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.

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

International Nuclear Information System (INIS)

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

2013-01-01

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

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.)

Heat pipe based cold energy storage systems for datacenter energy conservation

International Nuclear Information System (INIS)

Singh, Randeep; Mochizuki, Masataka; Mashiko, Koichi; Nguyen, Thang

2011-01-01

In the present paper, design and economics of the novel type of thermal control system for datacenter using heat pipe based cold energy storage has been proposed and discussed. Two types of cold energy storage system namely: ice storage system and cold water storage system are explained and sized for datacenter with heat output capacity of 8800 kW. Basically, the cold energy storage will help to reduce the chiller running time that will save electricity related cost and decrease greenhouse gas emissions resulting from the electricity generation from non-renewable sources. The proposed cold energy storage system can be retrofit or connected in the existing datacenter facilities without major design changes. Out of the two proposed systems, ice based cold energy storage system is mainly recommended for datacenters which are located in very cold locations and therefore can offer long term seasonal storage of cold energy within reasonable cost. One of the potential application domains for ice based cold energy storage system using heat pipes is the emergency backup system for datacenter. Water based cold energy storage system provides more compact size with short term storage (hours to days) and is potential for datacenters located in areas with yearly average temperature below the permissible cooling water temperature (∼25 o C). The aforesaid cold energy storage systems were sized on the basis of metrological conditions in Poughkeepsie, New York. As an outcome of the thermal and cost analysis, water based cold energy storage system with cooling capability to handle 60% of datacenter yearly heat load will provide an optimum system size with minimum payback period of 3.5 years. Water based cold energy storage system using heat pipes can be essentially used as precooler for chiller. Preliminary results obtained from the experimental system to test the capability of heat pipe based cold energy storage system have provided satisfactory outcomes and validated the proposed

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)

Manipulator system man-machine interface evaluation program. [technology assessment

Science.gov (United States)

Malone, T. B.; Kirkpatrick, M.; Shields, N. L.

1974-01-01

Application and requirements for remote manipulator systems for future space missions were investigated. A manipulator evaluation program was established to study the effects of various systems parameters on operator performance of tasks necessary for remotely manned missions. The program and laboratory facilities are described. Evaluation criteria and philosophy are discussed.

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

Directory of Open Access Journals (Sweden)

Markus Wilde

2018-04-01

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

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

Czech Academy of Sciences Publication Activity Database

Belda, Květoslav; Píša, P.

2015-01-01

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

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

Control system for the Fermilab Master-Slave servo manipulator

International Nuclear Information System (INIS)

Ducar, R.J.

1977-01-01

A control system for the Fermilab Master-Slave servo manipulator was developed. This new system offers a significant improvement in operational performance over the extant servo design with additional emphasis on simplicity of operation and maintainability. The servo manipulator is force-reflecting in each of the seven independent bilateral motions. Master force multiplication is automatically increased as the slave force is increased to its fifty pound capacity. The design incorporates triac control of the low inertia two-phase servomotors and makes extensive use of digital circuits in the servo loops. The manipulator is utilized in servicing radioactive beam-line targeting equipment

TrustRank: a Cold-Start tolerant recommender system

Science.gov (United States)

Zou, Haitao; Gong, Zhiguo; Zhang, Nan; Zhao, Wei; Guo, Jingzhi

2015-02-01

The explosive growth of the World Wide Web leads to the fast advancing development of e-commerce techniques. Recommender systems, which use personalised information filtering techniques to generate a set of items suitable to a given user, have received considerable attention. User- and item-based algorithms are two popular techniques for the design of recommender systems. These two algorithms are known to have Cold-Start problems, i.e., they are unable to effectively handle Cold-Start users who have an extremely limited number of purchase records. In this paper, we develop TrustRank, a novel recommender system which handles the Cold-Start problem by leveraging the user-trust networks which are commonly available for e-commerce applications. A user-trust network is formed by friendships or trust relationships that users specify among them. While it is straightforward to conjecture that a user-trust network is helpful for improving the accuracy of recommendations, a key challenge for using user-trust network to facilitate Cold-Start users is that these users also tend to have a very limited number of trust relationships. To address this challenge, we propose a pre-processing propagation of the Cold-Start users' trust network. In particular, by applying the personalised PageRank algorithm, we expand the friends of a given user to include others with similar purchase records to his/her original friends. To make this propagation algorithm scalable to a large amount of users, as required by real-world recommender systems, we devise an iterative computation algorithm of the original personalised TrustRank which can incrementally compute trust vectors for Cold-Start users. We conduct extensive experiments to demonstrate the consistently improvement provided by our proposed algorithm over the existing recommender algorithms on the accuracy of recommendations for Cold-Start users.

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.)

An integrated open-cavity system for magnetic bead manipulation.

Science.gov (United States)

Abu-Nimeh, F T; Salem, F M

2013-02-01

Superparamagnetic beads are increasingly used in biomedical assays to manipulate, transport, and maneuver biomaterials. We present a low-cost integrated system designed in bulk CMOS to manipulate and separate biomedical magnetic beads. The system consists of 8 × 8 coil-arrays suitable for single bead manipulation, or collaborative multi-bead manipulation, using pseudo-parallel executions. We demonstrate the flexibility of the design in terms of different coil sizes, DC current levels, and layout techniques. In one array module example, the size of a single coil is 30 μm × 30 μm and the full array occupies an area of 248 μm × 248 μm in 0.5 μm CMOS technology. The programmable DC current source supports 8 discrete levels up to 1.5 mA. The total power consumption of the entire module is 9 mW when running at full power.

Performance enhancement of a subcooled cold storage air conditioning system

International Nuclear Information System (INIS)

Hsiao, M.-J.; Cheng, C.-H.; Huang, M.-C.; Chen, S.-L.

2009-01-01

This article experimentally investigates the enhancement of thermal performance for an air conditioning system utilizing a cold storage unit as a subcooler. The cold storage unit is composed of an energy storage tank, liquid-side heat exchanger, suction-side heat exchanger and energy storage material (ESM), water. When the cooling load is lower than the nominal cooling capacity of the system, the cold storage unit can store extra cold energy of the system to subcool the condenser outlet refrigerant. Hence, both the cooling capacity and coefficient of performance (COP) of the system will be increased. This experiment tests the two operation modes: subcooled mode with energy storage and non-subcooled mode without energy storage. The results show that for fixed cooling loads at 3.05 kW, 3.5 kW and 3.95 kW, the COP of the subcooled mode are 16.0%, 15.6% and 14.1% higher than those of the non-subcooled mode, respectively. In the varied cooling load experiments, the COP of the subcooled cold storage air conditioning system is 15.3% higher than the conventional system.

Improving cold chain systems: Challenges and solutions.

Science.gov (United States)

Ashok, Ashvin; Brison, Michael; LeTallec, Yann

2017-04-19

While a number of new vaccines have been rolled out across the developing world (with more vaccines in the pipeline), cold chain systems are struggling to efficiently support national immunization programs in ensuring the availability of safe and potent vaccines. This article reflects on the Clinton Health Access Initiative, Inc. (CHAI) experience working since 2010 with national immunization programs and partners to improve vaccines cold chains in 10 countries-Ethiopia, Nigeria, Kenya, Malawi, Tanzania, Uganda, Cameroon, Mozambique, Lesotho and India - to identify the root causes and solutions for three common issues limiting cold chain performance. Key recommendations include: Collectively, the solutions detailed in this article chart a path to substantially improving the performance of the cold chain. Combined with an enabling global and in-country environment, it is possible to eliminate cold chain issues as a substantial barrier to effective and full immunization coverage over the next few years. Copyright © 2017. Published by Elsevier Ltd.

Engineering and control of cold molecules. Making manipulating and exploiting ultra-cold polar molecules

International Nuclear Information System (INIS)

Bigelow, N.P.; Haimberger, C.; Kleinert, J.; Tscherneck, M.; Holmes, M.E.

2005-01-01

In the last 12 months several groups have demonstrated the use of photo association to create cold heteronuclear (polar) molecules. We report on the formation of translationally cold NaCs molecules starting from a laser-cooled atomic vapor of Na and Cs atoms. Colliding atoms are transferred into bound molecular states in a two-step photoactivated process. We find a translational temperature of T ≅ 260 mK. To increase the density and number of trapped atoms, dark-spot techniques are used on the MOT and a Zeeman slowed sodium beam is used to load the sodium atoms into the trap. Spectroscopy of these molecules is underway using time-of-flight ion detection and trap-loss. Initial REMPI measurements indicate that both singlet and triplet states are being populated by the spontaneous-decay driven process. We measure a rate constant for molecule formation of K NaCs = 7.43 · 10 15 cm 3 s -1 . (author)

Development of Cold Neutron Depth Profiling System at HANARO

International Nuclear Information System (INIS)

Park, B. G.; Choi, H. D.; Sun, G. M.

2012-01-01

The depth profiles of intentional or intrinsic constituents of a sample provide valuable information for the characterization of materials. A number of analytical techniques for depth profiling have been developed. Neutron Depth Profiling (NDP) system which was developed by Ziegler et al. is one of the leading analytical techniques. In NDP, a thermal or cold neutron beam passes through a material and interacts with certain isotopes that are known to emit monoenergetic-charged particle remaining a recoil nucleus after neutron absorption. The depth is obtained from the energy loss of those charged particles escaping surface of substrate material. For various applications of NDP technique, the Cold Neutron Depth Profiling System (CN-NDP) was developed at a neutron guide CG1 installed at the HANARO cold neutron source. In this study the design features of the cold neutron beam and target chamber for the CN-NDP system are given. Also, some experiments for the performance tests of the CN-NDP system are described

Cold atoms in a cryogenic environment

International Nuclear Information System (INIS)

Haslinger, S.

2011-01-01

The idea of quantum information processing attracts increasingly interest, where a complex collection of quantum objects and quantum bits are employed to find the ideal building blocks for quantum information systems. Hybrid quantum systems are therefore promising objects as they countervail the particular drawbacks of single quantum objects. Based on superconducting resonator technology, microwave coplanar waveguides provide a well suited interconnection for photons and solid-state quantum bits (qubits), extensively investigated in recent years. Since a quantum memory is presently missing in those electrical accessible circuit cavity quantum devices, connecting the fast processing in a solid sate device to the exceptional long coherence times in atomic ensembles, the presented work is focused to establish the technological foundations for the hybridization of such quantum systems. The microwave photons stored in a superconducting high finesse microwave resonator are therefore an ideal connection between the atom and the solid state quantum world. In the last decade, the miniaturization and integration of quantum optics and atomic physics manipulation techniques on to a single chip was successfully established. Such atom chips are capable of detailed quantum manipulation of ultra-cold atoms and provide a versatile platform to combine the manipulation techniques from atomic physics with the capability of nano-fabrication. In recent years several experiments succeeded in realization of superconducting atom chips in cryogenic environments which opens the road for integrating super-conductive microwave resonators to magnetically couple an atomic ensemble to photons stored in the coplanar high finesse cavity. This thesis presents the concept, design and experimental setup of two approaches to establish an atomic ensemble of rubidium atoms inside a cryogenic environment, based on an Electron beam driven alkali metal atom source for loading a magneto optical trap in a

Manipulating Quantum Coherence in Solid State Systems

CERN Document Server

Flatté, Michael E; The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems"

2007-01-01

The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems", in Cluj-Napoca, Romania, August 29-September 9, 2005, presented a fundamental introduction to solid-state approaches to achieving quantum computation. This proceedings volume describes the properties of quantum coherence in semiconductor spin-based systems and the behavior of quantum coherence in superconducting systems. Semiconductor spin-based approaches to quantum computation have made tremendous advances in the past several years. Coherent populations of spins can be oriented, manipulated and detected experimentally. Rapid progress has been made towards performing the same tasks on individual spins (nuclear, ionic, or electronic) with all-electrical means. Superconducting approaches to quantum computation have demonstrated single qubits based on charge eigenstates as well as flux eigenstates. These topics have been presented in a pedagogical fashion by leading researchers in the fields of semiconductor-spin-based qu...

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

International Nuclear Information System (INIS)

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

1986-01-01

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

Active cooling system for Tokamak in-vessel operation manipulator

Energy Technology Data Exchange (ETDEWEB)

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

2015-10-15

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

A fast approximation method for reliability analysis of cold-standby systems

International Nuclear Information System (INIS)

Wang, Chaonan; Xing, Liudong; Amari, Suprasad V.

2012-01-01

Analyzing reliability of large cold-standby systems has been a complicated and time-consuming task, especially for systems with components having non-exponential time-to-failure distributions. In this paper, an approximation model, which is based on the central limit theorem, is presented for the reliability analysis of binary cold-standby systems. The proposed model can estimate the reliability of large cold-standby systems with binary-state components having arbitrary time-to-failure distributions in an efficient and easy way. The accuracy and efficiency of the proposed method are illustrated using several different types of distributions for both 1-out-of-n and k-out-of-n cold-standby systems.

System dynamic analyses on the JKJ mercury target and cold moderator systems

International Nuclear Information System (INIS)

Takahashi, Toshio; Kaminaga, Masanori; Kinoshita, Hidetaka; Aso, Tomokazu; Haga, Katsuhiro; Hino, Ryutaro

2001-01-01

The temperature responses of major points in a mercury target cooling system and in a cold moderator system of JKJ (JAERI/KEK Joint Project) were simulated by the analytical code MATLAB (SIMULINK). As a result, it was made clear that non-control of mercury temperature is the best way to control the mercury target cooling system. If the mercury temperature of the system is controlled by the PID control system using an outlet temperature of heat exchanger, the PID control system shows the characteristics of an on-off control system, and the temperature cannot be controlled. Analytical results also showed that mercury temperature remained below the boiling point of 356degC under 0.1 MPa during a transient at one cooling pump trip. Analytical results for the cold moderator system showed that the outlet temperature of cold moderator vessels could be kept within a temperature range of 1 k during steady-state conditions. (author)

Control of an automated mobile manipulator using artificial immune system

Science.gov (United States)

Deepak, B. B. V. L.; Parhi, Dayal R.

2016-03-01

This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

An efficient single-step scheme for manipulating quantum information of two trapped ions beyond the Lamb-Dicke limit

International Nuclear Information System (INIS)

Wei, L.F.; Nori, Franco

2003-01-01

Based on the exact conditional quantum dynamics for a two-ion system, we propose an efficient single-step scheme for coherently manipulating quantum information of two trapped cold ions by using a pair of synchronous laser pulses. Neither the auxiliary atomic level nor the Lamb-Dicke approximation are needed

Cold Vacuum Drying Instrument Air System Design Description (SYS 12)

Energy Technology Data Exchange (ETDEWEB)

SHAPLEY, B.J.; TRAN, Y.S.

2000-06-05

This system design description (SDD) addresses the instrument air (IA) system of the spent nuclear fuel (SNF). This IA system provides instrument quality air to the Cold Vacuum Drying (CVD) Facility. The IA system is a general service system that supports the operation of the heating, ventilation, and air conditioning (HVAC) system, the process equipment skids, and process instruments in the CVD Facility. The following discussion is limited to the compressor, dryer, piping, and valving that provide the IA as shown in Drawings H-1-82222, Cold Vacuum Drying Facility Mechanical Utilities Compressed & Instrument Air P&ID, and H-1.82161, Cold Vacuum Drying Facility Process Equipment Skid P&ID MCO/Cusk Interface. Figure 1-1 shows the physical location of the 1A system in the CVD Facility.

The impact of microwaves irradiation and temperature manipulation ...

African Journals Online (AJOL)

The impact of microwaves irradiation and temperature manipulation for control of stored-products insects. ... This treatment could provide an effective and friendly environmental treatment technique in integrated pest management (IPM) program. Key words: Cold storage, microwaves, saw-toothed grain beetle, cigarette ...

Design requirements and performance requirements for reactor fuel recycle manipulator systems

International Nuclear Information System (INIS)

Grundmann, J.G.

1975-01-01

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

Cold Vacuum Drying facility sanitary sewage collection system design description

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) sanitary sewage collection system. The sanitary sewage collection system provides collection and storage of effluents and raw sewage from the CVDF to support the cold vacuum drying process. This system is comprised of a sanitary sewage holding tank and pipes for collection and transport of effluents to the sanitary sewage holding tank

Application of identification techniques to remote manipulator system flight data

Science.gov (United States)

Shepard, G. D.; Lepanto, J. A.; Metzinger, R. W.; Fogel, E.

1983-01-01

This paper addresses the application of identification techniques to flight data from the Space Shuttle Remote Manipulator System (RMS). A description of the remote manipulator, including structural and control system characteristics, sensors, and actuators is given. A brief overview of system identification procedures is presented, and the practical aspects of implementing system identification algorithms are discussed. In particular, the problems posed by desampling rate, numerical error, and system nonlinearities are considered. Simulation predictions of damping, frequency, and system order are compared with values identified from flight data to support an evaluation of RMS structural and control system models. Finally, conclusions are drawn regarding the application of identification techniques to flight data obtained from a flexible space structure.

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...

Subwavelength image manipulation through oblique and herringbone layered acoustic systems

International Nuclear Information System (INIS)

Li, Chunhui; Jia, Han; Ke, Manzhu; Li, Yixiang; Liu, Zhengyou

2014-01-01

In this paper, an oblique and a herringbone layered acoustic structure are experimentally and theoretically demonstrated to manipulate acoustic subwavelength images. An imaging resolution of less than one tenth of a wavelength is achieved with both optimized systems, and lateral image shift has been realized by an oblique layered system. The thicknesses of both the oblique and the herringbone layered acoustic systems are largely reduced through utilizing the oblique or herringbone wave propagation path instead of the vertical wave propagation path in the rectangular layered planar acoustic system. With smaller size and subwavelength image manipulation, the acoustic systems are more favourable for practical application. (paper)

Safe and efficient operation of multistage cold compressor systems

International Nuclear Information System (INIS)

Kauschke, M.; Haberstroh, C.; Quack, H.

1996-01-01

Large refrigeration rates in the temperature range of super fluid helium can only be obtained with the help of centrifugal cold compressors. For the large 2 K systems, four compression stages are necessary to reach atmospheric pressure. Centrifugal cold compressors are quite sensitive to mass flow and suction temperature variations; but these have to be expected in a real system. The first step in the systems design is to find safe and efficient quasi-stationary modes of operation. The system which is being proposed for the TESLA refrigerators relies on two features. The first is to allow the room temperature screw compressor, downstream of the cold compressors to work occasionally with a subatmospheric suction pressure. The second is to stabilize the suction temperature of the third stage of compression at about 10 K. With these features it is possible, that in all modes of operation all four compressor stages operate exactly at their design point

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

Science.gov (United States)

Parravicini, Giovanni; Bergna, Andrea

2017-04-01

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

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

Promoting cold-start items in recommender systems.

Science.gov (United States)

Liu, Jin-Hu; Zhou, Tao; Zhang, Zi-Ke; Yang, Zimo; Liu, Chuang; Li, Wei-Min

2014-01-01

As one of the major challenges, cold-start problem plagues nearly all recommender systems. In particular, new items will be overlooked, impeding the development of new products online. Given limited resources, how to utilize the knowledge of recommender systems and design efficient marketing strategy for new items is extremely important. In this paper, we convert this ticklish issue into a clear mathematical problem based on a bipartite network representation. Under the most widely used algorithm in real e-commerce recommender systems, the so-called item-based collaborative filtering, we show that to simply push new items to active users is not a good strategy. Interestingly, experiments on real recommender systems indicate that to connect new items with some less active users will statistically yield better performance, namely, these new items will have more chance to appear in other users' recommendation lists. Further analysis suggests that the disassortative nature of recommender systems contributes to such observation. In a word, getting in-depth understanding on recommender systems could pave the way for the owners to popularize their cold-start products with low costs.

Promoting Cold-Start Items in Recommender Systems

Science.gov (United States)

Liu, Jin-Hu; Zhou, Tao; Zhang, Zi-Ke; Yang, Zimo; Liu, Chuang; Li, Wei-Min

2014-01-01

As one of the major challenges, cold-start problem plagues nearly all recommender systems. In particular, new items will be overlooked, impeding the development of new products online. Given limited resources, how to utilize the knowledge of recommender systems and design efficient marketing strategy for new items is extremely important. In this paper, we convert this ticklish issue into a clear mathematical problem based on a bipartite network representation. Under the most widely used algorithm in real e-commerce recommender systems, the so-called item-based collaborative filtering, we show that to simply push new items to active users is not a good strategy. Interestingly, experiments on real recommender systems indicate that to connect new items with some less active users will statistically yield better performance, namely, these new items will have more chance to appear in other users' recommendation lists. Further analysis suggests that the disassortative nature of recommender systems contributes to such observation. In a word, getting in-depth understanding on recommender systems could pave the way for the owners to popularize their cold-start products with low costs. PMID:25479013

Development of telerobotic systems for reactor decommissioning, (2)

International Nuclear Information System (INIS)

Fujii, Yoshio; Usui, Hozumi; Shinohara, Yoshikuni

1991-01-01

This paper describes the prototype heavy-duty telerobotic system constructed as a cold test facility for the development of robotic remote handling system technology in reactor decommissioning. The total system is built up with a multi-functional electrical manipulator system, a manipulator transporter system equipped with a tripedal support mechanism, a monitoring system comprising a 3-D TV monitor, and a computer control system for overall system operation. The manipulator system consists of two master manipulators and two corresponding amphibious slave manipulators with load capacities of 100 and 25 daN, respectively. Valuable engineering experiences for developing more advanced heavy-duty telerobotic system have been gained through designing, constructing and testing the system. (author)

Radio frequency acceleration and manipulation of ultra-cold electron bunches

NARCIS (Netherlands)

Franssen, J.G.H.; Vredenbregt, E.J.D.; Luiten, O.J.

2016-01-01

We are developing an ultra-fast and ultra-cold electron source based on a grating magneto optical trap, RF acceleration and RF (de-) compression techniques. The electrons will be created by near-threshold, femtosecond photoionization of a laser-cooled and trapped gas. The electron cloud is extracted

Comparison of cold and warm vacuum systems for intersecting storage rings

International Nuclear Information System (INIS)

Halama, H.J.; Herrera, J.C.

1975-01-01

In storage rings employing superconducting magnets, the use of a cold bore as a cryopump appears, at first glance, as simple and economical. Since the selection of a cold or warm vacuum system has far-reaching implications on the basic design, each system is considered in some detail. The theoretical and practical limitations imposed on the maximum beam current by the gas desorption from the chamber walls are discussed. A realistic design of a cold vacuum chamber is developed and then compared with the proposed warm ISABELLE vacuum system. The comparison shows that the warm approach is preferable. (U.S.)

Detailed Design of Cooling Water System for Cold Neutron Source in HANARO

Energy Technology Data Exchange (ETDEWEB)

Kim, Bong Soo; Choi, Jung Woon; Kim, Y. K.; Wu, S. I.; Lee, Y. S

2007-04-15

To make cold neutron, a cryogenic refrigerator is necessary to transform moderator into cryogenic state so, thermal neutron is changed into cold neutron through heat transfer with moderator. A cryogenic refrigerator mainly consists of two apparatus, a helium compressor and a cold box which needs supply of cooling water. Therefore, cooling water system is essential to operate of cryogenic refrigerator normally. This report is mainly focused on the detailed design of the cooling water system for the HANARO cold neutron source, and describes design requirement, calculation, specification of equipment and water treatment method.

Detailed Design of Cooling Water System for Cold Neutron Source in HANARO

International Nuclear Information System (INIS)

Kim, Bong Soo; Choi, Jung Woon; Kim, Y. K.; Wu, S. I.; Lee, Y. S.

2007-04-01

To make cold neutron, a cryogenic refrigerator is necessary to transform moderator into cryogenic state so, thermal neutron is changed into cold neutron through heat transfer with moderator. A cryogenic refrigerator mainly consists of two apparatus, a helium compressor and a cold box which needs supply of cooling water. Therefore, cooling water system is essential to operate of cryogenic refrigerator normally. This report is mainly focused on the detailed design of the cooling water system for the HANARO cold neutron source, and describes design requirement, calculation, specification of equipment and water treatment method

A novel behavioral assay for measuring cold sensation in mice.

Science.gov (United States)

Brenner, Daniel S; Golden, Judith P; Gereau, Robert W

2012-01-01

Behavioral models of cold responses are important tools for exploring the molecular mechanisms of cold sensation. To complement the currently cold behavioral assays and allow further studies of these mechanisms, we have developed a new technique to measure the cold response threshold, the cold plantar assay. In this assay, animals are acclimated on a glass plate and a cold stimulus is applied to the hindpaw through the glass using a pellet of compressed dry ice. The latency to withdrawal from the cooled glass is used as a measure of the cold response threshold of the rodents, and the dry ice pellet provides a ramping cold stimulus on the glass that allows the correlation of withdrawal latency values to rough estimates of the cold response threshold temperature. The assay is highly sensitive to manipulations including morphine-induced analgesia, Complete Freund's Adjuvant-induced inflammatory allodynia, and Spinal Nerve Ligation-induced neuropathic allodynia.

System Configuration Management Implementation Procedure for the Cold Vacuum Drying Facility Monitoring and Control System

International Nuclear Information System (INIS)

ANGLESEY, M.O.

2000-01-01

The purpose of this document is to establish the System Configuration Management Implementation Procedure (SCMIP) for the Cold Vacuum Drying Facility (CVDF) Monitoring and Control System (MCS). This procedure provides configuration management for the process control system. The process control system consists of equipment hardware and software that controls and monitors the instrumentation and equipment associated with the CVDF processes. Refer to SNF-3090, Cold Vacuum Drying Facility Monitoring and Control System Design Description, HNF-3553, Annex B, Safety Analysis Report for the Cold Vacuum Drying Facility, and AP-CM-6-037-00, SNF Project Process Automation Software and Equipment Configuration. This SCMIP identifies and defines the system configuration items in the control system, provides configuration control throughout the system life cycle, provides configuration status accounting, physical protection and control, and verifies the completeness and correctness of these items

Design of fresh food sensory perceptual system for cold chain logistics

Directory of Open Access Journals (Sweden)

Zhang Ying

2018-01-01

Full Text Available According to the present stage low-level information of China's cold chain preservation, designed a kind of fresh food sensory perceptual system for cold chain logistics based on Internet of things. This system highly integrated applied many technologies such as the Internet of things technology, forecasting technology for fruits and vegetables preservation period, RFID and Planar bar code technology, big data and cloud computing technology and so on.Designed as a four-layer structure including sensing layer, network layer, control layer and user layer. The system can implement the real-time temperature and humidity environment parameters monitoring and early warning of the whole cold chain logistics for fresh agricultural products from picking, storage, transportation and processing link. It greatly improved the information level of cold chain circulation in our country and has a strong marketing value.

Accelerator-based cold neutron sources and their cooling system

International Nuclear Information System (INIS)

Inoue, Kazuhiko; Yanai, Masayoshi; Ishikawa, Yoshikazu.

1985-01-01

We have developed and installed two accelerator-based cold neutron sources within a electron linac at Hokkaido University and a proton synchrotoron at National Laboratory for High Energy Physics. Solid methane at 20K was adopted as the cold moderator. The methane condensing heat exchangers attached directly to the moderator chambers were cooled by helium gas, which was kept cooled in refrigerators and circulated by ventilation fans. Two cold neutron sources have operated smoothly and safely for the past several years. In this paper we describe some of the results obtained in the preliminary experiments by using a modest capacity refrigerator, the design philosophy of the cooling system for the pulsed cold neutron sources, and outline of two facilities. (author)

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

Directory of Open Access Journals (Sweden)

Ernesto Rodriguez-Leal

2013-01-01

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

Fuzzy Control of Cold Storage Refrigeration System with Dynamic Coupling Compensation

Directory of Open Access Journals (Sweden)

Xiliang Ma

2018-01-01

Full Text Available Cold storage refrigeration systems possess the characteristics of multiple input and output and strong coupling, which brings challenges to the optimize control. To reduce the adverse effects of the coupling and improve the overall control performance of cold storage refrigeration systems, a control strategy with dynamic coupling compensation was studied. First, dynamic model of a cold storage refrigeration system was established based on the requirements of the control system. At the same time, the coupling between the components was studied. Second, to reduce the adverse effects of the coupling, a fuzzy controller with dynamic coupling compensation was designed. As for the fuzzy controller, a self-tuning fuzzy controller was served as the primary controller, and an adaptive neural network was adopted to compensate the dynamic coupling. Finally, the proposed control strategy was employed to the cold storage refrigeration system, and simulations were carried out in the condition of start-up, variable load, and variable degree of superheat, respectively. The simulation results verify the effectiveness of the fuzzy control method with dynamic coupling compensation.

Manipulator systems for nuclear reactor decommissioning which can take end effectors

International Nuclear Information System (INIS)

Lampersberger, E.; Hell, W.; Vrba, H.

1995-01-01

The development of a remote-handling system on the basis of the new master-slave manipulator will decisively influence the possibilities of remote-controlled manipulation in nuclear technology under the premises of -high availability - universal range of application - a standard normal for industry - maintenance friendlyness. (orig.) [de

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

Optimal design of a maintainable cold-standby system

Energy Technology Data Exchange (ETDEWEB)

Yu Haiyang [Universite de technologie de Troyes, ISTIT, Rue Marie Curie, BP 2060, 10010 TROYES (France)]. E-mail: Haiyang.YU@utt.fr; Yalaoui, Farouk [Universite de technologie de Troyes, ISTIT, Rue Marie Curie, BP 2060, 10010 TROYES (France); Chatelet, Eric [Universite de technologie de Troyes, ISTIT, Rue Marie Curie, BP 2060, 10010 TROYES (France); Chu Chengbin [Universite de technologie de Troyes, ISTIT, Rue Marie Curie, BP 2060, 10010 TROYES (France); Management School, Hefei University of Technology, Hefei (China)

2007-01-15

This paper considers a framework to optimally design a maintainable cold-standby system. Not only the maintenance policy is to be determined, but also the reliability character of the components will be taken into account. Hence, the mean time to failure of the components and the policy time of good-as-new maintenances are proposed as decision variables. Following probability analyses, the system cost rate and the system availability are formulated as the optimization object and the constraint, respectively. Then, this optimization problem is directly resolved by recognizing its underlying properties. Moreover, the resolving procedure is found to be independent of the failure distributions of the components and the forms of the system cost, which is illustrated through a numerical example. As a conclusion, an exact method is successfully established to minimize the cost rate of a cold-standby system with the given maintenance facility.

