to model closed-loop, tree-like and hybrid manipulators, revisions of this method have been proposed from time-to-time by different researchers. One such kind of revision using the concept of dummy frames has successfully been proposed and implemented by the authors on spatial hybrid manipulators. In that work, authors have addressed the orientational inconsistency of the D-H parameter method, restricted to body-attached frames only. In the current work, the condition of body-attached frames is relaxed and spatial frame attachment is considered to derive the kinematic model of a 7-degree of freedom spatial hybrid robotic arm, along with the development of closed-loop constraints. The validation of the new kinematic model has been performed with the help of a prototype of this 7-degree of freedom arm, which is being developed at Council of Scientific & Industrial Research-Central Scientific Instruments Organisation Chandigarh to aid the surgeon during a medical surgical task. Furthermore, the developed kinematic model is used to develop the first column of the Jacobian matrix, which helps in providing the estimate of the tip velocity of the 7-degree of freedom manipulator when the first joint velocity is known.

Manipulator motion planning for high-speed robotic laser cutting

OpenAIRE

Dolgui , Alexandre; Pashkevich , Anatol

2009-01-01

Abstract Recent advances in laser technology, and especially the essential increase of the cutting speed, motivate amending the existing robot path methods, which do not allow the complete utilisation of the actuator capabilities as well as neglect some particularities in the mechanical design of the wrist of the manipulator arm. This research addresses the optimisation of the 6-axes robot motions for continuous contour tracking while considering the redundancy caused by the tool a...

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

The two faces of selective memory retrieval: Earlier decline of the beneficial than the detrimental effect with older age.

Science.gov (United States)

Aslan, Alp; Schlichting, Andreas; John, Thomas; Bäuml, Karl-Heinz T

2015-12-01

Recent work with young adults has shown that, depending on study context access, selective memory retrieval can both impair and improve recall of other memories (Bäuml & Samenieh, 2010). Here, we investigated the 2 opposing effects of selective retrieval in older age. In Experiment 1, we examined 64 younger (20-35 years) and 64 older participants (above 60 years), and manipulated study context access using list-method directed forgetting. Whereas both age groups showed a detrimental effect of selective retrieval on to-be-remembered items, only younger but not older adults showed a beneficial effect on to-be-forgotten items. In Experiment 2, we examined 112 participants from a relatively wide age range (40-85 years), and manipulated study context access by varying the retention interval between study and test. Overall, a detrimental effect of selective retrieval arose when the retention interval was relatively short, but a beneficial effect when the retention interval was prolonged. Critically, the size of the beneficial but not the detrimental effect of retrieval decreased with age and this age-related decline was mediated by individuals' working memory capacity, as measured by the complex operation span task. Together, the results suggest an age-related dissociation in retrieval dynamics, indicating an earlier decline of the beneficial than the detrimental effect of selective retrieval with older age. (c) 2015 APA, all rights reserved).

Development program of two-arm bilateral servomanipulator system for nuclear fuel cycle facilities in PNC

International Nuclear Information System (INIS)

Kashihara, H.; Igarashi, M.; Maeda, M.; Nomizu, T.; Uematsu, K.

1984-01-01

PNC started the development program of a two-arm bilateral servomanipulator to improve remote maintenance in the planning of pilot plants for HLLW vitrification and FBR fuel reprocessing. In this paper, the development program of two-arm bilateral servomanipulators, signal and power transmissions, high performance viewing system, man-machine interface, and transporter system for manipulators will be presented. Also radiation tests for all components used in a hot cell are being performed to aid remote system design

Input shaping methods for telerobotic operation of flexible, long-reach manipulators

International Nuclear Information System (INIS)

Kwon, Dong-Soo; Hwang, Dong-Hwan; Babcock, S.M.

1994-01-01

Among the Environmental Restoration and Waste Management Program of the U.S. Department of Energy, the remediation of radioactive waste from the underground storage tank challenges the state-of-the-art equipment and methods. Long-reach manipulators are being considered to be one of the most advantageous approaches for the retrieval of waste from large storage tanks. Because of long-reach manipulator's high payload capacity and high length-to-cross-section ratios, such manipulator system exhibits significant structural flexibility. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A robust notch filtering method and an impulse shaping method were evaluated. In addition to that, a new approach that uses imbedded simulation was developed and compared with others. In the new approach, joint trajectories have been generated considering the flexible link dynamics

The Use of a Context-Based Information Retrieval Technique

Science.gov (United States)

2009-07-01

Carlson, 2004). However, in order to reduce plagiarism and manipulation, the specific details of these algorithms are closely protected and changed...age, academic background and gender can affect performance using information retrieval systems (Borgman, 1989). These factors can result in...and academic qualifications, a large proportion of the sample were recruited from a third year level or higher. 2.2 Materials 2.2.1 Demographic

Use of the mini C-arm for wrist fractures - Establishing a diagnostic reference level

International Nuclear Information System (INIS)

Love, G. J.; Pillai, A.; Gibson, S.

2008-01-01

The establishment of diagnostic reference levels (DRLs) for all typical radiological examinations became mandatory following the implementation of the Ionising Radiations (Medical Exposure) Regulations Act 2000. At present, there are no national dosage guidelines in the UK regarding use of fluoroscopy in orthopaedic trauma. The increasing popularity of the mini C-arm image intensifier amongst surgeons has led to concerns regarding use of ionizing radiation by personnel who have not been trained in radiation protection. It is therefore essential to have formal protocols for use of the mini C-arm to comply with the law and to maintain safe clinical practice. It is attempted to provide dose data for wrist fracture manipulations that may be used as a basis for setting a DRL for this procedure. Screening times were recorded for 80 wrist manipulations in a fracture clinic setting using a mini C-arm image intensifier. A DRL was set using the third quartile value for screening time. The median screening time for wrist fractures was 20 s with a range from 1 to 177 s. The third quartile value for screening time was 34 s. This value can be used as a provisional DRL for wrist fracture manipulations. The DRL is a quantitative guide for the optimisation of radiological protection. IR(ME)R 2000 states that if it is consistently exceeded by an individual operator or a piece of equipment, investigation and remedial action must be taken. We recommend that trauma units establish their own local DRLs for common procedures as made mandatory by legislation. (authors)

The Oklahoma Geographic Information Retrieval System

Science.gov (United States)

Blanchard, W. A.

1982-01-01

The Oklahoma Geographic Information Retrieval System (OGIRS) is a highly interactive data entry, storage, manipulation, and display software system for use with geographically referenced data. Although originally developed for a project concerned with coal strip mine reclamation, OGIRS is capable of handling any geographically referenced data for a variety of natural resource management applications. A special effort has been made to integrate remotely sensed data into the information system. The timeliness and synoptic coverage of satellite data are particularly useful attributes for inclusion into the geographic information system.

Manipulator Comparative Testing Program: Final report

International Nuclear Information System (INIS)

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

1987-02-01

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

Retrieving Temperature and Moisture Profiles from AERI Radiance Observations. AERIPROF Value-Added Product Technical Description

Energy Technology Data Exchange (ETDEWEB)

Feltz, W. F. [Univ. of Wisconsin, Madison, WI (United States); Howell, H. B. [Univ. of Wisconsin, Madison, WI (United; Knuteson, R. O. [Univ. of Wisconsin, Madison, WI (United States); Comstock, J. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Mahon, R. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Turner, D. D. [National Oceanic and Atmospheric Administration (NOAA), Boulder, CO (United States); Smith, W. L. [NASA Langley Research Center, Hampton, VA (United States); Woolf, H. M. [Univ. of Wisconsin, Madison, WI (United; Sivaraman, C. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Halter, T. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

2007-04-01

One of the goals of the Atmospheric Radiation Measurement (ARM) Program is to collect a long-term series of radiative and atmospheric state observations to improve the parameterization of these processes in global climate models. The ARM Program intended to move away from the traditional approach of directly measuring profiles of temperature and moisture using radiosondes, which is expensive in terms of expendables and manpower, and develop methods to retrieve these profiles with ground-based remote sensors. The atmospheric emitted radiance interferometer (AERI), whose radiance data contains information on the vertical distribution of water vapor and temperature, is an integral part of the ARM profiling plan.

A simple procedure for retrieval of a cement-retained implant-supported crown: a case report.

Science.gov (United States)

Buzayan, Muaiyed Mahmoud; Mahmood, Wan Adida; Yunus, Norsiah Binti

2014-02-01

Retrieval of cement-retained implant prostheses can be more demanding than retrieval of screw-retained prostheses. This case report describes a simple and predictable procedure to locate the abutment screw access openings of cementretained implant-supported crowns in cases of fractured ceramic veneer. A conventional periapical radiography image was captured using a digital camera, transferred to a computer, and manipulated using Microsoft Word document software to estimate the location of the abutment screw access.

Intelligence as the efficiency of cue-driven retrieval from secondary memory.

Science.gov (United States)

Liesefeld, Heinrich René; Hoffmann, Eugenia; Wentura, Dirk

2016-01-01

Complex-span (working-memory-capacity) tasks are among the most successful predictors of intelligence. One important contributor to this relationship is the ability to efficiently employ cues for the retrieval from secondary memory. Presumably, intelligent individuals can considerably restrict their memory search sets by using such cues and can thereby improve recall performance. We here test this assumption by experimentally manipulating the validity of retrieval cues. When memoranda are drawn from the same semantic category on two successive trials of a verbal complex-span task, the category is a very strong retrieval cue on its first occurrence (strong-cue trial) but loses some of its validity on its second occurrence (weak-cue trial). If intelligent individuals make better use of semantic categories as retrieval cues, their recall accuracy suffers more from this loss of cue validity. Accordingly, our results show that less variance in intelligence is explained by recall accuracy on weak-cue compared with strong-cue trials.

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

Energy Technology Data Exchange (ETDEWEB)

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

2016-09-15

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

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

International Nuclear Information System (INIS)

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

2016-01-01

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

Spent nuclear fuel retrieval system fuel handling development testing. Final report

International Nuclear Information System (INIS)

Jackson, D.R.; Meeuwsen, P.V.

1997-09-01

Fuel handling development testing was performed in support of the Fuel Retrieval System (FRS) Sub-Project, a subtask of the Spent Nuclear Fuel Project at the Hanford Site in Richland, Washington. The FRS will be used to retrieve and repackage K-Basin Spent Nuclear Fuel (SNF) currently stored in old K-Plant storage basins. The FRS is required to retrieve full fuel canisters from the basin, clean the fuel elements inside the canister to remove excessive uranium corrosion products (or sludge), remove the contents from the canisters and sort the resulting debris, scrap, and fuel for repackaging. The fuel elements and scrap will be collected in fuel storage and scrap baskets in preparation for loading into a multi canister overpack (MCO), while the debris is loaded into a debris bin and disposed of as solid waste. This report describes fuel handling development testing performed from May 1, 1997 through the end of August 1997. Testing during this period was mainly focused on performance of a Schilling Robotic Systems' Conan manipulator used to simulate a custom designed version, labeled Konan, being fabricated for K-Basin deployment. In addition to the manipulator, the camera viewing system, process table layout, and fuel handling processes were evaluated. The Conan test manipulator was installed and fully functional for testing in early 1997. Formal testing began May 1. The purposes of fuel handling development testing were to provide proof of concept and criteria, optimize equipment layout, initialize the process definition, and identify special needs/tools and required design changes to support development of the performance specification. The test program was set up to accomplish these objectives through cold (non-radiological) development testing using simulated and prototype equipment

Inverse kinematic control of LDUA and TWRMS

International Nuclear Information System (INIS)

Yih, T.C.; Burks, B.L.; Kwon, Dong-Soo

1995-01-01

A general inverse kinematic analysis is formulated particularly for the redundant Light Duty Utility Arm (LDUA) and Tank Waste Retrieval Manipulator System (TWRMS). The developed approach is applicable to the inverse kinematic simulation and control of LDUA, TWRMS, and other general robot manipulators. The 4 x 4 homogeneous Cylindrical coordinates-Bryant angles (C-B) notation is adopted to model LDUA, TWRMS, and any robot composed of R (revolute), P (prismatic), and/or S (spherical) joints

The control of a manipulator by a computer model of the cerebellum.

Science.gov (United States)

Albus, J. S.

1973-01-01

Extension of previous work by Albus (1971, 1972) on the theory of cerebellar function to an application of a computer model of the cerebellum to manipulator control. Following a discussion of the cerebellar function and of a perceptron analogy of the cerebellum, particularly in regard to learning, an electromechanical model of the cerebellum is considered in the form of an IBM 1800 computer connected to a Rancho Los Amigos arm with seven degrees of freedom. It is shown that the computer memory makes it possible to train the arm on some representative sample of the universe of possible states and to achieve satisfactory performance.

Contextualization: Memory Formation and Retrieval in a Nested Environment

Science.gov (United States)

Piefke, Martina; Markowitsch, Hans J.

Episodic memory functions are highly context-dependent. This is true for both experimental and autobiographical episodic memory. We here review neuropsychological and neuroimaging evidence for effects of differential encoding and retrieval contexts on episodic memory performance as well as the underlying neurofunctional mechanisms. In studies of laboratory episodic memory, the influence of context parameters can be assessed by experimental manipulations. Such experiments suggest that contextual variables mainly affect prefrontal functions supporting executive processes involved in episodic learning and retrieval. Context parameters affecting episodic autobiographical memory are far more complex and cannot easily be controlled. Data support the view that not only prefrontal, but also further medial temporal and posterior parietal regions mediating the re-experience and emotional evaluation of personal memories are highly influenced by changing contextual variables of memory encoding and retrieval. Based on our review of available data, we thus suggest that experimental and autobiographical episodic memories are influenced by both overlapping and differential context parameters.

Infectious Cognition: Risk Perception Affects Socially Shared Retrieval-Induced Forgetting of Medical Information.

Science.gov (United States)

Coman, Alin; Berry, Jessica N

2015-12-01

When speakers selectively retrieve previously learned information, listeners often concurrently, and covertly, retrieve their memories of that information. This concurrent retrieval typically enhances memory for mentioned information (the rehearsal effect) and impairs memory for unmentioned but related information (socially shared retrieval-induced forgetting, SSRIF), relative to memory for unmentioned and unrelated information. Building on research showing that anxiety leads to increased attention to threat-relevant information, we explored whether concurrent retrieval is facilitated in high-anxiety real-world contexts. Participants first learned category-exemplar facts about meningococcal disease. Following a manipulation of perceived risk of infection (low vs. high risk), they listened to a mock radio show in which some of the facts were selectively practiced. Final recall tests showed that the rehearsal effect was equivalent between the two risk conditions, but SSRIF was significantly larger in the high-risk than in the low-risk condition. Thus, the tendency to exaggerate consequences of news events was found to have deleterious consequences. © The Author(s) 2015.

A Unified Approach for Reporting ARM Measurement Uncertainties Technical Report: Updated in 2016

Energy Technology Data Exchange (ETDEWEB)

Sisterson, Douglas [Argonne National Lab. (ANL), Argonne, IL (United States)

2017-01-15

The U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Climate Research Facility is observationally based, and quantifying the uncertainty of its measurements is critically important. With over 300 widely differing instruments providing over 2,500 datastreams, concise expression of measurement uncertainty is quite challenging. ARM currently provides data and supporting metadata (information about the data or data quality) to its users through several sources. Because the continued success of the ARM Facility depends on the known quality of its measurements, ARM relies on Instrument Mentors and the ARM Data Quality Office to ensure, assess, and report measurement quality. Therefore, an easily accessible, well-articulated estimate of ARM measurement uncertainty is needed. This report is a continuation of the work presented by Campos and Sisterson (2015) and provides additional uncertainty information from instruments not available in their report. As before, a total measurement uncertainty has been calculated as a function of the instrument uncertainty (calibration factors), the field uncertainty (environmental factors), and the retrieval uncertainty (algorithm factors). This study will not expand on methods for computing these uncertainties. As before, it will focus on the practical identification, characterization, and inventory of the measurement uncertainties already available to the ARM community through the ARM Instrument Mentors and their ARM instrument handbooks. This study continues the first steps towards reporting ARM measurement uncertainty as: (1) identifying how the uncertainty of individual ARM measurements is currently expressed, (2) identifying a consistent approach to measurement uncertainty, and then (3) reclassifying ARM instrument measurement uncertainties in a common framework.

Investigating Astromaterials Curation Applications for Dexterous Robotic Arms

Science.gov (United States)

Snead, C. J.; Jang, J. H.; Cowden, T. R.; McCubbin, F. M.

2018-01-01

The Astromaterials Acquisition and Curation office at NASA Johnson Space Center is currently investigating tools and methods that will enable the curation of future astromaterials collections. Size and temperature constraints for astromaterials to be collected by current and future proposed missions will require the development of new robotic sample and tool handling capabilities. NASA Curation has investigated the application of robot arms in the past, and robotic 3-axis micromanipulators are currently in use for small particle curation in the Stardust and Cosmic Dust laboratories. While 3-axis micromanipulators have been extremely successful for activities involving the transfer of isolated particles in the 5-20 micron range (e.g. from microscope slide to epoxy bullet tip, beryllium SEM disk), their limited ranges of motion and lack of yaw, pitch, and roll degrees of freedom restrict their utility in other applications. For instance, curators removing particles from cosmic dust collectors by hand often employ scooping and rotating motions to successfully free trapped particles from the silicone oil coatings. Similar scooping and rotating motions are also employed when isolating a specific particle of interest from an aliquot of crushed meteorite. While cosmic dust curators have been remarkably successful with these kinds of particle manipulations using handheld tools, operator fatigue limits the number of particles that can be removed during a given extraction session. The challenges for curation of small particles will be exacerbated by mission requirements that samples be processed in N2 sample cabinets (i.e. gloveboxes). We have been investigating the use of compact robot arms to facilitate sample handling within gloveboxes. Six-axis robot arms potentially have applications beyond small particle manipulation. For instance, future sample return missions may involve biologically sensitive astromaterials that can be easily compromised by physical interaction with

Optimal Design of a 3-DOF Cable-Driven Upper Arm Exoskeleton

Directory of Open Access Journals (Sweden)

Zhu-Feng Shao

2014-04-01

Full Text Available With outstanding advantages, such as large workspace, flexibility, and lightweight and low inertia, cable-driven parallel manipulator shows great potential for application as the exoskeleton rehabilitation robot. However, the optimal design is still a challenging problem to be solved. In this paper, the optimal design of a 3-DOF (3-degree-of-freedom cable-driven upper arm exoskeleton is accomplished considering the force exerted on the arm. After analysis of the working conditions, two promising configurations of the cable-driven upper arm exoskeleton are put forward and design parameters are simplified. Then, candidate ranges of two angle parameters are determined with the proposed main workspace requirement. Further, global force indices are defined to evaluate the force applied to the arm by the exoskeleton, in order to enhance the system safety and comfort. Finally, the optimal design of each configuration is obtained with proposed force indices. In addition, atlases and charts given in this paper well illustrate trends of workspace and force with different values of design parameters.

Retrieval of Boundary Layer 3D Cloud Properties Using Scanning Cloud Radar and 3D Radiative Transfer

Energy Technology Data Exchange (ETDEWEB)

Marchand, Roger [Univ. of Washington, Seattle, WA (United States)

2017-01-24

Retrievals of cloud optical and microphysical properties for boundary layer clouds, including those widely used by ASR investigators, frequently assume that clouds are sufficiently horizontally homogeneous that scattering and absorption (at all wavelengths) can be treated using one dimensional (1D) radiative transfer, and that differences in the field-of-view of different sensors are unimportant. Unfortunately, most boundary layer clouds are far from horizontally homogeneous, and numerous theoretical and observational studies show that the assumption of horizontal homogeneity leads to significant errors. The introduction of scanning cloud and precipitation radars at the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) program sites presents opportunities to move beyond the horizontally homogeneous assumption. The primary objective of this project was to develop a 3D retrieval for warm-phase (liquid only) boundary layer cloud microphysical properties, and to assess errors in current 1D (non-scanning) approaches. Specific research activities also involved examination of the diurnal cycle of hydrometeors as viewed by ARM cloud radar, and continued assessment of precipitation impacts on retrievals of cloud liquid water path using passive microwaves.

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

Variable geometry truss manipulators: A new type of robot for site inspection and remediation

International Nuclear Information System (INIS)

Naccarato, F.

1996-01-01

A new type of robotic manipulator has been developed that offers many potential advantages over conventional robot arms for site inspection and remediation. This new robot is based on the variable geometry truss manipulator (VGTM) concept which combines the structural properties of a truss with the dexterous capabilities of a manipulator. By substituting linear actuators for some of the fixed-length members within a truss, the structure can be made to change its overall shape. By coordinating the motion of these actuators appropriately, a VGTM can perform tasks that are relevant to hazardous waste clean-up, including deployment through curved ducts, probing into crevices and obstacle avoidance. Trussarm trademark, a prototype VGTM with twelve degrees-of-freedom, has been constructed by Dynacon Enterprises Limited

Allemagne et Pologne, ou la carte comme arme de propagande

Directory of Open Access Journals (Sweden)

Didier Le-Brun

1990-03-01

Full Text Available La cartographie n'est pas forcément neutre. Elle peut aussi devenir une arme de propagande. Ainsi, dans l'exemple du «Corridor polonais», pomme de discorde de l'Europe, durant tout l'entre-deux-guerres. et une des principales causes du second conflit mondial, des cartographes n'ont pas reculé devant les plus graves manipulations pour étayer leurs thèses.

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.

The Department of Defense Critical Technologies Plan for the Committees on Armed Services United States Congress

Science.gov (United States)

1990-03-15

mining operations, operation in hazardous indoor environments, and manipulator arms and appendages) are being pursued. Research in command and...through the memote identification of chemical effluents associated with drug factories and the remote location of marijuana fields by the multispectral

Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization

Science.gov (United States)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2018-05-01

Application of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. The joint trajectories are parametrized with Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.

Source-constrained retrieval influences the encoding of new information.

Science.gov (United States)

Danckert, Stacey L; MacLeod, Colin M; Fernandes, Myra A

2011-11-01

Jacoby, Shimizu, Daniels, and Rhodes (Psychonomic Bulletin & Review, 12, 852-857, 2005) showed that new words presented as foils among a list of old words that had been deeply encoded were themselves subsequently better recognized than new words presented as foils among a list of old words that had been shallowly encoded. In Experiment 1, by substituting a deep-versus-shallow imagery manipulation for the levels-of-processing manipulation, we demonstrated that the effect is robust and that it generalizes, also occurring with a different type of encoding. In Experiment 2, we provided more direct evidence for context-related encoding during tests of deeply encoded words, showing enhanced priming for foils presented among deeply encoded targets when participants made the same deep-encoding judgments on those items as had been made on the targets during study. In Experiment 3, we established that the findings from Experiment 2 are restricted to this specific deep judgment task and are not a general consequence of these foils being associated with deeply encoded items. These findings provide support for the source-constrained retrieval hypothesis of Jacoby, Shimizu, Daniels, and Rhodes: New information can be influenced by how surrounding items are encoded and retrieved, as long as the surrounding items recruit a coherent mode of processing.

Dual arm master controller concept: consolidated fuel reprocessing program

International Nuclear Information System (INIS)

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

1984-04-01

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features result in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures

Monitoring and Controlling an Underwater Robotic Arm

Science.gov (United States)

Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

2009-01-01

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem

Science.gov (United States)

Hayati, Samad; Lee, Thomas S.; Tso, Kam; Backes, Paul; Kan, Edwin; Lloyd, J.

1989-01-01

The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.

Feasibility study of an aerial manipulator interacting with a vertical wall

Science.gov (United States)

2017-06-01

easier and cheaper to buy small multicopters and accessories, including sophisticated microcontrollers with large support through tutorials and...tasks was presented. The paper shows how to compute a matrix that projects the control law inputs for secondary tasks into the null space of the primary...arms, executes manipulation tasks. The paper improves a PID controller by means of a gain schedule technique, in which the gains are defined as a

Divided attention improves delayed, but not immediate retrieval of a consolidated memory.

Science.gov (United States)

Kessler, Yoav; Vandermorris, Susan; Gopie, Nigel; Daros, Alexander; Winocur, Gordon; Moscovitch, Morris

2014-01-01

A well-documented dissociation between memory encoding and retrieval concerns the role of attention in the two processes. The typical finding is that divided attention (DA) during encoding impairs future memory, but retrieval is relatively robust to attentional manipulations. However, memory research in the past 20 years had demonstrated that retrieval is a memory-changing process, in which the strength and availability of information are modified by various characteristics of the retrieval process. Based on this logic, several studies examined the effects of DA during retrieval (Test 1) on a future memory test (Test 2). These studies yielded inconsistent results. The present study examined the role of memory consolidation in accounting for the after-effect of DA during retrieval. Initial learning required a classification of visual stimuli, and hence involved incidental learning. Test 1 was administered 24 hours after initial learning, and therefore required retrieval of consolidated information. Test 2 was administered either immediately following Test 1 or after a 24-hour delay. Our results show that the effect of DA on Test 2 depended on this delay. DA during Test 1 did not affect performance on Test 2 when it was administered immediately, but improved performance when Test 2 was given 24-hours later. The results are consistent with other findings showing long-term benefits of retrieval difficulty. Implications for theories of reconsolidation in human episodic memory are discussed.

Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets

CSIR Research Space (South Africa)

Singh, GK

2010-10-01

Full Text Available This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end...

Cloud Droplet Size and Liquid Water Path Retrievals From Zenith Radiance Measurements: Examples From the Atmospheric Radiation Measurement Program and the Aerosol Robotic Network

Science.gov (United States)

Chiu, J. C.; Marshak, A.; Huang, C.-H.; Varnai, T.; Hogan, R. J.; Giles, D. M.; Holben, B. N.; Knyazikhin, Y.; O'Connor, E. J.; Wiscombe, W. J.

2012-01-01

The ground-based Atmospheric Radiation Measurement Program (ARM) and NASA Aerosol Robotic Network (AERONET) routinely monitor clouds using zenith radiances at visible and near-infrared wavelengths. Using the transmittance calculated from such measurements, we have developed a new retrieval method for cloud effective droplet size and conducted extensive tests for non-precipitating liquid water clouds. The underlying principle is to combine a water-absorbing wavelength (i.e. 1640 nm) with a nonwater-absorbing wavelength for acquiring information on cloud droplet size and optical depth. For simulated stratocumulus clouds with liquid water path less than 300 g/sq m and horizontal resolution of 201m, the retrieval method underestimates the mean effective radius by 0.8 m, with a root-mean-squared error of 1.7 m and a relative deviation of 13 %. For actual observations with a liquid water path less than 450 gm.2 at the ARM Oklahoma site during 2007-2008, our 1.5 min-averaged retrievals are generally larger by around 1 m than those from combined ground-based cloud radar and microwave radiometer at a 5min temporal resolution. We also compared our retrievals to those from combined shortwave flux and microwave observations for relatively homogeneous clouds, showing that the bias between these two retrieval sets is negligible, but the error of 2.6 m and the relative deviation of 22% are larger than those found in our simulation case. Finally, the transmittance-based cloud effective droplet radii agree to better than 11% with satellite observations and have a negative bias of 1 m. Overall, the retrieval method provides reasonable cloud effective radius estimates, which can enhance the cloud products of both ARM and AERONET.

Measurement Capabilities of the DOE ARM Aerial Facility

Science.gov (United States)

Schmid, B.; Tomlinson, J. M.; Hubbe, J.; Comstock, J. M.; Kluzek, C. D.; Chand, D.; Pekour, M. S.

2012-12-01

The Department of Energy Atmospheric Radiation Measurement (ARM) Program is a climate research user facility operating stationary ground sites in three important climatic regimes that provide long-term measurements of climate relevant properties. ARM also operates mobile ground- and ship-based facilities to conduct shorter field campaigns (6-12 months) to investigate understudied climate regimes around the globe. Finally, airborne observations by ARM's Aerial Facility (AAF) enhance the surface-based ARM measurements by providing high-resolution in situ measurements for process understanding, retrieval algorithm development, and model evaluation that is not possible using ground-based techniques. AAF started out in 2007 as a "virtual hangar" with no dedicated aircraft and only a small number of instruments owned by ARM. In this mode, AAF successfully carried out several missions contracting with organizations and investigators who provided their research aircraft and instrumentation. In 2009, the Battelle owned G-1 aircraft was included in the ARM facility. The G-1 is a large twin turboprop aircraft, capable of measurements up to altitudes of 7.5 km and a range of 2,800 kilometers. Furthermore the American Recovery and Reinvestment Act of 2009 provided funding for the procurement of seventeen new instruments to be used aboard the G-1 and other AAF virtual-hangar aircraft. AAF now executes missions in the virtual- and real-hangar mode producing freely available datasets for studying aerosol, cloud, and radiative processes in the atmosphere. AAF is also heavily engaged in the maturation and testing of newly developed airborne sensors to help foster the next generation of airborne instruments. In the presentation we will showcase science applications based on measurements from recent field campaigns such as CARES, CALWATER and TCAP.

Keeping nuclear hazards at arm's length

International Nuclear Information System (INIS)

Anon.

1992-01-01

As national and international regulations are tightened, the permitted radiation dose limits for nuclear workers are being lowered. But sharing the same dose among more people is raising nuclear industry costs. At the same time tasks such as refurbishment and decommissioning are multiplying as the nuclear industry matures. As a result of these trends, work in the nuclear power sector is increasingly having to be done under remote control. European and American progress in the technology was reported recently at a two-day international conference held in London and is reported here. In France 'Frastar' carries out tours of inspection inside reactor buildings under remote control and 'Suzy' is a finger walker robot carrying an arm which is a 3-actuator manipulator. Anglo-American advances are reported; robots with manipulator, cameras, audio signalling and the ability to climb stairs and ramps. A European Community research programme called Teleman was started in 1989 to develop advanced teleoperators for the nuclear industry. The projects underway in this programme are listed. (UK)

Moving beyond Text Highlights: Inferring Users' Interests to Improve the Relevance of Retrieval

Science.gov (United States)

Balakrishnan, Vimala; Mehmood, Yasir; Nagappan, Yoganathan

2016-01-01

Introduction: Studies have indicated that users' text highlighting behaviour can be further manipulated to improve the relevance of retrieved results. This article reports on a study that examined users' text highlight frequency, length and users' copy-paste actions. Method: A binary voting mechanism was employed to determine the weights for the…

The role of attention at retrieval on the false recognition of negative emotional DRM lists.

Science.gov (United States)

Shah, Datin; Knott, Lauren M

2018-02-01

This study examined the role of attention at retrieval on the false recognition of emotional items using the Deese-Roediger-McDermott (DRM) paradigm. Previous research has shown that divided attention at test increases false remember judgements for neutral critical lures. However, no research has yet directly assessed emotional false memories when attention is manipulated at retrieval. To examine this, participants studied negative (low in valence and high in arousal) and neutral DRM lists and completed recognition tests under conditions of full and divided attention. Results revealed that divided attention at retrieval increased false remember judgements for all critical lures compared to retrieval under full attention, but in both retrieval conditions, false memories were greater for negative compared to neutral stimuli. We believe that this is due to reliance on a more easily accessible (meaning of the word) but less diagnostic form of source monitoring, amplified under conditions of divided attention.

Measuring automatic retrieval: a comparison of implicit memory, process dissociation, and speeded response procedures.

Science.gov (United States)

Horton, Keith D; Wilson, Daryl E; Vonk, Jennifer; Kirby, Sarah L; Nielsen, Tina

2005-07-01

Using the stem completion task, we compared estimates of automatic retrieval from an implicit memory task, the process dissociation procedure, and the speeded response procedure. Two standard manipulations were employed. In Experiment 1, a depth of processing effect was found on automatic retrieval using the speeded response procedure although this effect was substantially reduced in Experiment 2 when lexical processing was required of all words. In Experiment 3, the speeded response procedure showed an advantage of full versus divided attention at study on automatic retrieval. An implicit condition showed parallel effects in each study, suggesting that implicit stem completion may normally provide a good estimate of automatic retrieval. Also, we replicated earlier findings from the process dissociation procedure, but estimates of automatic retrieval from this procedure were consistently lower than those from the speeded response procedure, except when conscious retrieval was relatively low. We discuss several factors that may contribute to the conflicting outcomes, including the evidence for theoretical assumptions and criterial task differences between implicit and explicit tests.

Effects of imitating gestures during encoding or during retrieval of novel verbs on children's test performance.

Science.gov (United States)

de Nooijer, Jacqueline A; van Gog, Tamara; Paas, Fred; Zwaan, Rolf A

2013-09-01

Research has shown that observing and imitating gestures can foster word learning and that imitation might be more beneficial than observation, which is in line with theories of Embodied Cognition. This study investigated when imitation of gestures is most effective, using a 2×2×2×3 mixed design with between-subjects factors Imitation during Encoding (IE; Yes/No) and Imitation during Retrieval (IR; Yes/No), and within-subjects factors Time of Testing (Immediate/Delayed) and Verb Type (Object manipulation/Locomotion/Abstract). Primary school children (N=115) learned 15 novel verbs (five of each type). They were provided with a verbal definition and a video of the gesture. Depending on assigned condition, they additionally received no imitation instructions, instructions to imitate the gesture immediately (i.e., during encoding; IE), instructions to imitate (from memory) during the first posttest (i.e., during retrieval; IR), or both (IE-IR). Based on the literature, all three imitation conditions could be predicted to be more effective than no imitation. On an immediate and delayed posttest, only the object-manipulation verbs were differentially affected by instructional method, with IE and IR being more effective than no imitation on the immediate test; IE-IR and no imitation did not differ significantly. After a one week delay, only IR was more effective than no imitation, suggesting that imitation during retrieval is most effective for learning object-manipulation words. Copyright © 2013 Elsevier B.V. All rights reserved.

Dismantling of JPDR reactor internals by underwater plasma arc cutting technique using robotic manipulator

International Nuclear Information System (INIS)

Yokota, M.

1988-01-01

The actual dismantling of JPDR started on December 4, 1986. As of now, equipment that surrounds the reactor has mostly been removed to provide working space in reactor containment prior to the dismantling of reactor internals. Some reactor internals have been successfully dismantled using the underwater arc cutting system with a robotic manipulator during the period of January to March 1988. The cutting system is composed of an underwater plasma arc cutting device and a robotic manipulator. The cut off reactor internals were core spray block, feedwater sparger and stabilizers for fuel upper grid tube. The plasma arc cutting device was developed to dismantle the reactor internals underwater. It mainly consists of a plasma torch, power and gas supply systems for the torch, and by-product treatment systems. It has the cutting ability of 130 mm thickness stainless steel underwater. The robotic manipulator has seven degrees of freedom of movement, enabling it to move in almost the same way as the arm of a human being. The arm of the robot is mounted on a supporting device which is suspended by three chains from the support structure set on a service floor. A plasma torch is griped by the robotic hand; its position to the structure to be cut is controlled from a remote control room, about 100 meters outside the reactor containment

Development of a coupled tendon-driven 3D multi-joint manipulator. Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy

International Nuclear Information System (INIS)

Horigome, Atsushi; Yamada, Hiroya; Hirose, Shigeo; Sen, Shin; Endo, Gen

2017-01-01

Long-reach robotic manipulators are expected to be used in the space where humans cannot work such as nuclear power plant disaster areas. We suggested a coupled tendon-driven articulated manipulator '3D CT-Arm' and developed a preliminary prototype 'Mini 3D CT-Arm' whose arm had 2.4 m length and 0.3 m width. In order to consider developing '3D CT-Arm' deeply, we discussed tension transfer efficiency of a tendon through pulleys, the arrangement of the maximum number of reels in a limited space and the tip positioning accuracy. Through many transfer efficiency experiments, we conclude that tension transfer efficiency of '3D CT-Arm' can reach over 88% in the worst case. We investigated non-interfering reels' arrangement in the base by full search in cases of up to 10 reels. In all simulations, V-shaped or W-shaped arrangement can support the most reels in a limited space. Therefore, we conclude this is the most optimal reels' arrangement. Finally, we carried out the positioning accuracy experiment with 'Mini 3D CT-Arm' via motion capture system. Although the tip position had a 2 to 41 mm error between the desired value and the measured value by potentiometer, a 29 to 95 mm error between the desired value and the measured value was measured by motion capture system. (author)

How verbal and spatial manipulation networks contribute to calculation: An fMRI study

International Nuclear Information System (INIS)

Zago, L.; Petit, L.; Turbelin, M.R.; Anderson, F.; Vigneau, M.; Tzourio-Mazoyer, N.

2008-01-01

The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intra-parietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and non-symbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with non-symbolic material. (authors)

How verbal and spatial manipulation networks contribute to calculation: An fMRI study

Energy Technology Data Exchange (ETDEWEB)

Zago, L.; Petit, L.; Turbelin, M.R.; Anderson, F.; Vigneau, M.; Tzourio-Mazoyer, N. [Univ Paris 05, Univ Caen Basse Normandie, CEA, DSV, CNRS, CI NAPSUMR 6232, Paris (France)

2008-07-01

The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intra-parietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and non-symbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with non-symbolic material. (authors)

Raman lidar measurements of water vapor and aerosols during the atmospheric radiation measurement (ARM) remote clouds sensing (RCS) intensive observation period (IOP)

Energy Technology Data Exchange (ETDEWEB)

Melfi, S.H.; Starr, D.O`C.; Whiteman, D. [NASA Goddard Space Flight Center, Greenbelt, MD (United States)] [and others

1996-04-01

The first Atmospheric Radiation Measurement (ARM) remote Cloud Study (RCS) Intensive Operations Period (IOP) was held during April 1994 at the Southern Great Plains (SGP) site. This experiment was conducted to evaluate and calibrate state-of-the-art, ground based remote sensing instruments and to use the data acquired by these instruments to validate retrieval algorithms developed under the ARM program.

Implications of access hole size on tank waste retrieval system design and cost

International Nuclear Information System (INIS)

Babcock, S.M.; Kwon, D.S.; Burks, B.L.; Stoughton, R.S.; Evans, M.S.

1994-05-01

The DOE Environmental Restoration and Waste Management Robotics Technology Development Program has been investigating the application of robotics technology to the retrieval of waste from single-shell storage tanks for several years. The use of a large, ''long-reach'' manipulator to position and orient a variety of tools and other equipment has been recommended. The objective of this study is to determine the appropriate access hole size for the tank waste retrieval system installation. Previous reports on the impact of access hole size on manipulator performance are summarized. In addition, the practical limitation for access hole size based on structural limitations of the waste storage tanks, the state-of-the-art size limitations for the installation of new risers, the radiation safety implications of various access hole sizes, and overall system cost implications are considered. Basic conclusions include: (1) overall cost of remediation will; be dominated by the costs of the balance of plant and time required to perform the task rather than the cost of manipulator hardware or the cost of installing a riser, (2) the most desirable solution from a manipulator controls point of view is to make the manipulator as stiff as possible and have as high as possible a natural frequency, which implies a large access hole diameter, (3) beyond some diameter; simple, uniform cross-section elements become less advantageous from a weight standpoint and alternative structures should be considered, and (4) additional shielding and contamination control measures would be required for larger holes. Parametric studies summarized in this report considered 3,790,000 1 (1,000,000 gal) tanks, while initial applications are likely to be for 2,840,000 1 (750,000 gal) tanks. Therefore, the calculations should be somewhat conservative, recognizing the limitations of the specific conditions considered

Characterizing episodic memory retrieval: electrophysiological evidence for diminished familiarity following unitization.

Science.gov (United States)

Pilgrim, Lea K; Murray, Jamie G; Donaldson, David I

2012-08-01

Episodic memory relies on both recollection and familiarity; why these processes are differentially engaged during retrieval remains unclear. Traditionally, recollection has been considered necessary for tasks requiring associative retrieval, whereas familiarity supports recognition of items. Recently, however, familiarity has been shown to contribute to associative recognition if stimuli are "unitized" at encoding (a single representation is created from multiple elements)-the "benefit" of unitization. Here, we ask if there is also a "cost" of unitization; are the elements of unitized representations less accessible via familiarity? We manipulated unitization during encoding and used ERPs to index familiarity and recollection at retrieval. The data revealed a selective reduction in the neural correlate of familiarity for individual words originally encoded in unitized compared with nonunitized word pairs. This finding reveals a measurable cost of unitization, suggesting that the nature of to-be-remembered stimuli is critical in determining whether familiarity contributes to episodic memory.

Reduced-dose C-arm computed tomography applications at a pediatric institution

Energy Technology Data Exchange (ETDEWEB)

Acord, Michael; Shellikeri, Sphoorti; Vatsky, Seth; Srinivasan, Abhay; Krishnamurthy, Ganesh; Keller, Marc S.; Cahill, Anne Marie [The Children' s Hospital of Philadelphia, Department of Radiology, Philadelphia, PA (United States)

2017-12-15

Reduced-dose C-arm computed tomography (CT) uses flat-panel detectors to acquire real-time 3-D images in the interventional radiology suite to assist with anatomical localization and procedure planning. To describe dose-reduction techniques for C-arm CT at a pediatric institution and to provide guidance for implementation. We conducted a 5-year retrospective study on procedures using an institution-specific reduced-dose protocol: 5 or 8 s Dyna Rotation, 248/396 projection images/acquisition and 0.1-0.17 μGy/projection dose at the detector with 0.3/0.6/0.9-mm copper (Cu) filtration. We categorized cases by procedure type and average patient age and calculated C-arm CT and total dose area product (DAP). Two hundred twenty-two C-arm CT-guided procedures were performed with a dose-reduction protocol. The most common procedures were temporomandibular and sacroiliac joint injections (48.6%) and sclerotherapy (34.2%). C-arm CT was utilized in cases of difficult percutaneous access in less common applications such as cecostomy and gastrostomy placement, foreign body retrieval and thoracentesis. C-arm CT accounted for between 9.9% and 80.7% of the total procedural DAP. Dose-reducing techniques can preserve image quality for intervention while reducing radiation exposure to the child. This technology has multiple applications within pediatric interventional radiology and can be considered as an adjunctive imaging tool in a variety of procedures, particularly when percutaneous access is challenging despite routine fluoroscopic or ultrasound guidance. (orig.)

Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality

Science.gov (United States)

Zulfatman; Marzuki, Mohammad; Alif Mardiyah, Nur

2017-04-01

Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.

Early and Late Retrieval of the ALN Removable Vena Cava Filter: Results from a Multicenter Study

International Nuclear Information System (INIS)

Pellerin, O.; Barral, F. G.; Lions, C.; Novelli, L.; Beregi, J. P.; Sapoval, M.

2008-01-01

Retrieval of removable inferior vena cava (IVC) filters in selected patients is widely practiced. The purpose of this multicenter study was to evaluate the feasibility and results of percutaneous removal of the ALN removable filter in a large patient cohort. Between November 2003 and June 2006, 123 consecutive patients were referred for percutaneous extraction of the ALN filter at three centers. The ALN filter is a removable filter that can be implanted through a femoral/jugular vein approach and extracted by the jugular vein approach. Filter removal was attempted after an implantation period of 93 ± 15 days (range, 6-722 days) through the right internal jugular vein approach using the dedicated extraction kit after control inferior vena cavography. Following filter removal, vena cavograms were obtained in all patients. Successful extraction was achieved in all but one case. Among these successful retrievals, additional manipulation using a femoral approach was needed when the apex of the filter was close to the IVC wall in two patients. No immediate IVC complications were observed according to the postimplantation cavography. Neither technical nor clinical differences between early and late filter retrieval were noticed. Our data confirm the safety of ALN filter retrieval up to 722 days after implantation. In infrequent cases, additional endovenous filter manipulation is needed to facilitate extraction.

Kinematics study and workspace analysis of an articulated robotic arm of a rpar

International Nuclear Information System (INIS)

Zeb, J.; Rashid, F.; Iqbal, N.

2007-01-01

An itinerant RPAR (Radiation Protection Assistant Robot) has been constructed to assist radiation workers in radiation area which are radiologically hazardous and beyond tile safe approach of radiation workers. The RPAR comprises of a cubicle tri- wheeled platform and a 4-DOF (Four Degree of Freedom) serial type articulated robotic arm. The movement of the platform is controlled by two differential wheeled driving systems. The Kinematics and Manipulator Jacobian of the end-effector (gripper) of the articulated robotic arm mounted on the RPAR were evaluated. The work space analyses of the articulated robotic arm have been carried out. The RPAR is helpful for surveillance of radiation zones, to pick and carry dropdown radioactive samples and sources, in routine radiological operations as well as during an emergency response to a radiological accident. The performance of the RPAR was found satisfactory. (author)

The Microsoft Visual Studio Software Development For 5 DOF Nuclear Malaysia Robot Arm V2 Control System

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Azraf Azman; Mohd Rizal Mamat; Mohd Arif Hamzah

2014-01-01

This paper presents the Microsoft visual studio development for 5DOF Nuclear Malaysia Robot Arm V2 control system. The kinematics analysis is the study of the relationship between the individual joints of robot manipulator, the position and orientation of the end-effector. The Denavit-Hartenberg (DH) model is used to model the robot links and joints. Both forward and inverse kinematic are presented. The simulation software has been developed by using Microsoft visual studio to solve the robot arms kinematic behavior. (author)

Determining Best Estimates and Uncertainties in Cloud Microphysical Parameters from ARM Field Data: Implications for Models, Retrieval Schemes and Aerosol-Cloud-Radiation Interactions

Energy Technology Data Exchange (ETDEWEB)

McFarquhar, Greg [Univ. of Illinois, Urbana, IL (United States)

2015-12-28

We proposed to analyze in-situ cloud data collected during ARM/ASR field campaigns to create databases of cloud microphysical properties and their uncertainties as needed for the development of improved cloud parameterizations for models and remote sensing retrievals, and for evaluation of model simulations and retrievals. In particular, we proposed to analyze data collected over the Southern Great Plains (SGP) during the Mid-latitude Continental Convective Clouds Experiment (MC3E), the Storm Peak Laboratory Cloud Property Validation Experiment (STORMVEX), the Small Particles in Cirrus (SPARTICUS) Experiment and the Routine AAF Clouds with Low Optical Water Depths (CLOWD) Optical Radiative Observations (RACORO) field campaign, over the North Slope of Alaska during the Indirect and Semi-Direct Aerosol Campaign (ISDAC) and the Mixed-Phase Arctic Cloud Experiment (M-PACE), and over the Tropical Western Pacific (TWP) during The Tropical Warm Pool International Cloud Experiment (TWP-ICE), to meet the following 3 objectives; derive statistical databases of single ice particle properties (aspect ratio AR, dominant habit, mass, projected area) and distributions of ice crystals (size distributions SDs, mass-dimension m-D, area-dimension A-D relations, mass-weighted fall speeds, single-scattering properties, total concentrations N, ice mass contents IWC), complete with uncertainty estimates; assess processes by which aerosols modulate cloud properties in arctic stratus and mid-latitude cumuli, and quantify aerosol’s influence in context of varying meteorological and surface conditions; and determine how ice cloud microphysical, single-scattering and fall-out properties and contributions of small ice crystals to such properties vary according to location, environment, surface, meteorological and aerosol conditions, and develop parameterizations of such effects.In this report we describe the accomplishments that we made on all 3 research objectives.

Specification for movable manipulator system for use in radiochemical engineering cells

International Nuclear Information System (INIS)

Dixson, G.E.

1998-01-01

This specification was prepared to identify requirements for a movable manipulator for use in B-Ccl 1 and the REC Airlock at 324 Building. This manipulator could also be used in other hot cells at the 324 Building. This work involves retrieval, inspection, reduction and decontamination of material on the Airlock and Cell floors, in the pipe trench and on the walls. B and W Hanford Company (BWHC) recognizes that not all of the requirements are compatible and some may need to be changed, subject to agreement between the parties involved. BWHC also recognizes that in order to perform the tasks described two or more different machines with significantly different layout may be necessary. These requirements are the starting point for any proposal

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

International Nuclear Information System (INIS)

Cameron, W.

1984-01-01

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

Analogical reasoning and prefrontal cortex: evidence for separable retrieval and integration mechanisms.

Science.gov (United States)

Bunge, Silvia A; Wendelken, Carter; Badre, David; Wagner, Anthony D

2005-03-01

The present study examined the contributions of prefrontal cortex (PFC) subregions to two component processes underlying verbal analogical reasoning: semantic retrieval and integration. Event-related functional magnetic resonance imaging data were acquired while subjects performed propositional analogy and semantic decision tasks. On each trial, subjects viewed a pair of words (pair 1), followed by an instructional cue and a second word pair (pair 2). On analogy trials, subjects evaluated whether pair 2 was semantically analogous to pair 1. On semantic trials, subjects indicated whether the pair 2 words were semantically related to each other. Thus, analogy--but not semantic--trials required integration across multiple retrieved relations. To identify regions involved in semantic retrieval, we manipulated the associative strength of pair 1 words in both tasks. Anterior left inferior PFC (aLIPC) was modulated by associative strength, consistent with a role in controlled semantic retrieval. Left frontopolar cortex was insensitive to associative strength, but was more sensitive to integration demands than was aLIPC, consistent with a role in integrating the products of semantic retrieval to evaluate whether distinct representations are analogous. Right dorsolateral PFC exhibited a profile consistent with a role in response selection rather than retrieval or integration. These findings indicate that verbal analogical reasoning depends on multiple, PFC-mediated computations.

Performance evaluation of 3D vision-based semi-autonomous control method for assistive robotic manipulator.