Optimal design of a maintainable cold-standby system

International Nuclear Information System (INIS)

Yu Haiyang; Yalaoui, Farouk; Chatelet, Eric; Chu Chengbin

2007-01-01

This paper considers a framework to optimally design a maintainable cold-standby system. Not only the maintenance policy is to be determined, but also the reliability character of the components will be taken into account. Hence, the mean time to failure of the components and the policy time of good-as-new maintenances are proposed as decision variables. Following probability analyses, the system cost rate and the system availability are formulated as the optimization object and the constraint, respectively. Then, this optimization problem is directly resolved by recognizing its underlying properties. Moreover, the resolving procedure is found to be independent of the failure distributions of the components and the forms of the system cost, which is illustrated through a numerical example. As a conclusion, an exact method is successfully established to minimize the cost rate of a cold-standby system with the given maintenance facility

A novel behavioral assay for measuring cold sensation in mice.

Directory of Open Access Journals (Sweden)

Daniel S Brenner

Full Text Available Behavioral models of cold responses are important tools for exploring the molecular mechanisms of cold sensation. To complement the currently cold behavioral assays and allow further studies of these mechanisms, we have developed a new technique to measure the cold response threshold, the cold plantar assay. In this assay, animals are acclimated on a glass plate and a cold stimulus is applied to the hindpaw through the glass using a pellet of compressed dry ice. The latency to withdrawal from the cooled glass is used as a measure of the cold response threshold of the rodents, and the dry ice pellet provides a ramping cold stimulus on the glass that allows the correlation of withdrawal latency values to rough estimates of the cold response threshold temperature. The assay is highly sensitive to manipulations including morphine-induced analgesia, Complete Freund's Adjuvant-induced inflammatory allodynia, and Spinal Nerve Ligation-induced neuropathic allodynia.

A Fast Recommender System for Cold User Using Categorized Items

Directory of Open Access Journals (Sweden)

Hamid Jazayeriy

2018-01-01

Full Text Available In recent years, recommender systems (RS provide a considerable progress to users. RSs reduce the cost of a user’s time in order to reach to desired results faster. The main issue of RSs is the presence of cold users which are less active and their preferences are more difficult to detect. The aim of this study is to provide a new way to improve recall and precision in recommender systems for cold users. According to the available categories of items, prioritization of the proposed items is improved and then presented to the cold user. The obtained results show that in addition to increased speed of processing, recall and precision have an acceptable improvement.

A kinematic analysis of the modified flight telerobotic servicer manipulator system

Science.gov (United States)

Crane, Carl; Carnahan, Tim; Duffy, Joseph

1992-01-01

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

Improving information filtering via network manipulation

Science.gov (United States)

Zhang, Fuguo; Zeng, An

2012-12-01

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

Weather and Climate Manipulation as an Optimal Control for Adaptive Dynamical Systems

Directory of Open Access Journals (Sweden)

Sergei A. Soldatenko

2017-01-01

Full Text Available The weather and climate manipulation is examined as an optimal control problem for the earth climate system, which is considered as a complex adaptive dynamical system. Weather and climate manipulations are actually amorphous operations. Since their objectives are usually formulated vaguely, the expected results are fairly unpredictable and uncertain. However, weather and climate modification is a purposeful process and, therefore, we can formulate operations to manipulate weather and climate as the optimization problem within the framework of the optimal control theory. The complexity of the earth’s climate system is discussed and illustrated using the simplified low-order coupled chaotic dynamical system. The necessary conditions of optimality are derived for the large-scale atmospheric dynamics. This confirms that even a relatively simplified control problem for the atmospheric dynamics requires significant efforts to obtain the solution.

Adsorption cold storage system with zeolite-water working pair used for locomotive air conditioning

International Nuclear Information System (INIS)

Lu, Y.Z.; Wang, R.Z.; Zhang, M.; Jiangzhou, S.

2003-01-01

Adsorption cold storage has lately attracted attention for its large storage capacity and zero cold energy loss during the storing process. Thermodynamic and experimental studies on the cold storage capacity and the cold discharging process, in which the adsorber is either air cooled or adiabatic, have been presented. An adsorption cold storage system with zeolite-water working pair has been developed, and some operating results are summarized. This system is used for providing air conditioning for the driver's cab of an internal combustion locomotive. Unlike a normal adsorption air conditioner, the system starts running with the adsorption process, during which the cold energy stored is discharged, and ends running with the generation process. The adsorbent temperature decreases during the cold storing period between two runs. The refrigeration power output for the whole running cycle is about 4.1 kW. It appears that such a system is quite energetically efficient and is comparatively suitable for providing discontinuous refrigeration capacity when powered by low grade thermal energy, such as industrial exhausted heat or solar energy

Preliminary safety equipment list for Tank 241-C-106 Manipulator Retrieval System, Project W-340

International Nuclear Information System (INIS)

Guthrie, R.L.

1994-01-01

This document identifies the anticipated safety classification of the estimated major subsystems, based on the projected major functions, that will be used as guidance for the development of the conceptual design of the Manipulator Retrieval System for Tank 241-C-106. This document is intended to be updated as the design of the Manipulator Retrieval System evolves through the conceptual and definitive design phases. The Manipulator Retrieval System is to be capable of removing the hardened sludge heel at the bottom of single shell Tank 241-C-106 and to perform an overall clean out of the tank that leaves a maximum of 360 ft 3 (TPA milestone M-45-00). The thickness of the heel prior to initiation of waste retrieval with the Manipulator Retrieval System is estimated to be 1- to 2-ft. The Manipulator Retrieval System is currently in the pre-conceptual phase with no definitive systems or subsystems. The anticipated retrieval functions for the Manipulator Retrieval System is based on Table 6-2 of WHC-SD-W340-ES-001, Rev. 1. Projected equipment to accomplish these functions were based on the following systems and equipment: Rotary Mode Core Sampling Equipment (WHC-SD-WM-SEL-032); Light Duty Utility Arm System Equipment (WHC-SD-WM-SEL-034); Single Shell Tanks Equipment (WHC-SD-WM-SEL-020)

Spiral modes in cold cylindrical systems

International Nuclear Information System (INIS)

Robe, H.

1975-01-01

The linearized hydrodynamical equations governing the non-axisymmetric free modes of oscillation of cold cylindrical stellar systems are separated in cylindrical coordinates and solved numerically for two models. Short-wavelength unstable modes corresponding to tight spirals do not exist; but there exists an unstable growing mode which has the form of trailing spirals which are quite open. (orig.) [de

Cold Vacuum Drying (CVD) Facility Vacuum Purge System Chilled Water System Design Description. System 47-4

International Nuclear Information System (INIS)

IRWIN, J.J.

2000-01-01

This system design description (SDD) addresses the Vacuum Purge System Chilled Water (VPSCHW) system. The discussion that follows is limited to the VPSCHW system and its interfaces with associated systems. The reader's attention is directed to Drawings H-1-82162, Cold Vacuum Drying Facility Process Equipment Skid PandID Vacuum System, and H-1-82224, Cold Vacuum Drying Facility Mechanical Utilities Process Chilled Water PandID. Figure 1-1 shows the location and equipment arrangement for the VPSCHW system. The VPSCHW system provides chilled water to the Vacuum Purge System (VPS). The chilled water provides the ability to condense water from the multi-canister overpack (MCO) outlet gases during the MCO vacuum and purge cycles. By condensing water from the MCO purge gas, the VPS can assist in drying the contents of the MCO

Manipulating beams of ultra-cold atoms with a static magnetic field

International Nuclear Information System (INIS)

Rowlands, W.J.; Lau, D.C.; Opat, G.I.; Sidorov, A.I.; McLean, R.J.; Hannaford, P.

1996-01-01

The preliminary results on the deflection of a beam of ultra-cold atoms by a static magnetic field are presented. Caesium atoms trapped in a magneto-optical trap (MOT) are cooled using optical molasses, and then fall freely under gravity to form a beam of ultra-cold atoms. The atoms pass through a static inhomogeneous magnetic field produced by a single current-carrying wire, and are deflected by a force dependent on the magnetic substate of the atom. A schematical diagram of the experimental layout for laser trapping and cooling of cesium atom is given. The population of atoms in various magnetic substates can be altered by using resonant laser radiation to optically pump the atoms. The single-wire deflection experiment described can be considered as atomic reflexion from a cylindrical magnetic mirror; the underlying principles and techniques being relevant to the production of atomic mirrors and diffraction gratings. 16 refs., 10 figs

Development of a control system for a heavy object handling manipulator. Application to a remote maintenance system for ITER blanket module

International Nuclear Information System (INIS)

Yoshimi, Takashi; Tsuji, Kouichi; Miyagawa, Shinichi; Kubo, Tomomi; Kakudate, Satoshi; Tada, Eisuke

2001-01-01

This paper describes a control system for the heavy object handling manipulator. It has been developed for the blanket module remote maintenance system of ITER (International Thermonuclear Fusion Experimental Reactor). A rail-mounted vehicle-type manipulator is proposed for the precise handling of a blanket module which is about 4 tons in weight. Basically, this manipulator is controlled by teaching-playback technique. When grasping or releasing the module, the manipulator sags and the position of the end-effector changes about 50 [mm]. Applying only the usual teaching-playback control makes the smooth operation of setting/removing modules to/from the vacuum vessel wall difficult due to this position change. To solve this proper problem of heavy object handling manipulator, we have developed a system which uses motion patterns generated from two kinds of teaching points. These motion patterns for setting/removing heavy objects are generated by combining teaching points for positioning the manipulator with and without grasping the object. When these motion patterns are applied, the manipulator can transfer the object's weight smoothly at the setting/removing point. This developed system has been applied to the real-scale mock-up of the vehicle manipulator and through the actual module setting/removing experiments, we have verified its effectiveness and realized smooth maintenance operation. (author)

MANOLA - demonstration of the manipulator and transport vehicle system; MANOLA. Vorstellung des Manipulator- und Transportwagensystems

Energy Technology Data Exchange (ETDEWEB)

Kern, P.; Gentes, S. [Karlsruher Institut fuer Technologie (KIT), Karlsruhe (Germany). Inst. fuer Technologie und Management im Baubetrieb, Technologie und Management des Rueckbaus kerntechnischer Anlagen

2011-07-01

The deconstruction of nuclear facilities has triggered the construction of remote handling systems. For the decontamination of surfaces the use of automatic robotics has significantly decreased the dose rate of the personnel and increased the efficiency. The authors describe the carrier system for the project MANOLA (manipulator controlled laser ablation technology) that can not only move in vertical and horizontal direction but also circumnavigate obstacles. This has reduced the cycle time and increased the efficiency. The weight of the transport vehicle is also reduced compared to the previous system AMANDA.

In-vessel maintenance remote manipulator system

International Nuclear Information System (INIS)

Jimenez, E.

1978-01-01

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

Introduction of a system of monitoring and automation of manipulator for hotcell in net

Energy Technology Data Exchange (ETDEWEB)

Fernandes, Guilherme Bezerra; Campos, Tarcisio Passos Ribeiro de [Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG (Brazil). Programa de Pos-graduacao em Ciencias e Tecnicas Nucleares]. E-mails: guilhermemaster@gmail.com; campos@nuclear.ufmg.br

2007-07-01

Herein, the paper addresses the improvements on the automation procedures and security aspects of a hot cell developed by the NRI/PCTN for manipulating sealed radioactive sources. For such, it was necessary the construction of a vision system, a operational system for the manipulator and auxiliary systems for grasping. For the vision system, a set of five CCD cameras coupled with electromechanical device provide orientation into a solid angle made of 180 deg (x-axis) and 180 deg (z-axis), assembled with gears motors. Two cameras are placed into the hot cell and three outside. The system of operation of the manipulator have been reconstructed including: software, firmware and the electronics in order to improve the control of the eight freedom degrees through microcontroller circuits. The auxiliary systems involve two devices that allow the opening and closing the recipes in which the radioactive source is enclosed. Three distinct keyboards, one for each system, had also been developed for independent control without computer. All the systems when integrated allow the remote operation, that is, operated by remote control at large distance, promoting the security of the operators in the manipulation of the radioactive sources. (author)

Cold Vacuum Dryer (CVD) Facility Security System Design Description. System 54

International Nuclear Information System (INIS)

WHITEHURST, R.

2000-01-01

This system design description (SDD) addresses the Cold Vacuum Drying (CVD) Facility security system. The system's primary purpose is to provide reasonable assurance that breaches of security boundaries are detected and assessment information is provided to protective force personnel. In addition, the system is utilized by Operations to support reduced personnel radiation goals and to provide reasonable assurance that only authorized personnel are allowed to enter designated security areas

Control and manipulation of cold atoms in optical tweezers

International Nuclear Information System (INIS)

Muldoon, Cecilia; Brandt, Lukas; Dong Jian; Stuart, Dustin; Brainis, Edouard; Himsworth, Matthew; Kuhn, Axel

2012-01-01

Neutral atoms trapped by laser light are among the most promising candidates for storing and processing information in a quantum computer or simulator. The application certainly calls for a scalable and flexible scheme for addressing and manipulating the atoms. We have now made this a reality by implementing a fast and versatile method to dynamically control the position of neutral atoms trapped in optical tweezers. The tweezers result from a spatial light modulator (SLM) controlling and shaping a large number of optical dipole-force traps. Trapped atoms adapt to any change in the potential landscape, such that one can rearrange and randomly access individual sites within atom-trap arrays. (paper)

Cold Vacuum Drying Facility Condensate Collection System Design Description. System 19

International Nuclear Information System (INIS)

PITKOFF, C.C.

2000-01-01

The Cold Vacuum Drying (CVD) Facility of Spent Nuclear Fuel (SNF) provides required process systems, supporting equipment, and facilities to support the SNF Project mission. This system design description (SDD) addresses the Condensate Collection System (CCS). This is a general service system. The CCS begins at the condensate outlet of the general process air-handling unit (AHU) and the condensate outlets for the active process bays AHUs. The system terminates at each condensate collection tank (5 total)

Design of fresh food sensory perceptual system for cold chain logistics

OpenAIRE

Zhang Ying; Cheng Ruqi; Chen Shaohui

2018-01-01

According to the present stage low-level information of China's cold chain preservation, designed a kind of fresh food sensory perceptual system for cold chain logistics based on Internet of things. This system highly integrated applied many technologies such as the Internet of things technology, forecasting technology for fruits and vegetables preservation period, RFID and Planar bar code technology, big data and cloud computing technology and so on.Designed as a four-layer structure includi...

Cold Vacuum Drying facility potable water system design description

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) potable water (PW) system. The PW system provides potable water to the CVDF for supply to sinks, water closets, urinals, showers, custodial service sinks, drinking fountains, the decontamination shower, supply water to the non-PW systems, and makeup water for the de-ionized water system

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

Directory of Open Access Journals (Sweden)

Zhan Yang

2016-09-01

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

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

Science.gov (United States)

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

2016-01-01

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

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

Science.gov (United States)

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

2016-09-14

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

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

Directory of Open Access Journals (Sweden)

Abul K. M. Azad

2008-03-01

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

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

Science.gov (United States)

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

2015-08-01

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

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

Science.gov (United States)

1975-01-01

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

Thermal and hydraulic analyses of the System 81 cold traps

Energy Technology Data Exchange (ETDEWEB)

Kim, K.

1977-06-15

Thermal and hydraulic analyses of the System 81 Type I and II cold traps were completed except for thermal transients analysis. Results are evaluated, discussed, and reported. Analytical models were developed to determine the physical dimensions of the cold traps and to predict the performance. The FFTF cold trap crystallizer performances were simulated using the thermal model. This simulation shows that the analytical model developed predicts reasonably conservative temperatures. Pressure drop and sodium residence time calculations indicate that the present design will meet the requirements specified in the E-Specification. Steady state temperature data for the critical regions were generated to assess the magnitude of the thermal stress.

The design and commissioning of cold trap purifying system of hydrogen meter sodium loop

International Nuclear Information System (INIS)

Zhao Zhaoyi; Jia Baoshan; Chen Xiaoming; Pan Fengguo

1993-01-01

The design feature and parameters of cold trap purifying system of hydrogen meter sodium loop and its commissioning results are reported and discussed. In order to adjust the flow easily,. the cold trap purifying system is arranged in the exit of the electromagnetic pump. It is composed of regenerator and the cold trap. The regenerator is above the cold trap. The high temperature sodium in the main-loop flows through the regenerator, in the entrance of the cold trap, its temperature is reduced to 180 degree C. After entering into the cold trap, the sodium flows to the purifying region by side, when it arrives the bottom of the trap, its temperature is reduced to 110 degree C. The cold trap is cooled by air. The temperature of the clean sodium rises nearby the main-loop's by the regenerator, and then it returns to the entrance of the electromagnetic pump. According to the commissioning results, the sodium's temperature of the cold trap could be reduced to 110 degree C by reducing the flow of the cold trap purifying system and the temperature of the main-loop, or increasing the air flow and cutting off the power supply of its heating. The authors think that the latter is more conformable with the design stipulation and with the requirement of the hydrogen meter experiment, and it can meet the requirements of the operation of the Nuclear Power Plant

SVM-Based Control System for a Robot Manipulator

Directory of Open Access Journals (Sweden)

Foudil Abdessemed

2012-12-01

Full Text Available Real systems are usually non-linear, ill-defined, have variable parameters and are subject to external disturbances. Modelling these systems is often an approximation of the physical phenomena involved. However, it is from this approximate system of representation that we propose - in this paper - to build a robust control, in the sense that it must ensure low sensitivity towards parameters, uncertainties, variations and external disturbances. The computed torque method is a well-established robot control technique which takes account of the dynamic coupling between the robot links. However, its main disadvantage lies on the assumption of an exactly known dynamic model which is not realizable in practice. To overcome this issue, we propose the estimation of the dynamics model of the nonlinear system with a machine learning regression method. The output of this regressor is used in conjunction with a PD controller to achieve the tracking trajectory task of a robot manipulator. In cases where some of the parameters of the plant undergo a change in their values, poor performance may result. To cope with this drawback, a fuzzy precompensator is inserted to reinforce the SVM computed torque-based controller and avoid any deterioration. The theory is developed and the simulation results are carried out on a two-degree of freedom robot manipulator to demonstrate the validity of the proposed approach.

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

Cold Vacuum Drying (CVD) Electrical System Design Description

International Nuclear Information System (INIS)

SINGH, G.

2000-01-01

This system design description (SDD) provides a technical explanation of the design and operation of the electrical system for the Cold Vacuum Drying Facility (CVDF). This SDD also identifies the requirements, and the basis for the requirements and details on how the requirements have been implemented in the design and construction of the facility. This SDD also provides general guidance for the surveillance, testing, and maintenance of this system

Physics Based Vision Systems for Robotic Manipulation

Data.gov (United States)

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

Application of Cascade Refrigeration System with Mixing Refrigerant in Cold Air Cutting

Science.gov (United States)

Yang, Y.; Tong, M. W.; Yang, G.; Wang, X. P.

In the mechanical cutting process, the replacement of traditional cutting solution with cold air can avoid the pollution of environment. In order to high efficient the refrigerating device and flexible adjust the temperature of cold air, it is necessary to use cascade refrigeration system to supply cool quantity for the compressed air. The introduction of a two-component non-azeotropic mixing refrigerant into the cryogenic part of the cascade system, can effectively solve the problems of the system working at too high pressure and the volume expanding of refrigerant in case of the cascade refrigeration sets closed down. However, the filling ratio of mixing refrigerants impact on the relationships among the closing down pressure, refrigerating output and refrigerating efficiency. On the basis of computing and experiment, the optimal mixing ratio of refrigerant R22/R13 and a low temperature of -60° were obtained in this study. A cold air injecting device possessing high efficiency in energy saving has also been designed and manufactured. The cold air, generated from this cascade system and employed in a cutting process, takes good comprehensive effects on machining and cutting.

Design, fabrication, commissioning, and testing of a 250 g/s, 2-K helium cold compressor system

International Nuclear Information System (INIS)

V. Ganni; D. M. Arenius; B. S. Bevins; W. C. Chronis; J. D. Creel; J. D. Wilson Jr.

2002-01-01

In June 1999 the Thomas Jefferson National Accelerator Facility (TJNAF) Cryogenic Systems Group had completed the design, fabrication, and commissioning of a cold compressor system capable of pumping 250 g/s of 2-K helium vapor to a pressure above 1 bar. The 2-K cold box consists of five stages of centrifugal variable speed compressors with LN2 cooled drive motors and magnetic bearings, a plate fin heat exchanger, and an LN2 shield system. The new 2-K cold box (referred to as the SCN) was built as a redundant system to an existing four stage cold compressor SCM cold box that was commissioned in May 1994. The SCN has been in continuous service supporting the facility experiments since commissioning. This system has achieved a significant improvement in the total 2-K refrigeration system capacity and stability and has substantially increased the operating envelope both in cold compressor flow and operating pressure range. This paper describes the cold box configuration and the experience s in the design, fabrication, commissioning and performance evaluation. The capacity of the system for various operating pressures (0.040 to 0.025 bar at the load corresponding to a total compressor pressure ratio of 28 to 54) is presented. An effort is made to characterize the components and their operating data over the tested range. This includes the return side pressure drop in the distribution system, the heat exchanger, and the cold compressor characteristics. The system design parameters and their effects on performance are outlined

Positron Plasma Control Techniques Applied to Studies of Cold Antihydrogen

CERN Document Server

Funakoshi, Ryo

2003-01-01

In the year 2002, two experiments at CERN succeeded in producing cold antihydrogen atoms, first ATHENA and subsequently ATRAP. Following on these results, it is now feasible to use antihydrogen to study the properties of antimatter. In the ATHENA experiment, the cold antihydrogen atoms are produced by mixing large amounts of antiprotons and positrons in a nested Penning trap. The complicated behaviors of the charged particles are controlled and monitored by plasma manipulation techniques. The antihydrogen events are studied using position sensitive detectors and the evidence of production of antihydrogen atoms is separated out with the help of analysis software. This thesis covers the first production of cold antihydrogen in the first section as well as the further studies of cold antihydrogen performed by using the plasma control techniques in the second section.

Manipulator comparative testing program

International Nuclear Information System (INIS)

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

1986-01-01

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

Assembly, destruction and manipulation of atomic, molecular and complex systems

International Nuclear Information System (INIS)

Le Padellec, Arnaud Pierre Frederic

2003-04-01

In this report for Accreditation to Supervise Researches (HDR), the author first indicates his professional curriculum (diplomas, teaching activities, responsibilities in the field of education and research, publications), and then proposes a presentation of his scientific works and researches. He notably proposes an overview of the different experimental techniques he implemented: CRYRING storage ring, confluent beams, flow post-discharge with mass spectrometry and Langmuir probe, crossed beams, and so on. He reports works dealing with the manipulation and destruction of atomic, molecular and complex systems: detachment of atomic anions by electronic impact, detachment and dissociation of small carbon aggregates by electronic impact, dissociative recombination, dissociative ionisation and excitation, creation of pairs of ions, manipulation of sodium fluoride aggregates. He finally presents research projects regarding the assembly of molecular and complex systems

Cold Vacuum Drying Safety Class Instrumentation and Control System Design Description

International Nuclear Information System (INIS)

WHITEHURST, R.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) Safety Class Instrumentation and Control system (SCIC). The SCIC provides safety functions and features to protect the environment, off-site and on-site personnel and equipment. The function of the SCIC is to provide automatic trip features, valve interlocks, alarms, indication and control for the cold vacuum drying process

Light Duty Utility Arm system pre-operational (cold test) test plan

International Nuclear Information System (INIS)

Bennett, K.L.

1995-01-01

The Light Duty Utility (LDUA) Cold Test Facility, located in the Hanford 400 Area, will be used to support cold testing (pre- operational tests) of LDUA subsystems. Pre-operational testing is composed of subsystem development testing and rework activities, and integrated system qualification testing. Qualification testing will be conducted once development work is complete and documentation is under configuration control. Operational (hot) testing of the LDUA system will follow the testing covered in this plan and will be covered in a separate test plan

Experimental results obtained with the simulated cold moderator system. System characteristics and technical issues

CERN Document Server

Aso, T; Hino, R; Kaminaga, M; Kinoshita, H; Takahashi, T

2002-01-01

The Japan Atomic Energy Research Institute and the High Energy Accelerator Research Organization have been developing a Mega-Watt scale spallation target system. In the system, neutrons generated in a target are sorted out their energy to the proper values in liquid-hydrogen moderators. Then, the liquid-hydrogen is forced to circulate in order to suppress hydrogen temperature increase. In the operation of moderators, it is very important to establish a safety protection system against emergency shutdown of the accelerator or accidents of the cold moderator system. In order to obtain a technical data for design and safety review of the liquid-hydrogen system, we have fabricated an experimental apparatus simulated the cold moderator system using liquid nitrogen (max. 1.5 MPa, mini. 77 K) instead of liquid hydrogen. The experiments on a controllability of the system were carried out to investigate dynamic characteristics of the system. This report presents the experimental results and technical issues for the co...

Cold Vacuum Drying (CVD) Electrical System Design Description

International Nuclear Information System (INIS)

BRISBIN, S.A.

1999-01-01

This document provides a technical explanation of the design and operation of the electrical system for the Cold Vacuum Drying Facility. This document identifies the requirements, and the basis for the requirements and details on how the requirements have been implemented in the design and construction of the facility. This document also provides general guidance for the surveillance, testing, and maintenance of this system

Cold Vacuum Drying facility fire protection system design description

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) fire protection system (FPS). The FPS provides fire detection, suppression, and loss limitation for the CVDF structure, personnel, and in-process spent nuclear fuel. The system provides, along with supporting interfacing systems, detection, alarm, and activation instrumentation and controls, distributive piping system, isolation valves, and materials and controls to limit combustibles and the associated fire loadings

Powered manipulator control arm

International Nuclear Information System (INIS)

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

1975-01-01

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

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

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

1997-01-01

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

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

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

1997-03-01

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

Acute Anxiety Predicts Components of the Cold Shock Response on Cold Water Immersion: Toward an Integrated Psychophysiological Model of Acute Cold Water Survival

Science.gov (United States)

Barwood, Martin J.; Corbett, Jo; Massey, Heather; McMorris, Terry; Tipton, Mike; Wagstaff, Christopher R. D.

2018-01-01

Introduction: Drowning is a leading cause of accidental death. In cold-water, sudden skin cooling triggers the life-threatening cold shock response (CSR). The CSR comprises tachycardia, peripheral vasoconstriction, hypertension, inspiratory gasp, and hyperventilation with the hyperventilatory component inducing hypocapnia and increasing risk of aspirating water to the lungs. Some CSR components can be reduced by habituation (i.e., reduced response to stimulus of same magnitude) induced by 3–5 short cold-water immersions (CWI). However, high levels of acute anxiety, a plausible emotion on CWI: magnifies the CSR in unhabituated participants, reverses habituated components of the CSR and prevents/delays habituation when high levels of anxiety are experienced concurrent to immersions suggesting anxiety is integral to the CSR. Purpose: To examine the predictive relationship that prior ratings of acute anxiety have with the CSR. Secondly, to examine whether anxiety ratings correlated with components of the CSR during immersion before and after induction of habituation. Methods: Forty-eight unhabituated participants completed one (CON1) 7-min immersion in to cold water (15°C). Of that cohort, twenty-five completed four further CWIs that would ordinarily induce CSR habituation. They then completed two counter-balanced immersions where anxiety levels were increased (CWI-ANX) or were not manipulated (CON2). Acute anxiety and the cardiorespiratory responses (cardiac frequency [fc], respiratory frequency [fR], tidal volume [VT], minute ventilation [E]) were measured. Multiple regression was used to identify components of the CSR from the most life-threatening period of immersion (1st minute) predicted by the anxiety rating prior to immersion. Relationships between anxiety rating and CSR components during immersion were assessed by correlation. Results: Anxiety rating predicted the fc component of the CSR in unhabituated participants (CON1; p anxiety rating predicted the f

Acute Anxiety Predicts Components of the Cold Shock Response on Cold Water Immersion: Toward an Integrated Psychophysiological Model of Acute Cold Water Survival.

Science.gov (United States)

Barwood, Martin J; Corbett, Jo; Massey, Heather; McMorris, Terry; Tipton, Mike; Wagstaff, Christopher R D

2018-01-01

Introduction: Drowning is a leading cause of accidental death. In cold-water, sudden skin cooling triggers the life-threatening cold shock response (CSR). The CSR comprises tachycardia, peripheral vasoconstriction, hypertension, inspiratory gasp, and hyperventilation with the hyperventilatory component inducing hypocapnia and increasing risk of aspirating water to the lungs. Some CSR components can be reduced by habituation (i.e., reduced response to stimulus of same magnitude) induced by 3-5 short cold-water immersions (CWI). However, high levels of acute anxiety, a plausible emotion on CWI: magnifies the CSR in unhabituated participants, reverses habituated components of the CSR and prevents/delays habituation when high levels of anxiety are experienced concurrent to immersions suggesting anxiety is integral to the CSR. Purpose: To examine the predictive relationship that prior ratings of acute anxiety have with the CSR. Secondly, to examine whether anxiety ratings correlated with components of the CSR during immersion before and after induction of habituation. Methods: Forty-eight unhabituated participants completed one (CON1) 7-min immersion in to cold water (15°C). Of that cohort, twenty-five completed four further CWIs that would ordinarily induce CSR habituation. They then completed two counter-balanced immersions where anxiety levels were increased (CWI-ANX) or were not manipulated (CON2). Acute anxiety and the cardiorespiratory responses (cardiac frequency [ f c ], respiratory frequency [ f R ], tidal volume [ V T ], minute ventilation [ E ]) were measured. Multiple regression was used to identify components of the CSR from the most life-threatening period of immersion (1 st minute) predicted by the anxiety rating prior to immersion. Relationships between anxiety rating and CSR components during immersion were assessed by correlation. Results: Anxiety rating predicted the f c component of the CSR in unhabituated participants (CON1; p CSR when anxiety

A cold mass support system based on the use of oriented fiberglass epoxy rods in bending

International Nuclear Information System (INIS)

Green, Michael A.; Corradi, Carol A.; LaMantia, Roberto F.; Zbasnik, Jon P.

2002-01-01

This report describes a cold mass support system that uses oriented fiberglass epoxy (other low heat leak oriented fiber material can also be used) rods. In the direction of the rods, where forces are carried in tension or compression, the support system is very stiff. In the other directions, the rods are subjected to bending stresses. When the support rods are put in bending the cold mass support is quite compliant. This type of support system can be used in situation where space for a cold mass support system is limited and where compliance can be tolerated in at least one direction. Break test data for 15.9-mm and 19.1-mm diameter oriented fiberglass rods is presented in this report. The cold mass supports for the DFBX distribution boxes are presented as an example of this type of cold mass support system

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

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

2016-01-01

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

Preliminary evaluation of the Accident Response Mobile Manipulation System for accident site salvage operations

International Nuclear Information System (INIS)

Trujillo, J.M.; Morse, W.D.; Jones, D.P.

1994-01-01

This paper describes and evaluates operational experiences with the Accident Response Mobile Manipulation System (ARMMS) during simulated accident site salvage operations which might involve nuclear weapons. The ARMMS is based upon a teleoperated mobility platform with two Schilling Titan 7F Manipulators

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

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)

Reliability Electrical Power System of Hospital as Cold Standby System

Directory of Open Access Journals (Sweden)

Grabski Franciszek

2016-07-01

Full Text Available The probabilistic model of a hospital electrical power system consisting of mains, an emergency power system and the automatic transfer switch with the generator starter are discussed in this paper. The reliability model is semi-Markov process describing two different units renewable cold standby system and switch. The embedded Semi-Markov processes concept is applied for description of the system evolution. Time to failure of the system is represented by a random variable denoting the first passage time of the process from the given state to the subset of states. The appropriate theorems of the Semi-Markov processes theory allow us to evaluate the reliability function and some reliability characteristics.

Experimental results obtained with the simulated cold moderator system. System characteristics and technical issues

Energy Technology Data Exchange (ETDEWEB)

Aso, Tomokazu; Kaminaga, Masanori; Haga, Katsuhiro; Kinoshita, Hidetaka; Takahashi, Toshio; Hino, Ryutaro [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

2002-12-01

The Japan Atomic Energy Research Institute and the High Energy Accelerator Research Organization have been developing a Mega-Watt scale spallation target system. In the system, neutrons generated in a target are sorted out their energy to the proper values in liquid-hydrogen moderators. Then, the liquid-hydrogen is forced to circulate in order to suppress hydrogen temperature increase. In the operation of moderators, it is very important to establish a safety protection system against emergency shutdown of the accelerator or accidents of the cold moderator system. In order to obtain a technical data for design and safety review of the liquid-hydrogen system, we have fabricated an experimental apparatus simulated the cold moderator system using liquid nitrogen (max. 1.5 MPa, mini. 77 K) instead of liquid hydrogen. The experiments on a controllability of the system were carried out to investigate dynamic characteristics of the system. This report presents the experimental results and technical issues for the construction of a practical liquid-hydrogen moderator system of the Mega-Watt scale target system. (author)

Cold Vacuum Drying Facility Crane and Hoist System Design Description. System 14

International Nuclear Information System (INIS)

TRAN, Y.S.

2000-01-01

This system design description (SDD) is for the Cold Vacuum Drying (CVD) Facility overhead crane and hoist system. The overhead crane and hoist system is a general service system. It is located in the process bays of the CVD Facility, supports the processes required to drain the water and dry the spent nuclear fuel (SNF) contained in the multi-canister overpacks (MCOs) after they have been removed from the K-Basins. The location of the system in the process bay is shown

Optimization of Domestic-Size Renewable Energy System Designs Suitable for Cold Climate Regions

Science.gov (United States)

Akpan, Itoro Etim; Sasaki, Masafumi; Endoh, Noboru

Five different kinds of domestic-size renewable energy system configurations for very cold climate regions were investigated. From detailed numerical modeling and system simulations, it was found that the consumption of fuel oil for the auxiliary boiler in residential-type households can almost be eliminated with a renewable energy system that incorporates photovoltaic panel arrays for electricity generation and two storage tanks: a well-insulated electric water storage tank that services the hot water loads, and a compact boiler/geothermal heat pump tank for room heating during very cold seasons. A reduction of Greenhouse Gas Emissions (GHG) of about 28% was achieved for this system compared to an equivalent conventional system. The near elimination of the use of fuel oil in this system makes it very promising for very cold climate regions in terms of energy savings because the running cost is not so dependent on the unstable nature of global oil prices.

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

Gravity-Based Precise Cell Manipulation System Enhanced by In-Phase Mechanism

Directory of Open Access Journals (Sweden)

Koji Mizoue

2016-07-01

Full Text Available This paper proposes a gravity-based system capable of generating high-resolution pressure for precise cell manipulation or evaluation in a microfluidic channel. While the pressure resolution of conventional pumps for microfluidic applications is usually about hundreds of pascals as the resolution of their feedback sensors, precise cell manipulation at the pascal level cannot be done. The proposed system successfully achieves a resolution of 100 millipascals using water head pressure with an in-phase noise cancelation mechanism. The in-phase mechanism aims to suppress the noises from ambient vibrations to the system. The proposed pressure system is tested with a microfluidic platform for pressure validation. The experimental results show that the in-phase mechanism effectively reduces the pressure turbulence, and the pressure-driven cell movement matches the theoretical simulations. Preliminary experiments on deformability evaluation with red blood cells under incremental pressures of one pascal are successfully performed. Different deformation patterns are observed from cell to cell under precise pressure control.

Manipulation of pain catastrophizing: An experimental study of healthy participants

Directory of Open Access Journals (Sweden)

Joel E Bialosky

2008-11-01

Full Text Available Joel E Bialosky1*, Adam T Hirsh2,3, Michael E Robinson2,3, Steven Z George1,3*1Department of Physical Therapy; 2Department of Clinical and Health Psychology; 3Center for Pain Research and Behavioral Health, University of Florida, Gainesville, Florida, USAAbstract: Pain catastrophizing is associated with the pain experience; however, causation has not been established. Studies which specifically manipulate catastrophizing are necessary to establish causation. The present study enrolled 100 healthy individuals. Participants were randomly assigned to repeat a positive, neutral, or one of three catastrophizing statements during a cold pressor task (CPT. Outcome measures of pain tolerance and pain intensity were recorded. No change was noted in catastrophizing immediately following the CPT (F(1,84 = 0.10, p = 0.75, partial η2 < 0.01 independent of group assignment (F(4,84 = 0.78, p = 0.54, partial η2 = 0.04. Pain tolerance (F(4 = 0.67, p = 0.62, partial η2 = 0.03 and pain intensity (F(4 = 0.73, p = 0.58, partial η2 = 0.03 did not differ by group. This study suggests catastrophizing may be difficult to manipulate through experimental pain procedures and repetition of specific catastrophizing statements was not sufficient to change levels of catastrophizing. Additionally, pain tolerance and pain intensity did not differ by group assignment. This study has implications for future studies attempting to experimentally manipulate pain catastrophizing.Keywords: pain, catastrophizing, experimental, cold pressor task, pain catastrophizing scale

A Gas-Spring-Loaded X-Y-Z Stage System for X-ray Microdiffraction Sample Manipulation

International Nuclear Information System (INIS)

Shu Deming; Cai Zhonghou; Lai, Barry

2007-01-01

We have designed and constructed a gas-spring-loaded x-y-z stage system for x-ray microdiffraction sample manipulation at the Advanced Photon Source XOR 2-ID-D station. The stage system includes three DC-motor-driven linear stages and a gas-spring-based heavy preloading structure, which provides antigravity forces to ensure that the stage system keeps high-positioning performance under variable goniometer orientation. Microdiffraction experiments with this new stage system showed significant sample manipulation performance improvement

Mechanical Design of a Manipulation System for Unmanned Aerial Vehicles

NARCIS (Netherlands)

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

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

System and method for crystalline sheet growth using a cold block and gas jet

Science.gov (United States)

Kellerman, Peter L.; Mackintosh, Brian; Carlson, Frederick M.; Morrell, David; Moradian, Ala; Desai, Nandish; Sun, Dawei; Sinclair, Frank

2018-05-01

A crystallizer for growing a crystalline sheet from a melt may include a cold block having a cold block surface that faces an exposed surface of the melt, the cold block configured to generate a cold block temperature at the cold block surface that is lower than a melt temperature of the melt at the exposed surface. The system may also include a nozzle disposed within the cold block and configured to deliver a gas jet to the exposed surface, wherein the gas jet and the cold block are interoperative to generate a process zone that removes heat from the exposed surface at a first heat removal rate that is greater than a second heat removal rate from the exposed surface in outer regions outside of the process zone.

Cold atoms close to surfaces

DEFF Research Database (Denmark)

Krüger, Peter; Wildermuth, Stephan; Hofferberth, Sebastian

2005-01-01

Microscopic atom optical devices integrated on atom chips allow to precisely control and manipulate ultra-cold (T atoms and Bose-Einstein condensates (BECs) close to surfaces. The relevant energy scale of a BEC is extremely small (down to ... be utilized as a sensor for variations of the potential energy of the atoms close to the surface. Here we describe how to use trapped atoms as a measurement device and analyze the performance and flexibility of the field sensor. We demonstrate microscopic magnetic imaging with simultaneous high spatial...

Cold injuries.

Science.gov (United States)

Kruse, R J

1995-01-01

There are two categories of cold injury. The first is hypothermia, which is a systemic injury to cold, and the second is frostbite, which is a local injury. Throughout history, entire armies, from George Washington to the Germans on the Russian Front in World War II, have fallen prey to prolonged cold exposure. Cold injury is common and can occur in all seasons if ambient temperature is lower than the core body temperature. In the 1985 Boston Marathon, even though it was 76 degrees and sunny, there were 75 runners treated for hypothermia. In general, humans adapt poorly to cold exposure. Children are at particular risk because of their relatively greater surface area/body mass ratio, causing them to cool even more rapidly than adults. Because of this, the human's best defense against cold injury is to limit his/her exposure to cold and to dress appropriately. If cold injury has occurred and is mild, often simple passive rewarming such as dry blankets and a warm room are sufficient treatment.

Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System

OpenAIRE

Congqing, Wang; Pengfei, Wu; Xin, Zhou; Xiwu, Pei

2013-01-01

The flexible space manipulator is a highly nonlinear and coupled dynamic system. This paper proposes a novel composite sliding mode control to deal with the vibration suppression and trajectory tracking of a free-floating space rigid-flexible coupling manipulator with a rigid payload. First, the dynamic equations of this system are established by using Lagrange and assumed mode methods and in the meantime this dynamic modelling allows consideration of the modelling errors, the external distur...

[The essence of Professor Wu Lian-Zhong's acupuncture manipulation].

Science.gov (United States)

Liu, Jing; Guo, Yi; Wu, Lian-Zhong

2014-05-01

The painless needle insertion technique, summarized by Professor WU Lian-zhong during his decades of acupuncture clinical practice is introduced in this article, which is characterized as soft, flexible, fast, plucking and activating antipathogenic qi. The Sancai (three layers) lifting and thrusting manipulation technique is adopted by Professor WU for getting the qi sensation. And features of 10 kinds of needling sensation such as soreness, numbness, heaviness, distension, pain, cold, hot, radiation, jumping and contracture are summarized. Finger force, amplitude, speed and time length are also taken as the basis of reinforcing and reducing manipulations. Moreover, examples are also given to explain the needling technique on some specific points which further embodies Professor WU's unique experiences and understandings on acupuncture.

Reliability Analysis of a Two Dissimilar Unit Cold Standby System ...

African Journals Online (AJOL)

(2009) using linear first order differential equation evaluated the reliability and availability characteristics of two-dissimilar-unit cold standby system with three mode for which no cost benefit analysis was considered. El-said (1994) contributed on stochastic analysis of a two-dissimilar-unit standby redundant system.

Adaptation of the continuous cold-trap system of fluidized-bed to the fluoride volatility process

International Nuclear Information System (INIS)

1976-01-01

A continuous cold-trap system consisting of fluidized condensor and stripper has been evaluated with a view to adapt it to the Fluoride Volatility Process in establishing the continuous purification process without radiation decomposition of PuF 6 . Its feasibility is shown by the test with UF 6 -air. Necessary conditions for the cold trap, and performance of the 2-in.-dia. fluidized-bed cold-trap system are presented, and also a model of mist formation in the condensor

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)

Control system developments for a range of kinematically redundant hydraulic manipulators

International Nuclear Information System (INIS)

Smith, A.L.; Rice, P.S.; Thiruarooran, C.

2000-01-01

This paper describes a range of control system improvements developed and implemented for in-reactor use during the last three years. Novel control techniques have been developed to provide accurate closed-loop velocity control of pumped hydraulic manipulator joints under a wide range of operating conditions. As a result the supervisory computer system can provide accurate trajectory following, even when more than ten joints are required to move simultaneously. Accurately coordinated motion has given rise to some spectacular gains in in-reactor performance in terms of deployment time, safety and accessibility. The same low-level control improvements have made it feasible to integrate and use the 'geometric controller' to provide accurate resolved motion control of a kinematically redundant manipulator. Examples of recent in-reactor use of all these techniques are given. (author)

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)

The direct manipulation shell

International Nuclear Information System (INIS)

Allen, M.E.; Christiansen, M.

1992-01-01

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

Spent nuclear fuel project cold vacuum drying facility vacuum and purge system design description

Energy Technology Data Exchange (ETDEWEB)

IRWIN, J.J.

1998-11-30

This document provides the System Design Description (SDD) for the Cold Vacuum Drying Facility (CVDF) Vacuum and Purge System (VPS) . The SDD was developed in conjunction with HNF-SD-SNF-SAR-O02, Safety Analysis Report for the Cold Vacuum Drying Facility, Phase 2, Supporting Installation of Processing Systems (Garvin 1998), The HNF-SD-SNF-DRD-002, 1998, Cold Vacuum Drying Facility Design Requirements, and the CVDF Design Summary Report. The SDD contains general descriptions of the VPS equipment, the system functions, requirements and interfaces. The SDD provides references for design and fabrication details, operation sequences and maintenance. This SDD has been developed for the SNFP Operations Organization and shall be updated, expanded, and revised in accordance with future design, construction and startup phases of the CVDF until the CVDF final ORR is approved.

Spent nuclear fuel project cold vacuum drying facility process water conditioning system design description

International Nuclear Information System (INIS)

IRWIN, J.J.

1998-01-01

This document provides the System Design Description (SDD) for the Cold Vacuum Drying Facility (CVDF) Process Water Conditioning (PWC) System. The SDD was developed in conjunction with HNF-SD-SNF-SAR-002, Safety Analysis Report for the Cold Vacuum Drying Facility, Phase 2, Supporting Installation of Processing Systems (Garvin 1998), the HNF-SD-SNF-DRD-O02, 1998, Cold Vacuum Drying Facility Design Requirements, and the CVDF Design Summary Report. The SDD contains general descriptions of the PWC equipment, the system functions, requirements and interfaces. The SDD provides references for design and fabrication details, operation sequences and maintenance. This SDD has been developed for the SNFP Operations Organization and shall be updated, expanded, and revised in accordance with future design, construction and startup phases of the CVDF until the CVDF final ORR is approved

Spent nuclear fuel project cold vacuum drying facility vacuum and purge system design description

International Nuclear Information System (INIS)

IRWIN, J.J.

1998-01-01

This document provides the System Design Description (SDD) for the Cold Vacuum Drying Facility (CVDF) Vacuum and Purge System (VPS) . The SDD was developed in conjunction with HNF-SD-SNF-SAR-O02, Safety Analysis Report for the Cold Vacuum Drying Facility, Phase 2, Supporting Installation of Processing Systems (Garvin 1998), The HNF-SD-SNF-DRD-002, 1998, Cold Vacuum Drying Facility Design Requirements, and the CVDF Design Summary Report. The SDD contains general descriptions of the VPS equipment, the system functions, requirements and interfaces. The SDD provides references for design and fabrication details, operation sequences and maintenance. This SDD has been developed for the SNFP Operations Organization and shall be updated, expanded, and revised in accordance with future design, construction and startup phases of the CVDF until the CVDF final ORR is approved

Cold Vacuum Drying facility deionized water system design description

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) de-ionized water system. The de-ionized water system is used to provide clean, conditioned water, free from contaminants, chlorides and iron for the CVD Facility. Potable water is supplied to the deionized water system, isolated by a backflow prevention device. After the de-ionization process is complete, via a packaged de-ionization unit, de-ionized water is supplied to the process deionization unit

Changes in Heart Rhythm and Breathing in Acute Systemic Injury Due to Cold

Directory of Open Access Journals (Sweden)

D. Yu. Konnov

2015-01-01

Full Text Available Objective: to reveal the patterns of a change in heart rhythm and breathing in patients with acute systemic injury due to cold in hypothermic and early posthypothermic periods.Subjects and methods. Thirty patients aged 18 to 60 years (3 groups of 10 patients with mild, moderate, and severe cold injury were examined in hypothermic and posthypothermic periods. The patient groups did not differ in gender, age, and weight. Within the first 24 hours after admission, all the patients underwent high-resolution Holter electrocardiographic monitoring that recorded cardiac arrhythmias and breathing disorders.Results. During the therapy performed, as the degree of acute systemic cold injury increased, the patients were found to have a heart rate reduction (from 102 [90; 122] beats/min in Group 1 to 49 [38; 58] beats/min in Group 3 and a circadian index increase (from 105 [88; 125]% in Group 1 to 210 [185; 223]% in Group 3. With increased hypothermia, the victims were detected to have progressive cardiac rhythm and cardiac electrical conduction disturbances, such as supraventricular pacemaker migration, single and paired supraventricular premature beats, paroxysmal atrial tachycardia, atrial fibrillations, and ventricular premature beats. There was decreased heart rhythm variability in all the study groups, to the greatest extent in the patents with severe systemic cold injury. Late ventricular potentials were found in 2 and 7 patients with moderate and severe cold injury, respectively. Breathing disorders were recorded in all the study groups, the greatest increase in the frequency and duration of apnea/hypopnea episodes was noted in the patients with severe hypothermia. A fatal outcome occurred in 4 of the 10 patients with critical hypothermia due to the occurrence of idioventricular rhythm with transition to asystole.Conclusion. Systemic hypothermia is accompanied by cardiac rhythm and cardiac electrical conduction disturbances and respiratory depression

Adaptation of the continuous cold trap system of fluidized-bed to the fluoride volatility process

International Nuclear Information System (INIS)

1976-02-01

A continuous cold trap system consisting of fluidized condenser and stripper has been evaluated with a view to adapt it to the Fluoride Volatility Process in establishing the continuous purification process without radiation decomposition of PuF 6 . Its feasibility is shown by the test with UF 6 -air. Necessary conditions for the cold trap, and performance of the two inch-dia. fluidized bed cold trap system are presented, and also a model of mist formation in the condenser. (auth.)

Teleoperation and computer control of a backhoe/manipulator system

International Nuclear Information System (INIS)

Amazeen, C.A.; Bishop, S.S.

1987-01-01

Teleoperation of the U.S. Army's Small Emplacement Excavator (SEE) is now in the prototype stage of development. Initial work is directed towards remotely controlling the SEE backhoe attachment as well as a Belvoir Research, Development, and Engineering Center (BRDEC)-developed heavy-lift manipulator (HLM). The HLM is an alternate end effector for the backhoe. Primitive computer control of the backhoe, with a bucket as an end effector, has been achieved. This paper presents the current and planned system configurations and discusses system applications

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

Directory of Open Access Journals (Sweden)

Kaczyński R.

2016-12-01

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

Control of a high precision macro-micro robotic manipulator system

International Nuclear Information System (INIS)

Cho, Whang

1997-01-01

A controller for macro-micro robotic manipulator system in which kinematically independent two robotic sub-systems work together to improve the accuracy of the motion is proposed. A nonlinear feedback linearization scheme is employed as basic architecture for the controller and additional formulations about the controller structure are made to assure the robustness of the overall control action and to restrict the motion of micro sub-system close to its nominal position without causing saturation of joint associated with micro-robot. (author)

Responses of sympathetic nervous system to cold exposure in vibration syndrome subjects and age-matched healthy controls.

Science.gov (United States)

Nakamoto, M

1990-01-01

Plasma norepinephrine and epinephrine in vibration syndrome subjects and age-matched healthy controls were measured for the purpose of estimating the responsibility of the sympathetic nervous system to cold exposure. In preliminary experiment, it was confirmed that cold air exposure of the whole body was more suitable than one-hand immersion in cold water. In the main experiment, 195 subjects were examined. Sixty-five subjects had vibration syndrome with vibration-induced white finger (VWF + group) and 65 subjects had vibration syndrome without VWF (VWF- group) and 65 controls had no symptoms (control group). In the three groups, plasma norepinephrine levels increased during cold air exposure of whole body at 7 degrees +/- 1.5 degrees C. Blood pressure increased and skin temperature decreased during cold exposure. Percent increase of norepinephrine in the VWF+ group was the highest while that in VWF- group followed and that in the control group was the lowest. This whole-body response of the sympathetic nervous system to cold conditions reflected the VWF which are characteristic symptoms of vibration syndrome. Excluding the effects of shivering and a cold feeling under cold conditions, it was confirmed that the sympathetic nervous system in vibration syndrome is activated more than in the controls. These results suggest that vibration exposure to hand and arm affects the sympathetic nervous system.

Dynamics and Thermodynamics of Many Particle Cold Atom Systems

Science.gov (United States)

2016-05-05

simulate their dynamics far from equilibrium . It is likely that these ideas will find many applications in many areas of physics, quantum chemistry and...focus of this proposal was theoretical research on various non- equilibrium phenomena in isolated quantum systems and applications to experimental setups...theoretical research on various non- equilibrium phenomena in isolated quantum systems and applications to experimental setups largely to cold atoms

Comparison of Environment Impact between Conventional and Cold Chain Management System in Paprika Distribution Process

Directory of Open Access Journals (Sweden)

Eidelweijs A Putri

2012-09-01

Full Text Available Pasir Langu village in Cisarua, West Java, is the largest central production area of paprika in Indonesia. On average, for every 200 kilograms of paprika produced, there is rejection amounting to 3 kilograms. This resulted in money loss for wholesalers and wastes. In one year, this amount can be approximately 11.7 million Indonesian rupiahs. Recently, paprika wholesalers in Pasir Langu village recently are developing cold chain management system to maintain quality of paprika so that number of rejection can be reduced. The objective of this study is to compare environmental impacts between conventional and cold chain management system in paprika distribution process using Life Cycle Assessment (LCA methodology and propose Photovoltaic (PV system in paprika distribution process. The result implies that the cold chain system produces more CO2 emission compared to conventional system. However, due to the promotion of PV system, the emission would be reduced. For future research, it is necessary to reduce CO2 emission from transportation process since this process is biggest contributor of CO2 emission at whole distribution process. Keywords: LCA, environmentally friendly distribution, paprika,cold chain, PV system

Energy-filtered cold electron transport at room temperature.

Science.gov (United States)

Bhadrachalam, Pradeep; Subramanian, Ramkumar; Ray, Vishva; Ma, Liang-Chieh; Wang, Weichao; Kim, Jiyoung; Cho, Kyeongjae; Koh, Seong Jin

2014-09-10

Fermi-Dirac electron thermal excitation is an intrinsic phenomenon that limits functionality of various electron systems. Efforts to manipulate electron thermal excitation have been successful when the entire system is cooled to cryogenic temperatures, typically distribution corresponds to an effective electron temperature of ~45 K, can be transported throughout device components without external cooling. This is accomplished using a discrete level of a quantum well, which filters out thermally excited electrons and permits only energy-suppressed electrons to participate in electron transport. The quantum well (~2 nm of Cr2O3) is formed between source (Cr) and tunnelling barrier (SiO2) in a double-barrier-tunnelling-junction structure having a quantum dot as the central island. Cold electron transport is detected from extremely narrow differential conductance peaks in electron tunnelling through CdSe quantum dots, with full widths at half maximum of only ~15 mV at room temperature.

Comprehending emergent systems phenomena through direct-manipulation animation

Science.gov (United States)

Aguirre, Priscilla Abel

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

Manipulation Robustness of Collaborative Filtering

OpenAIRE

Benjamin Van Roy; Xiang Yan

2010-01-01

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

Characterization of steady streaming for a particle manipulation system.

Science.gov (United States)

Amit, Roni; Abadi, Avi; Kosa, Gabor

2016-04-01

Accurate positioning of biological cells or microscopic particle without directly contacting them is a challenging task in biomedical engineering. Various trapping methods for controlling the position of a particle have been suggested. The common driving methods are based on laser and ultrasonic actuation principles. In this work we suggest a design for a hydrodynamic particle manoeuvring system. The system operates using steady streaming in a viscous fluid media induced by high frequency vibration of piezoelectric cantilevers. A particle within the workspace of the system can be trapped and manipulated to a desired position by the fairly unidirectional flow field created by the beams. In this paper, the flow field in the particle manipulation system is characterized numerically and experimentally. We find that the flow field resembles the analytical solutions of a flow field created by an oscillating sphere. Furthermore, we validate numerically the quadratic relation between the steady streaming velocity and the vibration amplitude of the beam. The calibration of the piezoelectric actuator's oscillation amplitudes enables effective positioning of particles with a diameter of 20 um to 1 mm. We find that a 30X0.8X2 mm(3) piezoelectric beam vibrating at its first resonance frequency, 200 Hz, is able to move a particle at a typical flow velocity ranging between 0.05 mm/sec and 0.13 mm/s in 430 cSt Si oil (Re=0.2).

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

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)

Cold Climate Structural Fire Danger Rating System?

Directory of Open Access Journals (Sweden)

Maria-Monika Metallinou

2018-03-01

Full Text Available Worldwide, fires kill 300,000 people every year. The fire season is usually recognized to be in the warmer periods of the year. Recent research has, however, demonstrated that the colder season also has major challenges regarding severe fires, especially in inhabited (heated wood-based structures in cold-climate areas. Knowledge about the effect of dry cellulose-based materials on fire development, indoor and outdoor, is a motivation for monitoring possible changes in potential fire behavior and associated fire risk. The effect of wind in spreading fires to neighboring structures points towards using weather forecasts as information on potential fire spread behavior. As modern weather forecasts include temperature and relative humidity predictions, there may already be sufficient information available to develop a structural fire danger rating system. Such a system may include the following steps: (1 Record weather forecasts and actual temperature and relative humidity inside and outside selected structures; (2 Develop a meteorology-data-based model to predict indoor relative humidity levels; (3 Perform controlled drying chamber experiments involving typical hygroscopic fire fuel; (4 Compare the results to the recorded values in selected structures; and (5 Develop the risk model involving the results from drying chamber experiments, weather forecasts, and separation between structures. Knowledge about the structures at risk and their use is also important. The benefits of an automated fire danger rating system would be that the society can better plan for potentially severe cold-climate fires and thereby limit the negative impacts of such fires.

IRAS constraints on a cold cloud around the solar system

International Nuclear Information System (INIS)

Aumann, H.H.; Good, J.C.

1990-01-01

IRAS 60- and 100-micron observations of G-stars in the solar neighborhood indicate that the typical G star is surrounded by a cold cloud. The assumption that the sun is archetypical requires that a cloud of typical G star extent and temperature surrounds our solar system. IRAS ecliptic plane scans, which are dominated by a 40-deg wide band of zodiacal dust, asteroid debris trails, and the Galactic plane, are consistent with a larger than typical G star cold cloud. Consistency with the typical G star and the direct observations constrain the width of the cold cloud perpendicular to the ecliptic plane to be larger than 5 deg. The 100-150 AU radius of this cloud is larger, but not inconsistent with the inner boundary of a cloud of comets, postulated previously at a radius of 50 AU based on Neptune orbital perturbations and models of short period comets. 17 refs

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

Cooled electronic system with thermal spreaders coupling electronics cards to cold rails

Science.gov (United States)

Chainer, Timothy J; Gaynes, Michael A; Graybill, David P; Iyengar, Madhusudan K; Kamath, Vinod; Kochuparambil, Bejoy J; Schmidt, Roger R; Schultz, Mark D; Simco, Daniel P; Steinke, Mark E

2013-07-23

Liquid-cooled electronic systems are provided which include an electronic assembly having an electronics card and a socket with a latch at one end. The latch facilitates securing of the card within the socket or removal of the card from the socket. A liquid-cooled cold rail is disposed at the one end of the socket, and a thermal spreader couples the electronics card to the cold rail. The thermal spreader includes first and second thermal transfer plates coupled to first and second surfaces on opposite sides of the card, and thermally conductive extensions extending from end edges of the plates, which couple the respective transfer plates to the liquid-cooled cold rail. The thermally conductive extensions are disposed to the sides of the latch, and the card is securable within or removable from the socket using the latch without removing the cold rail or the thermal spreader.

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2003-01-01

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

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

International Nuclear Information System (INIS)

Yoshida, Koichi; Yabuta, Tetsuro

1992-01-01

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

MACS, the manipulation and collimation system on the NPD at LANSCE

International Nuclear Information System (INIS)

Bourke, M.A.M.; Goldstone, J.A.; Lovell, K.J.