Science.gov (United States)

Ka, Hyun W; Chung, Cheng-Shiu; Ding, Dan; James, Khara; Cooper, Rory

2018-02-01

We developed a 3D vision-based semi-autonomous control interface for assistive robotic manipulators. It was implemented based on one of the most popular commercially available assistive robotic manipulator combined with a low-cost depth-sensing camera mounted on the robot base. To perform a manipulation task with the 3D vision-based semi-autonomous control interface, a user starts operating with a manual control method available to him/her. When detecting objects within a set range, the control interface automatically stops the robot, and provides the user with possible manipulation options through audible text output, based on the detected object characteristics. Then, the system waits until the user states a voice command. Once the user command is given, the control interface drives the robot autonomously until the given command is completed. In the empirical evaluations conducted with human subjects from two different groups, it was shown that the semi-autonomous control can be used as an alternative control method to enable individuals with impaired motor control to more efficiently operate the robot arms by facilitating their fine motion control. The advantage of semi-autonomous control was not so obvious for the simple tasks. But, for the relatively complex real-life tasks, the 3D vision-based semi-autonomous control showed significantly faster performance. Implications for Rehabilitation A 3D vision-based semi-autonomous control interface will improve clinical practice by providing an alternative control method that is less demanding physically as well cognitively. A 3D vision-based semi-autonomous control provides the user with task specific intelligent semiautonomous manipulation assistances. A 3D vision-based semi-autonomous control gives the user the feeling that he or she is still in control at any moment. A 3D vision-based semi-autonomous control is compatible with different types of new and existing manual control methods for ARMs.

ERP evidence for flexible adjustment of retrieval orientation and its influence on familiarity.

Science.gov (United States)

Ecker, Ullrich K H; Zimmer, Hubert D

2009-10-01

The assumption was tested that familiarity memory as indexed by a mid-frontal ERP old-new effect is modulated by retrieval orientation. A randomly cued category-based versus exemplar-specific recognition memory test, requiring flexible adjustment of retrieval orientation, was conducted. Results show that the mid-frontal ERP old-new effect is sensitive to the manipulation of study-test congruency-that is, whether the same object is repeated identically or a different category exemplar is presented at test. Importantly, the effect pattern depends on subjects' retrieval orientation. With a specific orientation, only same items elicited an early old-new effect (same > different = new), whereas in the general condition, the old-new effect was graded (same > different > new). This supports the view that both perceptual and conceptual processes can contribute to familiarity memory and demonstrates that the rather automatic process of familiarity is not only data driven but influenced by top-down retrieval orientation, which subjects are able to adjust on a flexible basis.

Divided attention improves delayed, but not immediate retrieval of a consolidated memory.

Directory of Open Access Journals (Sweden)

Yoav Kessler

Full Text Available A well-documented dissociation between memory encoding and retrieval concerns the role of attention in the two processes. The typical finding is that divided attention (DA during encoding impairs future memory, but retrieval is relatively robust to attentional manipulations. However, memory research in the past 20 years had demonstrated that retrieval is a memory-changing process, in which the strength and availability of information are modified by various characteristics of the retrieval process. Based on this logic, several studies examined the effects of DA during retrieval (Test 1 on a future memory test (Test 2. These studies yielded inconsistent results. The present study examined the role of memory consolidation in accounting for the after-effect of DA during retrieval. Initial learning required a classification of visual stimuli, and hence involved incidental learning. Test 1 was administered 24 hours after initial learning, and therefore required retrieval of consolidated information. Test 2 was administered either immediately following Test 1 or after a 24-hour delay. Our results show that the effect of DA on Test 2 depended on this delay. DA during Test 1 did not affect performance on Test 2 when it was administered immediately, but improved performance when Test 2 was given 24-hours later. The results are consistent with other findings showing long-term benefits of retrieval difficulty. Implications for theories of reconsolidation in human episodic memory are discussed.

An adaptive inverse kinematics algorithm for robot manipulators

Science.gov (United States)

Colbaugh, R.; Glass, K.; Seraji, H.

1990-01-01

An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

On-line trajectory planning of time-jerk optimal for robotic arms

Directory of Open Access Journals (Sweden)

Nadir Bendali

2016-09-01

Full Text Available A method based on the computation of the time intervals of the knots for time-jerk optimal planning under kinematic constraints of robot manipulators in predefined operations is described in this paper. In order to ensure that the resulting trajectory is smooth enough, a cost function containing a term proportional to the integral of the squared jerk (defined as the derivative of the acceleration along the trajectory is considered. Moreover, a second term, proportional to the total execution time, is added to the expression of the cost function. A Cubic Spline functions are then used to compose overall trajectory. This method can meet the requirements of a short execution time and low arm vibration of the manipulator and the simulation provides good results.

Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks

Directory of Open Access Journals (Sweden)

Rocco Furferi

2016-10-01

Full Text Available An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments. Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment and it is transported by four underwater mobile robots, each one provided with a seven-degrees-of-freedom robotic arm. The simulation results are optimized thanks to the ANNs used for the potentials tuning.

The inter-arm systolic blood pressure difference and risk of cardiovascular mortality: A meta-analysis of cohort studies.

Science.gov (United States)

Zhou, Ming; Gao, Zhen; Chen, Fei; Xu, Haijun; Dong, Xiao; Ma, Li

2016-01-01

The inter-arm systolic blood pressure difference (SBPD) is recommended to be in relation to potential cardiovascular disease (CVD). Previous studies yielded controversial results about the association between an inter-arm SBPD ≥ 10 mmHg or ≥15 mmHg and the risk of cardiovascular mortality. Therefore, we conducted this meta-analysis to investigate this association. We searched PubMed and Embase databases through December 31, 2014, and examined the references of retrieved articles to identify relevant cohort studies. We utilized Newcastle-Ottawa scale to assess the quality of included studies and calculated the summary risk estimates in a fixed/random-effect model. All data analyses were conducted using STATA version 11.0. A total of seven studies were identified. Compared with participants with an inter-arm SBPD arm SBPD ≥ 10 mmHg was 1.58 (95% CI: 1.3-1.93), and the pooled HR of cardiovascular mortality of participants with an inter-arm SBPD ≥ 15 mmHg versus those with an inter-arm SBPD arm SBPD may define a subpopulation at high risk of CVD events.

Inhibition of the mesoamygdala dopaminergic pathway impairs the retrieval of conditioned fear associations.

Science.gov (United States)

Nader, K; LeDoux, J E

1999-10-01

Previous findings have demonstrated that systemic dopaminergic manipulations impair the retrieval of Pavlovian conditioned fear. A second-order fear-conditioning paradigm was used to test whether the dopaminergic projection from the ventral tegmental area (VTA) to the lateral and basal amygdala (LBA) can affect conditioned fear. Phase 1 entailed conditioned stimulus-unconditioned stimulus (CS1-US) pairings. In Phase 2, drugs were infused in either the LBA or VTA prior to pairings of CS2 (a second cue) with CS1. In Phase 3, freezing behavior elicited by CS2 was tested without drugs. Infusions of the D2 agonist quinpirole into the VTA or of the D1 antagonist SCH 23390 into the LBA caused a decrease in freezing to CS2. Both manipulations decrease D1 receptor activation in the LBA. Infusions of the D1 agonist SKF 38393 into the LBA had no effect. This pattern of results is consistent with the hypothesis that the VTA-LBA dopaminergic projection modulates the retrieval of an association between a CS and footshock US.

Facial Expression at Retrieval Affects Recognition of Facial Identity

Directory of Open Access Journals (Sweden)

Wenfeng eChen

2015-06-01

Full Text Available It is well known that memory can be modulated by emotional stimuli at the time of encoding and consolidation. For example, happy faces create better identity recognition than faces with certain other expressions. However, the influence of facial expression at the time of retrieval remains unknown in the literature. To separate the potential influence of expression at retrieval from its effects at earlier stages, we had participants learn neutral faces but manipulated facial expression at the time of memory retrieval in a standard old/new recognition task. The results showed a clear effect of facial expression, where happy test faces were identified more successfully than angry test faces. This effect is unlikely due to greater image similarity between the neutral learning face and the happy test face, because image analysis showed that the happy test faces are in fact less similar to the neutral learning faces relative to the angry test faces. In the second experiment, we investigated whether this emotional effect is influenced by the expression at the time of learning. We employed angry or happy faces as learning stimuli, and angry, happy, and neutral faces as test stimuli. The results showed that the emotional effect at retrieval is robust across different encoding conditions with happy or angry expressions. These findings indicate that emotional expressions affect the retrieval process in identity recognition, and identity recognition does not rely on emotional association between learning and test faces.

Validating Satellite-Retrieved Cloud Properties for Weather and Climate Applications

Science.gov (United States)

Minnis, P.; Bedka, K. M.; Smith, W., Jr.; Yost, C. R.; Bedka, S. T.; Palikonda, R.; Spangenberg, D.; Sun-Mack, S.; Trepte, Q.; Dong, X.; Xi, B.

2014-12-01

Cloud properties determined from satellite imager radiances are increasingly used in weather and climate applications, particularly in nowcasting, model assimilation and validation, trend monitoring, and precipitation and radiation analyses. The value of using the satellite-derived cloud parameters is determined by the accuracy of the particular parameter for a given set of conditions, such as viewing and illumination angles, surface background, and cloud type and structure. Because of the great variety of those conditions and of the sensors used to monitor clouds, determining the accuracy or uncertainties in the retrieved cloud parameters is a daunting task. Sensitivity studies of the retrieved parameters to the various inputs for a particular cloud type are helpful for understanding the errors associated with the retrieval algorithm relative to the plane-parallel world assumed in most of the model clouds that serve as the basis for the retrievals. Real world clouds, however, rarely fit the plane-parallel mold and generate radiances that likely produce much greater errors in the retrieved parameter than can be inferred from sensitivity analyses. Thus, independent, empirical methods are used to provide a more reliable uncertainty analysis. At NASA Langley, cloud properties are being retrieved from both geostationary (GEO) and low-earth orbiting (LEO) satellite imagers for climate monitoring and model validation as part of the NASA CERES project since 2000 and from AVHRR data since 1978 as part of the NOAA CDR program. Cloud properties are also being retrieved in near-real time globally from both GEO and LEO satellites for weather model assimilation and nowcasting for hazards such as aircraft icing. This paper discusses the various independent datasets and approaches that are used to assessing the imager-based satellite cloud retrievals. These include, but are not limited to data from ARM sites, CloudSat, and CALIPSO. This paper discusses the use of the various

A study on optimal motion for a robot manipulator amid obstacles

International Nuclear Information System (INIS)

Park, Jong Keun

1997-01-01

Optimal motion for a robot manipulator is obtained by nonlinear programming. The objective of optimal motion is minimizing energy consumption of manipulator arm with fixed traveling time in the presence of obstacles. The geometric path is not predetermined. The total trajectory is described in terms of cubic B-spline polynomials and the coefficients of them are obtained to minimize a specific performance index. Obstacle avoidance is performed by the method that the square sum of penetration growth distances between every obstacles and robot links is included in the performance index with appropriate weighting coefficient. In all examples tested here, the solutions were converged to unique optimal trajectories from different initial ones. The optimal geometric path obtained in this research can be used in minimum time trajectory planning. (author)

Controlling Flexible Robot Arms Using High Speed Dynamics Process

Science.gov (United States)

Jain, Abhinandan (Inventor)

1996-01-01

A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

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)

A world first. Industrial operation of computer-aided master-slave manipulator at the La Hague recycling plant

International Nuclear Information System (INIS)

Brueziere, Jerome; Thro, Jean Francois; Brudieu, Marie-Anne; Piolain, Gerard; Geffard, Franck; Garrec, Philippe; Measson, Yvan; Coudray, Alain; Lelann, Eric

2011-01-01

Since the beginning of industrial nuclear plants like recycling, mechanical master-slave manipulators have been widely used for operation and maintenance in hot cells, in conjunction with shielding windows. In the La Hague plant for instance, all hot cells where maintenance is or could be required are fitted with shielding windows and through-wall telescopic master-slave manipulators. This well mastered solution, if used by highly skilled workers, has demonstrated its capability to perform all the maintenance tasks required, as long as equipment and tools inside the cell were designed accordingly. However, this technology has also shown significant limitations in terms of capacity, flexibility, efficiency and reliability. In order to improve those characteristics, AREVA and CEA have developed together a new technology: computer-aided master-slave manipulators. By replacing the traditional mechanical link, between the 'slave arm' in the cell and the 'master arm', with motors, sensors and electronics, this new tool improves load capacity and provides added flexibility and efficiency, while protecting the slave arm from overload and therefore improving reliability. In addition, this new device was developed to be fully compatible with current La Hague configuration. After developing and testing this solution in realistic but inactive environment, by performing all kinds of operation and maintenance activities with trained workers, the first generation tool was improved by incorporating feed-back and suggestions from operators. Second generation system was then developed, and first introduced in 2010 in an active cell of the La Hague plant, namely a vitrification cell. After a few months in operation, feedback from manufacturing staff was so positive that implementation of several new arms was decided for 2011. This paper will describe how this development benefited from the existing know-how and component library jointly developed by AREVA and CEA, as well as the main

Dissociating word stem completion and cued recall as a function of divided attention at retrieval.

Science.gov (United States)

Clarke, A J Benjamin; Butler, Laurie T

2008-10-01

The aim of this study was to investigate the widely held, but largely untested, view that implicit memory (repetition priming) reflects an automatic form of retrieval. Specifically, in Experiment 1 we explored whether a secondary task (syllable monitoring), performed during retrieval, would disrupt performance on explicit (cued recall) and implicit (stem completion) memory tasks equally. Surprisingly, despite substantial memory and secondary costs to cued recall when performed with a syllable-monitoring task, the same manipulation had no effect on stem completion priming or on secondary task performance. In Experiment 2 we demonstrated that even when using a particularly demanding version of the stem completion task that incurred secondary task costs, the corresponding disruption to implicit memory performance was minimal. Collectively, the results are consistent with the view that implicit memory retrieval requires little or no processing capacity and is not seemingly susceptible to the effects of dividing attention at retrieval.

A variable geometry truss manipulator for positioning large payloads

International Nuclear Information System (INIS)

Stoughton, R.S.; Tucker, J.C.; Horner, C.G.

1995-02-01

A major thrust within the Department of Energy's (DOE) Decontamination and Dismantling (D ampersand D) Robotics program is the development of a Selective Equipment Removal System (SERS). SERS will consist of a mobile vehicle, a Dual-Arm Work Module (DAWM), and a deployment manipulator capable of extending the DAWM up to 6.096m (20) from the vehicle. The DAWM, built by RedZone Robotics, includes two Schilling Titan II manipulators, a unique five degree-of-freedom (DOF) module for positioning/orienting the two Schilling arms, and a massive steel backplane to maintain structural rigidity. Together with its payload, the DAWM weighs about 975 kg (2150 pounds). In order to accurately position the DAWM, the Pacific Northwest Laboratory (PNL) together with the National Aeronautics and Space Administration's Langley Research Center (NASA LARC) are developing a deployment manipulator, which includes two double-octahedral Variable Geometry Truss (VGT) modules connected with a static truss section. The entire SERS system (Figure 1) will include the mobile vehicle, a 2-DOF base actuation system (waist rotate and pitch) with an output link approximately 2.134m (7) in length, the VGT system and the DAWM. The VGT system (Figure 2) consists of a 1.067m (42) diameter (∼1.346m (53) long) base VGT, which mounts to the end of the output link of the base actuation system, a 1.524m (60) long static truss section which tapers from 1.067m (42) diameter at its base to 0.8128m (32) diameter at the end, and a 0.8128m (32) diameter (∼1.0922m (43) long) tip VGT to which the DAWM is mounted. The stiffness of the VGT system is such that with the base VGT mounted to a rigid base and the VGT system oriented horizontally (worst case), the static deflection of the DAWM together with full payload will be less than 0.0254m

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

Directory of Open Access Journals (Sweden)

Raffaella Nori

2018-03-01

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

Inertial measurement unit–based iterative pose compensation algorithm for low-cost modular manipulator

Directory of Open Access Journals (Sweden)

Yunhan Lin

2016-01-01

Full Text Available It is a necessary mean to realize the accurate motion control of the manipulator which uses end-effector pose correction method and compensation method. In this article, first, we established the kinematic model and error model of the modular manipulator (WUST-ARM, and then we discussed the measurement methods and precision of the inertial measurement unit sensor. The inertial measurement unit sensor is mounted on the end-effector of modular manipulator, to get the real-time pose of the end-effector. At last, a new inertial measurement unit–based iterative pose compensation algorithm is proposed. By applying this algorithm in the pose compensation experiment of modular manipulator which is composed of low-cost rotation joints, the results show that the inertial measurement unit can obtain a higher precision when in static state; it will accurately feedback to the control system with an accurate error compensation angle after a brief delay when the end-effector moves to the target point, and after compensation, the precision errors of roll angle, pitch angle, and yaw angle are reached at 0.05°, 0.01°, and 0.27° respectively. It proves that this low-cost method provides a new solution to improve the end-effector pose of low-cost modular manipulator.

Expert operator preferences in remote manipulator control systems

International Nuclear Information System (INIS)

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

1995-06-01

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

Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm

Energy Technology Data Exchange (ETDEWEB)

Wu, Jing, E-mail: wujing@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Song, Yuntao; Cheng, Yong; Zhao, Wenglong [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Wang, Yongbo [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

2016-11-01

Highlights: • A redundant 10-DOF serial-articulated robot for EAST assembly and maintains is presented. • A trajectory optimization algorithm of the robot is developed. • A minimum jerk objective is presented to suppress machining vibration of the robot. - Abstract: EAMA (EAST Articulated Maintenance Arm) is an articulated serial manipulator with 7 degrees of freedom (DOF) articulated arm followed by 3-DOF gripper, total length is 8.867 m, works in experimental advanced superconductor tokamak (EAST) vacuum vessel (VV) to perform blanket inspection and remote maintenance tasks. This paper presents a trajectory optimization method which aims to pursue the 7-DOF articulated arm a stable movement, which keeps the mounted inspection camera anti-vibration. Based on dynamics analysis, trajectory optimization algorithm adopts multi-order polynomial interpolation in joint space and high order geometry Jacobian transform. The object of optimization algorithm is to suppress end-effector movement vibration by minimizing jerk RMS (root mean square) value. The proposed solution has such characteristics which can satisfy kinematic constraints of EAMA’s motion and ensure the arm running under the absolute values of velocity, acceleration and jerk boundaries. GA (genetic algorithm) is employed to find global and robust solution for this problem.

Hierarchical control system of advanced robot manipulator

International Nuclear Information System (INIS)

Oomichi, Takeo; Okino, Akihisa; Nishihara, Masatoshi; Sakamoto, Taizou; Matsuda, Koichi; Ohnishi, Ken

1990-01-01

We introduce a double arm with 4-finger's manipulator system which process the large volume of information at high speed. This is under research/development many type of works in the harsh condition. Namely, hierarchization of instruction unit in which motion control system as real time processing unit, and task planning unit as non-real time processing unit, interface with operation through the task planning unit has been made. Also, high speed processing of large volume information has been realized by decentralizing the motion control unit by function, hierarchizing the high speed processing unit, and developing high speed transmission, IC which does not depend on computer OS to avoid the delay in transmission. (author)

Recognition of elementary arm movements using orientation of a tri-axial accelerometer located near the wrist

International Nuclear Information System (INIS)

Biswas, Dwaipayan; Cranny, Andy; Maharatna, Koushik; Corda, Daniele; Baldus, Giovanni; Achner, Josy; Klemke, Jasmin; Jöbges, Michael; Ortmann, Steffen

2014-01-01

In this paper we present a method for recognising three fundamental movements of the human arm (reach and retrieve, lift cup to mouth, rotation of the arm) by determining the orientation of a tri-axial accelerometer located near the wrist. Our objective is to detect the occurrence of such movements performed with the impaired arm of a stroke patient during normal daily activities as a means to assess their rehabilitation. The method relies on accurately mapping transitions of predefined, standard orientations of the accelerometer to corresponding elementary arm movements. To evaluate the technique, kinematic data was collected from four healthy subjects and four stroke patients as they performed a number of activities involved in a representative activity of daily living, ‘making-a-cup-of-tea’. Our experimental results show that the proposed method can independently recognise all three of the elementary upper limb movements investigated with accuracies in the range 91–99% for healthy subjects and 70–85% for stroke patients. (paper)

Collaborative Memory and Part-Set Cuing Impairments: The Role of Executive Depletion in Modulating Retrieval Disruption

Science.gov (United States)

Barber, Sarah J.; Rajaram, Suparna

2011-01-01

When people are exposed to a subset of previously studied list items they recall fewer of the remaining items compared to a condition where none of the studied items are provided during recall. This occurs both when the subset of items is provided by the experimenter (i.e., the part-set cuing deficit in individual recall) and when they are provided during the course of a collaborative discussion (i.e., the collaborative inhibition effect in group recall). Previous research has identified retrieval disruption as a common mechanism underlying both effects; however, less is known about the factors that may make individuals susceptible to such retrieval disruption. In the current studies we tested one candidate factor, namely, executive control. Using an executive depletion paradigm we directly manipulated an individual’s level of executive control during retrieval. Results revealed no direct role of executive depletion in modulating retrieval disruption. In contrast, executive control abilities were indirectly related to retrieval disruption through their influence at encoding. Together, these results suggest that executive control does not directly affect retrieval disruption at the retrieval stage, and that the role of this putative mechanism may be limited to the encoding stage. PMID:21678155

JACoW A dual arms robotic platform control for navigation, inspection and telemanipulation

CERN Document Server

Di Castro, Mario; Ferre, Manuel; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

2018-01-01

High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system comm...

Integration of a Robotic Arm with the Surgical Assistant Workstation Software Framework

OpenAIRE

Young, J.; Elhawary, H.; Popovic, A.

2012-01-01

We have integrated the Philips Research robot arm with the Johns Hopkins University cisst library, an open-source platform for computerassisted surgical intervention. The development of a Matlab to C++ wrapper to abstract away servo-level details facilitates the rapid development of a component-based framework with “plug and play” features. This allows the user to easily exchange the robot with an alternative manipulator while maintaining the same overall functionality.

Evaluation of Technologies for Retrieval of Waste from Leaking Tanks

International Nuclear Information System (INIS)

Bamberger, Judith A.; Hatchell, Brian K.; Lewis, Benjamin E.; Randolph, John D.; Killough, Stephen M.

2000-01-01

The US Department of Energy Environmental and Waste Management Tanks Focus Area selected as a strategic initiative the need to identify and develop technologies for remediation of tanks that are known or are suspected to leak. This investigation identified and evaluated technical options for single-shell tank waste retrieval applicable to retrieve waste from potentially leaking tanks. Technologies that minimize leakage use minimal water, and dry retrieval technologies were evaluated. Safety, cost, authorization basis, and schedule risks were identified for each technology to provide River Protection Program with information to evaluate technical and programmatic risk. A workshop was held to identify technology needs and solutions. These approaches grouped into five categories: those related to waste dislodging, waste conveyance, both waste dislodging and conveyance, the deployment platform, and technologies related to leak detection, monitoring, and mitigation. Based on the ranking, six technologies were selected as potential candidates for further evaluation. These items were prioritized into four technologies to recommend for further evaluation (1) Air assisted TORE(R). The TORE(R) produces a processing vortex core with the ability to convey solids at pre-determined slurry concentrations over great distances. The dry TORE(R) concept uses air to develop the vortex to fluidize dry solids. The TORE(R)the solids in a slurry transport line. (2) Sonication for waste dislodging utilizes ultrasonic energy to fracture and dislodge hard waste types such as salt cake and sludge. (3) Novel long-reach manipulators concept is to investigate novel cost effective approaches for long-reach manipulator technology. (4) Next generation crawler technology envisions a non-umbilical dislodger, possibly radio controlled and powered remotely to provide a deployment platform not affected by path, or the need to retrace steps

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.

Catheter-assisted retrieval of adhesive Geunther Tulip filter: preliminary experience

International Nuclear Information System (INIS)

Xiao Liang; Tong Jiajie; Xie Shiyang; Shen Jing

2011-01-01

Objective: To retrospectively summarize the technical experience in performing catheter-assisted retrieval of adhesive Geunther Tulip filter. Methods: During the period from November 2007 to October 2009, 95 patients with pulmonary embolism and acute deep vein thrombosis of lower limbs were admitted to authors' hospital. As simple snare technique failed to catch the adhesive Geunther Tulip filter previously implanted in inferior vena cava (IVC) in 6 patients (four males and two females with a mean age of 43.7 years), catheter-assisted retrieval of adhesive Geunther Tulip filter had to be carried out. The specific procedure was as follows. After phlebography of IVC confirmed that the filter's retrieval hook had adhered to IVC wall, the adhesion was separated with the help of catheter as well as goose-neck capturing device, then, the Geunther Tulip filter was retrieved. After the procedure, both anticoagulation and antibiotic medication were employed for 3-5 days. All the patients were followed up for 4-12 months. Vascular ultrasonography and pulmonary 3D CTA were re-examined in 6 months after primary operation. Results: All 6 adhesive Geunther Tulip filters were successfully removed with a success rate of 100%. The manipulation used in the procedure included catheter-twisting technique (n=1), catheter-looping technique (n=1) and catheter-snare looping technique (n=4). The mean operation time was 40.5 minutes (in the range of 17-78 minutes). The average filter-dwelling time was 46.7 days (ranging from 14 to 80 days). No thrombus formation in deep veins of lower extremity or pulmonary embolism occurred during the follow-up period. Conclusion: The catheter-assisted retrieval technique carries high retrieval rate for adhesive Geunther Tulip filter in IVC, it can markedly improve the retrieval success rate of Tulip IVC filter. (authors)

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

International Nuclear Information System (INIS)

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

2005-01-01

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

An information-processing model of three cortical regions: evidence in episodic memory retrieval.