1991-01-01

The practical problems associated with beam collimation and specimen manipulation at a pulsed neutron source are identical to those on a steady state source. However extra constraints result from the limited space available and from the time of flight analysis of the diffracted neutrons. A manipulation and collimation system (MACS) has been designed for the neutron powder diffractometer (NPD) at the Los Alamos spallation neutron source (LANSCE). It provides specimen motion and aperture positioning with accuracies of better than 0.1mm and is constructed as a rigid unit. For flat sided specimens sampling volumes less than 30 mm 3 have been obtained demonstrating the viability of making spatially resolved strain measurements at a pulsed neutron source. 3 figs

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

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

Fundamental design of systems and facilities for cold neutron source in the Hanaro

Energy Technology Data Exchange (ETDEWEB)

Kim, Bong Soo; Jeong, H. S.; Kim, Y. K.; Wu, S. I

2006-01-15

The CNS(Cold Neutron Source) development project has been carried out as the partial project of the reactor utilization R and D government enterprise since 2003. In the advantage of lower energy and long wave length for the cold neutron, it can be used with the essential tool in order to investigate the structure of protein, amino-acid, DNA, super lightweight composite and advanced materials in the filed of high technology. This report is mainly focused on the basic design of the systems and facilities for the HANARO cold neutron source, performed during the second fiscal project year.

Fundamental design of systems and facilities for cold neutron source in the Hanaro

International Nuclear Information System (INIS)

Kim, Bong Soo; Jeong, H. S.; Kim, Y. K.; Wu, S. I.

2006-01-01

The CNS(Cold Neutron Source) development project has been carried out as the partial project of the reactor utilization R and D government enterprise since 2003. In the advantage of lower energy and long wave length for the cold neutron, it can be used with the essential tool in order to investigate the structure of protein, amino-acid, DNA, super lightweight composite and advanced materials in the filed of high technology. This report is mainly focused on the basic design of the systems and facilities for the HANARO cold neutron source, performed during the second fiscal project year

Determination of the Optimal Operating Parameters for the Jefferson Lab's Cryogenic Cold Compressor System

International Nuclear Information System (INIS)

Joe Wilson; Venkatarao Ganni; Dana Arenius; Jonathan Creel

2004-01-01

Jefferson Lab's (JLab) Continuous Electron Beam Accelerator Facility (CEBAF) and Free Electron Laser (FEL) are supported by 2 K helium refrigerator known as the Central Helium Liquefier (CHL), which maintains a constant low vapor pressure over the accelerators' large liquid helium inventory with a five-stage centrifugal compressor train. The cold compressor train operates with constrained discharge pressure and can be varied over a range of suction pressures and mass flows to meet the operational requirements of the two accelerators. Using data from commissioning and routine operations of the cold compressor system, the presented procedure predicts an operating point for each cold compressor such that maximum efficiency is attained for the overall cold compressor system for a given combination of mass flow and vapor pressure. The procedure predicts expected efficiency of the system and relative compressors speeds for operating vapor pressures from 4 to 2.5 kPa (corresponds to overall pressure ratios of 29 to 56) and flow rates of 135 g/s to 250 g/s. The results of the predictions are verified by test for a few operating conditions of mass flows and vapor pressures

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.

Cold Vacuum Drying facility condensate collection system design description

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) condensate collection system (CCS). The function of the CCS is to collect cooling coil condensate from air-handling units in the CVDF and to isolate the condensate in collection tanks until the condensate is determined to be acceptable to drain to the effluent drain collection basin

Cold Vacuum Drying facility personnel monitoring system design description

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) instrument air (IA) system that provides instrument quality air to the CVDF. The IA system provides the instrument quality air used in the process, HVAC, and HVAC instruments. The IA system provides the process skids with air to aid in the purging of the annulus of the transport cask. The IA system provides air for the solenoid-operated valves and damper position controls for isolation, volume, and backdraft in the HVAC system. The IA system provides air for monitoring and control of the HVAC system, process instruments, gas-operated valves, and solenoid-operated instruments. The IA system also delivers air for operating hand tools in each of the process bays

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-07-01

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

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-04-01

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

Order in cold ionic systems: Dynamic effects

International Nuclear Information System (INIS)

Schiffer, J.P.

1988-01-01

The present state and recent developments in Molecular Dynamics calculations modeling cooled heavy-ion beams are summarized. First, a frame of reference is established, summarizing what has happened in the past; then the properties of model systems of cold ions studied in Molecular Dynamics calculations are reviewed, with static boundary conditions with which an ordered state is revealed; finally, more recent results on such modelling, adding the complications in the (time-dependent) boundary conditions that begin to approach real storage rings (ion traps) are reported. 14 refs., 19 figs., 2 tabs

Optimal control of complex atomic quantum systems.

Science.gov (United States)

van Frank, S; Bonneau, M; Schmiedmayer, J; Hild, S; Gross, C; Cheneau, M; Bloch, I; Pichler, T; Negretti, A; Calarco, T; Montangero, S

2016-10-11

Quantum technologies will ultimately require manipulating many-body quantum systems with high precision. Cold atom experiments represent a stepping stone in that direction: a high degree of control has been achieved on systems of increasing complexity. However, this control is still sub-optimal. In many scenarios, achieving a fast transformation is crucial to fight against decoherence and imperfection effects. Optimal control theory is believed to be the ideal candidate to bridge the gap between early stage proof-of-principle demonstrations and experimental protocols suitable for practical applications. Indeed, it can engineer protocols at the quantum speed limit - the fastest achievable timescale of the transformation. Here, we demonstrate such potential by computing theoretically and verifying experimentally the optimal transformations in two very different interacting systems: the coherent manipulation of motional states of an atomic Bose-Einstein condensate and the crossing of a quantum phase transition in small systems of cold atoms in optical lattices. We also show that such processes are robust with respect to perturbations, including temperature and atom number fluctuations.

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

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

Evaluation of Losses Of Cold Energy of Cryogen Products in The Transport Systems

Science.gov (United States)

Uglanov, Dmitry; Sarmin, Dmitry; Tsapkova, Alexandra; Burdina, Yana

2017-12-01

At present, there are problems of energy saving in various areas of human life and in power complexes of industrial plants. One possible solution to the problem of increasing energy efficiency is the use of liquefied natural gas and its cold energy. Pipelines for fuel or gas supply in cryogen supply systems have different length depending on the mutual position of storage and cryogen consumption devices relatively to a start construction. Cryogen supply and transport systems include a lot of fittings of different assortment. Reservoirs can be installed on different elevation points. To reduce heat inleak and decrease cold energy of cryogen product different kinds of thermal insulation are used. Cryogen pipelines provide required operation conditions of storage and gasifying systems. The aim of the thermal calculation of cryogen transport and supply systems is to define the value of cryogen heat. In this paper it is shown values of cryogen temperature rise due to heat inleaks at cryogen’s transfer along transport systems for ethane, methane, oxygen and nitrogen were calculated. Heat inleaks also due to hydraulic losses were calculated. Specific losses of cold energy of cryogen product for laminar and turbulent flow were calculated. Correspondences of temperature rise, critical pipeline’s length and Reynolds number were defined for nitrogen, argon, methane and oxygen.

Study of Cycling Air-Cooling System with a Cold Accumulator for Micro Gas-Turbine Installations

Science.gov (United States)

Ochkov, V. F.; Stepanova, T. A.; Katenev, G. M.; Tumanovskii, V. A.; Borisova, P. N.

2018-05-01

Using the cycling air-cooling systems of the CTIC type (Combustion Turbine Inlet Cooling) with a cold accumulator in a micro gas-turbine installation (micro-GTI) to preserve its capacity under the seasonal temperature rise of outside air is described. Water ice is used as the body-storage in the accumulators, and ice water (water at 0.5-1.0°C) is used as the body that cools air. The ice water circulates between the accumulator and the air-water heat exchanger. The cold accumulator model with renewable ice resources is considered. The model contains the heat-exchanging tube lattice-evaporator covered with ice. The lattice is cross-flowed with water. The criterion heat exchange equation that describes the process in the cold accumulator under consideration is presented. The calculations of duration of its active operation were performed. The dependence of cold accumulator service life on water circulation rate was evaluated. The adequacy of the design model was confirmed experimentally in the mock-up of the cold accumulator with a refrigerating machine periodically creating a 200 kg ice reserve in the reservoir-storage. The design model makes it possible to determine the weight of ice reserve of the discharged cold accumulator for cooling the cycle air in the operation of a C-30 type micro- GTI produced by the Capstone Company or micro-GTIs of other capacities. Recommendations for increasing the working capacity of cold accumulators of CTIC-systems of a micro-GTI were made.

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

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

Manipulating stored phonological input during verbal working memory

Science.gov (United States)

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

2016-01-01

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

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.

Utilization of the organ care system as ex-vivo lung perfusion after cold storage transportation.

Science.gov (United States)

Mohite, P N; Maunz, O; Popov, A-F; Zych, B; Patil, N P; Simon, A R

2015-11-01

The Organ Care System (OCS) allows perfusion and ventilation of the donor lungs under physiological conditions. Ongoing trials to compare preservation with OCS Lung with standard cold storage do not include donor lungs with suboptimal gas exchange and donor lungs treated with OCS following cold storage transportation. We present a case of a 48-yr-old man who received such lungs after cold storage transportation treated with ex-vivo lung perfusion utilizing OCS. © The Author(s) 2015.

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

International Nuclear Information System (INIS)

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

1993-01-01

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

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.

Understanding pharmaceutical research manipulation in the context of accounting manipulation.

Science.gov (United States)

Brown, Abigail

2013-01-01

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

Cold Vacuum Drying Safety Class Instrumentation and Control System Design Description SYS 93-2

International Nuclear Information System (INIS)

WHITEHURST, R.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) Safety Class Instrumentation and Control system (SCIC). The SCIC provides safety functions and features to protect the environment, off-site and on-site personnel and equipment. The function of the SCIC is to provide automatic trip features, valve interlocks, alarms, indication and control for the cold vacuum drying process

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.

Using joined minicomputer-microcomputer systems for intricate sample and data manipulations

International Nuclear Information System (INIS)

Meng, J.D.

1980-09-01

We have produced, over the past three years, three automated x-ray fluorescence based elemental analysis systems, that combine a minicomputer and a microcomputer to perform intricate sample and data manipulations. The mini-micro combination facilitates the reuse of sizable sections of hardware and programs for different x-ray analysis projects. Each of our systems has been a step closer to an optimum general solution. The combination reaps economic benefits throughout development, fabrication and maintenance, an important consideration for designers of custom-built, one-of-a-kind data analysis systems such as these

Report on a feasibility survey of the cold accumulated heat use energy system in Hokkaido; Hokkaido ni okeru reichikunetsu riyo energy system no kanosei chosa hokokusho

Energy Technology Data Exchange (ETDEWEB)

NONE

1996-03-01

A survey was conducted of various systems which use in summer cold heat from the snow stored in winter. A model of the cold accumulated heat system of the type which has a high possibility of the introduction was built to study a possibility of the realization. Types of the model system were selected assuming the utilization of cold heat energy of snow in Sapporo, a typical large city in the cold heavy-snow area. Studies were made on each model of urban type commercial facilities, urban type offices, suburban type shopping center, and suburban type hospitals. For each model, more than one systems were studied according to types and forms of the storage tank, and heat recovery methods. As a result, it was found that cold heat energy of snow can be utilized almost effectively by making an appropriate study of the energy balance like the possible supply of cold heat exceeded the demand in two models of an urban type office building and an suburban type hospital. Further, operating expenses of typical models were roughly calculated. 51 figs., 20 figs.

Experience on the removal of impurities from liquid metal systems by cold-trapping

Energy Technology Data Exchange (ETDEWEB)

Bray, J. A.

1963-10-15

Experience in impurity removal by cold-trapping, which was obtained on DFR and its associated liquid metal rigs, is reviewed. The development of the present DFR cold-trapping system is outlined, and the operation of the additional pumped loops, which were required in order to control the reactor impurity levels, are described. Operation of the liquid metal rigs ancillary to the reactor project is discussed with particular reference to the control of impurity levels. (auth)

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1990-01-01

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

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

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

1993-01-01

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

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.

Cold neutron source with self-regulation

International Nuclear Information System (INIS)

Kawai, T.

2003-01-01

A way to increase the cold neutron flux is to cool moderator from where cold neutrons are extracted. Although various kinds of cooling system are considered, the closed thermo-siphon cooling system is adopted in many institutes. The notable feature of this system is to be able to keep the liquid level stable in the moderator cell against thermal disturbances, by using self-regulation, which allows a stable supply of cold neutrons. The main part of the closed thermo-siphon consists of a condenser, a moderator transfer tube and moderator cell, which is called the hydrogen cold system. When an extra heat load is applied to the hydrogen cold system having no flow resistance in a moderator transfer tube, the system pressure rises by evaporation of liquid hydrogen. Then the boiling point of hydrogen rises. The liquefaction capacity of the condenser is increasing with a rise of temperature, because a refrigerating power of the helium refrigerator increases linearly with temperature rise of the system. Therefore, the effect of thermal heat load increase is compensated and cancelled out. The closed thermo-siphon has this feature generally, when the moderator transfer tube is designed to be no flow resistance. The report reviews the concept of self-regulation, and how to design and construct the cold neutron source with self-regulation. (author)

Cold Vacuum Drying facility crane and hoist system design description

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) crane and hoist system. The overhead crane and hoist system is located in the process bays of the CVDF. It supports the processes required to drain the water and dry the spent nuclear fuel contained in the multi-canister overpacks after they have been removed from the K-Basins. The cranes will also be used to assist maintenance activities within the bays, as required

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)

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

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

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

Thermodynamic, Environmental and Economic Analyses of Solar Ejector Refrigeration System Application for Cold Storage

Directory of Open Access Journals (Sweden)

İbrahim ÜÇGÜL

2009-02-01

Full Text Available The refrigeration processes have been widely applied for especially in cold storages. In these plants, the systems working with compressed vapour cooling cycles have been used as a classical method. In general, electrical energy is used for compressing in these processes. Although, mainly the electricity itself has no pollution effect on the environment, the fossil fuels that are widely used to produce electricity in the most of the world, affect the nature terribly. In short, these refrigeration plants, because of the source of the electricity pollute the nature indirectly. However, for compression an ejector refrigeration system requires one of the important renewable energy sources with negligible pollution impact on the environment, namely solar energy from a thermal source. Thermodynamical, environmental and economical aspects of the ejector refrigeration system working with solar energy was investigated in this study. As a pilot case, apple cold storage plants widely used in ISPARTA city, which 1/5 th of apple production of TURKEY has been provided from, was chosen. Enviromental and economical advantages of solar ejector refrigeration system application for cold storage dictated by thermodynamic, economic and enviromental analyses in this research.

The Congress for Cultural Freedom seen from the dynamics of the Cold War

Directory of Open Access Journals (Sweden)

Francisco Javier Ruiz Durán

2014-01-01

Full Text Available The aim of this paper is to show how, at the height of the Cold War, the British intelligence services responded to the new spy system created by the Comintern developing a secret campaign of political and cultural propaganda, under the cover of prestigious foundations to channel intellectuals in defense of a liberal democracy. This spy system expected to carry out propaganda secret operations and manipulate the intellectuals from almost the very beginning of the Soviet Revolution. The keystone to win the battle of consciences was the Congress for Cultural Freedom and its editorials, magazines, exhibitions, scholarships, concerts, congresses and conferences. Finally, it will be noted how the Congress for Cultural Freedom implemented the political conception of "non-communist left" to sustain the social democracy in the Western bloc.

Leak-before-break due to fatigue cracks in the cold leg piping system

International Nuclear Information System (INIS)

Mayfield, M.E.; Collier, R.P.

1984-01-01

This review paper presents the results of a deterministic assessment of the margin of safety against a large break in the cold leg piping system of pressurized water reactors. The paper focuses on the computation of leak rates resulting from fatigue cracks that penetrate the full wall thickness. Results are presented that illustrate the sensitivity of the leak rate to stress level, crack shape and crack orientation. Further, the leak rates for specific conditions are contrasted to detection levels, shutdown criteria, make-up capacity and the leak rate associated with final failure of the piping system. The results of these computations indicate that, in general, leaks far in excess of the present detection sensitivities would result at crack sizes well below the critical crack sizes for the upset loadings on the cold leg piping system

Manipulator system for remote maintenance of fusion experimental reactor

International Nuclear Information System (INIS)

Shibanuma, Kiyoshi; Munakata, Tadashi; Murakami, Shin; Kondoh, Mitsunori.

1991-01-01

We have completed the conceptual design for a rail-mounted vehicle type remote maintenance system for the fusion experimental reactor (FER), which will be the first D-T burning reactor in Japan. We have fabricated a 1/5-scale model and confirmed the feasibility of the design. In this system, a rail is deployed into the vessel and supported at four horizontal ports. A vehicle then moves along the rail and handles in-vessel components with manipulators. The advantages of this concept are the high stiffness and high reliability of the rail, and the high mobility of the vehicle for efficient maintenance operations. In the FER, this concept is considered to be the first option for in-vessel maintenance. This paper describes the conceptual design of the system and the feasibility study using the 1/5-scale model. (author)

Control of Advanced Reactor-Coupled Heat Exchanger System: Incorporation of Reactor Dynamics in System Response to Load Disturbances

Directory of Open Access Journals (Sweden)

Isaac Skavdahl

2016-12-01

Full Text Available Alternative control schemes for an Advanced High Temperature Reactor system consisting of a reactor, an intermediate heat exchanger, and a secondary heat exchanger (SHX are presented in this paper. One scheme is designed to control the cold outlet temperature of the SHX (Tco and the hot outlet temperature of the intermediate heat exchanger (Tho2 by manipulating the hot-side flow rates of the heat exchangers (Fh/Fh2 responding to the flow rate and temperature disturbances. The flow rate disturbances typically require a larger manipulation of the flow rates than temperature disturbances. An alternate strategy examines the control of the cold outlet temperature of the SHX (Tco only, since this temperature provides the driving force for energy production in the power conversion unit or the process application. The control can be achieved by three options: (1 flow rate manipulation; (2 reactor power manipulation; or (3 a combination of the two. The first option has a quicker response but requires a large flow rate change. The second option is the slowest but does not involve any change in the flow rates of streams. The third option appears preferable as it has an intermediate response time and requires only a minimal flow rate change.

Control of advanced reactor-coupled heat exchanger system: Incorporation of reactor dynamics in system response to load disturbances

Energy Technology Data Exchange (ETDEWEB)

Skavdahi, Isaac; Utgikar, Vivek [Dept. of Chemical and Materials Engineering, University of Idaho, Moscow (United States); Christensen, Richard [Nuclear Engineering Program, University of Idaho, Idaho Falls (United States); Chen, Ming Hui; Sun, Xiao Dong [Nuclear Engineering Program, Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus (United States); Sabharwall, Piyush [Idaho National Laboratory, Idaho Falls (United States)

2016-12-15

Alternative control schemes for an Advanced High Temperature Reactor system consisting of a reactor, an intermediate heat exchanger, and a secondary heat exchanger (SHX) are presented in this paper. One scheme is designed to control the cold outlet temperature of the SHX (T{sub co}) and the hot outlet temperature of the intermediate heat exchanger (Th{sub o2}) by manipulating the hot-side flow rates of the heat exchangers (F{sub h}/F{sub h2}) responding to the flow rate and temperature disturbances. The flow rate disturbances typically require a larger manipulation of the flow rates than temperature disturbances. An alternate strategy examines the control of the cold outlet temperature of the SHX (T{sub co}) only, since this temperature provides the driving force for energy production in the power conversion unit or the process application. The control can be achieved by three options: (1) flow rate manipulation; (2) reactor power manipulation; or (3) a combination of the two. The first option has a quicker response but requires a large flow rate change. The second option is the slowest but does not involve any change in the flow rates of streams. The third option appears preferable as it has an intermediate response time and requires only a minimal flow rate change.

Control of advanced reactor-coupled heat exchanger system: Incorporation of reactor dynamics in system response to load disturbances

International Nuclear Information System (INIS)

Skavdahi, Isaac; Utgikar, Vivek; Christensen, Richard; Chen, Ming Hui; Sun, Xiao Dong; Sabharwall, Piyush

2016-01-01

Alternative control schemes for an Advanced High Temperature Reactor system consisting of a reactor, an intermediate heat exchanger, and a secondary heat exchanger (SHX) are presented in this paper. One scheme is designed to control the cold outlet temperature of the SHX (T_c_o) and the hot outlet temperature of the intermediate heat exchanger (Th_o_2) by manipulating the hot-side flow rates of the heat exchangers (F_h/F_h_2) responding to the flow rate and temperature disturbances. The flow rate disturbances typically require a larger manipulation of the flow rates than temperature disturbances. An alternate strategy examines the control of the cold outlet temperature of the SHX (T_c_o) only, since this temperature provides the driving force for energy production in the power conversion unit or the process application. The control can be achieved by three options: (1) flow rate manipulation; (2) reactor power manipulation; or (3) a combination of the two. The first option has a quicker response but requires a large flow rate change. The second option is the slowest but does not involve any change in the flow rates of streams. The third option appears preferable as it has an intermediate response time and requires only a minimal flow rate change

Development of design system of manipulator for fusion reactor maintenance

International Nuclear Information System (INIS)

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

1989-01-01

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

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2004-01-01

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

Determination of the Optimal Operating Parameters for Jefferson Laboratory's Cryogenic Cold Compressor Systems

Energy Technology Data Exchange (ETDEWEB)

Wilson, Jr., Joe D. [Christopher Newport Univ., Newport News, VA (United States)

2003-01-01

The technology of Jefferson Laboratory's (JLab) Continuous Electron Beam Accelerator Facility (CEBAF) and Free Electron Laser (FEL) requires cooling from one of the world's largest 2K helium refrigerators known as the Central Helium Liquefier (CHL). The key characteristic of CHL is the ability to maintain a constant low vapor pressure over the large liquid helium inventory using a series of five cold compressors. The cold compressor system operates with a constrained discharge pressure over a range of suction pressures and mass flows to meet the operational requirements of CEBAF and FEL. The research topic is the prediction of the most thermodynamically efficient conditions for the system over its operating range of mass flows and vapor pressures with minimum disruption to JLab operations. The research goal is to find the operating points for each cold compressor for optimizing the overall system at any given flow and vapor pressure.

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.

Cold moderators at ORNL

International Nuclear Information System (INIS)

Lucas, A. T.

1997-09-01

The Advanced Neutron Source (ANS) cold moderators were not an 'Oak Ridge first', but would have been the largest both physically and in terms of cold neutron flux. Two cold moderators were planned each 410 mm in diameter and containing about 30L of liquid deuterium. They were to be completely independent of each other. A modular system design was used to provide greater reliability and serviceability. When the ANS was terminated, upgrading of the resident High Flux Isotope Reactor (HFIR) was examined and an initial study was made into the feasibility of adding a cold source. Because the ANS design was modular, it was possible to use many identical design features. Sub-cooled liquid at 4 bar abs was initially chosen for the HFIR design concept, but this was subsequently changed to 15 bar abs to operate above the critical pressure. As in the ANS, the hydrogen will operate at a constant pressure throughout the temperature range and a completely closed loop with secondary containment was adopted. The heat load of 2 kW made the heat flux comparable with that of the ANS. Subsequent studies into the construction of cryogenic moderators for the proposed new Synchrotron Neutron source indicated that again many of the same design concepts could be used. By connecting the two cold sources together in series, the total heat load of 2 kW is very close to that of the HFIR allowing a very similar supercritical hydrogen system to be configured. The two hydrogen moderators of the SNS provide a comparable heat load to the HFIR moderator. It is subsequently planned to connect the two in series and operate from a single cold loop system, once again using supercritical hydrogen. The spallation source also provided an opportunity to re-examine a cold pellet solid methane moderator operating at 20K.

Development of a maintenance manipulator for TFTR

International Nuclear Information System (INIS)

Holloway, C.

1986-01-01

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

Robotic design analysis based on teleoperated manipulator data collection

International Nuclear Information System (INIS)

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

1985-01-01

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

Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

Science.gov (United States)

Abdallah, Muhammad E. (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor)

2013-01-01

A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

Cold Vacuum Drying facility civil - structural system design description (SYS 06)

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying (CVD) Facility civil - structural system. This system consists of the facility structure, including the administrative and process areas. The system's primary purpose is to provide for a facility to house the CVD process and personnel and to provide a tertiary level of containment. The document provides a description of the facility and demonstrates how the design meets the various requirements imposed by the safety analysis report and the design requirements document

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.

Manipulation robot system based on visual guidance for sealing blocking plate of steam generator

International Nuclear Information System (INIS)

Duan Xingguang; Wang Yonggui; Li Meng; Kong Xiangzhan; Liu Qingsong

2016-01-01

To reduce labor intensity and irradiation exposure time inside the steam generator during the maintenance period of the nuclear power plant, a blocking plate manipulation robot system, including manipulation robot and pneumatic control console, is developed as an automatic remote-control tool to help staff to complete sealing steam generator primary pipes. The manipulation robot for fastening/loosening bolts utilizes visual guidance for target position, and the recognition algorithm is exerted to extract the bolt center coordinate values from image captured by camera in the procedure. The control strategy based on the position and current feedback is proposed for single bolt operation and whole bolts automatic operation. Meanwhile, the virtual interactive interface and remote monitoring are designed to improve the operability and safety. Finally, the relative experiments have verified the work effectiveness and the future work would be discussed. (author)

Cold Vacuum Drying facility effluent drain system design description

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) effluent drain system (EFS). The primary function of the EFS is to collect and transport fire suppression water discharged into a CVDF process bay to a retention basin located outside the facility. The EFS also provides confinement of spills that occur inside a process bay and allows non-contaminated water that drains to the process bay sumps to be collected until sampling and analysis are complete

Stability properties of cold blanket systems for current driven modes

International Nuclear Information System (INIS)

Ohlsson, D.

1977-12-01

The stability problem of the boundary regions of cold blanket systems with induced currents parallel to the lines of force is formulated. Particular interest is focused on two types of modes: first electrostatic modes driven by the combined effects of a transverse resistivity gradient due to a spatially non-uniform electron temperature and a longitudinal current, second electromagnetic kink like modes driven by the torque arising from a transverse current density gradient and magnetic field perturbations. It is found that the combination of various dissipative and neutral gas effects introduces strong stabilizing effects within specific parameter ranges. For particular steady-state models investigated it is shown that these effects become of importance in laboratory plasmas at relatively high densities, low temperatures and moderate magnetic field strengths. Stability diagrams based on specific steady-state cold plasma blanket models will be presented

The formation and interactions of cold and ultracold molecules: new challenges for interdisciplinary physics

Energy Technology Data Exchange (ETDEWEB)

Dulieu, O [Laboratoire Aime Cotton, CNRS, Bat. 505, Univ Paris-Sud 11, F-91405 Orsay Cedex (France); Gabbanini, C [Istituto per i processi chimico-fisici del C.N.R., Via Moruzzi 1, 56124 Pisa (Italy)], E-mail: olivier.dulieu@lac.u-psud.fr, E-mail: carlo@ipcf.cnr.it

2009-08-15

Progress on research in the field of molecules at cold and ultracold temperatures is reported in this review. It covers extensively the experimental methods to produce, detect and characterize cold and ultracold molecules including association of ultracold atoms, deceleration by external fields and kinematic cooling. Confinement of molecules in different kinds of traps is also discussed. The basic theoretical issues related to the knowledge of the molecular structure, the atom-molecule and molecule-molecule mutual interactions, and to their possible manipulation and control with external fields, are reviewed. A short discussion on the broad area of applications completes the review.

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

Science.gov (United States)

Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

2009-03-01

Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

Spent nuclear fuel project cold vacuum drying facility tempered water and tempered water cooling system design description

International Nuclear Information System (INIS)

IRWIN, J.J.

1998-01-01

This document provides the System Design Description (SDD) for the Cold Vacuum Drying Facility (CVDF) Tempered Water (TW) and Tempered Water Cooling (TWC) System . The SDD was developed in conjunction with HNF-SD-SNF-SAR-002, Safety Analysis Report for the Cold Vacuum Drying Facility, Phase 2, Supporting Installation of Processing Systems (Garvin 1998), The HNF-SD-SNF-DRD-O02, 1998, Cold Vacuum Drying Facility Design Requirements, and the CVDF Design Summary Report. The SDD contains general descriptions of the TW and TWC equipment, the system functions, requirements and interfaces. The SDD provides references for design and fabrication details, operation sequences and maintenance. This SOD has been developed for the SNFP Operations Organization and shall be updated, expanded, and revised in accordance with future design, construction and startup phases of the CVDF until the CVDF final ORR is approved

Cold urticaria: inhibition of cold-induced histamine release by doxantrazole.

Science.gov (United States)

Bentley-Phillips, C B; Eady, R A; Greaves, M W

1978-10-01

Thirteen patients with cold urticaria were studied to assess the effect of the systemic drug doxantrazole, which has actions resembling disodium cromoglycate, on cold evoked histamine release. The patients, all of whom developed an immediate local whealing response after cooling of the forearm, demonstrated release of histamine into venous blood draining that forearm. Following doxantrazole treatment, significant suppression of histamine release occurred. In some but not all patients this was accompanied by diminution of urtication in response to cooling. A double-blind study was carried out in 3 subjects, all of whom showed diminished cold-stimulated histamine release after doxantrazole. Two of these showed clinical improvement. Doxantrazole had no effect on erythema due to intradermal histamine, but did suppress the erythematous reaction to intradermal injection of compound 48/80. Our results suggest that doxantrazole or related anti-allergic agents might be useful in the treatment of cold urticaria.