Science.gov (United States)

Sohn, Myeong-Ho; Goode, Adam; Stenger, V Andrew; Jung, Kwan-Jin; Carter, Cameron S; Anderson, John R

2005-03-01

ACT-R (Anderson, J.R., et al., 2003. An information-processing model of the BOLD response in symbol manipulation tasks. Psychon. Bull. Rev. 10, 241-261) relates the inferior dorso-lateral prefrontal cortex to a retrieval buffer that holds information retrieved from memory and the posterior parietal cortex to an imaginal buffer that holds problem representations. Because the number of changes in a problem representation is not necessarily correlated with retrieval difficulties, it is possible to dissociate prefrontal-parietal activations. In two fMRI experiments, we examined this dissociation using the fan effect paradigm. Experiment 1 compared a recognition task, in which representation requirement remains the same regardless of retrieval difficulty, with a recall task, in which both representation and retrieval loads increase with retrieval difficulty. In the recognition task, the prefrontal activation revealed a fan effect but not the parietal activation. In the recall task, both regions revealed fan effects. In Experiment 2, we compared visually presented stimuli and aurally presented stimuli using the recognition task. While only the prefrontal region revealed the fan effect, the activation patterns in the prefrontal and the parietal region did not differ by stimulus presentation modality. In general, these results provide support for the prefrontal-parietal dissociation in terms of retrieval and representation and the modality-independent nature of the information processed by these regions. Using ACT-R, we also provide computational models that explain patterns of fMRI responses in these two areas during recognition and recall.

Reliability review of the remote tool delivery system locomotor

Energy Technology Data Exchange (ETDEWEB)

Chesser, J.B.

1999-04-01

The locomotor being built by RedZone Robotics is designed to serve as a remote tool delivery (RID) system for waste retrieval, tank cleaning, viewing, and inspection inside the high-level waste tanks 8D-1 and 8D-2 at West Valley Nuclear Services (WVNS). The RTD systm is to be deployed through a tank riser. The locomotor portion of the RTD system is designed to be inserted into the tank and is to be capable of moving around the tank by supporting itself and moving on the tank internal structural columns. The locomotor will serve as a mounting platform for a dexterous manipulator arm. The complete RTD system consists of the locomotor, dexterous manipulator arm, cameras, lights, cables, hoses, cable/hose management system, power supply, and operator control station.

Sensor-based whole-arm obstacle avoidance utilizing ASIC technology

International Nuclear Information System (INIS)

Wintenberg, A.L.; Ericson, M.N.; Babcock, S.M.; Armstrong, G.A.; Britton, C.L. Jr.; Butler, P.L.; Hamel, W.R.; Newport, D.F.

1993-01-01

Operation of manipulator systems in poorly defined work environments often presents a significant hazard to both the robotic assembly and the environment. In applications relating to the Environmental Restoration and Waste Management (ER ampersand WM) Program, many of the environments are considered hazardous, both, in the structure and composition of the environment Use of a sensing system that provides information to the manipulator control unit regarding obstacles in close proximity will provide protection against collisions. In this paper, a hierarchical design and implementation of a whole-arm obstacle avoidance system is presented. The system is based on capacitive sensors configured as bracelets for proximity sensing. Each bracelet contains a number of sensor nodes and a processor for sensor node control and readout, and communications with a higher level host, common to all bracelets. The host controls the entire sensing network and communicates proximity information to the manipulator controller. The overall architecture of this system is discussed with detail on the individual system modules. Details of an application specific integrated circuit (ASIC) designed to implement the sensor node electronics are presented. Justifications for the general measurement methods and associated implementation are discussed. Additionally, the current state of development including measured dam is presented

Position Control Method For Pick And Place Robot Arm For Object Sorting System

Directory of Open Access Journals (Sweden)

Khin Moe Myint

2015-08-01

Full Text Available The more increase the number of industries in developing countries the more require labourers or workers in that. To reduce the cost of labour force and to increase the manufacturing capacity of industries the advanced robot arms are more needed. The aim of this journal is to eliminate the manual control for object sorting system.Robot arm design in this research uses two joints three links and servo motors to drive. Microcontroller is used to generate required PWM signal for servo motors. In this research the position control of robot arm was designed by using kinematic control methods. There are two types of kinematic control methods which are forward and reverse kinematic methods. In forward kinematic method the input parameters are the joint angles and link length of robot arm and then the output is the position at XYZ coordinate of tool or gripper. In inverse kinematic the input parameters are position at XYZ coordinate of gripper and the link length of robot arm and then the output parameters are the joint angles. So kinematic methods can explain the analytical description of the geometry motion of the manipulator with reference to a robot coordinate system fixed to a frame without consideration of the forces or the moments causing the movements. For sorting system Metal detector is used to detect the metal or non-metal. This position control of pick and place robot arm is fully tested and the result is obtained more precisely.

The Development of Control System Design for 5 DOF Nuclear Malaysia Robot Arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2011-01-01

This paper describes a general design and implementation approach used for programming and controlling robotic systems such as remotely operated robotic manipulator systems. A hierarchical approach to control system design is adopted. The hierarchical design is translated into a component-based software design. A low-cost robotic arm and controller system is presented. The controller is a modular model of the robotic arm with the same degrees of freedom whose joints are equipped with sensors. The system takes advantage of the low cost and wide availability of control components and uses a low-cost, easy-to-program microprocessor. Furthermore, it presents the design and the construction of electronic systems for the control of an articulated robot developed for research and development related with instrumentation and control. The system is simple but it is designed the motor to move the robot arm to proper angular position according to the input controller. Limitations of the micro controller are discussed, and suggestions for further development of the robot arm and control are made. (author)

Social media based NPL system to find and retrieve ARM data: Concept paper

Energy Technology Data Exchange (ETDEWEB)

Devarakonda, Ranjeet [ORNL; Giansiracusa, Michael T. [ORNL; Kumar, Jitendra [ORNL; Shanafield, III, Harold A. [ORNL

2017-12-01

Information connectivity and retrieval has a role in our daily lives. The most pervasive source of online information is databases. The amount of data is growing at rapid rate and database technology is improving and having a profound effect. Almost all online applications are storing and retrieving information from databases. One challenge in supplying the public with wider access to informational databases is the need for knowledge of database languages like Structured Query Language (SQL). Although the SQL language has been published in many forms, not everybody is able to write SQL queries. Another challenge is that it may not be practical to make the public aware of the structure of the database. There is a need for novice users to query relational databases using their natural language. To solve this problem, many natural language interfaces to structured databases have been developed. The goal is to provide more intuitive method for generating database queries and delivering responses. Social media makes it possible to interact with a wide section of the population. Through this medium, and with the help of Natural Language Processing (NLP) we can make the data of the Atmospheric Radiation Measurement Data Center (ADC) more accessible to the public. We propose an architecture for using Apache Lucene/Solr [1], OpenML [2,3], and Kafka [4] to generate an automated query/response system with inputs from Twitter5, our Cassandra DB, and our log database. Using the Twitter API and NLP we can give the public the ability to ask questions of our database and get automated responses.

Social media based NPL system to find and retrieve ARM data: Concept paper

Energy Technology Data Exchange (ETDEWEB)

Devarakonda, Ranjeet [ORNL; Giansiracusa, Michael T. [ORNL; Kumar, Jitendra [ORNL; Shanafield, III, Harold A. [ORNL

2018-01-01

Information connectivity and retrieval has a role in our daily lives. The most pervasive source of online information is databases. The amount of data is growing at rapid rate and database technology is improving and having a profound effect. Almost all online applications are storing and retrieving information from databases. One challenge in supplying the public with wider access to informational databases is the need for knowledge of database languages like Structured Query Language (SQL). Although the SQL language has been published in many forms, not everybody is able to write SQL queries. Another challenge is that it may not be practical to make the public aware of the structure of the database. There is a need for novice users to query relational databases using their natural language. To solve this problem, many natural language interfaces to structured databases have been developed. The goal is to provide more intuitive method for generating database queries and delivering responses. Social media makes it possible to interact with a wide section of the population. Through this medium, and with the help of Natural Language Processing (NLP) we can make the data of the Atmospheric Radiation Measurement Data Center (ADC) more accessible to the public. We propose an architecture for using Apache Lucene/Solr [1], OpenML [2,3], and Kafka [4] to generate an automated query/response system with inputs from Twitter5, our Cassandra DB, and our log database. Using the Twitter API and NLP we can give the public the ability to ask questions of our database and get automated responses.

Autonomous path planning solution for industrial robot manipulator using backpropagation algorithm

Directory of Open Access Journals (Sweden)

PeiJiang Yuan

2015-12-01

Full Text Available Here, we propose an autonomous path planning solution using backpropagation algorithm. The mechanism of movement used by humans in controlling their arms is analyzed and then applied to control a robot manipulator. Autonomous path planning solution is a numerical method. The model of industrial robot manipulator used in this article is a KUKA KR 210 R2700 EXTRA robot. In order to show the performance of the autonomous path planning solution, an experiment validation of path tracking is provided. Experiment validation consists of implementation of the autonomous path planning solution and the control of physical robot. The process of converging to target solution is provided. The mean absolute error of position for tool center point is also analyzed. Comparison between autonomous path planning solution and the numerical methods based on Newton–Raphson algorithm is provided to demonstrate the efficiency and accuracy of the autonomous path planning solution.

Proprioceptive Interaction between the Two Arms in a Single-Arm Pointing Task.

Directory of Open Access Journals (Sweden)

Kazuyoshi Kigawa

Full Text Available Proprioceptive signals coming from both arms are used to determine the perceived position of one arm in a two-arm matching task. Here, we examined whether the perceived position of one arm is affected by proprioceptive signals from the other arm in a one-arm pointing task in which participants specified the perceived position of an unseen reference arm with an indicator paddle. Both arms were hidden from the participant's view throughout the study. In Experiment 1, with both arms placed in front of the body, the participants received 70-80 Hz vibration to the elbow flexors of the reference arm (= right arm to induce the illusion of elbow extension. This extension illusion was compared with that when the left arm elbow flexors were vibrated or not. The degree of the vibration-induced extension illusion of the right arm was reduced in the presence of left arm vibration. In Experiment 2, we found that this kinesthetic interaction between the two arms did not occur when the left arm was vibrated in an abducted position. In Experiment 3, the vibration-induced extension illusion of one arm was fully developed when this arm was placed at an abducted position, indicating that the brain receives increased proprioceptive input from a vibrated arm even if the arm was abducted. Our results suggest that proprioceptive interaction between the two arms occurs in a one-arm pointing task when the two arms are aligned with one another. The position sense of one arm measured using a pointer appears to include the influences of incoming information from the other arm when both arms were placed in front of the body and parallel to one another.

Scanning ARM Cloud Radars. Part II: Data Quality Control and Processing

Energy Technology Data Exchange (ETDEWEB)

Kollias, Pavlos; Jo, Ieng; Borque, Paloma; Tatarevic, Aleksandra; Lamer, Katia; Bharadwaj, Nitin; Widener, Kevin B.; Johnson, Karen L.; Clothiaux, Eugene E.

2014-03-01

The Scanning ARM Cloud Radars (SACR’s) are the primary instruments for documenting the four-dimensional structure and evolution of clouds within a 20-30 km radius from the ARM fixed and mobile sites. Here, the post-processing of the calibrated SACR measurements is discussed. First, a feature mask algorithm that objectively determines the presence of significant radar returns is described. The feature mask algorithm is based on the statistical properties of radar receiver noise. It accounts for atmospheric emission and is applicable even for SACR profiles with few or no signal-free range gates. Using the nearest-in-time atmospheric sounding, the SACR radar reflectivities are corrected for gaseous attenuation (water vapor and oxygen) using a line-by-line absorption model. Despite having a high pulse repetition frequency, the SACR has a narrow Nyquist velocity limit and thus Doppler velocity folding is commonly observed. An unfolding algorithm that makes use of a first guess for the true Doppler velocity using horizontal wind measurements from the nearest sounding is described. The retrieval of the horizontal wind profile from the HS-RHI SACR scan observations and/or nearest sounding is described. The retrieved horizontal wind profile can be used to adaptively configure SACR scan strategies that depend on wind direction. Several remaining challenges are discussed, including the removal of insect and second-trip echoes. The described algorithms significantly enhance SACR data quality and constitute an important step towards the utilization of SACR measurements for cloud research.

Manipulator Performance Evaluation Using Fitts' Taping Task

Energy Technology Data Exchange (ETDEWEB)

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

1999-04-25

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

Visual Servoing for Object Manipulation: A Case Study in Slaughterhouse

DEFF Research Database (Denmark)

Wu, Haiyan; Andersen, Thomas Timm; Andersen, Nils Axel

2016-01-01

Automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed for slaughterhouse. In this work, a pick and place task which....... An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control. An industrial robot arm is applied to execute the path. The system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick...

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

Experiences in the emptying of waste silos containing solid nuclear waste from graphite- moderated reactors

International Nuclear Information System (INIS)

Wall, S.; Schwarz, T.

2003-01-01

Before reactor sites can be handed over for ultimate decommissioning, at some sites silos containing waste from operations need to be emptied. The form and physical condition of the waste demands sophisticated retrieval technologies taking into account the onsite situation in terms of infrastructure and silo geometry. Furthermore, in the case of graphite moderated reactors, this waste usually includes several tonnes of graphite waste requiring special HVAC and dust handling measures. RWE NUKEM Group has already performed several contracts dealing with such emptying tasks. Of particular interest for the upcoming decommissioning projects in France might be the activities at Vandellos, Spain and Trawsfynnyd, UK. Retrieval System for Vandellos NPP is discussed. Following an international competitive tender exercise, RWE NUKEM won the contract to provide a turn-key retrieval system. This involved the design, manufacture and installation of a system built around the modules of a 200 kg capacity version of the ARTISAN manipulator system. The ARTISAN 200 manipulator, with remote slave arm detach facility, was deployed on a telescopic mast inserted into the silos through the roof penetrations. The manipulator deployed a range of tools to gather the waste and load it into a transfer basket, deployed through an adjacent penetration. After commissioning, the system cleared the vaults in less than the scheduled period with no failures. At the Trawsfynnyd Magnox plants two types of intermediate level waste (ILW) accumulated on site; namely Miscellaneous Activated Components (MAC) and Fuel Element Debris (FED). MAC is predominantly components that have been activated by the reactor core and then discharged. FED mainly consists of fuel cladding produced when fuel elements were prepared for dispatch to the reprocessing facility. RWE NUKEM Ltd. was awarded a contract to design, supply, commission and operate equipment to retrieve, pack and immobilize the two waste streams. Major

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.

Robotic arm

Science.gov (United States)

Kwech, Horst

1989-04-18

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM

OpenAIRE

Abdolmalaki, Reza Yazdanpanah

2017-01-01

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H parameters and creating Transformation Matrices,MATLAB programming is used to represent their worksp...

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.

Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator

CSIR Research Space (South Africa)

Makondo, N

2012-11-01

Full Text Available ,? Dipartimento di Elettronica, Informatica e Sistemistica (DEIS), Universit a di Bologna [Online]; Available at: http://www- lar.deis.unibo.it/people/cmelchiorri/Files Robotica/FIR 04 Kinem.pdf[31 October 2012] [18] Manocha, D.; Canny, J.F.; , ?Efficient... to the inverse kinematics of the Pioneer 2 robotic arm ?, Robotica, 2005, vol.23, pp.123, DOI: 10.1017/S0263574704000529 [20] De Xu, Carlos A. Acosta Calderon, John Q. Gan etc .An Analysis of the Inverse Kinematics for a 5-DOF Manipulator, International...

Influence of gravity compensation on kinematics and muscle activation patterns during reach and retrieval in subjects with cervical spinal cord injury: An explorative study

OpenAIRE

Marieke G . M. Kloosterman, PT, MSc; Govert J. Snoek, MD, PhD; Mirjam Kouwenhoven, MD; Anand V. Nene, MD, PhD; Michiel J. A. Jannink, PhD

2010-01-01

Many interventions in upper-limb rehabilitation after cervical spinal cord injury (CSCI) use arm support (gravity compensation); however, its specific effects on kinematics and muscle activation characteristics in subjects with a CSCI are largely unknown. We conducted a cross-sectional explorative study to study these effects. Nine subjects with a CSCI performed two goal-directed arm movements (maximal reach, reach and retrieval) with and without gravity compensation. Angles at elbow and shou...

Robotic arm

International Nuclear Information System (INIS)

Kwech, H.

1989-01-01

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

Positive autobiographical memory retrieval reduces temporal discounting

Science.gov (United States)

Lempert, Karolina M; Speer, Megan E; Delgado, Mauricio R

2017-01-01

Abstract People generally prefer rewards sooner rather than later. This phenomenon, temporal discounting, underlies many societal problems, including addiction and obesity. One way to reduce temporal discounting is to imagine positive future experiences. Since there is overlap in the neural circuitry associated with imagining future experiences and remembering past events, here we investigate whether recalling positive memories can also promote more patient choice. We found that participants were more patient after retrieving positive autobiographical memories, but not when they recalled negative memories. Moreover, individuals were more impulsive after imagining novel positive scenes that were not related to their memories, showing that positive imagery alone does not drive this effect. Activity in the striatum and temporo parietal junction during memory retrieval predicted more patient choice, suggesting that to the extent that memory recall is rewarding and involves perspective-taking, it influences decision-making. Furthermore, representational similarity in the ventromedial prefrontal cortex between memory recall and decision phases correlated with the behavioral effect across participants. Thus, we have identified a novel manipulation for reducing temporal discounting—remembering the positive past—and have begun to characterize the psychological and neural mechanisms behind it. PMID:28655195

Positive autobiographical memory retrieval reduces temporal discounting.

Science.gov (United States)

Lempert, Karolina M; Speer, Megan E; Delgado, Mauricio R; Phelps, Elizabeth A

2017-10-01

People generally prefer rewards sooner rather than later. This phenomenon, temporal discounting, underlies many societal problems, including addiction and obesity. One way to reduce temporal discounting is to imagine positive future experiences. Since there is overlap in the neural circuitry associated with imagining future experiences and remembering past events, here we investigate whether recalling positive memories can also promote more patient choice. We found that participants were more patient after retrieving positive autobiographical memories, but not when they recalled negative memories. Moreover, individuals were more impulsive after imagining novel positive scenes that were not related to their memories, showing that positive imagery alone does not drive this effect. Activity in the striatum and temporo parietal junction during memory retrieval predicted more patient choice, suggesting that to the extent that memory recall is rewarding and involves perspective-taking, it influences decision-making. Furthermore, representational similarity in the ventromedial prefrontal cortex between memory recall and decision phases correlated with the behavioral effect across participants. Thus, we have identified a novel manipulation for reducing temporal discounting-remembering the positive past-and have begun to characterize the psychological and neural mechanisms behind it. © The Author (2017). Published by Oxford University Press.

Guenter Tulip Filter Retrieval Experience: Predictors of Successful Retrieval

International Nuclear Information System (INIS)

Turba, Ulku Cenk; Arslan, Bulent; Meuse, Michael; Sabri, Saher; Macik, Barbara Gail; Hagspiel, Klaus D.; Matsumoto, Alan H.; Angle, John F.

2010-01-01

We report our experience with Guenter Tulip filter placement indications, retrievals, and procedural problems, with emphasis on alternative retrieval techniques. We have identified 92 consecutive patients in whom a Guenter Tulip filter was placed and filter removal attempted. We recorded patient demographic information, filter placement and retrieval indications, procedures, standard and nonstandard filter retrieval techniques, complications, and clinical outcomes. The mean time to retrieval for those who experienced filter strut penetration was statistically significant [F(1,90) = 8.55, p = 0.004]. Filter strut(s) IVC penetration and successful retrieval were found to be statistically significant (p = 0.043). The filter hook-IVC relationship correlated with successful retrieval. A modified guidewire loop technique was applied in 8 of 10 cases where the hook appeared to penetrate the IVC wall and could not be engaged with a loop snare catheter, providing additional technical success in 6 of 8 (75%). Therefore, the total filter retrieval success increased from 88 to 95%. In conclusion, the Guenter Tulip filter has high successful retrieval rates with low rates of complication. Additional maneuvers such as a guidewire loop method can be used to improve retrieval success rates when the filter hook is endothelialized.

Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation.

Directory of Open Access Journals (Sweden)

Ali Farshchiansadegh

2016-04-01

Full Text Available The laws of physics establish the energetic efficiency of our movements. In some cases, like locomotion, the mechanics of the body dominate in determining the energetically optimal course of action. In other tasks, such as manipulation, energetic costs depend critically upon the variable properties of objects in the environment. Can the brain identify and follow energy-optimal motions when these motions require moving along unfamiliar trajectories? What feedback information is required for such optimal behavior to occur? To answer these questions, we asked participants to move their dominant hand between different positions while holding a virtual mechanical system with complex dynamics (a planar double pendulum. In this task, trajectories of minimum kinetic energy were along curvilinear paths. Our findings demonstrate that participants were capable of finding the energy-optimal paths, but only when provided with veridical visual and haptic information pertaining to the object, lacking which the trajectories were executed along rectilinear paths.

Pick-up, transport and release of a molecular cargo using a small-molecule robotic arm

Science.gov (United States)

Kassem, Salma; Lee, Alan T. L.; Leigh, David A.; Markevicius, Augustinas; Solà, Jordi

2016-02-01

Modern-day factory assembly lines often feature robots that pick up, reposition and connect components in a programmed manner. The idea of manipulating molecular fragments in a similar way has to date only been explored using biological building blocks (specifically DNA). Here, we report on a wholly artificial small-molecule robotic arm capable of selectively transporting a molecular cargo in either direction between two spatially distinct, chemically similar, sites on a molecular platform. The arm picks up/releases a 3-mercaptopropanehydrazide cargo by formation/breakage of a disulfide bond, while dynamic hydrazone chemistry controls the cargo binding to the platform. Transport is controlled by selectively inducing conformational and configurational changes within an embedded hydrazone rotary switch that steers the robotic arm. In a three-stage operation, 79-85% of 3-mercaptopropanehydrazide molecules are transported in either (chosen) direction between the two platform sites, without the cargo at any time fully dissociating from the machine nor exchanging with other molecules in the bulk.

EM-21 Retrieval Knowledge Center: Waste Retrieval Challenges

Energy Technology Data Exchange (ETDEWEB)

Fellinger, Andrew P.; Rinker, Michael W.; Berglin, Eric J.; Minichan, Richard L.; Poirier, Micheal R.; Gauglitz, Phillip A.; Martin, Bruce A.; Hatchell, Brian K.; Saldivar, Eloy; Mullen, O Dennis; Chapman, Noel F.; Wells, Beric E.; Gibbons, Peter W.

2009-04-10

EM-21 is the Waste Processing Division of the Office of Engineering and Technology, within the U.S. Department of Energy’s (DOE) Office of Environmental Management (EM). In August of 2008, EM-21 began an initiative to develop a Retrieval Knowledge Center (RKC) to provide the DOE, high level waste retrieval operators, and technology developers with centralized and focused location to share knowledge and expertise that will be used to address retrieval challenges across the DOE complex. The RKC is also designed to facilitate information sharing across the DOE Waste Site Complex through workshops, and a searchable database of waste retrieval technology information. The database may be used to research effective technology approaches for specific retrieval tasks and to take advantage of the lessons learned from previous operations. It is also expected to be effective for remaining current with state-of-the-art of retrieval technologies and ongoing development within the DOE Complex. To encourage collaboration of DOE sites with waste retrieval issues, the RKC team is co-led by the Savannah River National Laboratory (SRNL) and the Pacific Northwest National Laboratory (PNNL). Two RKC workshops were held in the Fall of 2008. The purpose of these workshops was to define top level waste retrieval functional areas, exchange lessons learned, and develop a path forward to support a strategic business plan focused on technology needs for retrieval. The primary participants involved in these workshops included retrieval personnel and laboratory staff that are associated with Hanford and Savannah River Sites since the majority of remaining DOE waste tanks are located at these sites. This report summarizes and documents the results of the initial RKC workshops. Technology challenges identified from these workshops and presented here are expected to be a key component to defining future RKC-directed tasks designed to facilitate tank waste retrieval solutions.

EM-21 Retrieval Knowledge Center: Waste Retrieval Challenges

International Nuclear Information System (INIS)

Fellinger, Andrew P.; Rinker, Michael W.; Berglin, Eric J.; Minichan, Richard L.; Poirier, Micheal R.; Gauglitz, Phillip A.; Martin, Bruce A.; Hatchell, Brian K.; Saldivar, Eloy; Mullen, O Dennis; Chapman, Noel F.; Wells, Beric E.; Gibbons, Peter W.

2009-01-01

EM-21 is the Waste Processing Division of the Office of Engineering and Technology, within the U.S. Department of Energy's (DOE) Office of Environmental Management (EM). In August of 2008, EM-21 began an initiative to develop a Retrieval Knowledge Center (RKC) to provide the DOE, high level waste retrieval operators, and technology developers with centralized and focused location to share knowledge and expertise that will be used to address retrieval challenges across the DOE complex. The RKC is also designed to facilitate information sharing across the DOE Waste Site Complex through workshops, and a searchable database of waste retrieval technology information. The database may be used to research effective technology approaches for specific retrieval tasks and to take advantage of the lessons learned from previous operations. It is also expected to be effective for remaining current with state-of-the-art of retrieval technologies and ongoing development within the DOE Complex. To encourage collaboration of DOE sites with waste retrieval issues, the RKC team is co-led by the Savannah River National Laboratory (SRNL) and the Pacific Northwest National Laboratory (PNNL). Two RKC workshops were held in the Fall of 2008. The purpose of these workshops was to define top level waste retrieval functional areas, exchange lessons learned, and develop a path forward to support a strategic business plan focused on technology needs for retrieval. The primary participants involved in these workshops included retrieval personnel and laboratory staff that are associated with Hanford and Savannah River Sites since the majority of remaining DOE waste tanks are located at these sites. This report summarizes and documents the results of the initial RKC workshops. Technology challenges identified from these workshops and presented here are expected to be a key component to defining future RKC-directed tasks designed to facilitate tank waste retrieval solutions

Cloud Overlapping Detection Algorithm Using Solar and IR Wavelengths With GOSE Data Over ARM/SGP Site

Science.gov (United States)

Kawamoto, Kazuaki; Minnis, Patrick; Smith, William L., Jr.

2001-01-01

One of the most perplexing problems in satellite cloud remote sensing is the overlapping of cloud layers. Although most techniques assume a 1-layer cloud system in a given retrieval of cloud properties, many observations are affected by radiation from more than one cloud layer. As such, cloud overlap can cause errors in the retrieval of many properties including cloud height, optical depth, phase, and particle size. A variety of methods have been developed to identify overlapped clouds in a given satellite imager pixel. Baum el al. (1995) used CO2 slicing and a spatial coherence method to demonstrate a possible analysis method for nighttime detection of multilayered clouds. Jin and Rossow (1997) also used a multispectral CO2 slicing technique for a global analysis of overlapped cloud amount. Lin et al. (1999) used a combination infrared, visible, and microwave data to detect overlapped clouds over water. Recently, Baum and Spinhirne (2000) proposed 1.6 and 11 microns. bispectral threshold method. While all of these methods have made progress in solving this stubborn problem, none have yet proven satisfactory for continuous and consistent monitoring of multilayer cloud systems. It is clear that detection of overlapping clouds from passive instruments such as satellite radiometers is in an immature stage of development and requires additional research. Overlapped cloud systems also affect the retrievals of cloud properties over the ARM domains (e.g., Minnis et al 1998) and hence should identified as accurately as possible. To reach this goal, it is necessary to determine which information can be exploited for detecting multilayered clouds from operational meteorological satellite data used by ARM. This paper examines the potential information available in spectral data available on the Geostationary Operational Environmental Satellite (GOES) imager and the NOAA Advanced Very High Resolution Radiometer (AVHRR) used over the ARM SGP and NSA sites to study the

Effects of divided attention and speeded responding on implicit and explicit retrieval of artificial grammar knowledge.

Science.gov (United States)

Helman, Shaun; Berry, Dianne C

2003-07-01

The artificial grammar (AG) learning literature (see, e.g., Mathews et al., 1989; Reber, 1967) has relied heavily on a single measure of implicitly acquired knowledge. Recent work comparing this measure (string classification) with a more indirect measure in which participants make liking ratings of novel stimuli (e.g., Manza & Bornstein, 1995; Newell & Bright, 2001) has shown that string classification (which we argue can be thought of as an explicit, rather than an implicit, measure of memory) gives rise to more explicit knowledge of the grammatical structure in learning strings and is more resilient to changes in surface features and processing between encoding and retrieval. We report data from two experiments that extend these findings. In Experiment 1, we showed that a divided attention manipulation (at retrieval) interfered with explicit retrieval of AG knowledge but did not interfere with implicit retrieval. In Experiment 2, we showed that forcing participants to respond within a very tight deadline resulted in the same asymmetric interference pattern between the tasks. In both experiments, we also showed that the type of information being retrieved influenced whether interference was observed. The results are discussed in terms of the relatively automatic nature of implicit retrieval and also with respect to the differences between analytic and nonanalytic processing (Whittlesea & Price, 2001).

Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas

Directory of Open Access Journals (Sweden)

Jose Vicente Marti

2013-04-01

Full Text Available When localizing mobile sensors and actuators in indoor environments laser meters, ultrasonic meters or even image processing techniques are usually used. On the other hand, in smoky conditions, due to a fire or building collapse, once the smoke or dust density grows, optical methods are not efficient anymore. In these scenarios other type of sensors must be used, such as sonar, radar or radiofrequency signals. Indoor localization in low-visibility conditions due to smoke is one of the EU GUARDIANS [1] project goals. The developed method aims to position a robot in front of doors, fire extinguishers and other points of interest with enough accuracy to allow a human operator to manipulate the robot's arm in order to actuate over the element. In coarse-grain localization, a fingerprinting technique based on ZigBee and WiFi signals is used, allowing the robot to navigate inside the building in order to get near the point of interest that requires manipulation. In fine-grained localization a remotely controlled programmable high intensity LED panel is used, which acts as a reference to the system in smoky conditions. Then, smoke detection and visual fine-grained localization are used to position the robot with precisely in the manipulation point (e.g., doors, valves, etc..

A Velocity-Level Bi-Criteria Optimization Scheme for Coordinated Path Tracking of Dual Robot Manipulators Using Recurrent Neural Network.

Science.gov (United States)

Xiao, Lin; Zhang, Yongsheng; Liao, Bolin; Zhang, Zhijun; Ding, Lei; Jin, Long

2017-01-01

A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to realize the coordinated path tracking of dual robot manipulators, two subschemes are first presented for the left and right robot manipulators. After that, such two subschemes are reformulated as two general quadratic programs (QPs), which can be formulated as one unified QP. A recurrent neural network (RNN) is thus presented to solve effectively the unified QP problem. At last, computer simulation results based on a dual three-link planar manipulator further validate the feasibility and the efficacy of the velocity-level optimization scheme for coordinated path tracking using the recurrent neural network.

The spiral arms of the Milky Way: The relative location of each different arm tracer within a typical spiral arm width

Energy Technology Data Exchange (ETDEWEB)

Vallée, Jacques P., E-mail: jacques.vallee@nrc-cnrc.gc.ca [National Research Council Canada, National Science Infrastructure portfolio, Herzberg Astronomy and Astrophysics, 5071 West Saanich Road, Victoria, B.C., V9E 2E7 (Canada)

2014-07-01

From the Sun's location in the Galactic disk, different arm tracers (CO, H I, hot dust, etc.) have been employed to locate a tangent to each spiral arm. Using all various and different observed spiral arm tracers (as published elsewhere), we embark on a new goal, namely the statistical analysis of these published data (data mining) to statistically compute the mean location of each spiral arm tracer. We show for a typical arm cross-cut, a separation of 400 pc between the mid-arm and the dust lane (at the inner edge of the arm, toward the Galactic center). Are some arms major and others minor? Separating arms into two sets, as suggested by some, we find the same arm widths between the two sets. Our interpretation is that we live in a multiple (four-arm) spiral (logarithmic) pattern (around a pitch angle of 12°) for the stars and gas in the Milky Way, with a sizable interarm separation (around 3 kpc) at the Sun's location and the same arm width for each arm (near 400 pc from mid-arm to dust lane).

The spiral arms of the Milky Way: The relative location of each different arm tracer within a typical spiral arm width

International Nuclear Information System (INIS)

Vallée, Jacques P.

2014-01-01

From the Sun's location in the Galactic disk, different arm tracers (CO, H I, hot dust, etc.) have been employed to locate a tangent to each spiral arm. Using all various and different observed spiral arm tracers (as published elsewhere), we embark on a new goal, namely the statistical analysis of these published data (data mining) to statistically compute the mean location of each spiral arm tracer. We show for a typical arm cross-cut, a separation of 400 pc between the mid-arm and the dust lane (at the inner edge of the arm, toward the Galactic center). Are some arms major and others minor? Separating arms into two sets, as suggested by some, we find the same arm widths between the two sets. Our interpretation is that we live in a multiple (four-arm) spiral (logarithmic) pattern (around a pitch angle of 12°) for the stars and gas in the Milky Way, with a sizable interarm separation (around 3 kpc) at the Sun's location and the same arm width for each arm (near 400 pc from mid-arm to dust lane).

EVALUATING CONTINUOUS-TIME SLAM USING A PREDEFINED TRAJECTORY PROVIDED BY A ROBOTIC ARM

Directory of Open Access Journals (Sweden)

B. Koch

2017-09-01

Full Text Available Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.

Evaluating Continuous-Time Slam Using a Predefined Trajectory Provided by a Robotic Arm

Science.gov (United States)

Koch, B.; Leblebici, R.; Martell, A.; Jörissen, S.; Schilling, K.; Nüchter, A.

2017-09-01

Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.

Research on the man in the loop control system of the robot arm based on gesture control

Science.gov (United States)

Xiao, Lifeng; Peng, Jinbao

2017-03-01

The Man in the loop control system of the robot arm based on gesture control research complex real-world environment, which requires the operator to continuously control and adjust the remote manipulator, as the background, completes the specific mission human in the loop entire system as the research object. This paper puts forward a kind of robot arm control system of Man in the loop based on gesture control, by robot arm control system based on gesture control and Virtual reality scene feedback to enhance immersion and integration of operator, to make operator really become a part of the whole control loop. This paper expounds how to construct a man in the loop control system of the robot arm based on gesture control. The system is a complex system of human computer cooperative control, but also people in the loop control problem areas. The new system solves the problems that the traditional method has no immersion feeling and the operation lever is unnatural, the adjustment time is long, and the data glove mode wears uncomfortable and the price is expensive.

Aerosol single-scattering albedo and asymmetry parameter from MFRSR observations during the ARM Aerosol IOP 2003

Directory of Open Access Journals (Sweden)

E. I. Kassianov

2007-06-01

Full Text Available Multi-filter Rotating Shadowband Radiometers (MFRSRs provide routine measurements of the aerosol optical depth (τ at six wavelengths (0.415, 0.5, 0.615, 0.673, 0.870 and 0.94 μm. The single-scattering albedo (π₀ is typically estimated from the MFRSR measurements by assuming the asymmetry parameter (g. In most instances, however, it is not easy to set an appropriate value of g due to its strong temporal and spatial variability. Here, we introduce and validate an updated version of our retrieval technique that allows one to estimate simultaneously π₀ and g for different types of aerosol. We use the aerosol and radiative properties obtained during the Atmospheric Radiation Measurement (ARM Program's Aerosol Intensive Operational Period (IOP to validate our retrieval in two ways. First, the MFRSR-retrieved optical properties are compared with those obtained from independent surface, Aerosol Robotic Network (AERONET, and aircraft measurements. The MFRSR-retrieved optical properties are in reasonable agreement with these independent measurements. Second, we perform radiative closure experiments using the MFRSR-retrieved optical properties. The calculated broadband values of the direct and diffuse fluxes are comparable (~5 W/m² to those obtained from measurements.

Retrievable Inferior Vena Cava Filters: Factors that Affect Retrieval Success

Energy Technology Data Exchange (ETDEWEB)

Geisbuesch, Philipp, E-mail: philippgeisbuesch@gmx.de; Benenati, James F.; Pena, Constantino S.; Couvillon, Joseph; Powell, Alex; Gandhi, Ripal; Samuels, Shaun; Uthoff, Heiko [Baptist Cardiac and Vascular Institute, Division of Vascular and Interventional Radiology (United States)

2012-10-15

Purpose: To report and analyze the indications, procedural success, and complications of retrievable inferior vena cava filters (rIVCF) placement and to identify parameters that influence retrieval attempt and failure. Methods: Between January 2005 and December 2010, a total of 200 patients (80 men, median age 67 years, range 11-95 years) received a rIVCF with the clinical possibility that it could be removed. All patients with rIVCF were prospectively entered into a database and followed until retrieval or a decision not to retrieve the filter was made. A retrospective analysis of this database was performed. Results: Sixty-one percent of patients had an accepted indication for filter placement; 39% of patients had a relative indication. There was a tendency toward a higher retrieval rate in patients with relative indications (40% vs. 55%, P = 0.076). Filter placement was technically successful in all patients, with no procedure-related mortality. The retrieval rate was 53%. Patient age of >80 years (odds ratio [OR] 0.056, P > 0.0001) and presence of malignancy (OR 0.303, P = 0.003) was associated with a significantly reduced probability for attempted retrieval. Retrieval failure occurred in 7% (6 of 91) of all retrieval attempts. A time interval of > 90 days between implantation and attempted retrieval was associated with retrieval failure (OR 19.8, P = 0.009). Conclusions: Patient age >80 years and a history of malignancy are predictors of a reduced probability for retrieval attempt. The rate of retrieval failure is low and seems to be associated with a time interval of >90 days between filter placement and retrieval.

Retrievable Inferior Vena Cava Filters: Factors that Affect Retrieval Success

International Nuclear Information System (INIS)

Geisbüsch, Philipp; Benenati, James F.; Peña, Constantino S.; Couvillon, Joseph; Powell, Alex; Gandhi, Ripal; Samuels, Shaun; Uthoff, Heiko

2012-01-01

Purpose: To report and analyze the indications, procedural success, and complications of retrievable inferior vena cava filters (rIVCF) placement and to identify parameters that influence retrieval attempt and failure. Methods: Between January 2005 and December 2010, a total of 200 patients (80 men, median age 67 years, range 11–95 years) received a rIVCF with the clinical possibility that it could be removed. All patients with rIVCF were prospectively entered into a database and followed until retrieval or a decision not to retrieve the filter was made. A retrospective analysis of this database was performed. Results: Sixty-one percent of patients had an accepted indication for filter placement; 39% of patients had a relative indication. There was a tendency toward a higher retrieval rate in patients with relative indications (40% vs. 55%, P = 0.076). Filter placement was technically successful in all patients, with no procedure-related mortality. The retrieval rate was 53%. Patient age of >80 years (odds ratio [OR] 0.056, P > 0.0001) and presence of malignancy (OR 0.303, P = 0.003) was associated with a significantly reduced probability for attempted retrieval. Retrieval failure occurred in 7% (6 of 91) of all retrieval attempts. A time interval of > 90 days between implantation and attempted retrieval was associated with retrieval failure (OR 19.8, P = 0.009). Conclusions: Patient age >80 years and a history of malignancy are predictors of a reduced probability for retrieval attempt. The rate of retrieval failure is low and seems to be associated with a time interval of >90 days between filter placement and retrieval.

Use of a robotic manipulator in the simulation of the automation of a calibration process of dosemeters

International Nuclear Information System (INIS)

Benitez R, J.S.; Najera H, M.C.

2002-01-01

The development of a system based in a manipulative robot which simulates the operative sequence in a calibration process of dosemeters is presented. In this process it is performed the monitoring of the dosemeter positions and the calibrator by mean of an arm of articulated robot which develops the movement sequences and the taking a decision based on the information coming from the external sensors. (Author)

Scanning ARM Cloud Radars Part II. Data Quality Control and Processing

Energy Technology Data Exchange (ETDEWEB)

Kollias, Pavlos [McGill Univ., Montreal, QC (Canada); Jo, Ieng [McGill Univ., Montreal, QC (Canada); Borque, Paloma [McGill Univ., Montreal, QC (Canada); Tatarevic, Aleksandra [McGill Univ., Montreal, QC (Canada); Lamer, Katia [McGill Univ., Montreal, QC (Canada); Bharadwaj, Nitin [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Widener, Kevin B. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Karen [Brookhaven National Lab. (BNL), Upton, NY (United States); Clothiaux, Eugene E. [Pennsylvania State Univ., State College, PA (United States)

2013-10-04

The Scanning ARM Cloud Radars (SACR’s) are the primary instruments for documenting the four-dimensional structure and evolution of clouds within a 20-30 km radius from the ARM fixed and mobile sites. Here, the post-processing of the calibrated SACR measurements is discussed. First, a feature mask algorithm that objectively determines the presence of significant radar returns is described. The feature mask algorithm is based on the statistical properties of radar receiver noise. It accounts for atmospheric emission and is applicable even for SACR profiles with few or no signal-free range gates. Using the nearest-in-time atmospheric sounding, the SACR radar reflectivities are corrected for gaseous attenuation (water vapor and oxygen) using a line-by-line absorption model. Despite having a high pulse repetition frequency, the SACR has a narrow Nyquist velocity limit and thus Doppler velocity folding is commonly observed. An unfolding algorithm that makes use of a first guess for the true Doppler velocity using horizontal wind measurements from the nearest sounding is described. The retrieval of the horizontal wind profile from the Hemispherical Sky – Range Height Indicator SACR scan observations and/or nearest sounding is described. The retrieved horizontal wind profile can be used to adaptively configure SACR scan strategies that depend on wind direction. Several remaining challenges are discussed, including the removal of insect and second-trip echoes. The described algorithms significantly enhance SACR data quality and constitute an important step towards the utilization of SACR measurements for cloud research.

Fusion of Haptic and Gesture Sensors for Rehabilitation of Bimanual Coordination and Dexterous Manipulation.

Science.gov (United States)

Yu, Ningbo; Xu, Chang; Li, Huanshuai; Wang, Kui; Wang, Liancheng; Liu, Jingtai

2016-03-18

Disabilities after neural injury, such as stroke, bring tremendous burden to patients, families and society. Besides the conventional constrained-induced training with a paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fitting well with the fact that both arms are needed in common activities of daily living (ADLs), and can promote good functional recovery. In this work, the fusion of a gesture sensor and a haptic sensor with force feedback capabilities has enabled a bilateral rehabilitation training therapy. The Leap Motion gesture sensor detects the motion of the healthy hand, and the omega.7 device can detect and assist the paretic hand, according to the designed cooperative task paradigm, as much as needed, with active force feedback to accomplish the manipulation task. A virtual scenario has been built up, and the motion and force data facilitate instantaneous visual and audio feedback, as well as further analysis of the functional capabilities of the patient. This task-oriented bimanual training paradigm recruits the sensory, motor and cognitive aspects of the patient into one loop, encourages the active involvement of the patients into rehabilitation training, strengthens the cooperation of both the healthy and impaired hands, challenges the dexterous manipulation capability of the paretic hand, suits easy of use at home or centralized institutions and, thus, promises effective potentials for rehabilitation training.

Fusion of Haptic and Gesture Sensors for Rehabilitation of Bimanual Coordination and Dexterous Manipulation

Directory of Open Access Journals (Sweden)

Ningbo Yu

2016-03-01

Full Text Available Disabilities after neural injury, such as stroke, bring tremendous burden to patients, families and society. Besides the conventional constrained-induced training with a paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fitting well with the fact that both arms are needed in common activities of daily living (ADLs, and can promote good functional recovery. In this work, the fusion of a gesture sensor and a haptic sensor with force feedback capabilities has enabled a bilateral rehabilitation training therapy. The Leap Motion gesture sensor detects the motion of the healthy hand, and the omega.7 device can detect and assist the paretic hand, according to the designed cooperative task paradigm, as much as needed, with active force feedback to accomplish the manipulation task. A virtual scenario has been built up, and the motion and force data facilitate instantaneous visual and audio feedback, as well as further analysis of the functional capabilities of the patient. This task-oriented bimanual training paradigm recruits the sensory, motor and cognitive aspects of the patient into one loop, encourages the active involvement of the patients into rehabilitation training, strengthens the cooperation of both the healthy and impaired hands, challenges the dexterous manipulation capability of the paretic hand, suits easy of use at home or centralized institutions and, thus, promises effective potentials for rehabilitation training.

THE EFFECT OF LONG-TERM BIMANUAL TRAINING ON ARM SELECTION DURING REACHING TASKS

OpenAIRE

Akpinar, Selcuk

2015-01-01

Handedness is viewed either as a preference or an asymmetry in sensorimotor performance. It has been shown that there is a relation between sensorimotor performance and hand selection. This relation is affected by the manipulation of sensory feedback, suggesting an effect of task condition on hand selection, and by a unimanual athletic training. Thus, in the current study, the aim was to find out if arm selection and symmetry were affected by a long-term bimanual practice with respect to moto...

A Non-linear Model for Predicting Tip Position of a Pliable Robot Arm Segment Using Bending Sensor Data

Directory of Open Access Journals (Sweden)

Elizabeth I. SKLAR

2016-04-01

Full Text Available Using pliable materials for the construction of robot bodies presents new and interesting challenges for the robotics community. Within the EU project entitled STIFFness controllable Flexible & Learnable manipulator for surgical Operations (STIFF-FLOP, a bendable, segmented robot arm has been developed. The exterior of the arm is composed of a soft material (silicone, encasing an internal structure that contains air-chamber actuators and a variety of sensors for monitoring applied force, position and shape of the arm as it bends. Due to the physical characteristics of the arm, a proper model of robot kinematics and dynamics is difficult to infer from the sensor data. Here we propose a non-linear approach to predicting the robot arm posture, by training a feed-forward neural network with a structured series of pressures values applied to the arm's actuators. The model is developed across a set of seven different experiments. Because the STIFF-FLOP arm is intended for use in surgical procedures, traditional methods for position estimation (based on visual information or electromagnetic tracking will not be possible to implement. Thus the ability to estimate pose based on data from a custom fiber-optic bending sensor and accompanying model is a valuable contribution. Results are presented which demonstrate the utility of our non-linear modelling approach across a range of data collection procedures.

Program of Hanford high-level waste retrieval task: a narrative description

International Nuclear Information System (INIS)

Wallskog, H.A.

1976-12-01

The objective of this task is to develop and demonstrate the equipment and methods for the retrieval of high-level radioactive wastes from underground storage tanks at Hanford. The approach will be to continue with engineering studies and the conceptual design in progress and follow on with the engineering design, construction, testing and demonstration of a Prototype Retrieval System. This system will consist of a large, mobile platform providing the support and control of an articulated arm used to remotely position waste recovery/removal tools. Other major components include the equipment needed to bring the material up to the platform for packaging and subsequent transport to a processing facility, and the television viewing and lighting subsystem. This prototype system will be functionally complete and will contain items such as a control center, tool change and maintenance/repair capability, etc. The program includes a complete non-radioactive demonstration of the system in a mock waste tank as well as a radioactive demonstration involving one or more waste tanks

Electrothermal modeling, fabrication and analysis of low-power consumption thermal actuator with buckling arm

KAUST Repository

So, Hongyun

2013-10-31

© 2013, Springer-Verlag Berlin Heidelberg. This paper reports on a novel thermal actuator with sub-micron metallic structures and a buckling arm to operate with low voltages and to generate very large deflections, respectively. A lumped electrothermal model and analysis were also developed to validate the mechanical design and easily predict the temperature distribution along arms of the sub-micron actuator. The actuator was fabricated via the combination of electron beam lithography to form actuator arms with a minimum feature size of 200 nm and lift-off process to deposit a high aspect ratio nickel structure. Reproducible displacements of up to 1.9 μm at the tip were observed up to 250 mV under confocal microscope. The experimentally measured deflection values and theoretically calculated temperature distribution by the developed model were compared with finite element analysis results and they were in good agreement. This study shows a promising approach to develop more sophisticated nano actuators required larger deflections for manipulation of sub-micron scale objects with low-power consumption.

Semantics-driven modelling of user preferences for information retrieval in the biomedical domain.

Science.gov (United States)

Gladun, Anatoly; Rogushina, Julia; Valencia-García, Rafael; Béjar, Rodrigo Martínez

2013-03-01

A large amount of biomedical and genomic data are currently available on the Internet. However, data are distributed into heterogeneous biological information sources, with little or even no organization. Semantic technologies provide a consistent and reliable basis with which to confront the challenges involved in the organization, manipulation and visualization of data and knowledge. One of the knowledge representation techniques used in semantic processing is the ontology, which is commonly defined as a formal and explicit specification of a shared conceptualization of a domain of interest. The work presented here introduces a set of interoperable algorithms that can use domain and ontological information to improve information-retrieval processes. This work presents an ontology-based information-retrieval system for the biomedical domain. This system, with which some experiments have been carried out that are described in this paper, is based on the use of domain ontologies for the creation and normalization of lightweight ontologies that represent user preferences in a determined domain in order to improve information-retrieval processes.

EM-31 Retrieval Knowledge Center Meeting Report: Mobilize And Dislodge Tank Waste Heels

International Nuclear Information System (INIS)

Fellinger, A.