Basic study of cold fusion. 1. The development of excess heat measurement system in electrolysis

International Nuclear Information System (INIS)

Asaoka, Yoshiyuki; Fujita, Tomonari

1994-01-01

We have an opportunity ripe to investigate the cold fusion phenomena. In order to declare the subjects to be examined, the precision calorimetry system was developed to try to reproduce the phenomena. The electrolysis of heavy water with palladium cathode was conducted based on the thought that it is important to confirm the cold fusion phenomena. For precision excess power measurement, the closed cell with recombiner and flow-calorimetry were adopted. The obtained accuracy for the excess power measurement of the system was ±0.2 W at up to 9 W of applied power. This is enough for the excess power reported as the cold fusion phenomena. For farther investigation, measurement of loading ratio of deuterium in the palladium cathode, maintenance of high deuterium loading and analysis of the palladium cathode are to be conducted. (author)

Reconfigurable mobile manipulation for accident response

International Nuclear Information System (INIS)

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

2000-01-01

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

On the Dynamics and Control of Free-floating Space Manipulator Systems in the Presence of Angular Momentum

Directory of Open Access Journals (Sweden)

Kostas Nanos

2017-06-01

Full Text Available In this paper, the control of free-floating space manipulator systems with non-zero angular momentum (NZAM, for both motions in the joint and Cartesian space, is studied. Considering NZAM, dynamic models in the joint and Cartesian space are derived. It is shown that the NZAM has a similar result to the effect of gravity in terrestrial fixed base manipulators. Based on these similarities, the application of controllers similar to the ones used for the compensation of gravity in terrestrial fixed base manipulators is proposed here to compensate the effect of angular momentum. To confirm the asymptotic stability of the closed-loop systems, some structural properties of the dynamic models must be satisfied. It is shown that despite the presence of angular momentum, these structural properties still apply. Thus, the proposed controllers can drive the system in the desired position despite the presence of angular momentum. However, the NZAM imposes constraints on the system workspace, where the end-effector can be driven in the Cartesian space. Limitations are discussed and the application of the proposed controllers is illustrated by examples.

Combined long reach and dexterous manipulation for waste storage tank applications

International Nuclear Information System (INIS)

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

1991-01-01

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

Cold standby repairable system with working vacations and vacation interruption

Institute of Scientific and Technical Information of China (English)

Baoliang Liu; Lirong Cui; Yanqing Wen

2015-01-01

This paper studies a cold standby repairable system with working vacations and vacation interruption. The repairman’s multiple vacations policy, the working vacations policy and the vacation interruption are considered simultaneously. The lifetime of components fol ows a phase-type (PH) distribution. The repair time in the regular repair period and the working vacation period fol ow other two PH distributions at different rates. For this sys-tem, the vector-valued Markov process governing the system is constructed. We obtain several important performance measures for the system in transient and stationary regimes applying matrix-analytic methods. Final y, a numerical example is given to il ustrate the results obtained.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

Energy Technology Data Exchange (ETDEWEB)

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

2016-10-15

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

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

International Nuclear Information System (INIS)

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

2016-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

1999-04-01

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

Detection of cold pain, cold allodynia and cold hyperalgesia in freely behaving rats

Directory of Open Access Journals (Sweden)

Woolf Clifford J

2005-12-01

Full Text Available Abstract Background Pain is elicited by cold, and a major feature of many neuropathic pain states is that normally innocuous cool stimuli begin to produce pain (cold allodynia. To expand our understanding of cold induced pain states we have studied cold pain behaviors over a range of temperatures in several animal models of chronic pain. Results We demonstrate that a Peltier-cooled cold plate with ± 1°C sensitivity enables quantitative measurement of a detection withdrawal response to cold stimuli in unrestrained rats. In naïve rats the threshold for eliciting cold pain behavior is 5°C. The withdrawal threshold for cold allodynia is 15°C in both the spared nerve injury and spinal nerve ligation models of neuropathic pain. Cold hyperalgesia is present in the spared nerve injury model animals, manifesting as a reduced latency of withdrawal response threshold at temperatures that elicit cold pain in naïve rats. We also show that following the peripheral inflammation produced by intraplantar injection of complete Freund's adjuvant, a hypersensitivity to cold occurs. Conclusion The peltier-cooled provides an effective means of assaying cold sensitivity in unrestrained rats. Behavioral testing of cold allodynia, hyperalgesia and pain will greatly facilitate the study of the neurobiological mechanisms involved in cold/cool sensations and enable measurement of the efficacy of pharmacological treatments to reduce these symptoms.

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

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

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

Multilink manipulator computer control: experience in development and commissioning

International Nuclear Information System (INIS)

Holt, J.E.

1988-11-01

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

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

Performance of cold compressors in a cooling system of an R and D superconducting coil cooled with subcooled helium

International Nuclear Information System (INIS)

Hamaguchi, S.; Imagawa, S.; Yanagi, N.; Takahata, K.; Maekawa, R.; Mito, T.

2006-01-01

The helical coils of large helical device (LHD) have been operated in saturated helium at 4.4 K and plasma experiments have been carried out at magnetic fields lower than 3 T for 8 years. Now, it is considered that the cooling system of helical coils will be improved to enhance magnetic fields in 2006. In the improvement, the helical coils will be cooled with subcooled helium and the operating temperature of helical coils will be lowered to achieve the designed field of 3 T and enhance cryogenic stabilities. Two cold compressors will be used in the cooling system of helical coils to generate subcooled helium. In the present study, the performance of cold compressors has been investigated, using a cooling system of R and D coil, to apply cold compressors to the cooling system of helical coils. Actual surge lines of cold compressors were observed and the stable operation area was obtained. Automatic operations were also performed within the area. In the automatic operations, the suitable pressure of a saturated helium bath, calculated from the rotation speed of the 1st cold compressor, was regulated by bypass valve. From these results, stable operations will be expected in the cooling system of helical coils

Positional control of space robot manipulator

Science.gov (United States)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

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

Stochastic behavior of a cold standby system with maximum repair time

Directory of Open Access Journals (Sweden)

Ashish Kumar

2015-09-01

Full Text Available The main aim of the present paper is to analyze the stochastic behavior of a cold standby system with concept of preventive maintenance, priority and maximum repair time. For this purpose, a stochastic model is developed in which initially one unit is operative and other is kept as cold standby. There is a single server who visits the system immediately as and when required. The server takes the unit under preventive maintenance after a maximum operation time at normal mode if one standby unit is available for operation. If the repair of the failed unit is not possible up to a maximum repair time, failed unit is replaced by new one. The failure time, maximum operation time and maximum repair time distributions of the unit are considered as exponentially distributed while repair and maintenance time distributions are considered as arbitrary. All random variables are statistically independent and repairs are perfect. Various measures of system effectiveness are obtained by using the technique of semi-Markov process and RPT. To highlight the importance of the study numerical results are also obtained for MTSF, availability and profit function.

Modeling manipulation in medical education.

Science.gov (United States)

Dailey, Jason I

2010-05-01

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

Cold Vacuum Drying facility heating, ventilation, and Air Conditioning system design description

International Nuclear Information System (INIS)

SINGH, G.

2000-01-01

This System Design Description (SDD) addresses the HVAC system for the CVDF. The CVDF HVAC system consists of five subsystems: (1) Administration building HVAC system; (2) Process bay recirculation HVAC system; (3) Process bay local exhaust HVAC and process vent system; (4) Process general supply/exhaust HVAC system; and (5) Reference air system. The HVAC and reference air systems interface with the following systems: the fire protection control system, Monitoring and Control System (MCS), electrical power distribution system (including standby power), compressed air system, Chilled Water (CHW) system, drainage system, and other Cold Vacuum Drying (CVD) control systems not addressed in this SDD

The impact of stack geometry and mean pressure on cold end temperature of stack in thermoacoustic refrigeration systems

Science.gov (United States)

Wantha, Channarong

2018-02-01

This paper reports on the experimental and simulation studies of the influence of stack geometries and different mean pressures on the cold end temperature of the stack in the thermoacoustic refrigeration system. The stack geometry was tested, including spiral stack, circular pore stack and pin array stack. The results of this study show that the mean pressure of the gas in the system has a significant impact on the cold end temperature of the stack. The mean pressure of the gas in the system corresponds to thermal penetration depth, which results in a better cold end temperature of the stack. The results also show that the cold end temperature of the pin array stack decreases more than that of the spiral stack and circular pore stack geometry by approximately 63% and 70%, respectively. In addition, the thermal area and viscous area of the stack are analyzed to explain the results of such temperatures of thermoacoustic stacks.

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

Science.gov (United States)

Penn, Alexandra S

2016-01-01

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

Surgical manipulation of mammalian embryos in vitro.

Science.gov (United States)

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

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

Radioactive waste incineration system cold demonstration test, (2)

Energy Technology Data Exchange (ETDEWEB)

Hozumi, Masahiro; Seike, Yasuhiko; Takaoku, Yoshinobu; Yamanaka, Yasuhiro; Asahara, Masaharu; Katagiri, Keishi; Matsumoto, Kenji; Nagae, Madoka

1985-12-01

It is urgently necessary to solve the radioactive waste problem. As an effective means for the volume reduction of low-level radioactive wastes, an improved incineration system is greatly required. SHI's Waste Incineration (WIS) licensed by Combustion Engineering, Inc., has the significant advantage of processing a variety of wastes. We started a cold demonstration test in April, 1984 to verify the excellent performance of WIS. The test was successfully completed in September, 1985 with the record of more than 1000 hours of incineration testing time. In the present paper, we describe the test results during one and half years of test period.

The Application Research of Modern Intelligent Cold Chain Distribution System Based on Internet of Things Technology

Science.gov (United States)

Fan, Dehui; Gao, Shan

This paper implemented an intelligent cold chain distribution system based on the technology of Internet of things, and took the protoplasmic beer logistics transport system as example. It realized the remote real-time monitoring material status, recorded the distribution information, dynamically adjusted the distribution tasks and other functions. At the same time, the system combined the Internet of things technology with weighted filtering algorithm, realized the real-time query of condition curve, emergency alarming, distribution data retrieval, intelligent distribution task arrangement, etc. According to the actual test, it can realize the optimization of inventory structure, and improve the efficiency of cold chain distribution.

Manipulators inspired by the tongue of the chameleon.

Science.gov (United States)

Debray, Alexis

2011-06-01

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

Manipulators inspired by the tongue of the chameleon

International Nuclear Information System (INIS)

Debray, Alexis

2011-01-01

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

Manipulators inspired by the tongue of the chameleon

Energy Technology Data Exchange (ETDEWEB)

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

2011-06-15

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

Powertrain preheating system of tracked hybrid electric vehicle in cold weather

International Nuclear Information System (INIS)

Wang, Rui; Wang, Yichun; Feng, Chaoqing; Zhang, Xilong

2015-01-01

In order to make sure that the heavy duty tracked vehicle can work in various conditions, especially severe cold weather, preheating system of powertrain should be adopted, and a novel preheating system is presented for the tracked hybrid electric vehicle (HEV) in which heat is generated by the low-speed drive motor. The new preheating system can meet the need of cold start without adding any additional device. The characteristic of heat generation by motor is tested when the rotor of motor is rotated in very low speed. The heat loss from power cabin to external environment has been simulated, and the relevant test has been done to verify the simulation results. Combining the characteristic of heat generation and heat loss situation about preheating system, the heat transfer model of preheating system was implemented by MATLAB. The total energy required for preheating in different ambient temperature was calculated by this model. The results showed that: the minimum heating power was 70 kW and energy required was about 180 MJ when the HEV worked in −46 °C. If lithium ferrous phosphate (LFP) battery was used in power system, the minimum battery capacity is about 290 A h. - Highlights: • A novel preheating method was proposed for heavy duty tracked HEV. • Thermal energy in preheating system is produced by the PMSM in driving system. • This method can achieve preheating target by its own components without any adding. • Analyzing low temperature performance of power battery and select its capacity.

The Cold Chain Logistics for Perishable Agricultural Products in China

OpenAIRE

Hou Yanfang; Xie Dong; Wang Jianbo

2015-01-01

This study introduces concepts of the agricultural product cold chain logistics and domestic and international researches. Also, the study discusses issues of Chinese agricultural cold chain logistics in the development process as the following aspects: the dividing of cold chain logistics market, refrigeration hardware facilities, third-party cold chain logistics development, the level of cold chain technologies, cold chain logistics professionals and the legal system and the standard system...

Combined cold compressor/ejector helium refrigerator cycle

International Nuclear Information System (INIS)

Schlafke, A.P.; Brown, D.P.; Wu, K.C.

1984-01-01

This chapter demonstrates how the use of a cold compressor in series with an ejector is an effective way to produce the desired low pressure in a helium refrigeration system. The cold compressor is tentatively located at the low pressure side below the J-T heat exchanger. The ejector is the first stage and the cold compressor is the second stage of the two-stage pumping system. A centrifugal, oil-bearing type compressor was installed on the R and D refrigerator at the Brookhaven National Laboratory. It is determined that the combined cold compressor and ejector system produces a lower temperature on the same load or more cooling at the same temperature compared with a system which uses an ejector alone. Results of the test showed a gain of 20%

Jagiellonian University Advances in Ps Manipulations and Laser Studies in the AEgIS Experiment

CERN Document Server

Caravita, R; Amsler, C; Bonomi, G; Brusa, R S; Caccia, M; Castelli, F; Cerchiari, G; Comparat, D; Consolati, G; Demetrio, A; Di Noto, L; Doser, M; Evans, C; Ferragut, R; Fesel, J; Fontana, A; Gerber, S; Giammarchi, M; Gligorova, A; Guatieri, F; Haider, S; Hinterberger, A; Holmestad, H; Kellerbauer, A; Khalidova, O; Krasnický, D; Lagomarsino, V; Lansonneur, P; Lebrun, P; Malbrunot, C; Mariazzi, S; Marton, J; Matveev, V; Mazzotta, Z; Müller, S R; Nebbia, G; Nedelec, P; Oberthaler, M; Pacifico, N; Pagano, D; Penasa, L; Petracek, V; Prelz, F; Prevedelli, M; Ravelli, L; Rienäcker, B; Robert, J; Røhne, O M; Rotondi, A; Sandaker, H; Santoro, R; Smestad, L; Sorrentino, F; Testera, G; Tietje, I; Widmann, E; Yzombard, P; Zimmer, C; Zmeskal, J; Zurlo, N

2017-01-01

Positronium (Ps), the unstable bound state of electron and positron, is a valuable system for neutral antimatter spectroscopic studies and for antihydrogen production. Forming a pulsed beam cold antihydrogen using charge-exchange with the Rydberg Ps is the goal of the AEgIS Collaboration, which aims to measure gravity on neutral antimatter. Recent results achieved in producing, manipulating and studying Ps are summarized. Ps has been first produced with mesoporous silica targets in a reflection geometry. Spectroscopy of Ps n = 3 state has been conducted, yielding as a byproduct an independent estimate of the produced Ps temperature. Efficient laser excitation to the Rydberg levels was then achieved, validating the proof-of-concept of AEgIS. Subsequently, production of Ps from a new class of transmission targets was also achieved, opening the possibility for future experiments.

Manipulating heat shock protein expression in laboratory animals.

Science.gov (United States)

Tolson, J Keith; Roberts, Stephen M

2005-02-01

Upregulation of heat shock proteins (Hsps) has been observed to impart resistance to a wide variety of physical and chemical insults. Elucidation of the role of Hsps in cellular defense processes depends, in part, on the ability to manipulate Hsp expression in laboratory animals. Simple methods of inducing whole body hyperthermia, such as warm water immersion or heating pad application, are effective in producing generalized expression of Hsps. Hsps can be upregulated locally with focused direct or indirect heating, such as with ultrasound or with laser or microwave radiation. Increased Hsp expression in response to toxic doses of xenobiotics has been commonly observed. Some pharmacologic agents are capable of altering Hsps more specifically by affecting processes involved in Hsp regulation. Gene manipulation offers the ability to selectively increase or decrease individual Hsps. Knockout mouse strains and Hsp-overexpressing transgenics have been used successfully to examine the role of specific Hsps in protection against hyperthermia, chemical insults, and ischemia-reperfusion injury. Gene therapy approaches also offer the possibility of selective alteration of Hsp expression. Some methods of increasing Hsp expression have application in specialized areas of research, such cold response, myocardial protection from exercise, and responses to stressful or traumatic stimuli. Each method of manipulating Hsp expression in laboratory animals has advantages and disadvantages, and selection of the best method depends upon the experimental objectives (e.g., the alteration in Hsp expression needed, its timing, and its location) and resources available.

Manipulating quantum information on the controllable systems or subspaces

OpenAIRE

Zhang, Ming; Xi, Zairong; Wei, Jia-Hua

2010-01-01

In this paper, we explore how to constructively manipulate qubits by rotating Bloch spheres. It is revealed that three-rotation and one-rotation Hamiltonian controls can be constructed to steer qubits when two tunable Hamiltonian controls are available. It is demonstrated in this research that local-wave function controls such as Bang-Bang, triangle-function and quadratic function controls can be utilized to manipulate quantum states on the Bloch sphere. A new kind of time-energy performance ...

Automated visual attention manipulation

NARCIS (Netherlands)

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

2009-01-01

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

Performance analysis of different ORC configurations for thermal energy and LNG cold energy hybrid power generation system

Science.gov (United States)

Sun, Zhixin; Wang, Feng; Wang, Shujia; Xu, Fuquan; Lin, Kui

2017-01-01

This paper presents a thermal energy and Liquefied natural gas (LNG) cold energy hybrid power generation system. Performances of four different Organic Rankine cycle (ORC) configurations (the basic, the regenerative, the reheat and the regenerative-reheat ORCs) are studied based on the first and the second law of thermodynamics. Dry organic fluid R245fa is selected as the typical working fluid. Parameter analysis is also conducted in this paper. The results show that regeneration could not increase the thermal efficiency of the thermal and cold energy hybrid power generation system. ORC with the reheat process could produce more specific net power output but it may also reduce the system thermal efficiency. The basic and the regenerative ORCs produce higher thermal efficiency while the regenerative-reheat ORC performs best in the exergy efficiency. A preheater is necessary for the thermal and cold energy hybrid power generation system. And due to the presence of the preheater, there will be a step change of the system performance as the turbine inlet pressure rises.

Transient receptor potential cation channel, subfamily C, member 5 (TRPC5) is a cold-transducer in the peripheral nervous system.

Science.gov (United States)

Zimmermann, Katharina; Lennerz, Jochen K; Hein, Alexander; Link, Andrea S; Kaczmarek, J Stefan; Delling, Markus; Uysal, Serdar; Pfeifer, John D; Riccio, Antonio; Clapham, David E

2011-11-01

Detection and adaptation to cold temperature is crucial to survival. Cold sensing in the innocuous range of cold (>10-15 °C) in the mammalian peripheral nervous system is thought to rely primarily on transient receptor potential (TRP) ion channels, most notably the menthol receptor, TRPM8. Here we report that TRP cation channel, subfamily C member 5 (TRPC5), but not TRPC1/TRPC5 heteromeric channels, are highly cold sensitive in the temperature range 37-25 °C. We found that TRPC5 is present in mouse and human sensory neurons of dorsal root ganglia, a substantial number of peripheral nerves including intraepithelial endings, and in the dorsal lamina of the spinal cord that receives sensory input from the skin, consistent with a potential TRPC5 function as an innocuous cold transducer in nociceptive and thermosensory nerve endings. Although deletion of TRPC5 in 129S1/SvImJ mice resulted in no temperature-sensitive behavioral changes, TRPM8 and/or other menthol-sensitive channels appear to underpin a much larger component of noxious cold sensing after TRPC5 deletion and a shift in mechanosensitive C-fiber subtypes. These findings demonstrate that highly cold-sensitive TRPC5 channels are a molecular component for detection and regional adaptation to cold temperatures in the peripheral nervous system that is distinct from noxious cold sensing.

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.

Research towards ultrasonic systems to assist in-vessel manipulations in liquid metal cooled reactors

International Nuclear Information System (INIS)

Dierckx, Marc; Van-Dyck, Dries

2013-06-01

We describe the state of the art of the research towards ultrasonic measurement methods for use in lead-bismuth cooled liquid metal reactors. Our current research activities are highly focused on specific tasks in the MYRRHA system, which is a fast spectrum research reactor cooled with the eutectic mixture of lead and bismuth (LBE) and is conceived as an accelerator driven system capable of operating in both sub-critical and critical mode. As liquid metal is opaque to light, normal visual feedback during fuel manipulations in the reactor vessel is not available and must therefore be replaced by a system that is not hindered by the opacity of the coolant. In this respect ultrasonic measurement techniques have been proposed and even developed in the past for operation in sodium cooled reactors. To our knowledge, no such systems have ever been deployed in lead based reactors and we are the first to have a research program in this direction as will be detailed in this paper. We give an overview of the acoustic properties of LBE and compare them with the properties of sodium and water to theoretically show the feasibility of ultrasonic systems operating in LBE. In the second part of the paper we discuss the results of the validation experiments in water and LBE. A typical scene is ultrasonically probed by a mechanical scanning system while the signals are processed to render a 3D visualization on a computer screen. It will become clear that mechanical scanning is capable of producing acceptable images but that it is a time consuming process that is not fit to solve the initial task to providing feedback during manipulations in the reactor vessel. That is why we propose to use several dedicated ultrasonic systems each adapted to a specific task and capable to provide real-time feedback of the ongoing manipulations, as is detailed in the third and final part of the paper. (authors)

Acute Cold / Restraint Stress in Castrated Rats

Directory of Open Access Journals (Sweden)

Farideh Zafari Zangeneh

2008-09-01

Full Text Available Objective: The present study aimed to determine whether castration altered osmotically stimulated vasopressin (VP release and urinary volume and what is the role of endocrine-stress axis in this process.Materials and methods: Totally 108 mice were studied in two main groups of castrated (n=78 and control (n=30. Each group was extracted by acute cold stress (4◦C for 2h/day, restraint stress (by syringes 60cc 2h/day and cold/restraint stress. The castrated group was treated in sub groups of testosterone, control (sesame oil as vehicle of testosterone. Propranolol as blocker of sympathetic nervous system was given to both groups of castrated mice and main control.Results: Our results showed that, there is interactions between testosterone and sympathetic nervous system on vasopressin, because urine volume was decreased only in testoctomized mice with cold/restraint and cold stress (P<0.001; propranolol as the antagonist of sympathetic nervous system could block and increase urine volume in castrated mice. This increased volume of urine was due to acute cold stress, not restraint stress (p<0.001. The role of testosterone, noradrenalin (NA and Vasopressin (VP in the acute cold stress is confirmed, because testosterone could return the effect of decreased urine volume in control group (P<0.001. Conclusion: Considering the effect of cold/restraint stress on urinary volume in castrated mice shows that there is interaction between sex hormone (testosterone, vasopressin and adrenergic systems.

Interpersonal relationship manipulation at a personal level

Directory of Open Access Journals (Sweden)

Andreja Hribernik

2010-12-01

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

A digital joint controller for manipulators

International Nuclear Information System (INIS)

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

1993-01-01

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

Manipulations of Totalitarian Nazi Architecture

Science.gov (United States)

Antoszczyszyn, Marek

2017-10-01

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

Fabricating cooled electronic system with liquid-cooled cold plate and thermal spreader

Science.gov (United States)

Chainer, Timothy J.; Graybill, David P.; Iyengar, Madhusudan K.; Kamath, Vinod; Kochuparambil, Bejoy J.; Schmidt, Roger R.; Steinke, Mark E.

2018-03-27

Methods are provided for facilitating cooling of an electronic component. The method includes providing a liquid-cooled cold plate and a thermal spreader associated with the cold plate. The cold plate includes multiple coolant-carrying channel sections extending within the cold plate, and a thermal conduction surface with a larger surface area than a surface area of the component to be cooled. The thermal spreader includes one or more heat pipes including multiple heat pipe sections. One or more heat pipe sections are partially aligned to a first region of the cold plate, that is, where aligned to the surface to be cooled, and partially aligned to a second region of the cold plate, which is outside the first region. The one or more heat pipes facilitate distribution of heat from the electronic component to coolant-carrying channel sections of the cold plate located in the second region of the cold plate.

Fabricating cooled electronic system with liquid-cooled cold plate and thermal spreader

Energy Technology Data Exchange (ETDEWEB)

Chainer, Timothy J.; Graybill, David P.; Iyengar, Madhusudan K.; Kamath, Vinod; Kochuparambil, Bejoy J.; Schmidt, Roger R.; Steinke, Mark E.

2018-04-03

Methods are provided for facilitating cooling of an electronic component. The methods include providing a liquid-cooled cold plate and a thermal spreader associated with the cold plate. The cold plate includes multiple coolant-carrying channel sections extending within the cold plate, and a thermal conduction surface with a larger surface area than a surface area of the component to be cooled. The thermal spreader includes one or more heat pipes including multiple heat pipe sections. One or more heat pipe sections are partially aligned to a first region of the cold plate, that is, where aligned to the surface to be cooled, and partially aligned to a second region of the cold plate, which is outside the first region. The one or more heat pipes facilitate distribution of heat from the electronic component to coolant-carrying channel sections of the cold plate located in the second region of the cold plate.

Single-molecule imaging and manipulation of biomolecular machines and systems.

Science.gov (United States)

Iino, Ryota; Iida, Tatsuya; Nakamura, Akihiko; Saita, Ei-Ichiro; You, Huijuan; Sako, Yasushi

2018-02-01

Biological molecular machines support various activities and behaviors of cells, such as energy production, signal transduction, growth, differentiation, and migration. We provide an overview of single-molecule imaging methods involving both small and large probes used to monitor the dynamic motions of molecular machines in vitro (purified proteins) and in living cells, and single-molecule manipulation methods used to measure the forces, mechanical properties and responses of biomolecules. We also introduce several examples of single-molecule analysis, focusing primarily on motor proteins and signal transduction systems. Single-molecule analysis is a powerful approach to unveil the operational mechanisms both of individual molecular machines and of systems consisting of many molecular machines. Quantitative, high-resolution single-molecule analyses of biomolecular systems at the various hierarchies of life will help to answer our fundamental question: "What is life?" This article is part of a Special Issue entitled "Biophysical Exploration of Dynamical Ordering of Biomolecular Systems" edited by Dr. Koichi Kato. Copyright © 2017 Elsevier B.V. All rights reserved.

Rotor-Flying Manipulator: Modeling, Analysis, and Control

Directory of Open Access Journals (Sweden)

Bin Yang

2014-01-01

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

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

Cold storage condensation heat recovery system with a novel composite phase change material

International Nuclear Information System (INIS)

Xia, Mingzhu; Yuan, Yanping; Zhao, Xudong; Cao, Xiaoling; Tang, Zhonghua

2016-01-01

Highlights: • Cold storage condensation heat recovery system using PCM was proposed. • CW with a phase change temperature of nearly 80 °C was selected as the potential PCM. • The optimal mass ratio between the CW and EG was 10:1. • The thermal and physical performances of the CW/EG were investigated. • The thermal reliability was demonstrated by 1000 cycles. - Abstract: Using condensation heat from cold storage refrigeration systems to provide heat for domestic hot water preparation and industrial hot water supply promotes energy conservation. However, few studies have investigated cold storage condensation heat recovery using phase change materials (PCMs). In this study, a cold storage condensation heat recovery system that uses PCMs has been designed and analysed. According to the principle of energy cascade recycling, different operation modes could be effectively switched to recycle condensation heat. Furthermore, a novel and suitable phase change composite material is developed for cold storage condensation heat recovery, which has a relatively large latent heat, high thermal conductivity, and an appropriate phase change temperature (i.e. 80 °C). With carnauba wax (CW) as the PCM and expanded graphite (EG) as the additive, a composite was developed with an optimal mass ratio of CW:EG = 10:1. The thermal and physical properties and the interior structure of the composite were then investigated using a scanning electron microscope (SEM), thermal constants analyser (Hot Disk), differential scanning calorimeter (DSC), and Fourier transform infrared spectrometer (FT-IR). Furthermore, experiments on the melting and solidification processes and accelerated thermal cycling were also conducted. It was found that at the optimal mass ratio of 10:1, the temperatures of the CW/EG composite in the melting and solidification processes were 81.98 °C and 80.43 °C, respectively, while the corresponding latent heats were 150.9 J/g and 142.6 J/g, respectively

Can we manipulate root system architecture to control soil erosion?

Science.gov (United States)

Ola, A.; Dodd, I. C.; Quinton, J. N.

2015-09-01

Soil erosion is a major threat to soil functioning. The use of vegetation to control erosion has long been a topic for research. Much of this research has focused on the above-ground properties of plants, demonstrating the important role that canopy structure and cover plays in the reduction of water erosion processes. Less attention has been paid to plant roots. Plant roots are a crucial yet under-researched factor for reducing water erosion through their ability to alter soil properties, such as aggregate stability, hydraulic function and shear strength. However, there have been few attempts to specifically manipulate plant root system properties to reduce soil erosion. Therefore, this review aims to explore the effects that plant roots have on soil erosion and hydrological processes, and how plant root architecture might be manipulated to enhance its erosion control properties. We demonstrate the importance of root system architecture for the control of soil erosion. We also show that some plant species respond to nutrient-enriched patches by increasing lateral root proliferation. The erosional response to root proliferation will depend upon its location: at the soil surface dense mats of roots may reduce soil erodibility but block soil pores thereby limiting infiltration, enhancing runoff. Additionally, in nutrient-deprived regions, root hair development may be stimulated and larger amounts of root exudates released, thereby improving aggregate stability and decreasing erodibility. Utilizing nutrient placement at specific depths may represent a potentially new, easily implemented, management strategy on nutrient-poor agricultural land or constructed slopes to control erosion, and further research in this area is needed.