2010-01-01

The Retrieval Knowledge Center sponsored a meeting in June 2009 to review challenges and gaps to retrieval of tank waste heels. The facilitated meeting was held at the Savannah River Research Campus with personnel broadly representing tank waste retrieval knowledge at Hanford, Savannah River, Idaho, and Oak Ridge. This document captures the results of this meeting. In summary, it was agreed that the challenges to retrieval of tank waste heels fell into two broad categories: (1) mechanical heel waste retrieval methodologies and equipment and (2) understanding and manipulating the heel waste (physical, radiological, and chemical characteristics) to support retrieval options and subsequent processing. Recent successes and lessons from deployments of the Sand and Salt Mantis vehicles as well as retrieval of C-Area tanks at Hanford were reviewed. Suggestions to address existing retrieval approaches that utilize a limited set of tools and techniques are included in this report. The meeting found that there had been very little effort to improve or integrate the multiple proven or new techniques and tools available into a menu of available methods for rapid insertion into baselines. It is recommended that focused developmental efforts continue in the two areas underway (low-level mixing evaluation and pumping slurries with large solid materials) and that projects to demonstrate new/improved tools be launched to outfit tank farm operators with the needed tools to complete tank heel retrievals effectively and efficiently. This document describes the results of a meeting held on June 3, 2009 at the Savannah River Site in South Carolina to identify technology gaps and potential technology solutions to retrieving high-level waste (HLW) heels from waste tanks within the complex of sites run by the U. S. Department of Energy (DOE). The meeting brought together personnel with extensive tank waste retrieval knowledge from DOE's four major waste sites - Hanford, Savannah River

Implantación de un Controlador para la Cinemática Inversa del Brazo Robot Mitsubishi RV-2AJ a través de una Tarjeta ARM y MatLab

OpenAIRE

Cajamarca Peñafiel, Jorge Andres; Portilla Vargas, Alexis David

2016-01-01

The project involves the design and construction of a controller for handling the inverse and forward kinematics of the robot Mitsubishi RV-2AJ arm, it is located in the laboratories of the Salesian University in order to create a direct communication through an external card ARM and MatLab software. This driver allows the user to manipulate the robot arm Mitsubishi RV-2AJ in two categories, by joints and coordinates, with a compact hardware and easy to use interface, the autonomy is given...

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

Controlling flexible robot arms using a high speed dynamics process

Science.gov (United States)

Jain, Abhinandan (Inventor); Rodriguez, Guillermo (Inventor)

1992-01-01

Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

Engineering development of a lightweight high-pressure scarifier for tank waste retrieval

Energy Technology Data Exchange (ETDEWEB)

Hatchell, B.K.

1997-09-01

The Retrieval Process Development and Enhancements Program (RPD&E) is sponsored by the U.S. Department of Energy Tanks Focus Area to investigate existing and emerging retrieval processes suitable for the retrieval of high-level radioactive waste inside underground storage tanks. This program, represented by industry, national laboratories, and academia, seeks to provide a technical and cost basis to support site-remediation decisions. Part of this program has involved the development of a high-pressure waterjet dislodging system and pneumatic conveyance integrated as a scarifier. Industry has used high-pressure waterjet technology for many years to mine, cut, clean, and scarify materials with a broad range of properties. The scarifier was developed as an alternate means of retrieving waste inside Hanford single-shell tanks, particularly hard, stubborn waste. Testing of the scarifier has verified its ability to retrieve a wide range of tank waste ranging from extremely hard waste that is resistant to other dislodging means to soft sludge and even supernatant fluid. Since the scarifier expends water at a low rate and recovers most of the water as it is used, the scarifier is well suited for retrieval of tanks that leak and cannot be safely sluiced or applications where significant waste dilution is not acceptable. Although the original scarifier was effective, it became evident that a lighter, more compact version that would be compatible with light weight deployment systems under development, such as the Light Duty Utility Arm, was needed. At the end of FY 95, the Light Weight Scarifier (LWS) was designed to incorporate the features of the original scarifier in a smaller, lighter end effector. During FY 96, the detailed design of the LWS was completed and two prototypes were fabricated.

Engineering development of a lightweight high-pressure scarifier for tank waste retrieval

International Nuclear Information System (INIS)

Hatchell, B.K.

1997-09-01

The Retrieval Process Development and Enhancements Program (RPD ampersand E) is sponsored by the U.S. Department of Energy Tanks Focus Area to investigate existing and emerging retrieval processes suitable for the retrieval of high-level radioactive waste inside underground storage tanks. This program, represented by industry, national laboratories, and academia, seeks to provide a technical and cost basis to support site-remediation decisions. Part of this program has involved the development of a high-pressure waterjet dislodging system and pneumatic conveyance integrated as a scarifier. Industry has used high-pressure waterjet technology for many years to mine, cut, clean, and scarify materials with a broad range of properties. The scarifier was developed as an alternate means of retrieving waste inside Hanford single-shell tanks, particularly hard, stubborn waste. Testing of the scarifier has verified its ability to retrieve a wide range of tank waste ranging from extremely hard waste that is resistant to other dislodging means to soft sludge and even supernatant fluid. Since the scarifier expends water at a low rate and recovers most of the water as it is used, the scarifier is well suited for retrieval of tanks that leak and cannot be safely sluiced or applications where significant waste dilution is not acceptable. Although the original scarifier was effective, it became evident that a lighter, more compact version that would be compatible with light weight deployment systems under development, such as the Light Duty Utility Arm, was needed. At the end of FY 95, the Light Weight Scarifier (LWS) was designed to incorporate the features of the original scarifier in a smaller, lighter end effector. During FY 96, the detailed design of the LWS was completed and two prototypes were fabricated

The status of two-arm bilateral servomanipulator system development

International Nuclear Information System (INIS)

Kawatsuma, S.; Fujita, Y.; Maeda, M.; Hayashi, S.; Sasao, N.; Kashihara, H.

1987-01-01

A bilateral servo-manipulator (BSM) has been developed to meet requirements for the new remote maintenance technologies. It will be applied to the Vitrification Plant (V.P.) of high-level liquid waste and FBR Fuel Recycle Pilot Plant (F.R.P.P.). Above mentioned new remote technologies are to perform the maintenance task of all equipments and machines which are installed in the large hot cell, and have several developing items such as BSM, rack, wall-through plug, remote connector and so on. Prototype II model of BSM has been designed and manufactured, adopting some new technologies to concentrate on operability, reliability and maintenability. This paper presents the status of two-arm bilateral servomanipulator system development

Whole-arm tactile sensing for beneficial and acceptable contact during robotic assistance.

Science.gov (United States)

Grice, Phillip M; Killpack, Marc D; Jain, Advait; Vaish, Sarvagya; Hawke, Jeffrey; Kemp, Charles C

2013-06-01

Many assistive tasks involve manipulation near the care-receiver's body, including self-care tasks such as dressing, feeding, and personal hygiene. A robot can provide assistance with these tasks by moving its end effector to poses near the care-receiver's body. However, perceiving and maneuvering around the care-receiver's body can be challenging due to a variety of issues, including convoluted geometry, compliant materials, body motion, hidden surfaces, and the object upon which the body is resting (e.g., a wheelchair or bed). Using geometric simulations, we first show that an assistive robot can achieve a much larger percentage of end-effector poses near the care-receiver's body if its arm is allowed to make contact. Second, we present a novel system with a custom controller and whole-arm tactile sensor array that enables a Willow Garage PR2 to regulate contact forces across its entire arm while moving its end effector to a commanded pose. We then describe tests with two people with motor impairments, one of whom used the system to grasp and pull a blanket over himself and to grab a cloth and wipe his face, all while in bed at his home. Finally, we describe a study with eight able-bodied users in which they used the system to place objects near their bodies. On average, users perceived the system to be safe and comfortable, even though substantial contact occurred between the robot's arm and the user's body.

Improvement of arm solutions via step width self-tuning algorithm

International Nuclear Information System (INIS)

Sasaki, Shinobu

1993-09-01

This paper is concerned with the significant numerical problems encountered in solving the manipulator inverse kinematics. That is, essential difficulties occurred in linearized calculations such as dependence on initial guess or narrow search region are improved with great success by means of a step width self-tuning algorithm. In a practical optimization model based on the reduction of dimensionality and linearized approximation, it is shown that the desired arm solutions are found out at a faster rate over a wider application range. Also, the capability of finding solutions via a traditional Newton method is enhanced to a large extent by combined application of the proposed idea and simplex method. (author)

Selective memory retrieval can impair and improve retrieval of other memories.

Science.gov (United States)

Bäuml, Karl-Heinz T; Samenieh, Anuscheh

2012-03-01

Research from the past decades has shown that retrieval of a specific memory (e.g., retrieving part of a previous vacation) typically attenuates retrieval of other memories (e.g., memories for other details of the event), causing retrieval-induced forgetting. More recently, however, it has been shown that retrieval can both attenuate and aid recall of other memories (K.-H. T. Bäuml & A. Samenieh, 2010). To identify the circumstances under which retrieval aids recall, the authors examined retrieval dynamics in listwise directed forgetting, context-dependent forgetting, proactive interference, and in the absence of any induced memory impairment. They found beneficial effects of selective retrieval in listwise directed forgetting and context-dependent forgetting but detrimental effects in all the other conditions. Because context-dependent forgetting and listwise directed forgetting arguably reflect impaired context access, the results suggest that memory retrieval aids recall of memories that are subject to impaired context access but attenuates recall in the absence of such circumstances. The findings are consistent with a 2-factor account of memory retrieval and suggest the existence of 2 faces of memory retrieval. 2012 APA, all rights reserved

Distinct Hippocampal Pathways Mediate Dissociable Roles of Context in Memory Retrieval.

Science.gov (United States)

Xu, Chun; Krabbe, Sabine; Gründemann, Jan; Botta, Paolo; Fadok, Jonathan P; Osakada, Fumitaka; Saur, Dieter; Grewe, Benjamin F; Schnitzer, Mark J; Callaway, Edward M; Lüthi, Andreas

2016-11-03

Memories about sensory experiences are tightly linked to the context in which they were formed. Memory contextualization is fundamental for the selection of appropriate behavioral reactions needed for survival, yet the underlying neuronal circuits are poorly understood. By combining trans-synaptic viral tracing and optogenetic manipulation, we found that the ventral hippocampus (vHC) and the amygdala, two key brain structures encoding context and emotional experiences, interact via multiple parallel pathways. A projection from the vHC to the basal amygdala mediates fear behavior elicited by a conditioned context, whereas a parallel projection from a distinct subset of vHC neurons onto midbrain-projecting neurons in the central amygdala is necessary for context-dependent retrieval of cued fear memories. Our findings demonstrate that two fundamentally distinct roles of context in fear memory retrieval are processed by distinct vHC output pathways, thereby allowing for the formation of robust contextual fear memories while preserving context-dependent behavioral flexibility. Copyright © 2016 Elsevier Inc. All rights reserved.

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

Science.gov (United States)

Brown, Robert Michael, Jr.

1995-01-01

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

Upper Bounds Prediction of the Execution Time of Programs Running on ARM Cortex-A Systems

OpenAIRE

Fedotova , Irina; Krause , Bernd; Siemens , Eduard

2017-01-01

Part 6: Embedded and Real Time Systems; International audience; This paper describes the application of statistical analysis of the timing behavior for a generic real-time task model. Using specific processor of ARM Cortex-A series and an empirical approach of time values retrieval, the algorithm to predict the upper bounds for the task of the time acquisition operation has been formulated. For the experimental verification of the algorithm, we have used the robust Measurement-Based Probabili...

Strategic retrieval processing and the impact of knowing when a memory was first created.

Science.gov (United States)

Roberts, J S; Tsivilis, D; Mayes, A R

2014-04-01

Retrieval orientation refers to a process where participants strategically alter how a memory cue is processed in response to different task demands. In the present study we explored whether retrieval orientation is influenced by knowing when an old stimulus was first encoded. Participants completed separate remember/know test blocks for old items from a recent delay (40min) and old items from a remote delay (48h). Manipulations at encoding ensured that performance levels were matched between these two blocks, thus avoiding confounds with differences in retrieval effort. Importantly, a third test block comprised old items from both delays randomly intermixed. As the nature of the old items varies unpredictably in the mixed block, it should not be possibly to adopt a specific retrieval orientation and the mixed block therefore acts as a control condition. Participants saw the words "mixed," "recent" or "remote" prior to each test block. Comparing ERPs from the recent and remote blocks permitted an investigation of whether participants alter their retrieval orientation in response to the specific length of the retention interval. Comparing ERPs from the pure (recent and remote) test blocks to ERPs from the mixed block permitted an investigation of whether delay information per se led to differences in retrieval strategy. Analysis of the ERP data found no differences between the recent and remote blocks. However, ERPs from these pure blocks were significantly less positive than ERPs from the mixed block from 200ms towards the end of the epoch. The findings suggest that the delay information was useful in a general sense and encouraged retrieval strategies distinct from those engaged in the mixed block. We speculate that such strategies might relate to whether or not the retrieval search is specific and constrained and/or whether processes that serve to reinstate the original encoding context are engaged. Copyright © 2014 Elsevier Inc. All rights reserved.

Foreign Body Retrieval

Medline Plus

Full Text Available ... Physician Resources Professions Site Index A-Z Foreign Body Retrieval Foreign body retrieval is the removal of ... foreign body detection and removal? What is Foreign Body Retrieval? Foreign body retrieval involves the removal of ...

Automation and use of robotic arm for development and routine production of radiopharmaceuticals

International Nuclear Information System (INIS)

Salvadori, P.A.; Di Sacco, S.; Riva, A.; Fusani, L.

1993-01-01

The target of a radiopharmaceutical group is twofold: production of radiotracers for clinical use (routine) and development of new compounds. The level of activity to be handled selects the strategy to be used for radiocompounds handling, ranging from direct manipulation during basic development at microcurie level to sophisticated equipments such as automated black-boxes and robotic arms at curie level. The authors looked for a common solution, to both the management of routine productions and the problems arising during activity scaling up in new tracer development, by choosing a robotic arm integrated by a variety of specialized automatic devices able to perform actions which are difficult (too slow, too precise, too complicated, etc.,) to be made by the robot. The final solution from this approach is a open-quotes synthetic stationclose quotes with flexible architecture which can be used for different applications without harware modification/adaptation

The role of retrieval mode and retrieval orientation in retrieval practice: insights from comparing recognition memory testing formats and restudying.

Science.gov (United States)

Gao, Chuanji; Rosburg, Timm; Hou, Mingzhu; Li, Bingbing; Xiao, Xin; Guo, Chunyan

2016-12-01

The effectiveness of retrieval practice for aiding long-term memory, referred to as the testing effect, has been widely demonstrated. However, the specific neurocognitive mechanisms underlying this phenomenon remain unclear. In the present study, we sought to explore the role of pre-retrieval processes at initial testing on later recognition performance by using event-related potentials (ERPs). Subjects studied two lists of words (Chinese characters) and then performed a recognition task or a source memory task, or restudied the word lists. At the end of the experiment, subjects received a final recognition test based on the remember-know paradigm. Behaviorally, initial testing (active retrieval) enhanced memory retention relative to restudying (passive retrieval). The retrieval mode at initial testing was indexed by more positive-going ERPs for unstudied items in the active-retrieval tasks than in passive retrieval from 300 to 900 ms. Follow-up analyses showed that the magnitude of the early ERP retrieval mode effect (300-500 ms) was predictive of the behavioral testing effect later on. In addition, the ERPs for correctly rejected new items during initial testing differed between the two active-retrieval tasks from 500 to 900 ms, and this ERP retrieval orientation effect predicted differential behavioral testing gains between the two active-retrieval conditions. Our findings confirm that initial testing promotes later retrieval relative to restudying, and they further suggest that adopting pre-retrieval processing in the forms of retrieval mode and retrieval orientation might contribute to these memory enhancements.

A Comparison of FDM Structural Layouts and Implementation of an Open-Source Arm-Based System

Directory of Open Access Journals (Sweden)

Pollard David

2018-01-01

Full Text Available Fused Deposition Modelling (FDM is a manufacturing process to build components in a layer-by-layer approach through extrusion of polymers from a movable nozzle, allowing for significantly higher degrees of complexity over machined parts. Current FDM systems typically use actuation provided through a gantry or delta structural layout, operating through depositing successive planar layers in a 2.5D process; it has been shown in numerous studies the bonding between layers has significantly lower strength than the homogeneous material or in-plane properties - an issue which can be mitigated through the deposition of curved layers. This paper compares four differing structural layouts of FDM systems (gantry, delta, Stewart Platform, and arm-based to identify the key advantages of an arm-based method as the increased workspace and manipulability enabling “Additive Finalisation” of components, and suitability for curved layer FDM. Details are then presented of the open-source implementation and evaluation of a 6 degree-of-freedom arm-based FDM printer at the University of Bristol.

Involuntary symbol manipulation (Pig Latin) from external control: Implications for thought suppression.

Science.gov (United States)

Cho, Hyein; Zarolia, Pareezad; Gazzaley, Adam; Morsella, Ezequiel

2016-05-01

In ironic processing, one is more likely to think about something (e.g., white bears) when instructed to not think about that thing. Entry into consciousness of such content may be automatic, reflecting the 'encapsulated' nature of the generation of conscious contents. Based on this research, the Reflexive Imagery Task (RIT) reveals that, following the activation of action sets, conscious contents can arise involuntarily and systematically in response to external stimuli. In the most basic version of this paradigm, participants are presented with visual objects and instructed to not think of the names of the objects, which is challenging. Here, we addressed one criticism of the RIT-that the effect arises only for automatic processes (e.g., forms of cued-memory retrieval) and not for more complex processes (e.g., symbol manipulation). Participants were first trained to perform a word-manipulation task similar to the game of Pig Latin (e.g., "CAR" becomes "AR-CAY"). Such a task involves complex symbol manipulations that are associated with processes in frontal cortex. After training, participants were instructed to not transform stimulus words in this way. The RIT effect still arose under these conditions. This striking finding is relevant to theories of cognitive control, psychopathology, and conscious/unconscious processing. Copyright © 2016 Elsevier B.V. All rights reserved.

Acute stress impairs the retrieval of extinction memory in humans

Science.gov (United States)

Raio, Candace M.; Brignoni-Perez, Edith; Goldman, Rachel; Phelps, Elizabeth A.

2014-01-01

Extinction training is a form of inhibitory learning that allows an organism to associate a previously aversive cue with a new, safe outcome. Extinction does not erase a fear association, but instead creates a competing association that may or may not be retrieved when a cue is subsequently encountered. Characterizing the conditions under which extinction learning is expressed is important to enhancing the treatment of anxiety disorders that rely on extinction-based exposure therapy as a primary treatment technique. The ventromedial prefrontal cortex, which plays an important role in the expression of extinction memory, has been shown to be functionally impaired after stress exposure. Further, recent research in rodents found that exposure to stress led to deficits in extinction retrieval, although this has yet to be tested in humans. To explore how stress might influence extinction retrieval in humans, participants underwent a differential aversive learning paradigm, in which one image was probabilistically paired with an aversive shock while the other image denoted safety. Extinction training directly followed, at which point reinforcement was omitted. A day later, participants returned to the lab and either completed an acute stress manipulation (i.e., cold pressor), or a control task, before undergoing an extinction retrieval test. Skin conductance responses and salivary cortisol concentrations were measured throughout each session as indices of fear arousal and neuroendocrine stress responses, respectively. The efficacy of our stress induction was established by observing significant increases in cortisol for the stress condition only. We examined extinction retrieval by comparing conditioned responses during the last trial of extinction (day 1) with that of the first trial of re-extinction (day 2). Groups did not differ on initial fear acquisition or extinction, however, one day later participants in the stress group (n = 27) demonstrated significantly less

Isolated effects of peripheral arm and central body cooling on arm performance.

Science.gov (United States)

Giesbrecht, G G; Wu, M P; White, M D; Johnston, C E; Bristow, G K

1995-10-01

Whole body cooling impairs manual arm performance. The independent contributions of local (peripheral) and/or whole body (central) cooling are not known. Therefore, a protocol was developed in which the arm and the rest of the body could be independently cooled. Biceps temperature (Tmus), at a depth of 20 mm, and esophageal temperature (Tes) were measured. Six subjects were immersed to the clavicles in a tank (body tank) of water under 3 conditions: 1) cold body-cold arm (CB-CA); 2) warm body-cold arm (WB-CA); and 3) cold body-warm arm (CB-WA). In the latter two conditions, subjects placed their dominant arm in a separate (arm) tank. Water temperature (Tw) in each tank was independently controlled. In conditions requiring cold body and/or cold arm, Tw in the appropriate tanks was 8 degrees C. In conditions requiring warm body and/or warm arm, Tw in the appropriate tanks was adjusted between 29 and 38 degrees C to maintain body/arm temperature at baseline values. A battery of 6 tests, requiring fine or gross motor movements, were performed immediately before immersion and after 15, 45, and 70 minutes of immersion. In CB-CA, Tes decreased from an average of 37.2 to 35.6 degrees C and Tmus decreased from 34.6 to 22.0 degrees C. In WB-CA, Tmus decreased to 18.1 degrees C (Tes = 37.1 degrees C), and in CB-WA, Tes decreased to 35.8 degrees C (Tmus = 34.5 degrees C). By the end of immersion, there were significant decrements (43-85%) in the performance of all tests in CB-CA and WB-CA (p body and/or the arm elicits large decrements in finger, hand and arm performance. The decrements are due almost entirely to the local effects of arm tissue cooling.

Atmospheric Radiation Measurement Program Science Plan. Current Status and Future Directions of the ARM Science Program

Energy Technology Data Exchange (ETDEWEB)

Ackerman, Thomas P.; Del Genio, Anthony D.; Ellingson, Robert G.; Ferrare, Richard A.; Klein, Steve A.; McFarquhar, Gregory M.; Lamb, Peter J.; Long, Charles M.; Verlinde, Johannes

2004-10-30

The Atmospheric Radiation Measurement (ARM) Program has matured into one of the key programs in the U.S. Climate Change Science Program. The ARM Program has achieved considerable scientific success in a broad range of activities, including site and instrument development, atmospheric radiative transfer, aerosol science, determination of cloud properties, cloud modeling, and cloud parameterization testing and development. The focus of ARM science has naturally shifted during the last few years to an increasing emphasis on modeling and parameterization studies to take advantage of the long time series of data now available. During the next 5 years, the principal focus of the ARM science program will be to: Maintain the data record at the fixed ARM sites for at least the next five years; Improve significantly our understanding of and ability to parameterize the 3-D cloud-radiation problem at scales from the local atmospheric column to the global climate model (GCM) grid square; Continue developing techniques to retrieve the properties of all clouds, with a special focus on ice clouds and mixed-phase clouds; Develop a focused research effort on the indirect aerosol problem that spans observations, physical models, and climate model parameterizations; Implement and evaluate an operational methodology to calculate broad-band heating rates in the atmospheric columns at the ARM sites; Develop and implement methodologies to use ARM data more effectively to test atmospheric models, both at the cloud-resolving model scale and the GCM scale; and, Use these methodologies to diagnose cloud parameterization performance and then refine these parameterizations to improve the accuracy of climate model simulations. In addition, the ARM Program is actively developing a new ARM Mobile Facility (AMF) that will be available for short deployments (several months to a year or more) in climatically important regions. The AMF will have much of the same instrumentation as the remote

Neural correlates of memory retrieval in the prefrontal cortex.

Science.gov (United States)

Nácher, Verónica; Ojeda, Sabiela; Cadarso-Suárez, Carmen; Roca-Pardiñas, Javier; Acuña, Carlos

2006-08-01

Working memory includes short-term representations of information that were recently experienced or retrieved from long-term representations of sensory stimuli. Evidence is presented here that working memory activates the same dorsolateral prefrontal cortex neurons that: (a) maintained recently perceived visual stimuli; and (b) retrieved visual stimuli from long-term memory (LTM). Single neuron activity was recorded in the dorsolateral prefrontal cortex while trained monkeys discriminated between two orientated lines shown sequentially, separated by a fixed interstimulus interval. This visual task required the monkey to compare the orientation of the second line with the memory trace of the first and to decide the relative orientation of the second. When the behavioural task required the monkey to maintain in working memory a first stimulus that continually changed from trial to trial, the discharge in these cells was related to the parameters--the orientation--of the memorized item. Then, what the monkey had to recall from memory was manipulated by switching to another task in which the first stimulus was not shown, and had to be retrieved from LTM. The discharge rates of the same neurons also varied depending on the parameters of the memorized stimuli, and their response was progressively delayed as the monkey performed the task. These results suggest that working memory activates dorsolateral prefrontal cortex neurons that maintain parametrical visual information in short-term and LTM, and that the contents of working memory cannot be limited to what has recently happened in the sensory environment.

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...

Have Third-World Arms Industries Reduced Arms Imports?

OpenAIRE

Looney, R.E.

1989-01-01

Current Research on Peace and Violence, no. 1, 1989. Refereed Journal Article In 1945 only Argentina, Brazil, India and South Africa in the Third World possessed domestic arms industries which produced weapons systems other than small arms and ammunition (SIPRI, 1987, 76).

Dynamic parameter identification of robot arms with servo-controlled electrical motors

Science.gov (United States)

Jiang, Zhao-Hui; Senda, Hiroshi

2005-12-01

This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

Octopus arm movements under constrained conditions: adaptation, modification and plasticity of motor primitives.