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

Energy Technology Data Exchange (ETDEWEB)

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

1996-09-01

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

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

International Nuclear Information System (INIS)

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

1996-09-01

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

Initial heating in cold cars

NARCIS (Netherlands)

Daanen, H.A.M.; Teunissen, L.P.J.; Hoogh, I.M. de

2012-01-01

During the initial minutes after entering a cold car, people feel uncomfortably cold. Six different warming systems were investigated in a small car in order to find out how to improve the feeling of comfort using 16 volunteers. The methods were: no additional warming next to a standard heating

Measurement of Local Gravity via a Cold Atom Interferometer

International Nuclear Information System (INIS)

Zhou Lin; Xiong Zong-Yuan; Yang Wei; Tang Biao; Peng Wen-Cui; Wang Yi-Bo; Xu Peng; Wang Jin; Zhan Ming-Sheng

2011-01-01

We demonstrate a precision measurement of local gravity acceleration g in Wuhan by a compact cold atom interferometer. The atom interferometer is in vertical Mach—Zehnder configuration realized using a π/2 - π - π/2 Raman pulse sequence. Cold atoms were prepared in a magneto-optical trap, launched upward to form an atom fountain, and then coherently manipulated to interfere by stimulated Raman transition. Population signal vs Raman laser phase was recorded as interference fringes, and the local gravity was deduced from the interference signal. We have obtained a resolution of 7 × 10 −9 g after an integration time of 236s under the best vibrational environment conditions. The absolute g value was derived from the chirp rate with a difference of 1.5 × 10 −7 g compared to the gravity reference value. The tidal phenomenon was observed by continuously monitoring the local gravity over 123 h. (atomic and molecular physics)

How cold is cold dark matter?

International Nuclear Information System (INIS)

Armendariz-Picon, Cristian; Neelakanta, Jayanth T.

2014-01-01

If cold dark matter consists of particles, these must be non-interacting and non-relativistic by definition. In most cold dark matter models however, dark matter particles inherit a non-vanishing velocity dispersion from interactions in the early universe, a velocity that redshifts with cosmic expansion but certainly remains non-zero. In this article, we place model-independent constraints on the dark matter temperature to mass ratio, whose square root determines the dark matter velocity dispersion. We only assume that dark matter particles decoupled kinetically while non-relativistic, when galactic scales had not entered the horizon yet, and that their momentum distribution has been Maxwellian since that time. Under these assumptions, using cosmic microwave background and matter power spectrum observations, we place upper limits on the temperature to mass ratio of cold dark matter today (away from collapsed structures). These limits imply that the present cold dark matter velocity dispersion has to be smaller than 54 m/s. Cold dark matter has to be quite cold, indeed

Availability-based computer management of a cold thermal storage system

International Nuclear Information System (INIS)

Wong, K.F.V.; Ferrano, F.J.

1990-01-01

This paper reports on work to develop an availability-based, on-line expert system to manage a thermal energy storage air-conditioning system. The management system is designed to be used by mechanical engineers in the field of air-conditioning control and maintenance. Specifically, the expert system permits the user to easily monitor the second law of thermodynamics operating efficiencies of the major components and the system as a whole in addition to the daily scheduled operating parameters of a cold thermal storage system. Through the use of computer-generated and continually updated screen display pages, the user is permitted interaction with the expert system. The knowledge-based system is developed with a commercially available expert system shell that is resident in a personal computer. In the case studied, 130 various analog and binary inputs/outputs are used. The knowledge base for the thermal energy storage expert system included nine different display pages that are continually updated, 25 rules, three tasks, and three loops

Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

Directory of Open Access Journals (Sweden)

Juan Manuel Ibarra-Zannatha

2007-01-01

Full Text Available The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

Interaction control of a redundant mobile manipulator

International Nuclear Information System (INIS)

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

1998-01-01

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

Cold Antimatter Plasmas, and Aspirations for Cold Antihydrogen

Science.gov (United States)

2002-06-24

UNCLASSIFIED Defense Technical Information Center Compilation Part Notice ADP012494 TITLE: Cold Antimatter Plasmas, and Aspirations for Cold...part numbers comprise the compilation report: ADP012489 thru ADP012577 UNCLASSIFIED Cold Antimatter Plasmas, and Aspirations for Cold Antihydrogen G...and positrons. The antiprotons come initially from the new Antiproton Decel- erator facility at CERN. Good control of such cold antimatter plasmas is

New Tribo-systems for Cold Forming of Steel, Stainless Steel and Aluminium Alloys

DEFF Research Database (Denmark)

Bay, Niels

2013-01-01

Globalisation of industrial production and increasing demands for environmentally benign solutions has forced cold forging industry to search for new, economically optimized tribo-systems, which are less harmful to the working as well as the global environment. The present paper describes efforts...

Guide to improving the performance of a manipulator system for nuclear fuel handling through computer controls. Final report

International Nuclear Information System (INIS)

Evans, J.M. Jr.; Albus, J.S.; Barbera, A.J.; Rosenthal, R.; Truitt, W.B.

1975-11-01

The Office of Developmental Automation and Control Technology of the Institute for Computer Sciences and Technology of the National Bureau of Standards provides advising services, standards and guidelines on interface and computer control systems, and performance specifications for the procurement and use of computer controlled manipulators and other computer based automation systems. These outputs help other agencies and industry apply this technology to increase productivity and improve work quality by removing men from hazardous environments. In FY 74 personnel from the Oak Ridge National Laboratory visited NBS to discuss the feasibility of using computer control techniques to improve the operation of remote control manipulators in nuclear fuel reprocessing. Subsequent discussions led to an agreement for NBS to develop a conceptual design for such a computer control system for the PaR Model 3000 manipulator in the Thorium Uranium Recycle Facility (TURF) at ORNL. This report provides the required analysis and conceptual design. Complete computer programs are included for testing of computer interfaces and for actual robot control in both point-to-point and continuous path modes

Preventive and curative effects of acupuncture on the common cold: a multicentre randomized controlled trial in Japan.

Science.gov (United States)

Kawakita, Kenji; Shichidou, Toshiyuki; Inoue, Etsuko; Nabeta, Tomoyuki; Kitakouji, Hiroshi; Aizawa, Shigekatsu; Nishida, Atsushi; Yamaguchi, Nobuo; Takahashi, Norihito; Yano, Tadashi; Tanzawa, Syouhachi

2004-12-01

To determine the preventive and curative effects of manual acupuncture on the symptoms of the common cold. Students and staff in five Japanese acupuncture schools (n=326) were randomly allocated to acupuncture and no-treatment control groups. A specific needling point (Y point) on the neck was used bilaterally. Fine acupuncture needles were gently manipulated for 15 s, evoking de qi sensation. Acupuncture treatments were performed four times during the 2-week experimental period with a 2-week follow-up period. A common cold diary was scored daily for 4 weeks, and a common cold questionnaire was scored before each acupuncture treatment and twice at weekly intervals. A reliability test for the questionnaire was performed on the last day of recording. Five of the 326 subjects who were recruited dropped out. The diary score in the acupuncture group tended to decrease after treatment, but the difference between groups was not significant (Kaplan-Meier survival analysis, log rank test P=0.53, Cox regression analysis, P>0.05). Statistically significantly fewer symptoms were reported in the questionnaire by the acupuncture group than control group (P=0.024, general linear model, repeated measure). Significant inter-centre (Pcold. A significantly positive effect of acupuncture was demonstrated in the summed questionnaire data, although a highly significant inter-centre difference was observed. Needling on the neck using the Japanese fine needle manipulating technique was shown to be effective and safe. The use of acupuncture for symptoms of the common cold symptoms should be considered, although further evidence from placebo controlled RCTs is required.

Effect of manipulated state aggression on pain tolerance.

Science.gov (United States)

Stephens, Richard; Allsop, Claire

2012-08-01

Swearing produces a pain lessening (hypoalgesic) effect for many people; an emotional response may be the underlying mechanism. In this paper, the role of manipulated state aggression on pain tolerance and pain perception is assessed. In a repeated-measures design, pain outcomes were assessed in participants asked to play for 10 minutes a first-person shooter video game vs a golf video game. Sex differences were explored. After playing the first-person shooter video game, aggressive cognitions, aggressive affect, heart rate, and cold pressor latency were increased, and pain perception was decreased. These data indicate that people become more pain tolerant with raised state aggression and support our theory that raised pain tolerance from swearing occurs via an emotional response.

Hypothermic general cold adaptation induced by local cold acclimation.

Science.gov (United States)

Savourey, G; Barnavol, B; Caravel, J P; Feuerstein, C; Bittel, J H

1996-01-01

To study relationships between local cold adaptation of the lower limbs and general cold adaptation, eight subjects were submitted both to a cold foot test (CFT, 5 degrees C water immersion, 5 min) and to a whole-body standard cold air test (SCAT, 1 degree C, 2 h, nude at rest) before and after a local cold acclimation (LCA) of the lower limbs effected by repeated cold water immersions. The LCA induced a local cold adaptation confirmed by higher skin temperatures of the lower limbs during CFT and a hypothermic insulative general cold adaptation (decreased rectal temperature and mean skin temperature P adaptation was related to the habituation process confirmed by decreased plasma concentrations of noradrenaline (NA) during LCA (P general cold adaptation was unrelated either to local cold adaptation or to the habituation process, because an increased NA during SCAT after LCA (P syndrome" occurring during LCA.

Cold Vacuum Drying facility condensate collection system design description (SYS 19); FINAL

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) condensate collection system (CCS). The function of the CCS is to collect cooling coil condensate from air-handling units in the CVDF and to isolate the condensate in collection tanks until the condensate is determined to be acceptable to drain to the effluent drain collection basin

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

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

Imaging with cold neutrons

International Nuclear Information System (INIS)

Lehmann, E.H.; Kaestner, A.; Josic, L.; Hartmann, S.; Mannes, D.

2011-01-01

Neutrons for imaging purposes are provided mainly from thermal beam lines at suitable facilities around the world. The access to cold neutrons is presently limited to very few places only. However, many challenging options for imaging with cold neutrons have been found out, given by the interaction behavior of the observed materials with neutrons in the cold energy range (3-10 A). For absorbing materials, the interaction probability increases proportionally with the wavelength with the consequence of more contrast but less transmission with cold neutrons. Many materials are predominantly scattering neutrons, in particular most of crystalline structural materials. In these cases, cold neutrons play an important role by covering the energy range of the most important Bragg edges given by the lattice planes of the crystallites. This particular behavior can be used for at least two important aspects-choosing the right energy of the initial beam enables to have a material more or less transparent, and a direct macroscopic visualization of the crystalline structure and its change in a manufacturing process. Since 2006, PSI operates its second beam line for neutron imaging, where cold neutrons are provided from a liquid deuterium cold source (operated at 25 K). It has been designed to cover the most current aspects in neutron imaging research with the help of high flexibility. This has been done with changeable inlet apertures, a turbine based velocity selector, two beam positions and variable detector systems, satisfying the demands of the individual investigation. The most important detection system was found to be a micro-tomography system that enables studies in the presently best spatial resolution. In this case, the high contrast from the sample interaction process and the high detection probability for the cold neutrons combines in an ideal combination for the best possible performance. Recently, it was found out that the energy selective studies might become a

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.)

Two different strategies of host manipulation allow parasites to persist in intermediate-definitive host systems

NARCIS (Netherlands)

Vries, de L.J.; Langevelde, van F.

2018-01-01

Trophically transmitted parasites start their development in an intermediate host, before they finish the development in their definitive host when the definitive host preys on the intermediate host. In intermediate-definitive host systems, two strategies of host manipulation have been evolved:

New counter flow heat exchanger designed for ventilation systems in cold climates

DEFF Research Database (Denmark)

Kragh, Jesper; Rose, Jørgen; Nielsen, Toke Rammer

2007-01-01

In cold climates, mechanical ventilation systems with highly efficient heat recovery will experience problems with condensing water from the extracted humid indoor air. If the condensed water changes to ice in the heat exchanger, the airflow rate will quickly fall due to the increasing pressure...... problem is therefore desirable. In this paper, the construction and test measurements of a new counter flow heat exchanger designed for cold climates are presented. The developed heat exchanger is capable of continuously defrosting itself without using supplementary heating. Other advantages...... of the developed beat exchanger are low pressure loss, cheap materials and a simple construction. The disadvantage is that the exchanger is big compared with other heat exchangers. In this paper, the new heat exchanger's efficiency is calculated theoretically and measured experimentally. The experiment shows...

Cold-Climate Solar Domestic Hot Water Systems Analysis

Energy Technology Data Exchange (ETDEWEB)

Burch, J.; Salasovich, J.; Hillman, T.

2005-11-01

The Solar Heating and Lighting Sub-program has set the key goal to reduce the cost of saved energy [Csav, defined as (total cost, $)/(total discounted savings, kWh_thermal)] for solar domestic water heaters (SDWH) by at least 50%. To determine if this goal is attainable and prioritize R&D for cold-climate SDWH, life-cycle analyses were done with hypothetical lower-cost components in glycol, drainback, and thermosiphon systems. Balance-of-system (BOS, everything but the collector) measures included replacing metal components with polymeric versions and system simplification. With all BOS measures in place, Csav could be reduced more than 50% with a low-cost, selectively-coated, glazed polymeric collector, and slightly less than 50% with either a conventional selective metal-glass or a non-selective glazed polymer collector. The largest percent reduction in Csav comes from replacing conventional pressurized solar storage tanks and metal heat exchangers with un-pressurized polymer tanks with immersed polymer heat exchangers, which could be developed with relatively low-risk R&D.

Cold Vacuum Drying facility personnel monitoring system design description (SYS 12); FINAL

International Nuclear Information System (INIS)

PITKOFF, C.C.

1999-01-01

This document describes the Cold Vacuum Drying Facility (CVDF) instrument air (IA) system that provides instrument quality air to the CVDF. The IA system provides the instrument quality air used in the process, HVAC, and HVAC instruments. The IA system provides the process skids with air to aid in the purging of the annulus of the transport cask. The IA system provides air for the solenoid-operated valves and damper position controls for isolation, volume, and backdraft in the HVAC system. The IA system provides air for monitoring and control of the HVAC system, process instruments, gas-operated valves, and solenoid-operated instruments. The IA system also delivers air for operating hand tools in each of the process bays

Finishing of the cold mass assembly

CERN Multimedia

Maximilien Brice

2001-01-01

Photo 1 General view of the finishing station showing the special supporting structures (blue and yellow structures) needed for the geometric measurements and for the alignment operations. Around the magnet, there are datum points (on the tripodes) needed to build up the coordinates system for the measurements. Photo 2 The corrector magnets that are sextupoles are prepared for a plug-in fixation on their mechanical support. Photo 3 A corretor magnet has been installed on the left cold bore tube. The second one is waiting on the table for installation. Photo 4 The mechanical mole holding the corner cube reflector of the 3-D measuring machine is introduced in the cold bore tube (the right one on the picture). This will allow to pick up the X-Y-Z coordinates of the centre of the cold bore tube on its entire length. Photo 5 This picture shows the driving system that is completely computer controlled to pull the mechanical mole inside the cold bore tube. Photo 6 This picture shows details of the driving system...

On the dynamics of chain systems. [applications in manipulator and human body models

Science.gov (United States)

Huston, R. L.; Passerello, C. E.

1974-01-01

A computer-oriented method for obtaining dynamical equations of motion for chain systems is presented. A chain system is defined as an arbitrarily assembled set of rigid bodies such that adjoining bodies have at least one common point and such that closed loops are not formed. The equations of motion are developed through the use of Lagrange's form of d'Alembert's principle. The method and procedure is illustrated with an elementary study of a tripod space manipulator. The method is designed for application with systems such as human body models, chains and cables, and dynamic finite-segment models.

Cold Storage for a Single-Family House in Italy

OpenAIRE

Luigi Mongibello; Giorgio Graditi

2016-01-01

This work deals with the operation, modeling, simulation, and cost evaluation of two different cold storage systems for a single-family house in Italy, that differ from one another on the cold storage material. The two materials used to perform the numerical simulations of the cold storage systems are represented by cold water and a phase change material (PCM), and the numerical simulations have been realized by means of numerical codes written in Matlab environment. The main finding of the p...

The function-manipulating-system SERVUS

International Nuclear Information System (INIS)

Thurnay, K.

1985-04-01

SERVUS is a service-utility to store functions resulting from a numerical calculation in specially fitted data sets and display them later on. SERVUS enables also the user to manipulate the stored functions, before displaying them. The functions can be presented either as number-columns, or as a family of curves or as surfaces of functions. The paper describes the steps, needed for allocating a SERVUS-data set, for storing a function in this set, for reading a function from this data set, for cataloguing the functions, stored in the set, for copying a SERVUS-data set, for deleting stored functions, for printing stored functions and for drawing two or three-dimensional pictures of them. (orig.) [de

Cold Stress

Science.gov (United States)

... Publications and Products Programs Contact NIOSH NIOSH COLD STRESS Recommend on Facebook Tweet Share Compartir Workers who ... cold environments may be at risk of cold stress. Extreme cold weather is a dangerous situation that ...

Cold Storage for a Single-Family House in Italy

Directory of Open Access Journals (Sweden)

Luigi Mongibello

2016-12-01

Full Text Available This work deals with the operation, modeling, simulation, and cost evaluation of two different cold storage systems for a single-family house in Italy, that differ from one another on the cold storage material. The two materials used to perform the numerical simulations of the cold storage systems are represented by cold water and a phase change material (PCM, and the numerical simulations have been realized by means of numerical codes written in Matlab environment. The main finding of the present work is represented by the fact that, for the considered user characteristics, and under the Italian electricity tariff policy, the use of a proper designed cold storage system characterized by an effective operation strategy could represent a viable solution from an economical point of view.

Center for Cold Spray Research and Development

Data.gov (United States)

Federal Laboratory Consortium — This is the only DoD facility capable of cold spray research and development, production, and field-repair. It features three stationary cold spray systems used for...

A Medical Manipulator System with Lasers in Photodynamic Therapy of Port Wine Stains

Directory of Open Access Journals (Sweden)

Xingtao Wang

2014-01-01

Full Text Available Port wine stains (PWS are a congenital malformation and dilation of the superficial dermal capillary. Photodynamic therapy (PDT with lasers is an effective treatment of PWS with good results. However, because the laser density is uneven and nonuniform, the treatment is carried out manually by a doctor thus providing little accuracy. Additionally, since the treatment of a single lesion can take between 30 and 60 minutes, the doctor can become fatigued after only a few applications. To assist the medical staff with this treatment method, a medical manipulator system (MMS was built to operate the lasers. The manipulator holds the laser fiber and, using a combination of active and passive joints, the fiber can be operated automatically. In addition to the control input from the doctor over a human-computer interface, information from a binocular vision system is used to guide and supervise the operation. Clinical results are compared in nonparametric values between treatments with and without the use of the MMS. The MMS, which can significantly reduce the workload of doctors and improve the uniformity of laser irradiation, was safely and helpfully applied in PDT treatment of PWS with good therapeutic results.

SSSFD manipulator engineering using statistical experiment design techniques

Science.gov (United States)

Barnes, John

1991-01-01

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

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

International Nuclear Information System (INIS)

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

1998-03-01

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

New sources of cold atoms for atomic clocks

International Nuclear Information System (INIS)

Aucouturier, E.

1997-01-01

The purpose of this doctoral work is the realisation of new sources of cold cesium atoms that could be useful for the conception of a compact and high-performance atomic clock. It is based on experiences of atomic physics using light induced atomic manipulation. We present here the experiences of radiative cooling of atoms that have been realised at the Laboratoire de l'Horloge Atomique from 1993 to 1996. Firstly, we applied the techniques of radiative cooling and trapping of atoms in order to create a three-dimensional magneto-optical trap. For this first experience, we developed high quality laser sources, that were used for other experiments. We imagined a new configuration of trapping (two-dimensional magneto-optical trap) that was the basis for a cold atom source. This design gives the atoms a possibility to escape towards one particular direction. Then, we have extracted the atoms from this anisotropic trap in order to create a continuous beam of cold atoms. We have applied three methods of extraction. Firstly, the launching of atoms was performed by reducing the intensity of one of the cooling laser beams in the desired launching direction. Secondly, a frequency detuning between the two laser laser beams produced the launching of atoms by a so-called 'moving molasses'. The third method consisted in applying a static magnetic field that induced the launching of atoms in the direction of this magnetic field. At the same time, another research on cold atoms was initiated at the I.H.A. It consisted in cooling a large volume of atoms from a cell, using an isotropic light. This offers an interesting alternative to the traditional optical molasses. (author)

Reversible cold-induced abnormalities in myocardial perfusion and function in systemic sclerosis

International Nuclear Information System (INIS)

Alexander, E.L.; Firestein, G.S.; Weiss, J.L.; Heuser, R.R.; Leitl, G.; Wagner, H.N. Jr.; Brinker, J.A.; Ciuffo, A.A.; Becker, L.C.

1986-01-01

The effects of peripheral cold exposure on myocardial perfusion and function were studied in 13 patients with scleroderma without clinically evident myocardial disease. Ten patients had at least one transient, cold-induced, myocardial perfusion defect visualized by thallium-201 scintigraphy, and 12 had reversible, cold-induced, segmental left ventricular hypokinesis by two-dimensional echocardiography. The 10 patients with transient perfusion defects all had anatomically corresponding ventricular wall motion abnormalities. No one in either of two control groups (9 normal volunteers and 7 patients with chest pain and normal coronary arteriograms) had cold-induced abnormalities. This study is the first to show the simultaneous occurrence of cold-induced abnormalities in myocardial perfusion and function in patients with scleroderma. The results suggest that cold exposure in such patients may elicit transient reflex coronary vasoconstriction resulting in reversible myocardial ischemia and dysfunction. Chronic recurrent episodes of coronary spasm may lead to focal myocardial fibrosis

Application of Shuttle Remote Manipulator System technology to the replacement of fuel channels in the Pickering CANDU reactor

International Nuclear Information System (INIS)

Stratton, D.; Butt, C.

1982-04-01

Spar Aerospace Limited of Toronto was the prime contractor to the National Research Council of Canada for the design and development of the Shuttle Remote Manipulator (SRMS). Spar is presently under contract to Ontario Hydro to design and build a Remote Manipulation Control System to replace the fuel channels in the Pickering A Nuclear Generating Station. The equipment may be used to replace the fuel channels in six other early generation CANDU reactors

Manipulation of microfluidic droplets by electrorheological fluid

KAUST Repository

Zhang, Menying

2009-09-01

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

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

Science.gov (United States)

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

Science.gov (United States)

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

EDITORIAL: Focus on Cold and Ultracold Molecules FOCUS ON COLD AND ULTRACOLD MOLECULES

Science.gov (United States)

Carr, Lincoln D.; Ye, Jun

2009-05-01

, controllability, tunable interactions, no disorder, etc). First, they are more easily manipulated because of the strong response of their electric dipole moment to external electric fields, DC or AC. The electric dipole moment also creates the new aspect of long range interactions. Second, they have a rich internal structure, with vibrational and rotational states, fine or hyperfine structure, and Ω- or Λ-doublets. This internal structure allows for wonderful new possibilities in areas such as precision measurement and exquisite control of system dynamics. Therefore, although this focus issue contains a few articles on homonuclear molecules, more complex molecules such as benzene, and even a contribution on atomic chromium, which has a significant magnetic dipole moment, our main focus is on the heteronuclear polar case. This focus issue explores both direct and indirect cooling of mainly polar molecules, and the theory to support and inspire these advances. Thirty-eight research groups have contributed original work, and there are two review articles to complement these advances: the first covers cold and ultracold molecules broadly from few body to many body physics, including foundational theory, the technology to make them, and their scientific applications. The second is on the search for time variation of fundamental constants. The former review, which is comprehensive in nature, concludes with a list of open questions. This sets the tone for the focus issue, namely, openness, innovation, and possibility, an emphasis for which New Journal of Physics, an open-access journal of the highest quality, is especially fitted. Focus on Cold and Ultracold Molecules Contents Cold and ultracold molecules: science, technology and applications Lincoln D Carr, David DeMille, Roman V Krems and Jun Ye Ultracold molecules: new probes on the variation of fundamental constants Cheng Chin, V V Flambaum and M G Kozlov Probing the unitarity limit at low laser intensities Philippe Pellegrini and

Heat and cold accumulators in vehicles

Energy Technology Data Exchange (ETDEWEB)

Kauranen, P.; Wikstroem, L. (VTT Technical Research Centre of Finland, Advanced Materials, Tampere (Finland)); Heikkinen, J. (VTT Technical Research Centre of Finland, Building Services and Indoor Environment, Espoo (Finland)); Laurikko, J.; Elonen, T. (VTT Technical Research Centre of Finland, Emission Control, Espoo (Finland)); Seppaelae, A. (Helsinki Univ. of Technology, Applied Thermodynamics, Espoo (Finland)). Email: ari.seppala@tkk.fi

2009-07-01

Phase Change Material (PCM) based heat and cold accumulators have been tailored for transport applications including a mail delivery van as well as the cold chains of foodstuff and blood products. The PCMs can store relative large amount of thermal energy in a narrow temperature interval as latent heat of fusion of their melting and crystallization processes. Compact heat and cold accumulators can be designed using PCMs. The aim of the project has been to reduce the exhaust gas and noise emissions and improve the fuel economy of the transport systems and to improve the reliability of the cold chains studied by storing thermal energy in PCM accumulators. (orig.)

Evaluating and managing Cold War era historic properties : the cultural significance of U.S. Air Force defensive radar systems.

Energy Technology Data Exchange (ETDEWEB)

Whorton, M.

1999-01-20

Aircraft and later missile radar early warning stations played an important role in the Cold War. They are associated with important technological, social, political, and military themes of the Cold War and are worthy of preservation. The scope and scale of these systems make physical preservation impractical, but the U.S. Air Force program of historical evaluation and documentation of these systems will provide valuable information to future generations studying this historic period.

[An Introduction to A Newly-developed "Acupuncture Needle Manipulation Training-evaluation System" Based on Optical Motion Capture Technique].

Science.gov (United States)

Zhang, Ao; Yan, Xing-Ke; Liu, An-Guo

2016-12-25

In the present paper, the authors introduce a newly-developed "Acupuncture Needle Manipulation Training-evaluation System" based on optical motion capture technique. It is composed of two parts, sensor and software, and overcomes some shortages of mechanical motion capture technique. This device is able to analyze the data of operations of the pressing-hand and needle-insertion hand during acupuncture performance and its software contains personal computer (PC) version, Android version, and Internetwork Operating System (IOS) Apple version. It is competent in recording and analyzing information of any ope-rator's needling manipulations, and is quite helpful for teachers in teaching, training and examining students in clinical practice.

Machine Learnig for Robotic Manipulation in cluttered environments

OpenAIRE

Alet Puig, Ferran

2016-01-01

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

Cryodiversity: the World of Cold on the Earth and in the Solar System

Directory of Open Access Journals (Sweden)

Vladimir Melnikov

2018-02-01

Full Text Available Effects and objects associated with the cryosphere, the world of cold, are extremely diverse due to anomalous thermodynamic and electromagnetic properties of ice, intermediate strength of hydrogen bonds, broad occurrence of cryogenic systems, and combinations of these causes. Unlike many other processes, those in the cryosphere have variable rates. They can speed up or slow down under the effect of physicochemical properties of ice. Cryospheric time is a missing link between geological and biological time scales: humans feel the planetary dynamics via dynamics of the cryosphere. The world of cold has been an important agent in evolution, as it created conditions for the life origin and existence and has controlled the rates and mechanisms of biological processes. Modern technologies for data acquisition and sharing change both the form and methods of research. Discovering and exploring fast processes becomes possible due to advanced videorecording tools while progressively increasing remote sensing potentialities allow high-resolution imaging of objects in the Solar System. Real-time big data acquired by modern measurement systems bridge the gap between the conventional approaches to modeling of elementary processes and assessment of environment parameters

Modeling and simulation of control system response to temperature disturbances in a coupled heat exchangers-AHTR system

International Nuclear Information System (INIS)

Skavdahl, I.; Utgikar, V.P.; Christensen, R.; Sabharwall, P.; Chen, M.; Sun, X.

2016-01-01

Highlights: • Control architecture defined for nuclear reactor-coupled heat exchangers system. • MATLAB code developed for simulation of system response for various temperature disturbances in the system. • Control system effective in maintaining controlled variables at desired set points. • New equilibrium steady state established using controllers. • Adaptive control system capable of switching manipulated variables based on system constraints. - Abstract: An effective control strategy is essential for maintaining optimum operational efficiency of the Advanced High Temperature Reactor (AHTR)-intermediate heat exchanger (IHX)-secondary heat exchanger (SHX) system for power conversion or process heat applications. A control system design is presented in this paper for the control of the coupled intermediate and secondary heat exchangers. The cold side outlet temperature of the SHX (T_c_o) and the hot side outlet temperature of the IHX (T_h_o_2) were identified as the controlled variables that were maintained at their set points by manipulating the flow rates of heat exchange media. Transfer functions describing the relationships between the controlled variables and the manipulated and load variables were developed and the system response to various temperature disturbances was simulated using a custom-developed MATLAB program. It was found that a step disturbance of ±10 °C in the process loop changed the thermal duty by ±650 kW, equal to 6.5% of the initial duty. Similar disturbances in the primary loop had a higher impact on the system. The control system design included a provision for the switching of manipulated variables to limit the adjustment in the magnitudes of the primary manipulated variables. Simulation results indicate that the controlled variables are maintained successfully at their desired points by the control system.

Modeling and simulation of control system response to temperature disturbances in a coupled heat exchangers-AHTR system

Energy Technology Data Exchange (ETDEWEB)

Skavdahl, I. [Department of Chemical and Materials Engineering, University of Idaho, Moscow, ID 83844 (United States); Utgikar, V.P., E-mail: vutgikar@uidaho.edu [Department of Chemical and Materials Engineering, University of Idaho, Moscow, ID 83844 (United States); Christensen, R. [Nuclear Engineering Program, University of Idaho, Idaho Falls, ID 83402 (United States); Sabharwall, P. [Idaho National Laboratory, Idaho Falls, ID 83415 (United States); Chen, M.; Sun, X. [Nuclear Engineering Program, Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210 (United States)

2016-04-15

Highlights: • Control architecture defined for nuclear reactor-coupled heat exchangers system. • MATLAB code developed for simulation of system response for various temperature disturbances in the system. • Control system effective in maintaining controlled variables at desired set points. • New equilibrium steady state established using controllers. • Adaptive control system capable of switching manipulated variables based on system constraints. - Abstract: An effective control strategy is essential for maintaining optimum operational efficiency of the Advanced High Temperature Reactor (AHTR)-intermediate heat exchanger (IHX)-secondary heat exchanger (SHX) system for power conversion or process heat applications. A control system design is presented in this paper for the control of the coupled intermediate and secondary heat exchangers. The cold side outlet temperature of the SHX (T{sub co}) and the hot side outlet temperature of the IHX (T{sub ho2}) were identified as the controlled variables that were maintained at their set points by manipulating the flow rates of heat exchange media. Transfer functions describing the relationships between the controlled variables and the manipulated and load variables were developed and the system response to various temperature disturbances was simulated using a custom-developed MATLAB program. It was found that a step disturbance of ±10 °C in the process loop changed the thermal duty by ±650 kW, equal to 6.5% of the initial duty. Similar disturbances in the primary loop had a higher impact on the system. The control system design included a provision for the switching of manipulated variables to limit the adjustment in the magnitudes of the primary manipulated variables. Simulation results indicate that the controlled variables are maintained successfully at their desired points by the control system.