Science.gov (United States)

Richter, Jonas N; Hochner, Binyamin; Kuba, Michael J

2015-04-01

The motor control of the eight highly flexible arms of the common octopus (Octopus vulgaris) has been the focus of several recent studies. Our study is the first to manage to introduce a physical constraint to an octopus arm and investigate the adaptability of stereotypical bend propagation in reaching movements and the pseudo-limb articulation during fetching. Subjects (N=6) were placed inside a transparent Perspex box with a hole at the center that allowed the insertion of a single arm. Animals had to reach out through the hole toward a target, to retrieve a food reward and fetch it. All subjects successfully adjusted their movements to the constraint without an adaptation phase. During reaching tasks, the animals showed two movement strategies: stereotypical bend propagation reachings, which were established at the hole of the Perspex box and variant waving-like movements that showed no bend propagations. During fetching movements, no complete pseudo-joint fetching was observed outside the box and subjects pulled their arms through the hole in a pull-in like movement. Our findings show that there is some flexibility in the octopus motor system to adapt to a novel situation. However, at present, it seems that these changes are more an effect of random choices between different alternative motor programs, without showing clear learning effects in the choice between the alternatives. Interestingly, animals were able to adapt the fetching movements to the physical constraint, or as an alternative explanation, they could switch the motor primitive fetching to a different motor primitive 'arm pulling'. © 2015. Published by The Company of Biologists Ltd.

Quantitative assessment of paretic limb dexterity and interlimb coordination during bilateral arm rehabilitation training.

Science.gov (United States)

Xu, Chang; Li, Siyi; Wang, Kui; Hou, Zengguang; Yu, Ningbo

2017-07-01

In neuro-rehabilitation after stroke, the conventional constrained induced movement therapy (CIMT) has been well-accepted. Existing bilateral trainings are mostly on mirrored symmetrical motion. However, complementary bilateral movements are dominantly involved in activities of daily living (ADLs), and functional bilateral therapies may bring better skill transfer from trainings to daily life. Neurophysiological evidence is also growing. In this work, we firstly introduce our bilateral arm training system realized with a haptic interface and a motion sensor, as well as the tasks that have been designed to train both the manipulation function of the paretic arm and coordination of bilateral upper limbs. Then, we propose quantitative measures for functional assessment of complementary bilateral training performance, including kinematic behavior indices, smoothness, submovement and bimanual coordination. After that, we describe the experiments with healthy subjects and the results with respect to these quantitative measures. Feasibility and sensitivity of the proposed indices were evaluated through comparison of unilateral and bilateral training outcomes. The proposed bilateral training system and tasks, as well as the quantitative measures, have been demonstrated effective for training and assessment of unilateral and bilateral arm functions.

Riser configuration, Tank 241-A-105, light duty utility arm

International Nuclear Information System (INIS)

Boucher, T.D.

1994-01-01

The light-duty utility arm (LDUA) is a seven-joint stainless steel robotic arm with a payload capacity of 75 lb. The robotic arm is deployed vertically with a maximum vertical reach of 63 ft. and a maximum horizontal reach of 13.5 ft. The functional requirements of the LDUA system are mapping and characterization of waste in Hanford single-shell tanks (SST) before and during waste retrieval. The LDUA system consists of a mobile deployment system (MDS), a vertical positioning mast (VPM), a tank riser interface confinement (TRIC), the LDUA, and a controller subsystem or support trailer. Currently, the system is in design and is subject to change; however, the LDUA or robotic arm will be deployed through a 12-in. riser above the tank dome. Field trips were performed to gather specifics for future deployment of the LDUA in Tank 241-A-105. The purpose of this report is to support two previous reports for the investigation of SSTs for deployment of the LDUA system. The first report identified the availability of risers while the second report identified the availability of Tanks 241-A-105, 241-A-S-109, 241-A-T-101, and 241-A-T-109 for deployment of the LDUA system. The second report also identified those 4- and 12-in. risers that could be used for deployment of the LDUA and camera system. This report addresses accessibility to the 241-A Tank Farm and the usability of the Tank 241-A-105 risers. The following information for assisting in the design and deployment of the LDUA will be discussed in this report: radiation survey; flange identification; high resolution video; computer simulated model; and field survey

Arm Pain

Science.gov (United States)

... be a sign of a heart attack. Seek emergency treatment if you have: Arm, shoulder or back ... http://www.mayoclinic.org/symptoms/arm-pain/basics/definition/SYM-20050870 . Mayo Clinic Footer Legal Conditions and ...

Dexterous Manipulation: Making Remote Manipulators Easy to Use

International Nuclear Information System (INIS)

HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

2001-01-01

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

Expressions of manipulator kinematic equations via symbolic computation

International Nuclear Information System (INIS)

Sasaki, Shinobu

1993-09-01

While it is simple in principle to determine the position and orientation of the manipulator hand, its computational process has been regarded as extremely laborious since trigonometric functions must be calculated many times in operations of revolute or rotation. Due to development of a general class of kinematic algorithm based on iterative methods, however, we have come to a satisfactory settlement of this problem. In the present article, we consider to construct symbolic kinematic equations in an automatic fashion making use of the algorithm. To this end, recursive expressions are applied to a symbolic computation system REDUCE. As a concrete result, a complete kinematic model for a six-jointed arm having all kinematic attributes is provided. Together with work space analysis, the computer-aided generation of kinematic equations in symbolic form will serve to liberate us from their cumbersome derivations. (author)

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)

Use of the ARM Measurements of Spectral Zenith Radiance for Better Understanding of 3D Cloud-Radiation Processes & Aerosol-Cloud Interaction

Energy Technology Data Exchange (ETDEWEB)

Alexander Marshak; Warren Wiscombe; Yuri Knyazikhin; Christine Chiu

2011-05-24

We proposed a variety of tasks centered on the following question: what can we learn about 3D cloud-radiation processes and aerosol-cloud interaction from rapid-sampling ARM measurements of spectral zenith radiance? These ARM measurements offer spectacular new and largely unexploited capabilities in both the temporal and spectral domains. Unlike most other ARM instruments, which average over many seconds or take samples many seconds apart, the new spectral zenith radiance measurements are fast enough to resolve natural time scales of cloud change and cloud boundaries as well as the transition zone between cloudy and clear areas. In the case of the shortwave spectrometer, the measurements offer high time resolution and high spectral resolution, allowing new discovery-oriented science which we intend to pursue vigorously. Research objectives are, for convenience, grouped under three themes: • Understand radiative signature of the transition zone between cloud-free and cloudy areas using data from ARM shortwave radiometers, which has major climatic consequences in both aerosol direct and indirect effect studies. • Provide cloud property retrievals from the ARM sites and the ARM Mobile Facility for studies of aerosol-cloud interactions. • Assess impact of 3D cloud structures on aerosol properties using passive and active remote sensing techniques from both ARM and satellite measurements.

Storage and retrieval of electromagnetic waves with orbital angular momentum via plasmon-induced transparency.

Science.gov (United States)

Bai, Zhengyang; Xu, Datang; Huang, Guoxiang

2017-01-23

We propose a scheme to realize the storage and retrieval of high-dimensional electromagnetic waves with orbital angular momentum (OAM) via plasmon-induced transparency (PIT) in a metamaterial, which consists of an array of meta-atoms constructed by a metallic structure loaded with two varactors. We show that due to PIT effect the system allows the existence of shape-preserving dark-mode plasmonic polaritons, which are mixture of electromagnetic-wave modes and dark oscillatory modes of the meta-atoms and may carry various OAMs. We demonstrate that the slowdown, storage and retrieval of multi-mode electromagnetic waves with OAMs can be achieved through the active manipulation of a control field. Our work raises the possibility for realizing PIT-based spatial multi-mode memory of electromagnetic waves and is promising for practical application of information processing with large capacity by using room-temperature metamaterials.

Machine Learing Applications on a Radar Wind Profiler Deployment During the ARM GoAmazon2014/5 Campaign

Science.gov (United States)

Giangrande, S. E.; WANG, D.; Hardin, J. C.; Mitchell, J.

2017-12-01

As part of the 2 year Department of Energy Atmospheric Radiation Measurement (ARM) Observations and Modeling of the Green Ocean Amazon (GoAmazon2014/5) campaign, the ARM Mobile Facility (AMF) collected a unique set of observations in a region of strong climatic significance near Manacapuru, Brazil. An important example for the beneficial observational record obtained by ARM during this campaign was that of the Radar Wind Profiler (RWP). This dataset has been previously documented for providing critical convective cloud vertical air velocity retrievals and precipitation properties (e.g., calibrated reflectivity factor Z, rainfall rates) under a wide variety of atmospheric conditions. Vertical air motion estimates to within deep convective cores such as those available from this RWP system have been previously identified as critical constraints for ongoing global climate modeling activities and deep convective cloud process studies. As an extended deployment within this `green ocean' region, the RWP site and collocated AMF surface gauge instrumentation experienced a unique hybrid of tropical and continental precipitation conditions, including multiple wet and dry season precipitation regimes, convective and organized stratiform storm dynamics and contributions to rainfall accumulation, pristine aerosol conditions of the locale, as well as the effects of the Manaus, Brazil, mega city pollution plume. For hydrological applications and potential ARM products, machine learning methods developed using this dataset are explored to demonstrate advantages in geophysical retrievals when compared to traditional methods. Emphasis is on performance improvements when providing additional information on storm structure and regime or echo type classifications. Since deep convective cloud dynamic insights (core updraft/downdraft properties) are difficult to obtain directly by conventional radars that also observe radar reflectivity factor profiles similar to RWP systems, we also

Retrieval-Based Learning: Positive Effects of Retrieval Practice in Elementary School Children

Directory of Open Access Journals (Sweden)

Jeffrey D. Karpicke

2016-03-01

Full Text Available A wealth of research has demonstrated that practicing retrieval is a powerful way to enhance learning. However, nearly all prior research has examined retrieval practice with college students. Little is known about retrieval practice in children, and even less is known about possible individual differences in retrieval practice. In three experiments, 88 children (mean age 10 years studied a list of words and either restudied the items or practiced retrieving them. They then took a final free recall test (Experiments 1 and 2 or recognition test (Experiment 3. In all experiments, children showed robust retrieval practice effects. Although a range of individual differences in reading comprehension and processing speed were observed among these children, the benefits of retrieval practice were independent of these factors. The results contribute to the growing body of research supporting the mnemonic benefits of retrieval practice and provide preliminary evidence that practicing retrieval may be an effective learning strategy for children with varying levels of reading comprehension and processing speed.

Memory loss versus memory distortion: the role of encoding and retrieval deficits in Korsakoff patients' false memories.

Science.gov (United States)

Van Damme, Ilse; d'Ydewalle, Gery

2009-05-01

Recent studies with the Deese/Roediger-McDermott (DRM) paradigm have revealed that Korsakoff patients show reduced levels of false recognition and different patterns of false recall compared to controls. The present experiment examined whether this could be attributed to an encoding deficit, or rather to problems with explicitly retrieving thematic information at test. In a variation on the DRM paradigm, both patients and controls were presented with associative as well as categorised word lists, with the order of recall and recognition tests manipulated between-subjects. The results point to an important role for the automatic/controlled retrieval distinction: Korsakoff patients' false memory was only diminished compared to controls' when automatic or short-term memory processes could not be used to fulfil the task at hand. Hence, the patients' explicit retrieval deficit appears to be crucial in explaining past and present data. Results are discussed in terms of fuzzy-trace and activation-monitoring theories.

Brief, pre-retrieval stress differentially influences long-term memory depending on sex and corticosteroid response.

Science.gov (United States)

Zoladz, Phillip R; Kalchik, Andrea E; Hoffman, Mackenzie M; Aufdenkampe, Rachael L; Burke, Hanna M; Woelke, Sarah A; Pisansky, Julia M; Talbot, Jeffery N

2014-03-01

Previous work has indicated that stress generally impairs memory retrieval. However, little research has addressed discrepancies that exist in this line of work and the factors that could explain why stress can exert differential effects on retrieval processes. Therefore, we examined the influence of brief, pre-retrieval stress that was administered immediately before testing on long-term memory in males and females. Participants learned a list of 42 words varying in emotional valence and arousal. Following the learning phase, participants were given an immediate free recall test. Twenty-four hours later, participants submerged their non-dominant hand in a bath of ice cold (Stress) or warm (No Stress) water for 3 min. Immediately following this manipulation, participants' memory for the word list was assessed via free recall and recognition tests. We observed no group differences on short-term memory. However, male participants who showed a robust cortisol response to the stress exhibited enhanced long-term recognition memory, while male participants who demonstrated a blunted cortisol response to the stress exhibited impaired long-term recall and recognition memory. These findings suggest that the effects of brief, pre-retrieval stress on long-term memory are sex-specific and mediated by corticosteroid mechanisms. Copyright © 2014 Elsevier Inc. All rights reserved.

Human-Like Behavior of Robot Arms: General Considerations and the Handwriting Task-Part I: Mathematical Description of Human-Like Motion: Distributed Positioning and Virtual Fatigue

NARCIS (Netherlands)

Potkonjak, V.; Tzafestas, S.; Kostic, D.; Djordjevic, G.

2001-01-01

This two-part paper is concerned with the analysis and achievement of human-like behavior by robot arms (manipulators). The analysis involves three issues: (i) the resolution of the inverse kinematics problem of redundant robots, (ii) the separation of the end-effector's motion into two components,

Bayesian aerosol retrieval algorithm for MODIS AOD retrieval over land

Science.gov (United States)

Lipponen, Antti; Mielonen, Tero; Pitkänen, Mikko R. A.; Levy, Robert C.; Sawyer, Virginia R.; Romakkaniemi, Sami; Kolehmainen, Ville; Arola, Antti

2018-03-01

We have developed a Bayesian aerosol retrieval (BAR) algorithm for the retrieval of aerosol optical depth (AOD) over land from the Moderate Resolution Imaging Spectroradiometer (MODIS). In the BAR algorithm, we simultaneously retrieve all dark land pixels in a granule, utilize spatial correlation models for the unknown aerosol parameters, use a statistical prior model for the surface reflectance, and take into account the uncertainties due to fixed aerosol models. The retrieved parameters are total AOD at 0.55 µm, fine-mode fraction (FMF), and surface reflectances at four different wavelengths (0.47, 0.55, 0.64, and 2.1 µm). The accuracy of the new algorithm is evaluated by comparing the AOD retrievals to Aerosol Robotic Network (AERONET) AOD. The results show that the BAR significantly improves the accuracy of AOD retrievals over the operational Dark Target (DT) algorithm. A reduction of about 29 % in the AOD root mean square error and decrease of about 80 % in the median bias of AOD were found globally when the BAR was used instead of the DT algorithm. Furthermore, the fraction of AOD retrievals inside the ±(0.05+15 %) expected error envelope increased from 55 to 76 %. In addition to retrieving the values of AOD, FMF, and surface reflectance, the BAR also gives pixel-level posterior uncertainty estimates for the retrieved parameters. The BAR algorithm always results in physical, non-negative AOD values, and the average computation time for a single granule was less than a minute on a modern personal computer.

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.

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

Performance evaluation of the Personal Mobility and Manipulation Appliance (PerMMA).

Science.gov (United States)

Wang, Hongwu; Xu, Jijie; Grindle, Garrett; Vazquez, Juan; Salatin, Ben; Kelleher, Annmarie; Ding, Dan; Collins, Diane M; Cooper, Rory A

2013-11-01

The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot created to provide people with severe physical disabilities enhanced assistance in both mobility and manipulation. PerMMA aims to improve functional independence when a personal care attendant is not available on site. PerMMA integrates both a smart powered wheelchair and two dexterous robotic arms to assist its users in completing essential mobility and manipulation tasks during basic and instrumental activities of daily living (ADL). Two user interfaces were developed: a local control interface and a remote operator controller. This paper reports on the evaluation of PerMMA with end users completing basic ADL tasks. Participants with both lower and upper extremity impairments (N=15) were recruited to operate PerMMA and complete up to five ADL tasks in a single session of no more than two hours (to avoid fatigue or frustration of the participants). The performance of PerMMA was evaluated by participants completing ADL tasks with two different control modes: local mode and cooperative control. The users' task completion performance and answers on pre/post-evaluation questionnaires demonstrated not only the ease in learning and usefulness of PerMMA, but also their attitudes toward assistance from advanced technology like PerMMA. As a part of the iterative development process, results of this work will serve as supporting evidence to identify design criteria and other areas for improvement of PerMMA. Copyright © 2013 IPEM. All rights reserved.

Electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength after stroke.

Science.gov (United States)

Mehrholz, Jan; Pohl, Marcus; Platz, Thomas; Kugler, Joachim; Elsner, Bernhard

2015-11-07

Electromechanical and robot-assisted arm training devices are used in rehabilitation, and may help to improve arm function after stroke. To assess the effectiveness of electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength in people after stroke. We also assessed the acceptability and safety of the therapy. We searched the Cochrane Stroke Group's Trials Register (last searched February 2015), the Cochrane Central Register of Controlled Trials (CENTRAL) (the Cochrane Library 2015, Issue 3), MEDLINE (1950 to March 2015), EMBASE (1980 to March 2015), CINAHL (1982 to March 2015), AMED (1985 to March 2015), SPORTDiscus (1949 to March 2015), PEDro (searched April 2015), Compendex (1972 to March 2015), and Inspec (1969 to March 2015). We also handsearched relevant conference proceedings, searched trials and research registers, checked reference lists, and contacted trialists, experts, and researchers in our field, as well as manufacturers of commercial devices. Randomised controlled trials comparing electromechanical and robot-assisted arm training for recovery of arm function with other rehabilitation or placebo interventions, or no treatment, for people after stroke. Two review authors independently selected trials for inclusion, assessed trial quality and risk of bias, and extracted data. We contacted trialists for additional information. We analysed the results as standardised mean differences (SMDs) for continuous variables and risk differences (RDs) for dichotomous variables. We included 34 trials (involving 1160 participants) in this update of our review. Electromechanical and robot-assisted arm training improved activities of daily living scores (SMD 0.37, 95% confidence interval (CI) 0.11 to 0.64, P = 0.005, I² = 62%), arm function (SMD 0.35, 95% CI 0.18 to 0.51, P arm muscle strength (SMD 0.36, 95% CI 0.01 to 0.70, P = 0.04, I² = 72%), but the quality of the evidence was low to very low

Development of mobile manipulator for maintenance work in containment vessels of nuclear power plants

International Nuclear Information System (INIS)

Omichi, Takeo; Nishihara, Masatoshi; Hosaka, Shigetaka; Nakayama, Junji; Sato, Masatoshi; Ishida, Michiyasu

1985-01-01

The teleoperation system with robot is described for in the containment vessels of nuclear power plants. We have developed a high level robot system as the practical use level. The robot is designed to execute the locomotions and manipulations required for closing and opening the valve, tightening the bolt and others. The robot consists of a locomotor with four legs and two driving wheels, an articulated manipulator with seven joints, and an ITV arm with stereo-camera. The size of the robot is small, that is about 500 mm in length, 500 mm in width, 1200 mm in height and 420 kg in weight. The robot can be operated in a hostile environment, which has a 10 6 R gamma ray dose, 70 deg C temperature, 100 % relative humidity. We have added an advanced control method in order to reduce the operator's load. Also, an interlock and a fail-safe control are installed in the robot system. (author)

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)

A numerical investigation of flow around octopus-like arms: near-wake vortex patterns and force development.

Science.gov (United States)

Kazakidi, A; Vavourakis, V; Tsakiris, D P; Ekaterinaris, J A

2015-01-01

The fluid dynamics of cephalopods has so far received little attention in the literature, due to their complexity in structure and locomotion. The flow around octopuses, in particular, can be complicated due to their agile and dexterous arms, which frequently display some of the most diverse mechanisms of motion. The study of this flow amounts to a specific instance of the hydrodynamics problem for rough tapered cylinder geometries. The outstanding manipulative and locomotor skills of octopuses could inspire the development of advanced robotic arms, able to operate in fluid environments. Our primary aim was to study the hydrodynamic characteristics of such bio-inspired robotic models and to derive the hydrodynamic force coefficients as a concise description of the vortical flow effects. Utilizing computational fluid dynamic methods, the coefficients were computed on realistic morphologies of octopus-like arm models undergoing prescribed solid-body movements; such motions occur in nature for short durations in time, e.g. during reaching movements and exploratory behaviors. Numerical simulations were performed on translating, impulsively rotating, and maneuvering arms, around which the flow field structures were investigated. The results reveal in detail the generation of complex vortical flow structures around the moving arms. Hydrodynamic forces acting on a translating arm depend on the angle of incidence; forces generated during impulsive rotations of the arms are independent of their exact morphology and the angle of rotation; periodic motions based on a slow recovery and a fast power stroke are able to produce considerable propulsive thrust while harmonic motions are not. Parts of these results have been employed in bio-inspired models of underwater robotic mechanisms. This investigation may further assist elucidating the hydrodynamics underlying aspects of octopus locomotion and exploratory behaviors.

Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

Directory of Open Access Journals (Sweden)

Ismail Ben Abdallah

2016-01-01

Full Text Available Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case or trajectory generation based on feedback sensors (active robots case. However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE, a developed human-machine-interface (HMI allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.

ARM Airborne Carbon Measurements (ARM-ACME) and ARM-ACME 2.5 Final Campaign Reports

Energy Technology Data Exchange (ETDEWEB)

Biraud, S. C. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Tom, M. S. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Sweeney, C. [NOAA Earth Systems Research Lab., Boulder, CO (United States)

2016-01-01

We report on a 5-year multi-institution and multi-agency airborne study of atmospheric composition and carbon cycling at the Atmospheric Radiation Measurement (ARM) Climate Research Facility’s Southern Great Plains (SGP) site, with scientific objectives that are central to the carbon-cycle and radiative-forcing goals of the U.S. Global Change Research Program and the North American Carbon Program (NACP). The goal of these measurements is to improve understanding of 1) the carbon exchange of the Atmospheric Radiation Measurement (ARM) SGP region; 2) how CO₂ and associated water and energy fluxes influence radiative-forcing, convective processes, and CO₂ concentrations over the ARM SGP region, and 3) how greenhouse gases are transported on continental scales.

Dynamic simulation of road vehicle door window regulator mechanism of cross arm type

Science.gov (United States)

Miklos, I. Zs; Miklos, C.; Alic, C.

2017-01-01

The paper presents issues related to the dynamic simulation of a motor-drive operating mechanism of cross arm type, for the manipulation of road vehicle door windows, using Autodesk Inventor Professional software. The dynamic simulation of the mechanism involves a 3D modelling, kinematic coupling, drive motion parameters and external loads, as well as the graphically view of the kinematic and kinetostatic results for the various elements and kinematic couplings of the mechanism, under real operating conditions. Also, based on the results, the analysis of the mechanism components has been carried out using the finite element method.

Context reinstatement and memory for intrinsic versus extrinsic context: the role of item generation at encoding or retrieval.

Science.gov (United States)

Nieznański, Marek

2014-10-01

According to many theoretical accounts, reinstating study context at the time of test creates optimal circumstances for item retrieval. The role of context reinstatement was tested in reference to context memory in several experiments. On the encoding phase, participants were presented with words printed in two different font colors (intrinsic context) or two different sides of the computer screen (extrinsic context). At test, the context was reinstated or changed and participants were asked to recognize words and recollect their study context. Moreover, a read-generate manipulation was introduced at encoding and retrieval, which was intended to influence the relative salience of item and context information. The results showed that context reinstatement had no effect on memory for extrinsic context but affected memory for intrinsic context when the item was generated at encoding and read at test. These results supported the hypothesis that context information is reconstructed at retrieval only when context was poorly encoded at study. © 2014 Scandinavian Psychological Associations and John Wiley & Sons Ltd.

DEVELOPMENT OF IMPROVED TECHNIQUES FOR SATELLITE REMOTE SENSING OF CLOUDS AND RADIATION USING ARM DATA, FINAL REPORT

Energy Technology Data Exchange (ETDEWEB)

Minnis, Patrick [NASA Langley Research Center, Hampton, VA

2013-06-28

During the period, March 1997 – February 2006, the Principal Investigator and his research team co-authored 47 peer-reviewed papers and presented, at least, 138 papers at conferences, meetings, and workshops that were supported either in whole or in part by this agreement. We developed a state-of-the-art satellite cloud processing system that generates cloud properties over the Atmospheric Radiation (ARM) surface sites and surrounding domains in near-real time and outputs the results on the world wide web in image and digital formats. When the products are quality controlled, they are sent to the ARM archive for further dissemination. These products and raw satellite images can be accessed at http://cloudsgate2.larc.nasa.gov/cgi-bin/site/showdoc?docid=4&cmd=field-experiment-homepage&exp=ARM and are used by many in the ARM science community. The algorithms used in this system to generate cloud properties were validated and improved by the research conducted under this agreement. The team supported, at least, 11 ARM-related or supported field experiments by providing near-real time satellite imagery, cloud products, model results, and interactive analyses for mission planning, execution, and post-experiment scientific analyses. Comparisons of cloud properties derived from satellite, aircraft, and surface measurements were used to evaluate uncertainties in the cloud properties. Multiple-angle satellite retrievals were used to determine the influence of cloud structural and microphysical properties on the exiting radiation field.

Retrieval Attempts Enhance Learning, but Retrieval Success (versus Failure) Does Not Matter

Science.gov (United States)

Kornell, Nate; Klein, Patricia Jacobs; Rawson, Katherine A.

2015-01-01

Retrieving information from memory enhances learning. We propose a 2-stage framework to explain the benefits of retrieval. Stage 1 takes place as one attempts to retrieve an answer, which activates knowledge related to the retrieval cue. Stage 2 begins when the answer becomes available, at which point appropriate connections are strengthened and…

Understanding human quality judgment in assessing online forum contents for thread retrieval purpose

Science.gov (United States)

Ismail, Zuriati; Salim, Naomie; Huspi, Sharin Hazlin

2017-10-01

Compared to traditional materials or journals, user-generated contents are not peer-reviewed. Lack of quality control and the explosive growth of web contents make the task of finding quality information on the web especially critical. The existence of new facilities for producing web contents such as forum makes this issue more significant. This study focuses on online forums threads or discussion, where the forums contain valuable human-generated information in a form of discussions. Due to the unique structure of the online forum pages, special techniques are required to organize and search for information in these forums. Quality biased retrieval is a retrieval approach that search for relevant document and prioritized higher quality documents. Despite major concern of quality content and recent development of quality biased retrieval, there is an urgent need to understand how quality content is being judged, for retrieval and performance evaluation purposes. Furthermore, even though there are various studies on the quality of information, there is no standard framework that has been established. The primary aim of this paper is to contribute to the understanding of human quality judgment in assessing online forum contents. The foundation of this study is to compare and evaluate different frameworks (for quality biased retrieval and information quality). This led to the finding that many quality dimensions are redundant and some dimensions are understood differently between different studies. We conducted a survey on crowdsourcing community to measure the importance of each quality dimensions found in various frameworks. Accuracy and ease of understanding are among top important dimensions while threads popularity and contents manipulability are among least important dimensions. This finding is beneficial in evaluating contents of online forum.

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

ARM Airborne Carbon Measurements VI (ARM-ACME VI) Field Campaign Report

Energy Technology Data Exchange (ETDEWEB)

Biraud, Sebastien [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

2017-05-01

From October 1, 2015 through September 30, 2016, AAF deployed a Cessna 206 aircraft over the Southern Great Plains, collecting observations of trace gas mixing ratios over the ARM/SGP Central Facility. The aircraft payload included two Atmospheric Observing Systems (AOS Inc.) analyzers for continuous measurements of CO2, and a 12-flask sampler for analysis of carbon cycle gases (CO2, CO, CH4, N2O, 13CO2). The aircraft payload also includes solar/infrared radiation measurements. This research (supported by DOE ARM and TES programs) builds upon previous ARM-ACME missions. The goal of these measurements is to improve understanding of: (a) the carbon exchange of the ARM region; (b) how CO2 and associated water and energy fluxes influence radiative forcing, convective processes, and CO2 concentrations over the ARM region, and (c) how greenhouse gases are transported on continental scales.

Retrieval options study

International Nuclear Information System (INIS)

1980-03-01

This Retrieval Options Study is part of the systems analysis activities of the Office of Nuclear Waste Isolation to develop the scientific and technological bases for radioactive waste repositories in various geologic media. The study considers two waste forms, high level waste and spent fuel, and defines various classes of waste retrieval and recovery. A methodology and data base are developed which allow the relative evaluation of retrieval and recovery costs and the following technical criteria: safety; technical feasibility; ease of retrieval; probable intact retrieval time; safeguards; monitoring; criticality; and licensability. A total of 505 repository options are defined and the cost and technical criteria evaluated utilizing a combination of facts and engineering judgments. The repositories evaluated are selected combinations of the following parameters: Geologic Media (salt, granite, basalt, shale); Retrieval Time after Emplacement (5 and 25 years); Emplacement Design (nominal hole, large hole, carbon steel canister, corrosion resistant canister, backfill in hole, nominal sleeves, thick wall sleeves); Emplacement Configuration (single vertical, multiple vertical, single horizontal, multiple horizontal, vaults; Thermal Considerations; (normal design, reduced density, once-through ventilation, recirculated ventilation); Room Backfill; (none, run-of-mine, early, 5 year delay, 25 year delay, decommissioned); and Rate of Retrieval;

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

Science.gov (United States)

Book, Wayne J.

1992-01-01

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

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.

Failed fuel rod detection system and computerized manipulator during outages

International Nuclear Information System (INIS)

Boehm, H.H.; Foerch, H.

1984-01-01

During regular outages spent fuel assemblies need to be replaced and relocated within the core. Defective fuel rods in particular fuel assemblies have to be removed from further service and before delivery of such faulty fuel assemblies to a reprocessing plant. The system which Brown Boveri Reaktor GmbH and Krautkraemer have developed in the Federal Republic of Germany is capable of directly locating the defective rods in a proper fuel assembly. Inspection times are comparable to those of standard sipping methods, with the advantages of immediately available results and direct identification of the defective fuel rods. During the repair of fuel assemblies this system allows withdrawal of individual defective rods. With the sipping method all the fuel rods of a defective fuel assembly need to be removed and inspected by eddy current testing. During steam generator inspection and repair personnel are exposed to ample radiation. A remotely controlled, computerized manipulator was used to significantly reduce the radiation dose by automating steps in the procedures; at the same time inspection and repair times were reduced. The main features of the manipulator are a rigid component construction of the leg and two arms, and a resolver control for horizontal and vertical motion that enables rapid and accurate access to a desired tube (author)

Coincident Aerosol and H2O Retrievals versus HSI Imager Field Campaign ReportH2O Retrievals versus HSI Imager Field Campaign Report

Energy Technology Data Exchange (ETDEWEB)

Anderson, Gail P. [National Oceanic and Atmospheric Administration (NOAA), Washington, DC (United States); Cipar, John [Air Force Research Lab. (AFRL), Wright-Patterson AFB, OH (United States); Armstrong, Peter S. [Air Force Research Lab. (AFRL), Wright-Patterson AFB, OH (United States); van den Bosch, J. [Air Force Research Lab. (AFRL), Wright-Patterson AFB, OH (United States)

2016-05-01

Two spectrally calibrated tarpaulins (tarps) were co-located at a fixed Global Positioning System (GPS) position on the gravel antenna field at the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Climate Research Facility’s Southern Great Plains (SGP) site. Their placement was timed to coincide with the overflight of a new hyperspectral imaging satellite. The intention was to provide an analysis of the data obtained, including the measured and retrieved spectral albedos for the calibration tarps. Subsequently, a full suite of retrieved values of H2O column, and the aerosol overburden, were to be compared to those determined by alternate SGP ground truth assets. To the extent possible, the down-looking cloud images would be assessed against the all-sky images. Because cloud contamination above a certain level precludes the inversion processing of the satellite data, coupled with infrequent targeting opportunities, clear-sky conditions were imposed. The SGP site was chosen not only as a target of opportunity for satellite validation, but as perhaps the best coincident field measurement site, as established by DOE’s ARM Facility. The satellite team had every expectation of using the information obtained from the SGP to improve the inversion products for all subsequent satellite images, including the cloud and radiative models and parameterizations and, thereby, the performance assessment for subsequent and historic image collections. Coordinating with the SGP onsite team, four visits, all in 2009, to the Central Facility occurred: • June 6-8 (successful exploratory visit to plan tarp placements, etc.) • July 18-24 (canceled because of forecast for heavy clouds) • Sep 9-12 (ground tarps placed, onset of clouds) • Nov 7-9 (visit ultimately canceled because of weather predictions). As noted, in each instance, any significant overcast prediction precluded image collection from the satellite. Given the long task-scheduling procedures

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.

The arms race control

International Nuclear Information System (INIS)

Nemo, J.

2010-01-01

Written in 1961, this paper presents the content of a book entitled 'The arms race control' where the author outlined the difference between disarmament and arms control, described the economic and moral role of arms race, the importance of force balance for international security. He wandered whether arms control could ensure this balance and whether nuclear balance meant force balance. Force balance then appears to be a precarious and unsteady component of international security. He commented the challenges of disarmament, recalled some arguments for a nuclear disarmament. Then he discussed what would be an arms control with or without disarmament (either nuclear or conventional)

How do octopuses use their arms?

Science.gov (United States)

Mather, J A

1998-09-01

A taxonomy of the movement patterns of the 8 flexible arms of octopuses is constructed. Components consist of movements of the arm itself, the ventral suckers and their stalks, as well as the relative position of arms and the skin web between them. Within 1 arm, combinations of components result in a variety of behaviors. At the level of all arms, 1 group of behaviors is described as postures, on the basis of the spread of all arms and the web to make a 2-dimensional surface whose position differs in the 3rd dimension. Another group of arm behaviors is actions, more or less coordinated and involving several to all arms. Arm control appears to be based on radial symmetry, relative equipotentiality of all arms, relative independence of each arm, and separability of components within the arm. The types and coordination of arm behaviors are discussed with relationship to biomechanical limits, muscle structures, and neuronal programming.

Less we forget: retrieval cues and release from retrieval-induced forgetting.

Science.gov (United States)

Jonker, Tanya R; Seli, Paul; Macleod, Colin M

2012-11-01

Retrieving some items from memory can impair the subsequent recall of other related but not retrieved items, a phenomenon called retrieval-induced forgetting (RIF). The dominant explanation of RIF-the inhibition account-asserts that forgetting occurs because related items are suppressed during retrieval practice to reduce retrieval competition. This item inhibition persists, making it more difficult to recall the related items on a later test. In our set of experiments, each category was designed such that each exemplar belonged to one of two subcategories (e.g., each BIRD exemplar was either a bird of prey or a pet bird), but this subcategory information was not made explicit during study or retrieval practice. Practicing retrieval of items from only one subcategory led to RIF for items from the other subcategory when cued only with the overall category label (BIRD) at test. However, adapting the technique of Gardiner, Craik, and Birtwistle (Journal of Learning and Verbal Behavior 11:778-783, 1972), providing subcategory cues during the final test eliminated RIF. The results challenge the inhibition account's fundamental assumption of cue independence but are consistent with a cue-based interference account.

Basis for Selection of a Residual Waste Retrieval System for Gunite and Associated Tank W-9 at the Oak Ridge National Laboratory

Energy Technology Data Exchange (ETDEWEB)

Lewis, B.E

2000-10-23

Waste retrieval and transfer operations at the Gunite{trademark} and Associated Tanks (GAATs) Remediation Project have been successfully accomplished using the Tank Waste Retrieval System. This system is composed of the Modified Light-Duty Utility Arm, Houdini Vehicle, Waste Dislodging and Conveyance System, Hose Management Arm, and Sludge Conditioning System. GAAT W-9 has been used as a waste-consolidation and batch-transfer tank during the retrieval of sludges and supernatants from the seven Gunite tanks in the North and South tank farms at Oak Ridge National Laboratory. Tank W-9 was used as a staging tank for the transfers to the Melton Valley Storage Tanks (MVSTs). A total of 18 waste transfers from W-9 occurred between May 25, 1999, and March 30, 2000. Most of these transfers were accomplished using the PulsAir Mixer to mobilize and mix the slurry and a submersible retrieval-transfer pump to transfer the slurry through the Sludge Conditioning System and the {approx}1-mile long, 2-in.-diam waste-transfer line to the MVSTs. The transfers from W-9 have consisted of low-solids-content slurries with solids contents ranging from {approx}2.8 to 6.8 mg/L. Of the initial {approx}88,000 gal of wet sludge estimated in the GAATs, a total of {approx}60,451 gal have been transferred to the MVSTs via tank W-9 as of March 30, 2000. Once the waste-consolidation operations and transfers from W-9 to the MVSTs are completed, the remaining material in W-9 will be mobilized and transferred to the active waste system, Bethel Valley Evaporator Service Tank W-23. Tank W-23 will serve as a batch tank for the final waste transfers from tank W-9 to the MVSTs. This report provides a summary of the requirements and recommendations for the final waste retrieval system for tank W-9, a compilation of the sample analysis data for the sludge in W-9, and brief descriptions of the various waste-retrieval system concepts that were considered for this task. The recommended residual waste retrieval

Relating the new language models of information retrieval to the traditional retrieval models

NARCIS (Netherlands)

Hiemstra, Djoerd; de Vries, A.P.

During the last two years, exciting new approaches to information retrieval were introduced by a number of different research groups that use statistical language models for retrieval. This paper relates the retrieval algorithms suggested by these approaches to widely accepted retrieval algorithms

CyARM: Haptic Sensing Device for Spatial Localization on Basis of Exploration by Arms

Directory of Open Access Journals (Sweden)

Junichi Akita

2009-01-01

Full Text Available We introduce a new type of perception aid device based on user's exploration action, which is named as CyARM (acronym of “Cyber Arm”. The user holds this device in her/his arm, the extension of the arm is controlled by tension in wires, which are attached to her/his body according to the distance to the object. This user interface has unique characteristics that give users the illusion of an imaginary arm that extends to existing objects. The implementations of CyARM and our two experiments to investigate the efficiency and effectiveness of CyARM are described. The results show that we could confirm that CyARM can be used to recognize the presence of an object in front of the user and to measure the relative distance to the object.

Mobile Robot and Mobile Manipulator Research Towards ASTM Standards Development.

Science.gov (United States)

Bostelman, Roger; Hong, Tsai; Legowik, Steven

2016-01-01

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

Retrieval options study

Energy Technology Data Exchange (ETDEWEB)

1980-03-01

This Retrieval Options Study is part of the systems analysis activities of the Office of Nuclear Waste Isolation to develop the scientific and technological bases for radioactive waste repositories in various geologic media. The study considers two waste forms, high level waste and spent fuel, and defines various classes of waste retrieval and recovery. A methodology and data base are developed which allow the relative evaluation of retrieval and recovery costs and the following technical criteria: safety; technical feasibility; ease of retrieval; probable intact retrieval time; safeguards; monitoring; criticality; and licensability. A total of 505 repository options are defined and the cost and technical criteria evaluated utilizing a combination of facts and engineering judgments. The repositories evaluated are selected combinations of the following parameters: Geologic Media (salt, granite, basalt, shale); Retrieval Time after Emplacement (5 and 25 years); Emplacement Design (nominal hole, large hole, carbon steel canister, corrosion resistant canister, backfill in hole, nominal sleeves, thick wall sleeves); Emplacement Configuration (single vertical, multiple vertical, single horizontal, multiple horizontal, vaults; Thermal Considerations; (normal design, reduced density, once-through ventilation, recirculated ventilation); Room Backfill; (none, run-of-mine, early, 5 year delay, 25 year delay, decommissioned); and Rate of Retrieval; (same as emplacement, variably slower depending on repository/canister condition).

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

Human locognosic acuity on the arm varies with explicit and implicit manipulations of attention: implications for interpreting elevated tactile acuity on an amputation stump.

Science.gov (United States)

O'Boyle, D J; Moore, C E; Poliakoff, E; Butterworth, R; Sutton, A; Cody, F W

2001-06-01

In Experiment 1, normal subjects' ability to localize tactile stimuli (locognosia) delivered to the upper arm was significantly higher when they were instructed explicitly to direct their attention selectively to that segment than when they were instructed explicitly to distribute their attention across the whole arm. This elevation of acuity was eliminated when subjects' attentional resources were divided by superimposition of an effortful, secondary task during stimulation. In Experiment 2, in the absence of explicit attentional instruction, subjects' locognosic acuity on one of three arm segments was significantly higher when stimulation of that segment was 2.5 times more probable than that of stimulation of the other two segments. We surmise that the attentional mechanisms responsible for such modulations of locognosic acuity in normal subjects may contribute to the elevated sensory acuity observed on the stumps of amputees.

A user friendly method for image based acquisition of constraint information during constrained motion of servo manipulator in hot-cells

International Nuclear Information System (INIS)

Saini, Surendra Singh; Sarkar, Ushnish; Swaroop, Tumapala Teja; Panjikkal, Sreejith; Ray, Debasish Datta

2016-01-01

In master slave manipulator, slave arm is controlled by an operator to manipulate the objects in remote environment using an iso-kinematic master arm which is located in the control room. In such a scenario, where the actual work environment is separated from the operator, formulation of techniques for assisting the operator to execute constrained motion (preferential inclusion or preferential exclusion of workspace zones) in the slave environment are not only helpful, but also essential. We had earlier demonstrated the efficacy of constraint motion with predefined geometrical constraints of various types. However, in a hot-cell scenario the generation of the constraint equations is difficult since we shall not have access to the cell for taking measurements. In this paper, a user friendly method is proposed for image based acquisition of the various constraint geometries thus eliminating the need to take in-cell measurements. For this purpose various hot cell tasks and required geometrical primitives pertaining to these tasks have been surveyed and an algorithm has been developed for generating the constraint geometry for each primitive. This methodology shall increase the efficiency and ease of use of the hot cell Telemanipulator by providing real time constraint acquisition and subsequent assistive force based constrained motion. (author)

Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)

International Nuclear Information System (INIS)

Wang, Kun; Song, Yuntao; Wu, Huapeng; Wei, Xiaoyang; Khan, Shahab Ud-Din; Cheng, Yong

2017-01-01

Highlights: • An Obstacle Topology Partition Projection (OTPP) method of tokamak-like vessel for collision detection. • Median values preferentially of depth-first search algorithm for solving redundant inverse kinematics based on OTPP. • Application of RIK in grasping target objects. - Abstract: This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator’s motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method.

Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)

Energy Technology Data Exchange (ETDEWEB)

Wang, Kun, E-mail: wangkun@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Lappeenranta University of Technology, Lappeenranta (Finland); University of Science and Technology of China, Hefei (China); Song, Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); University of Science and Technology of China, Hefei (China); Wu, Huapeng [Lappeenranta University of Technology, Lappeenranta (Finland); Wei, Xiaoyang; Khan, Shahab Ud-Din; Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

2017-06-15

Highlights: • An Obstacle Topology Partition Projection (OTPP) method of tokamak-like vessel for collision detection. • Median values preferentially of depth-first search algorithm for solving redundant inverse kinematics based on OTPP. • Application of RIK in grasping target objects. - Abstract: This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator’s motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method.

Gunther Tulip Retrievable Inferior Vena Caval Filters: Indications, Efficacy, Retrieval, and Complications

International Nuclear Information System (INIS)

Looby, S.; Given, M.F.; Geoghegan, T.; McErlean, A.; Lee, M.J.

2007-01-01

Purpose. We evaluated the Gunther Tulip (GT) retrievable inferior vena cava (IVC) filter with regard to indications, filtration efficacy, complications, retrieval window, and use of anticoagulation. Method. A retrospective study was performed of 147 patients (64 men, 83 women; mean age 58.8 years) who underwent retrievable GT filter insertion between 2001 and 2005. The indications for placement included a diagnosis of pulmonary embolism or deep venous thrombosis with a contraindication to anticoagulation (n = 68), pulmonary embolism or deep venous thrombosis while on anticoagulation (n = 49), prophylactic filter placement for high-risk surgical patients with a past history of pulmonary embolism or deep venous thrombosis (n = 20), and a high risk of pulmonary embolism or deep venous thrombosis (n = 10). Forty-nine of the 147 patients did not receive anticoagulation (33.7%) while 96 of 147 patients did, 82 of these receiving warfarin (56.5%), 11 receiving low-molecular weight heparins (7.58%), and 3 receiving antiplatelet agents alone (2.06%). Results. Filter placement was successful in 147 patients (100%). Two patients had two filters inserted. Of the 147 patients, filter deployment was on a permanent basis in 102 and with an intention to retrieve in 45 patients. There were 36 (80%) successful retrievals and 9 (20%) failed retrievals. The mean time to retrieval was 33.6 days. The reasons for failed retrieval included filter struts tightly adherent to the IVC wall (5/9), extreme filter tilt (2/9), and extensive filter thrombus (2/9). Complications included pneumothorax (n = 4), failure of filter expansion (n = 1), and breakthrough pulmonary embolism (n = 1). No IVC thrombotic episodes were recorded. Discussion. The Gunther Tulip retrievable filter can be used as a permanent or a retrievable filter. It is safe and efficacious. GT filters can be safely retrieved at a mean time interval of 33.6 days. The newly developed Celect filter may extend the retrieval interval

The use of cue familiarity during retrieval failure is affected by past versus future orientation.

Science.gov (United States)

Cleary, Anne M

2015-01-01

Cue familiarity that is brought on by cue resemblance to memory representations is useful for judging the likelihood of a past occurrence with an item that fails to actually be retrieved from memory. The present study examined the extent to which this type of resemblance-based cue familiarity is used in future-oriented judgments made during retrieval failure. Cue familiarity was manipulated using a previously-established method of creating differing degrees of feature overlap between the cue and studied items in memory, and the primary interest was in how these varying degrees of cue familiarity would influence future-oriented feeling-of-knowing (FOK) judgments given in instances of cued recall failure. The present results suggest that participants do use increases in resemblance-based cue familiarity to infer an increased likelihood of future recognition of an unretrieved target, but not to the extent that they use it to infer an increased likelihood of past experience with an unretrieved target. During retrieval failure, the increase in future-oriented FOK judgments with increasing cue familiarity was significantly less than the increase in past-oriented recognition judgments with increasing cue familiarity.

Comparison of CERES-MODIS stratus cloud properties with ground-based measurements at the DOE ARM Southern Great Plains site

Science.gov (United States)

Dong, Xiquan; Minnis, Patrick; Xi, Baike; Sun-Mack, Sunny; Chen, Yan

2008-02-01

Overcast stratus cloud properties derived for the Clouds and the Earth's Radiant Energy System (CERES) project using Terra and Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) data are compared with observations taken at the Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Southern Great Plains site from March 2000 through December 2004. Retrievals from ARM surface-based data were averaged over a 1-h interval centered at the time of each satellite overpass, and the CERES-MODIS cloud properties were averaged within a 30 km × 30 km box centered on the ARM SGP site. Two data sets were analyzed: all of the data (ALL), which include multilayered, single-layered, and slightly broken stratus decks and a subset, single-layered unbroken decks (SL). The CERES-MODIS effective cloud heights were determined from effective cloud temperature using a lapse rate method with the surface temperature specified as the 24-h mean surface air temperature. For SL stratus, they are, on average, within the ARM radar-lidar estimated cloud boundaries and are 0.534 ± 0.542 km and 0.108 ± 0.480 km lower than the cloud physical tops and centers, respectively, and are comparable for day and night observations. The mean differences and standard deviations are slightly larger for ALL data, but not statistically different to those of SL data. The MODIS-derived effective cloud temperatures are 2.7 ± 2.4 K less than the surface-observed SL cloud center temperatures with very high correlations (0.86-0.97). Variations in the height differences are mainly caused by uncertainties in the surface air temperatures, lapse rates, and cloud top height variability. The biases are mainly the result of the differences between effective and physical cloud top, which are governed by cloud liquid water content and viewing zenith angle, and the selected lapse rate, -7.1 K km-1. On the basis of a total of 43 samples, the means and standard deviations of the differences between the daytime

The preliminary of software development for the kinematics analysis of 5 DOF Nuclear Malaysia robot arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2010-01-01

This paper presents the preliminary software development for the kinematics analysis of 5 DOF rescue robot. The kinematics analysis is the study of relationship between the individual joints of the robot manipulator, the position and orientation of the end-effector. The Denavit-Hartenberg (DH) model is used to model the robot links and joints. Both forward and inverse kinematic are presented. The simulation software has been developed by using MATLAB to solve the robot arms kinematic behavior. (author)

RETRIEVAL EVENTS EVALUATION

International Nuclear Information System (INIS)

Wilson, T.

1999-01-01

The purpose of this analysis is to evaluate impacts to the retrieval concept presented in the Design Analysis ''Retrieval Equipment and Strategy'' (Reference 6), from abnormal events based on Design Basis Events (DBE) and Beyond Design Basis Events (BDBE) as defined in two recent analyses: (1) DBE/Scenario Analysis for Preclosure Repository Subsurface Facilities (Reference 4); and (2) Preliminary Preclosure Design Basis Event Calculations for the Monitored Geologic Repository (Reference 5) The objective of this task is to determine what impacts the DBEs and BDBEs have on the equipment developed for retrieval. The analysis lists potential impacts and recommends changes to be analyzed in subsequent design analyses for developed equipment, or recommend where additional equipment may be needed, to allow retrieval to be performed in all DBE or BDBE situations. This analysis supports License Application design and therefore complies with the requirements of Systems Description Document input criteria comparison as presented in Section 7, Conclusions. In addition, the analysis discusses the impacts associated with not using concrete inverts in the emplacement drifts. The ''Retrieval Equipment and Strategy'' analysis was based on a concrete invert configuration in the emplacement drift. The scope of the analysis, as presented in ''Development Plan for Retrieval Events Evaluation'' (Reference 3) includes evaluation and criteria of the following: Impacts to retrieval from the emplacement drift based on DBE/BDBEs, and changes to the invert configuration for the preclosure period. Impacts to retrieval from the main drifts based on DBE/BDBEs for the preclosure period

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

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

1997-01-01

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

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

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

1997-03-01