Development of a compound energy system for cold region houses using small-scale natural gas cogeneration and a gas hydrate battery

International Nuclear Information System (INIS)

Obara, Shin'ya; Kikuchi, Yoshinobu; Ishikawa, Kyosuke; Kawai, Masahito; Yoshiaki, Kashiwaya

2015-01-01

In this study, an independent energy system for houses in cold regions was developed using a small-scale natural gas CGS (cogeneration), air-source heat pump, heat storage tank, and GHB (gas hydrate battery). Heat sources for the GHB were the ambient air and geothermal resources of the cold region. The heat cycle of CO 2 hydrate as a source of energy was also experimentally investigated. To increase the formation speed of CO 2 hydrates, a ferrous oxide–graphite system catalyst was used. The ambient air of cold regions was used as a heat source for the formation process (electric charge) of the GHB, and the heat supplied by a geothermal heat exchanger was used for the dissociation process (electric discharge). Using a geothermal heat source, fuel consumption was halved because of an increased capacity for hydrate formation in the GHB, a shortening of the charging and discharging cycle, and a decrease in the freeze rate of hydrate formation space. Furthermore, when the GHB was introduced into a cold region house, the application rate of renewable energy was 47–71% in winter. The spread of the GHB can greatly reduce fossil fuel consumption and the associated greenhouse gases released from houses in cold regions. - Highlights: • Compound energy system for cold region houses by a gas hydrate battery was proposed. • Heat sources of a gas hydrate battery are exhaust heat of the CGS and geothermal. • Drastic reduction of the fossil fuel consumption in a cold region is realized

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...

Cold atoms as a coolant for levitated optomechanical systems

Science.gov (United States)

Ranjit, Gambhir; Montoya, Cris; Geraci, Andrew A.

2015-01-01

Optically trapped dielectric objects are well suited for reaching the quantum regime of their center-of-mass motion in an ultrahigh-vacuum environment. We show that ground-state cooling of an optically trapped nanosphere is achievable when starting at room temperature, by sympathetic cooling of a cold-atomic gas optically coupled to the nanoparticle. Unlike cavity cooling in the resolved-sideband limit, this system requires only a modest cavity finesse and it allows the cooling to be turned off, permitting subsequent observation of strongly coupled dynamics between the atoms and sphere. Nanospheres cooled to their quantum ground state could have applications in quantum information science or in precision sensing.

Acoustic Devices for Particle and Cell Manipulation and Sensing

Directory of Open Access Journals (Sweden)

Yongqiang Qiu

2014-08-01

Full Text Available An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed.

Analysis for a two-dissimilar-component cold standby repairable system with repair priority

International Nuclear Information System (INIS)

Leung, Kit Nam Francis; Zhang Yuanlin; Lai, Kin Keung

2011-01-01

In this paper, a cold standby repairable system consisting of two dissimilar components and one repairman is studied. Assume that working time distributions and repair time distributions of the two components are both exponential, and Component 1 has repair priority when both components are broken down. After repair, Component 1 follows a geometric process repair while Component 2 obeys a perfect repair. Under these assumptions, using the perfect repair model, the geometric process repair model and the supplementary variable technique, we not only study some important reliability indices, but also consider a replacement policy T, under which the system is replaced when the working age of Component 1 reaches T. Our problem is to determine an optimal policy T* such that the long-run average loss per unit time (i.e. average loss rate) of the system is minimized. The explicit expression for the average loss rate of the system is derived, and the corresponding optimal replacement policy T* can be found numerically. Finally, a numerical example for replacement policy T is given to illustrate some theoretical results and the model's applicability. - Highlights: → A two-dissimilar-component cold standby system with repair priority is formulated. → The successive up/repair times of Component 1 form a decreasing/increasing geometric process. → Not only some reliability indices but also a replacement policy are studied.

Novel Techniques for Quantum State Manipulation in Mesoscopic Systems

National Research Council Canada - National Science Library

Lukin, Mikhail

2005-01-01

...-out. We showed how realistic charge manipulation and measurement techniques, combined with the exchange interaction, allowed for the robust generation and purification of four particle spin entangled...

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

International Nuclear Information System (INIS)

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

2015-01-01

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

On the conditions of existence of cold-blanket systems

International Nuclear Information System (INIS)

Lehnert, B.

1977-12-01

An extende analysis of the partially ionized boundary layer of a magnetized plasma has been performed, leading to the following results: (i) In a first approximation the ion density at the inner ''edge'' of the layer becomes related to the wall-near neutral gas density, in a way being independent of the spatial distribution of the ionization rate. (ii) The particle and momentum balance equations, and the associated impermeability condition of the plasma with respect to neutral gas penetration, are not sufficient to specify a cold-blanket state, but have to be combined with considerations of the heat blance. This leads to lower and upper power input limits, thus defining conditions for the existence of a cold-blanket state. At decreasing beta values , or increasing radiation losses, there are situations where such a state cannot exist at all. (iii) It should become possible to fulfill the cold-blanket conditions in full-scale reactors as well as in certain model experiments. Probably these conditions can also be satisfied in large tokamaks like JET, and by fast gas injection in devices such as Alcator, but not in medium-size tokamaks being operated at moderately high ion densities. (iv) A strong ''boundary layer stabilization'' mechanism due to the joint viscosity-resistivity-pressure effects is available under cold-blanket conditions. (author)

Nambu-Goldstone Fermion Mode in Quark-Gluon Plasma and Bose-Fermi Cold Atom System

International Nuclear Information System (INIS)

Satow, D.

2015-01-01

It was suggested that supersymmetry (SUSY) is broken at finite temperature, and as a result of the symmetry breaking, a Nambu-Goldstone fermion (goldstino) related to SUSY breaking appears. Since dispersion relations of quarks and gluons are almost degenerate at extremely high temperature, quasi-zero energy quark excitation was suggested to exist in quark-gluon plasma (QGP), though QCD does not have exact SUSY. On the other hand, in condensed matter system, a setup of cold atom system in which the Hamiltonian has SUSY was proposed, the goldstino was suggested to exist, and the dispersion relation of that mode at zero temperature was obtained recently. In this presentation, we obtain the expressions for the dispersion relation of the goldstino in cold atom system at finite temperature, and compare it with the dispersion of the quasi zero-mode in QGP. Furthermore, we show that the form of the dispersion relation of the goldstino can be understood by using an analogy with a magnon in ferromagnet. We also discuss on how the dispersion relation of the goldstino is reflected in observable quantities in experiment. (author)

Echinacea purpurea and osteopathic manipulative treatment in children with recurrent otitis media: a randomized controlled trial

Directory of Open Access Journals (Sweden)

Worden Katherine A

2008-10-01

Full Text Available Abstract Background Recurrent otitis media is a common problem in young children. Echinacea and osteopathic manipulative treatment have been proposed as preventive measures, but have been inadequately studied. This study was designed to assess the efficacy of Echinacea purpurea and/or osteopathic manipulative treatment (OMT for prevention of acute otitis media in otitis-prone children. Methods A randomized, placebo-controlled, two-by-two factorial trial with 6-month follow-up, conducted 1999 – 2002 in Tucson, Arizona. Patients were aged 12–60 months with recurrent otitis media, defined as three or more separate episodes of acute otitis media within six months, or at least four episodes in one year. Ninety children (44% white non-Hispanic, 39% Hispanic, 57% male were enrolled, of which 84 had follow-up for at least 3 months. Children were randomly assigned to one of four protocol groups: double placebo, echinacea plus sham OMT, true OMT (including cranial manipulation plus placebo echinacea, or true echinacea plus OMT. An alcohol extract of Echinacea purpurea roots and seeds (or placebo was administered for 10 days at the first sign of each common cold. Five OMT visits (or sham treatments were offered over 3 months. Results No interaction was found between echinacea and OMT. Echinacea was associated with a borderline increased risk of having at least one episode of acute otitis media during 6-month follow-up compared to placebo (65% versus 41%; relative risk, 1.59, 95% CI 1.04, 2.42. OMT did not significantly affect risk compared to sham (44% versus 61%; relative risk, 0.72, 95% CI 0.48, 1.10. Conclusion In otitis-prone young children, treating colds with this form of echinacea does not decrease the risk of acute otitis media, and may in fact increase risk. A regimen of up to five osteopathic manipulative treatments does not significantly decrease the risk of acute otitis media. Trial registration ClinicalTrials.gov Identifier: NCT00010465

Numerical analysis of the efficiency of earth to air heat exchange systems in cold and hot-arid climates

International Nuclear Information System (INIS)

Fazlikhani, Faezeh; Goudarzi, Hossein; Solgi, Ebrahim

2017-01-01

Highlights: • A numerical model is developed to evaluate performance of earth to air heat exchanger. • The cooling/heating potential of earth to air heat exchanger is investigated in hot-dry and cold climates. • The more performance of earth to air heat exchanger in hot-dry climates compared to cold climates. • The high efficiency of earth to air heat exchanger for pre-heating in both hot-dry and cold climates. - Abstract: In order to examine and compare the efficiency of earth to air heat exchanger (EAHE) systems in hot-arid (Yazd) and cold (Hamadan) climates in Iran a steady state model was developed to evaluate the impact of various parameters including inlet air temperatures, pipe lengths and ground temperatures on the cooling and heating potential of EAHEs in both climates. The results demonstrated the ability of the system to not only improve the average temperature and decrease the temperature fluctuation of the outlet air temperature of EAHE, but also to trigger considerable energy saving. It was found that in both climates, the system is highly utilized for pre-heating, and its usage is unfeasible in certain periods throughout the year. In winter, EAHEs have the potential of increasing the air temperature in the range of 0.2–11.2 °C and 0.1–17.2 °C for Yazd and Hamadan, respectively. However, in summer, the system decreases the air temperature for the aforementioned cities in the range of 1.3–11.4 °C and 5.7–11.1 °C, respectively. The system ascertains to be more efficient in the hot-arid climate of Yazd, where it can be used on 294 days of the year, leading to 50.1–63.6% energy saving, when compared to the cold climate of Hamadan, where it can be used on 225 days of the year resulting in a reduction of energy consumption by 24.5–47.9%.

Development the interface system of master-slave manipulator and external input device on the graphic simulator

International Nuclear Information System (INIS)

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

2002-01-01

The master-slave manipulator is the generally used as remote handling device in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion of remote handling device and to simulate the remote handling operation task in the hot cell, the 3D graphic simulator which has been installed the master-slave manipulator is established. Also the interface program of external input device with 6 DOF(degree of Freedom) is developed and connected to graphic simulator with LLTI(Low Level Tele-operation Interface) which provides a uniquely optimized, high speed, bidirectional communication interface to one or more of system and processes

Metallization of Various Polymers by Cold Spray

Science.gov (United States)

Che, Hanqing; Chu, Xin; Vo, Phuong; Yue, Stephen

2018-01-01

Previous results have shown that metallic coatings can be successfully cold sprayed onto polymeric substrates. This paper studies the cold sprayability of various metal powders on different polymeric substrates. Five different substrates were used, including carbon fiber reinforced polymer (CFRP), acrylonitrile butadiene styrene (ABS), polyether ether ketone (PEEK), polyethylenimine (PEI); mild steel was also used as a benchmark substrate. The CFRP used in this work has a thermosetting matrix, and the ABS, PEEK and PEI are all thermoplastic polymers, with different glass transition temperatures as well as a number of distinct mechanical properties. Three metal powders, tin, copper and iron, were cold sprayed with both a low-pressure system and a high-pressure system at various conditions. In general, cold spray on the thermoplastic polymers rendered more positive results than the thermosetting polymers, due to the local thermal softening mechanism in the thermoplastics. Thick copper coatings were successfully deposited on PEEK and PEI. Based on the results, a method is proposed to determine the feasibility and deposition window of cold spraying specific metal powder/polymeric substrate combinations.

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

International Nuclear Information System (INIS)

Rininsland, H.; Boehme, G.

1986-01-01

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

A Model Vision of Sorting System Application Using Robotic Manipulator

Directory of Open Access Journals (Sweden)

Maralo Sinaga

2010-08-01

Full Text Available Image processing in today’s world grabs massive attentions as it leads to possibilities of broaden application in many fields of high technology. The real challenge is how to improve existing sorting system in the Moduler Processing System (MPS laboratory which consists of four integrated stations of distribution, testing, processing and handling with a new image processing feature. Existing sorting method uses a set of inductive, capacitive and optical sensors do differentiate object color. This paper presents a mechatronics color sorting system solution with the application of image processing. Supported by OpenCV, image processing procedure senses the circular objects in an image captured in realtime by a webcam and then extracts color and position information out of it. This information is passed as a sequence of sorting commands to the manipulator (Mitsubishi Movemaster RV-M1 that does pick-and-place mechanism. Extensive testing proves that this color based object sorting system works 100% accurate under ideal condition in term of adequate illumination, circular objects’ shape and color. The circular objects tested for sorting are silver, red and black. For non-ideal condition, such as unspecified color the accuracy reduces to 80%.

Indicial tensor manipulation on MACSYMA

International Nuclear Information System (INIS)

Bogen, R.A.; Pavelle, R.

1977-01-01

A new computational tool for physical calculations is described. It is the first computer system capable of performing indicial tensor calculus (as opposed to component tensor calculus). It is now operational on the symbolic manipulation system MACSYMA. The authors outline the capabilities of the system and describe some of the physical problems considered as well as others being examined at this time. (Auth.)

An empirical model for friction in cold forging

DEFF Research Database (Denmark)

Bay, Niels; Eriksen, Morten; Tan, Xincai

2002-01-01

With a system of simulative tribology tests for cold forging the friction stress for aluminum, steel and stainless steel provided with typical lubricants for cold forging has been determined for varying normal pressure, surface expansion, sliding length and tool/work piece interface temperature...... of normal pressure and tool/work piece interface temperature. The model is verified by process testing measuring friction at varying reductions in cold forward rod extrusion. KEY WORDS: empirical friction model, cold forging, simulative friction tests....

Heat pumps combined with cold storage; Warmtepompen gecombineerd met koudeopslag

Energy Technology Data Exchange (ETDEWEB)

Van Ingen, M.A. [Techniplan Adviseurs, Rotterdam (Netherlands)

1999-09-01

The architects of the new Nike head office building in Hilversum, Netherlands, opted for a heat pump combined with a cold storage system. The most efficient design was found to be a single central location for the production of heat and cold, with distribution lines to each of the five buildings. The cold storage system provides direct cooling and indirect heating: the heat pump raises the low-temperature heat from the cold storage to a usable temperature (augmented by district heating when necessary). In addition, the heat pump generates cold as a by-product in winter, which can be stored in the sources system and utilised during the following summer. The heat pump can also be used for cooling, for peak load supply and for any short-term storage requirement in emergencies

The Cold Mass Support System and the Helium Cooling System for the MICE Focusing Solenoid

International Nuclear Information System (INIS)

Yang, Stephanie Q.; Green, Michael A.; Lau, Wing W.; Senanayake, Rohan S.; Witte, Holger

2006-01-01

The heart of the absorber focus coil (AFC) module for the muon ionization cooling experiment (MICE) is the two-coil superconducting solenoid that surrounds the muon absorber. The superconducting magnet focuses the muons that are cooled using ionization cooling, in order to improve the efficiency of cooling. The coils of the magnet may either be run in the solenoid mode (both coils operate at the same polarity) or the gradient (the coils operate at opposite polarity). The AFC magnet cold mass support system is designed to carry a longitudinal force up to 700 kN. The AFC module will be cooled using three pulse tube coolers that produce 1.5 W of cooling at 4.2 K. One of the coolers will be used to cool the liquid (hydrogen or helium) absorber used for ionization cooling. The other two coolers will cool the superconducting solenoid. This report will describe the MICE AFC magnet. The cold mass supports will be discussed. The reasons for using a pulsed tube cooler to cool this superconducting magnet will also be discussed

A predictive model for the chemical vapor deposition of polysilicon in a cold wall, rapid thermal system

Energy Technology Data Exchange (ETDEWEB)

Toprac, A.J.; Trachtenberg, I.; Edgar, T.F. (Univ. of Texas, Austin, TX (United States). Dept. of Chemical Engineering)

1994-06-01

The chemical vapor deposition of polysilicon from thermally activated silane in a cold wall, single-wafer rapid thermal system was studied by experimentation at a variety of low pressure conditions, including very high temperatures. The effect of diluent gas on polysilicon deposition rates was examined using hydrogen, helium, and krypton. A mass-transfer model for the chemical vapor deposition of polysilicon in a cold wall, rapid thermal system was developed. This model was used to produce an empirical rate expression for silicon deposition from silane by regressing kinetic parameters to fit experimental data. The resulting model provided accurate predictions over widely varying conditions in the experimental data.

Task-oriented structural design of manipulators based on operability evaluation

International Nuclear Information System (INIS)

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

1995-01-01

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

Dielectrophoretic Manipulation and Separation of Microparticles Using Microarray Dot Electrodes

Directory of Open Access Journals (Sweden)

Bashar Yafouz

2014-04-01

Full Text Available This paper introduces a dielectrophoretic system for the manipulation and separation of microparticles. The system is composed of five layers and utilizes microarray dot electrodes. We validated our system by conducting size-dependent manipulation and separation experiments on 1, 5 and 15 μm polystyrene particles. Our findings confirm the capability of the proposed device to rapidly and efficiently manipulate and separate microparticles of various dimensions, utilizing positive and negative dielectrophoresis (DEP effects. Larger size particles were repelled and concentrated in the center of the dot by negative DEP, while the smaller sizes were attracted and collected by the edge of the dot by positive DEP.

Manipulation of biological samples using micro and nano techniques.

Science.gov (United States)

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

2009-01-01

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

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

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

2002-01-01

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

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

Science.gov (United States)

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

2018-02-01

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

Preheating of fluid in a supercritical Brayton cycle power generation system at cold startup

Science.gov (United States)

Wright, Steven A.; Fuller, Robert L.

2016-07-12

Various technologies pertaining to causing fluid in a supercritical Brayton cycle power generation system to flow in a desired direction at cold startup of the system are described herein. A sensor is positioned at an inlet of a turbine, wherein the sensor is configured to output sensed temperatures of fluid at the inlet of the turbine. If the sensed temperature surpasses a predefined threshold, at least one operating parameter of the power generation system is altered.

Leading research report for fiscal 1998 on the next-generation cold emission technology; 1998 nendo jisedai cold emission gijutsu no chosa kenkyu sendo kenkyu hokokusho

Energy Technology Data Exchange (ETDEWEB)

NONE

1999-03-01

The report covers the fruits of researches into technologies of cold emission control and cold emission application conducted in fiscal 1998. In the study relative to the current status of cold emission control technology, emitter materials that govern electron emitting characteristics are discussed, such as metallic materials, silicon, carbon systems, semiconductors, liquid metal, etc. In relation with the application of semiconductor process technology, the tunnel emitter is taken up that utilizes the semiconductor tunnel cathode. In relation with the cold emission process, an emitter high in aspect ratio is described, obtained by the inductive emitter deposition method in which organic metallic gas is decomposed by an electron beam. In the study of the cold emission control system and instrumentation, the merits and demerits of control by MOSFET (MOS field effect transistor) are discussed. In relation with the technology of cold emission application, FED (field effect display) development and problems, current status of sensor technology and problems, RF application technology, application to power systems, etc., are mentioned. (NEDO)

Acoustic manipulation: Bessel beams and active carriers

Science.gov (United States)

Rajabi, Majid; Mojahed, Alireza

2017-10-01

In this paper, we address the interaction of zero-order acoustic Bessel beams as an acoustic manipulation tool, with an active spherical shell, as a carrier in drug, agent, or material delivery systems, in order to investigate the controllability of exerted acoustic radiation force as the driver. The active body is comprised of a spherical elastic shell stimulated in its monopole mode of vibrations with the same frequency as the incident wave field via an internally bonded and spatially uniformly excited piezoelectric actuator. The main aim of this work is to examine the performance of a nondiffracting and self-reconstructing zero-order Bessel beam to obtain the full manipulability condition of active carriers in comparison with the case of a plane wave field. The results unveil some unique potentials of the Bessel beams in the company of active carriers, with emphasis on the consumed power of the actuation system. This paper will widen the path toward the single-beam robust acoustic manipulation techniques and may lead to the prospect of combined tweezers and fields, with applications in delivery systems, microswimmers, and trapper designs.

Fabrication of a pen-shaped portable biochemical reaction system based on magnetic bead manipulation

International Nuclear Information System (INIS)

Shikida, Mitsuhiro; Inagaki, Noriyuki; Okochi, Mina; Honda, Hiroyuki; Sato, Kazuo

2011-01-01

A pen-shaped platform that is similar to a mechanical pencil is proposed for producing a portable reaction system. A reaction unit, as the key component in the system, was produced by using a heat shrinkable tube. A mechanical pencil supplied by Mitsubishi Pencil Co. Ltd was used as the pen-shaped platform for driving the reaction cylinder. It was actuated using an inchworm motion. We confirmed that the magnetic beads were successfully manipulated in the droplet in the cylinder-shaped reaction units. (technical note)

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.

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 molecular and cellular basis of cold sensation.

Science.gov (United States)

McKemy, David D

2013-02-20

Of somatosensory modalities, cold is one of the more ambiguous percepts, evoking the pleasant sensation of cooling, the stinging bite of cold pain, and welcome relief from chronic pain. Moreover, unlike the precipitous thermal thresholds for heat activation of thermosensitive afferent neurons, thresholds for cold fibers are across a range of cool to cold temperatures that spans over 30 °C. Until recently, how cold produces this myriad of biological effects has been poorly studied, yet new advances in our understanding of cold mechanisms may portend a better understanding of sensory perception as well as provide novel therapeutic approaches. Chief among these was the identification of a number of ion channels that either serve as the initial detectors of cold as a stimulus in the peripheral nervous system, or are part of rather sophisticated differential expression patterns of channels that conduct electrical signals, thereby endowing select neurons with properties that are amenable to electrical signaling in the cold. This review highlights the current understanding of the channels involved in cold transduction as well as presents a hypothetical model to account for the broad range of cold thermal thresholds and distinct functions of cold fibers in perception, pain, and analgesia.

The State of the Art in Cold Forging Lubrication

DEFF Research Database (Denmark)

Bay, Niels

1994-01-01

The manufature of components in steel, aluminium and copper alloys by cold forging production has increased ever since the 1950's. Typical processes are forward rod extrusion and backward can extrusion, upsetting, ironing, tube extrusion and radial extrusion. The tribological conditions in cold...... forging are extremely severe due to large surface expansion and normal pressure in the tool/workpiece interface combined with elevated tool temperatures. Except for the more simple cold forging operations successful production therefore requires advanced lubrication systems. The present paper gives...... a detailed description of the state of art for lubricant systems for cold forging of C-steels and low alloy steels as well as aluminium alloys including all the basic operations such as cleaning of the slugs, application of eventual conversion coating and lubrication. As regards cold forging of steel...

Adaptive Control Of Remote Manipulator

Science.gov (United States)

Seraji, Homayoun

1989-01-01

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

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.)

Development of a dexterous manipulator system with redundant degrees of freedom

International Nuclear Information System (INIS)

Senoh, M.; Suzuki, M.; Tsuchita, K.; Kamimura, H.; Fujii, M.; Otsu, M.

1987-01-01

To keep plant availability as high as possible, more flexible and higher performance robots are desirable. At the same time, lower radiation exposures to operating personnel can be achieved by employing more sophisticated robotic systems. A new maintenance system has been proposed to realize consecutive disassembling and inspecting tasks by a robotic approach. The maintenance system includes three subsystems: a subsystem for the minor disassembling operations in the field; a transportation subsystem, which carries disassembled machines or components from the place where they were installed to a maintenance shop; and a subsystem for consecutive disassembling and grooming operations. Of these three subsystems, the maintenance robot for the first is the most challenging, and much development work is needed in the area of maneuverability in narrow spaces and obstacle avoidance ability. A master/slave-type manipulator with redundant degrees of freedom, mounted on a vehicle that travels along a spatially located railway, has been developed

Workshop on cold-blanket research

International Nuclear Information System (INIS)

1977-05-01

The objective of the workshop was to identify and discuss cold-plasma blanket systems. In order to minimize the bombardment of the walls by hot neutrals the plasma should be impermeable. This requires a density edge-thickness product of nΔ > 10 15 cm -2 . An impermeable cold plasma-gas blanket surrounding a hot plasma core reduces the plasma wall/limiter interaction. Accumulation of impurities in this blanket can be expected. Fuelling from a blanket may be possible as shown by experimental results, though not fully explained by classical transport of neutrals. Refuelling of a reacting plasma had to be ensured by inward diffusion. Experimental studies of a cold impermeable plasma have been done on the tokamak-like Ringboog device. Simulation calculations for the next generation of large tokamaks using a particular transport model, indicate that the plasma edge profile can be controlled to reduce the production of sputtered impurities to an acceptable level. Impurity control requires a small fraction of the radial space to accomodate the cold-plasma layer. The problem of exhaust is, however, more complicated. If the cold-blanket scheme works as predicted in the model calculations, then α-particles generated by fusion will be transported to the cold outside layer. The Communities' experimental programme of research has been discussed in terms of the tokamaks which are available and planned. Two options present themselves for the continuation of cold-blanket research

Atom chips: mesoscopic physics with cold atoms

International Nuclear Information System (INIS)

Krueger, P.; Wildermuth, S.; Hofferberth, S.; Haller, E.; GAllego Garcia, D.; Schmiedmayer, J.

2005-01-01

Full text: Cold neutral atoms can be controlled and manipulated in microscopic potentials near surfaces of atom chips. These integrated micro-devices combine the known techniques of atom optics with the capabilities of well established micro- and nanofabrication technology. In analogy to electronic microchips and integrated fiber optics, the concept of atom chips is suitable to explore the domain of mesoscopic physics with matter waves. We use current and charge carrying structures to form complex potentials with high spatial resolution only microns from the surface. In particular, atoms can be confined to an essentially one-dimensional motion. In this talk, we will give an overview of our experiments studying the manipulation of both thermal atoms and BECs on atom chips. First experiments in the quasi one-dimensional regime will be presented. These experiments profit from strongly reduced residual disorder potentials caused by imperfections of the chip fabrication with respect to previously published experiments. This is due to our purely lithographic fabrication technique that proves to be advantageous over electroplating. We have used one dimensionally confined BECs as an ultra-sensitive probe to characterize these potentials. These smooth potentials allow us to explore various aspects of the physics of degenerate quantum gases in low dimensions. (author)

Mental Models and Deliberate Manipulation of Data

DEFF Research Database (Denmark)

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

2015-01-01

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

Primary reaction control system/remote manipulator system interaction with loaded arm. Space shuttle engineering and operations support

Science.gov (United States)

Taylor, E. C.; Davis, J. D.

1978-01-01

A study of the interaction between the orbiter primary reaction control system (PRCS) and the remote manipulator system (RMS) with a loaded arm is documented. This analysis was performed with the Payload Deployment and Retrieval Systems Simulation (PDRSS) program with the passive arm bending option. The passive-arm model simulates the arm as massless elastic links with locked joints. The study was divided into two parts. The first part was the evaluation of the response of the arm to step inputs (i.e. constant jet torques) about each of the orbiter body axes. The second part of the study was the evaluation of the response of the arm to minimum impulse primary RCS jet firings with both single pulse and pulse train inputs.

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.

Perspectives on object manipulation and action grammar for percussive actions in primates.

Science.gov (United States)

Hayashi, Misato

2015-11-19

The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of object manipulation in naive chimpanzees after nut-cracking demonstrations revealed the cause of difficulties in learning nut-cracking behaviour. Various types of behaviours exhibited within a nut-cracking context can be examined in terms of the application of problem-solving strategies, focusing on their basis in causal understanding or insightful intentionality. Captive chimpanzees also exhibit complex forms of combinatory manipulation, which is the precursor of tool use. A new notation system of object manipulation was invented to assess grammatical rules in manipulative actions. The notation system of action grammar enabled direct comparisons to be made between primates including humans in a variety of object-manipulation tasks, including percussive-tool use. © 2015 The Author(s).

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

Energy Technology Data Exchange (ETDEWEB)

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

2016-11-01

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

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

International Nuclear Information System (INIS)

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

2016-01-01

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

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)

SNS 2.1K Cold Box Turn-down Studies

International Nuclear Information System (INIS)

F. Casagrande; P.A. Gurd; D.R. Hatfield; M.P. Howell; W.H. Strong; D. Arenius; J. Creel; V. Ganni; P. Knudsen

2006-01-01

The Spallation Neutron Source (SNS) at Oak Ridge National Laboratory is nearing completion. The cold section of the Linac consists of 81 superconducting radio frequency cavities cooled to 2.1K by a 2400 watt cryogenic refrigeration system. The 2.1K cold box consists of four stages of centrifugal compressors with LN2-cooled variable speed electric motors and magnetic bearings. The cryogenic system successfully supported the Linac beam commissioning at both 4.2K and 2.1K and has been fully operational since June 2005. This paper describes the control principles utilized and the experimental results obtained for the SNS cold compressors turn-down capability to about 30% of the design flow, and possible limitation of the frequency dependent power factor of the cold compressor electric motors, which was measured for the first time during commissioning. These results helped to support the operation of the Linac over a very broad and stable cold compressor operating flow range (refrigeration capacity) and pressure. This in turn helped to optimize the cryogenic system operating parameters, minimizing the utilities and improving the system reliability and availability

Unlimited Gender: The Discursive Construction of the Travesti Identity Through the Manipulation of the Grammatical Gender System

Directory of Open Access Journals (Sweden)

Rodrigo Borba

2008-05-01

Full Text Available This study investigates Southern Brazilian traveestis’ manipulation of the Portuguese grammatical gender system. During field work, it was verified that feminine forms are the preferred choice in the group. However, ideological and bodily tensions that surround travestis seem to force them to make use of masculine forms in specific discursive contexts. Travestis use masculine forms 1 to produce narratives about the time before their body modifications took place; 2 to report speech produced by others when talking about transvestites; 3 to talk about themselves within their family relationships; and 4 to distinguish themselves from ‘other’ travestis they do not identify with. Thus, the study shows how Southern Brazilian travestis use the Brazilian Portuguese grammatical gender system as a resource to manipulate their identities and the identities of the community they belong to.

Pose Space Surface Manipulation

Directory of Open Access Journals (Sweden)

Yusuke Yoshiyasu

2012-01-01

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

Cold valleys in fusion and fission

International Nuclear Information System (INIS)

Misicu, S.

2003-01-01

The cold fission configuration after the preformation of the fragments resembles a short-lived dinuclear or quasi-molecular system. The most conceivable scission configuration is given by two fission fragments in touching with the symmetry axes aligned (pole-pole orientation). This conclusion was based on the simple argument that this configuration offers the optimal tunneling time, i.e. the difference between the Coulomb barrier and the decay energy Q is minimal. Other orientations are apparently precluded in cold spontaneous fission and should be regarded as quasi-fission doorways in the synthesis of superheavy elements by cold fusion. (orig.)

Stereomicroscopic imaging technique for the quantification of cold flow in drug-in-adhesive type of transdermal drug delivery systems.

Science.gov (United States)

Krishnaiah, Yellela S R; Katragadda, Usha; Khan, Mansoor A

2014-05-01

Cold flow is a phenomenon occurring in drug-in-adhesive type of transdermal drug delivery systems (DIA-TDDS) because of the migration of DIA coat beyond the edge. Excessive cold flow can affect their therapeutic effectiveness, make removal of DIA-TDDS difficult from the pouch, and potentially decrease available dose if any drug remains adhered to pouch. There are no compendial or noncompendial methods available for quantification of this critical quality attribute. The objective was to develop a method for quantification of cold flow using stereomicroscopic imaging technique. Cold flow was induced by applying 1 kg force on punched-out samples of marketed estradiol DIA-TDDS (model product) stored at 25°C, 32°C, and 40°C/60% relative humidity (RH) for 1, 2, or 3 days. At the end of testing period, dimensional change in the area of DIA-TDDS samples was measured using image analysis software, and expressed as percent of cold flow. The percent of cold flow significantly decreased (p < 0.001) with increase in size of punched-out DIA-TDDS samples and increased (p < 0.001) with increase in cold flow induction temperature and time. This first ever report suggests that dimensional change in the area of punched-out samples stored at 32°C/60%RH for 2 days applied with 1 kg force could be used for quantification of cold flow in DIA-TDDS. © 2014 Wiley Periodicals, Inc. and the American Pharmacists Association.

Cold plate

Energy Technology Data Exchange (ETDEWEB)

Marroquin, Christopher M.; O' Connell, Kevin M.; Schultz, Mark D.; Tian, Shurong

2018-02-13

A cold plate, an electronic assembly including a cold plate, and a method for forming a cold plate are provided. The cold plate includes an interface plate and an opposing plate that form a plenum. The cold plate includes a plurality of active areas arranged for alignment over respective heat generating portions of an electronic assembly, and non-active areas between the active areas. A cooling fluid flows through the plenum. The plenum, at the non-active areas, has a reduced width and/or reduced height relative to the plenum at the active areas. The reduced width and/or height of the plenum, and exterior dimensions of cold plate, at the non-active areas allow the non-active areas to flex to accommodate surface variations of the electronics assembly. The reduced width and/or height non-active areas can be specifically shaped to fit between physical features of the electronics assembly.

Visual control of a robot manipulator using neural networks

International Nuclear Information System (INIS)

Kurazume, Ryo; Sekiguchi, Minoru; Nagata, Shigemi

1994-01-01

This paper describes a vision-motor fusion system using neural networks, consisting of multiple vision sensors and a manipulator, for grasping an object placed in a desired position and attitude in a three-dimensional workspace. The system does not need complicated vision sensor calibration and calculation of a transformation matrix, and can thus be easily constructed for grasping tasks. An experimental system with two TV cameras and a manipulator with six degrees of freedom grasped a connector suspended in a three-dimensional workspace with high accuracy. (author)

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

Science.gov (United States)

Guo, Lisa

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

Preliminary safety evaluation for the spent nuclear fuel project`s cold vacuum drying system

Energy Technology Data Exchange (ETDEWEB)

Garvin, L.J., Westinghouse Hanford

1996-07-01

This preliminary safety evaluation (PSE) considers only the Cold Vacuum Drying System (CVDS) facility and its mission as it relates to the integrated process strategy (WHC 1995). The purpose of the PSE is to identify those CBDS design functions that may require safety- class and safety-significant accident prevention and mitigation features.

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

Data from: Two different strategies of host manipulation allow parasites to persist in intermediate-definitive host systems

NARCIS (Netherlands)

Vries, de Lana; Langevelde, van F.

2017-01-01

Trophically-transmitted parasites start their development in an intermediate host, before they finish the development in their definitive host when the definitive host preys on the intermediate host. In intermediate-definitive host systems, two strategies of host manipulation have been evolved:

Finite element analysis for temperature distributions in a cold forging

International Nuclear Information System (INIS)

Kim, Dong Bum; Lee, In Hwan; Cho, Hae Yong; Kim, Sung Wook; Song, In Chul; Jeon, Byung Cheol

2013-01-01

In this research, the finite element method is utilized to predict the temperature distributions in a cold-forging process for a cambolt. The cambolt is mainly used as a part of a suspension system of a vehicle. The cambolt has an off-centered lobe that manipulates the vertical position of the knuckle and wheel to a slight degree. The cambolt requires certain mechanical properties, such as strength and endurance limits. Moreover, temperature is also an important factor to realize mass production and improve efficiency. However, direct measurement of temperature in a forging process is infeasible with existing technology; therefore, there is a critical need for a new technique. Accordingly, in this study, a thermo-coupled finite element method is developed for predicting the temperature distribution. The rate of energy conversion to heat for the workpiece material is determined, and the temperature distribution is analyzed throughout the forging process for a cambolt. The temperatures associated with different punch speeds are also studied, as well as the relationships between load, temperature, and punch speed. Experimental verification of the technique is presented.

Finite element analysis for temperature distributions in a cold forging

Energy Technology Data Exchange (ETDEWEB)

Kim, Dong Bum; Lee, In Hwan; Cho, Hae Yong [Chungbuk National University, Cheongju (Korea, Republic of); Kim, Sung Wook [Yanbian National University, Yanbian (China); Song, In Chul; Jeon, Byung Cheol [Sunil dyfas, Jincheon (Korea, Republic of)

2013-10-15

In this research, the finite element method is utilized to predict the temperature distributions in a cold-forging process for a cambolt. The cambolt is mainly used as a part of a suspension system of a vehicle. The cambolt has an off-centered lobe that manipulates the vertical position of the knuckle and wheel to a slight degree. The cambolt requires certain mechanical properties, such as strength and endurance limits. Moreover, temperature is also an important factor to realize mass production and improve efficiency. However, direct measurement of temperature in a forging process is infeasible with existing technology; therefore, there is a critical need for a new technique. Accordingly, in this study, a thermo-coupled finite element method is developed for predicting the temperature distribution. The rate of energy conversion to heat for the workpiece material is determined, and the temperature distribution is analyzed throughout the forging process for a cambolt. The temperatures associated with different punch speeds are also studied, as well as the relationships between load, temperature, and punch speed. Experimental verification of the technique is presented.

Selective microrobot control using a thermally responsive microclamper for microparticle manipulation

International Nuclear Information System (INIS)

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

2016-01-01

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

Manga Vectorization and Manipulation with Procedural Simple Screentone.

Science.gov (United States)

Yao, Chih-Yuan; Hung, Shih-Hsuan; Li, Guo-Wei; Chen, I-Yu; Adhitya, Reza; Lai, Yu-Chi

2017-02-01

Manga are a popular artistic form around the world, and artists use simple line drawing and screentone to create all kinds of interesting productions. Vectorization is helpful to digitally reproduce these elements for proper content and intention delivery on electronic devices. Therefore, this study aims at transforming scanned Manga to a vector representation for interactive manipulation and real-time rendering with arbitrary resolution. Our system first decomposes the patch into rough Manga elements including possible borders and shading regions using adaptive binarization and screentone detector. We classify detected screentone into simple and complex patterns: our system extracts simple screentone properties for refining screentone borders, estimating lighting, compensating missing strokes inside screentone regions, and later resolution independently rendering with our procedural shaders. Our system treats the others as complex screentone areas and vectorizes them with our proposed line tracer which aims at locating boundaries of all shading regions and polishing all shading borders with the curve-based Gaussian refiner. A user can lay down simple scribbles to cluster Manga elements intuitively for the formation of semantic components, and our system vectorizes these components into shading meshes along with embedded Bézier curves as a unified foundation for consistent manipulation including pattern manipulation, deformation, and lighting addition. Our system can real-time and resolution independently render the shading regions with our procedural shaders and drawing borders with the curve-based shader. For Manga manipulation, the proposed vector representation can be not only magnified without artifacts but also deformed easily to generate interesting results.

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.

Two-probe atomic-force microscope manipulator and its applications

Science.gov (United States)

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

2017-06-01

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

Two-probe atomic-force microscope manipulator and its applications.

Science.gov (United States)

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

2017-06-01

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

Cold stress induces lower urinary tract symptoms.

Science.gov (United States)

Imamura, Tetsuya; Ishizuka, Osamu; Nishizawa, Osamu

2013-07-01

Cold stress as a result of whole-body cooling at low environmental temperatures exacerbates lower urinary tract symptoms, such as urinary urgency, nocturia and residual urine. We established a model system using healthy conscious rats to explore the mechanisms of cold stress-induced detrusor overactivity. In this review, we summarize the basic findings shown by this model. Rats that were quickly transferred from room temperature (27 ± 2°C) to low temperature (4 ± 2°C) showed detrusor overactivity including increased basal pressure and decreased voiding interval, micturition volume, and bladder capacity. The cold stress-induced detrusor overactivity is mediated through a resiniferatoxin-sensitve C-fiber sensory nerve pathway involving α1-adrenergic receptors. Transient receptor potential melastatin 8 channels, which are sensitive to thermal changes below 25-28°C, also play an important role in mediating the cold stress responses. Additionally, the sympathetic nervous system is associated with transient hypertension and decreases of skin surface temperature that are closely correlated with the detrusor overactivity. With this cold stress model, we showed that α1-adrenergic receptor antagonists have the potential to treat cold stress-exacerbated lower urinary tract symptoms. In addition, we showed that traditional Japanese herbal mixtures composed of Hachimijiogan act, in part, by increasing skin temperature and reducing the number of cold sensitive transient receptor potential melastatin channels in the skin. The effects of herbal mixtures have the potential to treat and/or prevent the exacerbation of lower urinary tract symptoms by providing resistance to the cold stress responses. Our model provides new opportunities for utilizing animal disease models with altered lower urinary tract functions to explore the effects of novel therapeutic drugs. © 2013 The Japanese Urological Association.

Closed-loop model identification of cooperative manipulators holding deformable objects

Science.gov (United States)

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

2017-11-01

This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%.

Sympathetic cooling of nanospheres with cold atoms

Science.gov (United States)

Montoya, Cris; Witherspoon, Apryl; Ranjit, Gambhir; Casey, Kirsten; Kitching, John; Geraci, Andrew

2016-05-01

Ground state cooling of mesoscopic mechanical structures could enable new hybrid quantum systems where mechanical oscillators act as transducers. Such systems could provide coupling between photons, spins and charges via phonons. It has recently been shown theoretically that optically trapped dielectric nanospheres could reach the ground state via sympathetic cooling with trapped cold atoms. This technique can be beneficial in cases where cryogenic operation of the oscillator is not practical. We describe experimental advances towards coupling an optically levitated dielectric nanosphere to a gas of cold Rubidium atoms. The sphere and the cold atoms are in separate vacuum chambers and are coupled using a one-dimensional optical lattice. This work is partially supported by NSF, Grant Nos. PHY-1205994,PHY-1506431.

Conceptualizing Cold Disasters

DEFF Research Database (Denmark)

Lauta, Kristian Cedervall; Dahlberg, Rasmus; Vendelø, Morten Thanning

2017-01-01

In the present article, we explore in more depth the particular circumstances and characteristics of governing what we call ‘cold disasters’, and thereby, the paper sets out to investigate how disasters in cold contexts distinguish themselves from other disasters, and what the implications hereof...... are for the conceptualization and governance of cold disasters. Hence, the paper can also be viewed as a response to Alexander’s (2012a) recent call for new theory in the field of disaster risk reduction. The article is structured in four overall parts. The first part, Cold Context, provides an overview of the specific...... conditions in a cold context, exemplified by the Arctic, and zooms in on Greenland to provide more specific background for the paper. The second part, Disasters in Cold Contexts, discusses “cold disasters” in relation to disaster theory, in order to, elucidate how cold disasters challenge existing...

[Surgical manipulators in ear surgery: a future vision?].

Science.gov (United States)

Hofer, M; Dietz, A; Strauss, G

2011-04-01

Middle ear surgery bears a high risk for injury of difficult to differentiate risk structures. Thus, a precise preparation in this area must be the surgical task. However, there are human (tremor) and systematic limitations (OR setup, narrow access). Assistance systems in terms of manipulators are so far not part of the clinical routine. Although, they could compensate for the above mentioned limitations. MANIPULATORS: This work reviews existing surgical manipulator systems. The expected value is an elevated patient safety through improving surgical accuracy and the reduction of ergonomic deficits. CLINICAL APPLICATION AND DEVELOPMENT: In clinical application there are simply modified industrial robots, highly complex master slave systems and small miniature master slave systems which are directly located at the patient. A disadvantage of most systems is the limited number of applicable instruments. Often, only especially designed instruments can be used. The goal in development should be to create a compact, short distance operated master slave system. The usability of standard (already available) instruments with an easy integration into the surgical and sterilisation procedure would lower the threshold for acceptance of such systems.The surgeon will remain the key player. He can only work efficiently in an ergonomic environment and will always have the responsibility for the intervention. From the authors perspective, highly automated systems should not be the research goal. © Georg Thieme Verlag KG Stuttgart · New York.

EDITORIAL: Nonlinear optical manipulation, patterning and control in nano- and micro-scale systems Nonlinear optical manipulation, patterning and control in nano- and micro-scale systems

Science.gov (United States)

Denz, Cornelia; Simoni, Francesco

2009-03-01

Nonlinearities are becoming more and more important for a variety of applications in nanosciences, bio-medical sciences, information processing and photonics. For applications at the crossings of these fields, especially microscopic and nanoscopic imaging and manipulation, nonlinearities play a key role. They may range from simple nonlinear parameter changes up to applications in manipulating, controlling and structuring material by light, or the manipulation of light by light itself. It is this area between basic nonlinear optics and photonic applications that includes `hot' topics such as ultra-resolution optical microscopy, micro- and nanomanipulation and -structuring, or nanophotonics. This special issue contains contributions in this field, many of them from the International Conference on Nonlinear Microscopy and Optical Control held in conjunction with a network meeting of the ESF COST action MP0604 `Optical Micromanipulation by Nonlinear Nanophotonics', 19-22 February 2008, Münster, Germany. Throughout this special issue, basic investigations of material structuring by nonlinear light--matter interaction, light-induced control of nanoparticles, and novel nonlinear material investigation techniques, are presented, covering the basic field of optical manipulation and control. These papers are followed by impressive developments of optical tweezers. Nowadays, optical phase contrast tweezers, twin and especially multiple beam traps, develop particle control in a new dimension: particles can be arranged, sorted and identified with high throughput. One of the most prominent forthcoming applications of optical tweezers is in the field of microfluidics. The action of light on fluids will open new horizons in microfluidic manipulation and control. The field of optical manipulation and control is a very broad field that has developed in an impressive way, in a short time, in Europe with the installation of the MP0604 network. Top researchers from 19 countries are

An Adaptable Robot Vision System Performing Manipulation Actions With Flexible Objects

DEFF Research Database (Denmark)

Bodenhagen, Leon; Fugl, Andreas R.; Jordt, Andreas

2014-01-01

system should be viewed as a library of new technologies that have been proven to work in close to industrial conditions. As a rather basic, but necessary part, we provide a technology for determining the shape of the object when passing on, e. g., a conveyor belt prior to being handled. The main......This paper describes an adaptable system which is able to perform manipulation operations (such as Peg-in-Hole or Laying-Down actions) with flexible objects. As such objects easily change their shape significantly during the execution of an action, traditional strategies, e. g., for solve path......, operating in real-time. Simulations have been used to bootstrap the learning of optimal actions, which are subsequently improved through real-world executions. To achieve reproducible results, we demonstrate this for casted silicone test objects of regular shape. Note to Practitioners-The aim of this work...

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)

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

International Nuclear Information System (INIS)

Deichelbohrer, P.R.

1985-01-01

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

Cold regions isotope applications

International Nuclear Information System (INIS)

Perrigo, L.D.; Divine, T.E.

1976-04-01

Pacific Northwest Laboratories (PNL) started the Cold Regions Isotope Applications Program in FY-1975 to identify special conditions in the Arctic and similar geographic areas (Cold Regions) where radioisotope power, heater, or sterilization systems would be desirable and economically viable. Significant progress was made in the first year of this program and all objectives for this initial 12-month period were achieved. The major conclusions and recommendations resulting for this effort are described below. The areas of interest covered include: radiosterilization of sewage; heating of septic tanks; and radioisotope thermoelectric generators as power sources for meteorological instruments and navigational aids

A Compact Safe Cold-Start (CS2) System for Scramjets using Dilute Triethylaluminum Fuel Mixtures, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — This proposal leverages a highly successful Phase 1 feasibility effort to further develop a system that satisfies the cold-start requirements of scramjet engines....

A Compact Safe Cold-Start (CS2) System for Scramjets using Dilute Triethylaluminum Fuel Mixtures, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — This proposal addresses the cold-start requirements of scramjet engines by developing a safe, energy-dense, and low volume hydrocarbon fuel conditioning system based...

Chiropractic management of Bell palsy with low level laser and manipulation: a case report.

Science.gov (United States)

Rubis, Lisa M

2013-12-01

The purpose of this case report is to describe chiropractic management including the use of cold laser and chiropractic manipulation in the treatment of a patient with Bell palsy. A 40-year-old male patient had a 10-day history of facial paralysis on his left side, including the inability to close his left eye, which also had tearing and a burning sensation. The patient had trouble lifting his left lip and complained of drooling while brushing his teeth. There was no previous history of similar symptoms or a recent infection. Prior treatment had included oral steroids. The patient was treated with low-level laser therapy and chiropractic manipulation 2 times in 4 days. The laser was applied along the course of the facial nerve for 30 seconds at each point and for 1 minute at the stylomastoid foramen. The laser used was a GaAs class 4 laser with a wavelength of 910 nm. The patient perceived a 70% to 80% improvement of facial movement after the first treatment. After the second treatment, the patient reported full control of his facial movements. A patient with acute facial paralysis appeared to have complete resolution of his symptoms following the application of low-level laser therapy and chiropractic manipulation.

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

Thermo-mechanical Design Methodology for ITER Cryodistribution cold boxes

Science.gov (United States)

Shukla, Vinit; Patel, Pratik; Das, Jotirmoy; Vaghela, Hitensinh; Bhattacharya, Ritendra; Shah, Nitin; Choukekar, Ketan; Chang, Hyun-Sik; Sarkar, Biswanath

2017-04-01

The ITER cryo-distribution (CD) system is in charge of proper distribution of the cryogen at required mass flow rate, pressure and temperature level to the users; namely the superconducting (SC) magnets and cryopumps (CPs). The CD system is also capable to use the magnet structures as a thermal buffer in order to operate the cryo-plant as much as possible at a steady state condition. A typical CD cold box is equipped with mainly liquid helium (LHe) bath, heat exchangers (HX’s), cryogenic valves, filter, heaters, cold circulator, cold compressor and process piping. The various load combinations which are likely to occur during the life cycle of the CD cold boxes are imposed on the representative model and impacts on the system are analyzed. This study shows that break of insulation vacuum during nominal operation (NO) along with seismic event (Seismic Level-2) is the most stringent load combination having maximum stress of 224 MPa. However, NO+SMHV (Séismes Maximaux Historiquement Vraisemblables = Maximum Historically Probable Earthquakes) load combination is having the least safety margin and will lead the basis of the design of the CD system and its sub components. This paper presents and compares the results of different load combinations which are likely to occur on a typical CD cold box.

A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

Science.gov (United States)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

Improving the health forecasting alert system for cold weather and heat-waves in England: a case-study approach using temperature-mortality relationships

Science.gov (United States)

Masato, Giacomo; Cavany, Sean; Charlton-Perez, Andrew; Dacre, Helen; Bone, Angie; Carmicheal, Katie; Murray, Virginia; Danker, Rutger; Neal, Rob; Sarran, Christophe

2015-04-01

The health forecasting alert system for cold weather and heatwaves currently in use in the Cold Weather and Heatwave plans for England is based on 5 alert levels, with levels 2 and 3 dependent on a forecast or actual single temperature action trigger. Epidemiological evidence indicates that for both heat and cold, the impact on human health is gradual, with worsening impact for more extreme temperatures. The 60% risk of heat and cold forecasts used by the alerts is a rather crude probabilistic measure, which could be substantially improved thanks to the state-of-the-art forecast techniques. In this study a prototype of a new health forecasting alert system is developed, which is aligned to the approach used in the Met Office's (MO) National Severe Weather Warning Service (NSWWS). This is in order to improve information available to responders in the health and social care system by linking temperatures more directly to risks of mortality, and developing a system more coherent with other weather alerts. The prototype is compared to the current system in the Cold Weather and Heatwave plans via a case-study approach to verify its potential advantages and shortcomings. The prototype health forecasting alert system introduces an "impact vs likelihood matrix" for the health impacts of hot and cold temperatures which is similar to those used operationally for other weather hazards as part of the NSWWS. The impact axis of this matrix is based on existing epidemiological evidence, which shows an increasing relative risk of death at extremes of outdoor temperature beyond a threshold which can be identified epidemiologically. The likelihood axis is based on a probability measure associated with the temperature forecast. The new method is tested for two case studies (one during summer 2013, one during winter 2013), and compared to the performance of the current alert system. The prototype shows some clear improvements over the current alert system. It allows for a much greater

Efficient protein production method for NMR using soluble protein tags with cold shock expression vector

International Nuclear Information System (INIS)

Hayashi, Kokoro; Kojima, Chojiro

2010-01-01

The E. coli protein expression system is one of the most useful methods employed for NMR sample preparation. However, the production of some recombinant proteins in E. coli is often hampered by difficulties such as low expression level and low solubility. To address these problems, a modified cold-shock expression system containing a glutathione S-transferase (GST) tag, the pCold-GST system, was investigated. The pCold-GST system successfully expressed 9 out of 10 proteins that otherwise could not be expressed using a conventional E. coli expression system. Here, we applied the pCold-GST system to 84 proteins and 78 proteins were successfully expressed in the soluble fraction. Three other cold-shock expression systems containing a maltose binding protein tag (pCold-MBP), protein G B1 domain tag (pCold-GB1) or thioredoxin tag (pCold-Trx) were also developed to improve the yield. Additionally, we show that a C-terminal proline tag, which is invisible in 1 H- 15 N HSQC spectra, inhibits protein degradation and increases the final yield of unstable proteins. The purified proteins were amenable to NMR analyses. These data suggest that pCold expression systems combined with soluble protein tags can be utilized to improve the expression and purification of various proteins for NMR analysis.

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

Sports teams as complex adaptive systems: manipulating player numbers shapes behaviours during football small-sided games

OpenAIRE

Silva, Pedro; Vilar, Lu?s; Davids, Keith; Ara?jo, Duarte; Garganta, J?lio

2016-01-01

Small-sided and conditioned games (SSCGs) in sport have been modelled as complex adaptive systems. Research has shown that the relative space per player (RSP) formulated in SSCGs can impact on emergent tactical behaviours. In this study we adopted a systems orientation to analyse how different RSP values, obtained through manipulations of player numbers, influenced four measures of interpersonal coordination observed during performance in SSCGs. For this purpose we calculated positional data ...

Development and characterization of a CCD camera system for use on six-inch manipulator systems

International Nuclear Information System (INIS)

Logory, L.M.; Bell, P.M.; Conder, A.D.; Lee, F.D.

1996-01-01

The Lawrence Livermore National Laboratory has designed, constructed, and fielded a compact CCD camera system for use on the Six Inch Manipulator (SIM) at the Nova laser facility. The camera system has been designed to directly replace the 35 mm film packages on all active SIM-based diagnostics. The unit's electronic package is constructed for small size and high thermal conductivity using proprietary printed circuit board technology, thus reducing the size of the overall camera and improving its performance when operated within the vacuum environment of the Nova laser target chamber. The camera has been calibrated and found to yield a linear response, with superior dynamic range and signal-to-noise levels as compared to T-Max 3200 optic film, while providing real-time access to the data. Limiting factors related to fielding such devices on Nova will be discussed, in addition to planned improvements of the current design

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

OpenAIRE

Pusch , Andreas; Martin , Olivier; Coquillart , Sabine

2011-01-01

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

Finger cold-induced vasodilation of older Korean female divers, haenyeo: effects of chronic cold exposure and aging

Science.gov (United States)

Lee, Joo-Young; Park, Joonhee; Koh, Eunsook; Cha, Seongwon

2017-07-01

The aim of the present study was to evaluate the local cold tolerance of older Korean female divers, haenyeo ( N = 22) in terms of cold acclimatization and ageing. As control groups, older non-diving females ( N = 25) and young females from a rural area ( N = 15) and an urban area ( N = 51) participated in this study. To evaluate local cold tolerance, finger cold-induced vasodilation (CIVD) during finger immersion of 4 °C water was examined. As a result, older haenyeos showed greater minimum finger temperature and recovery finger temperature than older non-diving females ( P < 0.05), but similar responses in onset time, peak time, maximum finger temperature, frequency of CIVD, heart rate, blood pressure, and thermal and pain sensations as those of older non-diving females. Another novel finding was that young urban females showed more vulnerable responses to local cold in CIVD variables and subjective sensations when compared to older females, whereas young rural females had the most excellent cold tolerance in terms of maximum temperature and frequency of CIVD among the four groups ( P < 0.05). The present results imply that older haenyeos still retain cold acclimatized features on the periphery even though they changed their cotton diving suits to wet suits in the early 1980s. However, cardiovascular responses and subjective sensations to cold reflect aging effects. In addition, we suggest that young people who have been adapted to highly insulated clothing and indoor heating systems in winter should be distinguished from young people who were exposed to less modern conveniences when compared to the aged in terms of cold tolerance.

Conceptual design of HANARO cold neutron source

International Nuclear Information System (INIS)

Lee, Chang Hee; Sim, Cheul Muu; Park, K. N.; Choi, Y. H.

2002-07-01

The purpose of the cold source is to increase the available neutron flux delivered to instruments at wavelength 4 ∼ 12 A. The major engineering targets of this CNS facility is established for a reach out of very high gain factors in consideration with the cold neutron flux, moderator, circulation loop, heat load, a simplicity of the maintenance of the facility, safety in the operation of the facility against the hydrogen explosion and a layout of a minimum physical interference with the present facilities. The cold source project has been divided into 5 phases: (1) pre-conceptual (2) conceptual design (3) Testing (4) detailed design and procurement (5) installation and operation. Although there is sometime overlap between the phases, in general, they are sequential. The pre-conceptual design and concept design of KCNS has been performed on elaborations of PNPI Russia and review by Technicatome, Air Liquid, CILAS France. In the design of cold neutron source, the characteristics of cold moderators have been studied to obtain the maximum gain of cold neutron, and the analysis for radiation heat, design of hydrogen system, vacuum system and helium system have been performed. The possibility for materialization of the concept in the proposed conceptual design has been reviewed in view of securing safety and installing at HANARO. Above all, the thermosiphon system to remove heat by circulation of sub-cooled two phase hydrogen has been selected so that the whole device could be installed in the reactor pool with the reduced volume. In order to secure safety, hydrogen safety has been considered on protection to prevent from hydrogen-oxygen reaction at explosion of hydrogen-oxygen e in the containment. A lay out of the installation, a maintenance and quality assurance program and a localization are included in this report. Requirements of user, regulatory, safety, operation, maintenance should be considered to be revised for detailed design, testing, installation

Cold urticaria. Dissociation of cold-evoked histamine release and urticara following cold challenge.

Science.gov (United States)

Keahey, T M; Greaves, M W

1980-02-01

Nine patients with acquired cold urticaria were studied to assess the effects of beta-adrenergic agents, xanthines, and corticosteroids on cold-evoked histamine release from skin in vivo. The patients, in all of whom an immediate urticarial response developed after cooling of the forearm, demonstrated release of histamine into the venous blood draining that forearm. Following treatment with aminophylline and albuterol in combination or prednisone alone, suppression of histamine release occurred in all but one patient. In some patients, this was accompanied by a subjective diminution in pruritus or buring, but there was no significant improvement in the ensuing edema or erythema. In one patient, total suppression of histamine release was achieved without any effect on whealing and erythema in response to cold challenge. Our results suggest that histamine is not central to the pathogenesis of vascular changes in acquired cold urticaria.