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Sample records for manipulator system cold

  1. Cold Atmospheric Plasma Manipulation of Proteins in Food Systems

    Tolouie, Haniye; Hashemi, Maryam; Mohammadifar, Mohammad Amin

    2017-01-01

    Plasma processing has been getting a lot of attention in recent applications as a novel, eco-friendly, and highly efficient approach. Cold plasma has mostly been used to reduce microbial counts in foodstuff and biological materials, as well as in different levels of packaging, particularly in cases...... of plasma on the conformation and function of proteins with food origin, especially enzymes and allergens, as well as protein-made packaging films. In enzyme manipulation with plasma, deactivation has been reported to be either partial or complete. In addition, an activity increase has been observed in some...... where there is thermal sensitivity. As it is a very recent application, the impact of cold plasma treatment has been studied on the protein structures of food and pharmaceutical systems, as well as in the packaging industry. Proteins, as a food constituent, play a remarkable role in the techno...

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

    D.R. Jackson; G.R. Kiebel

    1999-01-01

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

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

    D.R. Jackson; G.R. Kiebel

    1999-08-24

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

  4. Manipulating cold atoms for quantum information processing

    Knight, P.

    2005-01-01

    Full text: I will describe how cold atoms can be manipulated to realize arrays of addressable qbits as prototype quantum registers, focussing on how atom chips can be used in combination with cavity qed techniques to form such an array. I will discuss how the array can be generated and steered using optical lattices and the Mott transition, and describe the sources of noise and how these place limits on the use of such chips in quantum information processing. (author)

  5. Coherent generation and dynamic manipulation of double stationary light pulses in a five-level double-tripod system of cold atoms

    Bao Qianqian; Zhang Xiaohang; Gao Junyan; Zhang Yan; Cui Cuili; Wu Jinhui

    2011-01-01

    We study a five-level double-tripod system of cold atoms for efficiently manipulating the dynamic propagation and evolution of a quantum probe field by modulating four classical control fields. Our numerical results show that it is viable to transform the quantum probe field into a pair of two-color stationary light pulses mutually coupled through two wave packets of atomic spin coherence. The pair of stationary light pulses can be released either from the sample entrance and exit synchronously or just from the sample exit with a controlled time delay. In addition, the two-color stationary light pulses are immune to the fast decay originating from the higher-order Fourier components of atomic spin and optical coherence, and may exhibit the quantum limited beating signals with their characteristic frequency determined by detunings of the four classical control fields. These results could be explored to design novel photonic devices, such as optical routing, beam splitter, and beat generator, for manipulating a quantum light field.

  6. Coherent generation and dynamic manipulation of double stationary light pulses in a five-level double-tripod system of cold atoms

    Bao Qianqian; Zhang Xiaohang; Gao Junyan; Zhang Yan; Cui Cuili; Wu Jinhui [College of Physics, Jilin University, Changchun 130012 (China)

    2011-12-15

    We study a five-level double-tripod system of cold atoms for efficiently manipulating the dynamic propagation and evolution of a quantum probe field by modulating four classical control fields. Our numerical results show that it is viable to transform the quantum probe field into a pair of two-color stationary light pulses mutually coupled through two wave packets of atomic spin coherence. The pair of stationary light pulses can be released either from the sample entrance and exit synchronously or just from the sample exit with a controlled time delay. In addition, the two-color stationary light pulses are immune to the fast decay originating from the higher-order Fourier components of atomic spin and optical coherence, and may exhibit the quantum limited beating signals with their characteristic frequency determined by detunings of the four classical control fields. These results could be explored to design novel photonic devices, such as optical routing, beam splitter, and beat generator, for manipulating a quantum light field.

  7. Control and manipulation of cold atoms in optical tweezers

    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)

  8. Development of the heavy manipulator vehicle system

    Herbst, C.; Paustian, P.; Kruger, W.

    1993-01-01

    After the severe reactor accident of Tschernobyl in 1986 MaK System started to develop a Heavy Manipulator Vehicle System under contract from German nuclear technology assistance company ''KHG'' (Kerntechnische Hilfsdienst GmbH). The system comprises a remote controlled manipulator vehicle, a mobile mission control stand as well as a transport/service unit. In order to fulfill the high demands of this complex system a couple of new developments had to be started. The paper describes some of these developments and gives an overview about the main features of the Heavy Manipulator Vehicle System (HMV). (author)

  9. Collision Detection for Underwater ROV Manipulator Systems

    Satja Sivčev

    2018-04-01

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

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

    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)

  11. Manipulation Robustness of Collaborative Filtering Systems

    Benjamin Van Roy; Xiang Yan

    2009-01-01

    A collaborative filtering system recommends to users products that similar users like. Collaborative filtering systems influence purchase decisions, and hence have become targets of manipulation by unscrupulous vendors. We provide theoretical and empirical results demonstrating that while common nearest neighbor algorithms, which are widely used in commercial systems, can be highly susceptible to manipulation, two classes of collaborative filtering algorithms which we refer to as linear and a...

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

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

    2004-01-01

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

  13. W-026, acceptance test report manipulator system

    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

  14. Advanced manipulator system for large hot cells

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

    1981-01-01

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

  15. Counterweight system for master-slave manipulator

    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.)

  16. Development of an advanced robot manipulator system

    Oomichi, Takeo; Higuchi, Masaru; Shimizu, Yujiro; Ohnishi, Ken

    1991-01-01

    A sophisticated manipulator system for an advanced robot was developed under the 'Advanced Robot Technology Development' Program promoted and supported by the Agency of Industrial Science and Technology of MITI. The authors have participated in the development of a fingered manipulator with force and tactile sensors applicable to a masterslave robot system. Our slave manipulator is equipped with four fingers. Though the finger needs many degrees of freedom so as to be suitable for skilful handing of an object, our fingers are designed to have minimum degree of freedom in order to reduce weight. Each finger tip was designed to be similar to a human finger which has flexibility, softness and contact feeling. The shape of the master finger manipulator was so designed that the movement of the fingers is smoother and that the constraint feeling of the operator is smaller. We were adopted to a pneumatic pressure system for transmitting the tactile feeling of the slave fingers to the master fingers. A multiple sensory bilateral control system which gives an operator a feeling of force and tactile reduces his feeling of constraint in carrying out work with a robot system. (author)

  17. Manipulating Quantum Coherence in Solid State Systems

    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...

  18. Evaporative cooling enhanced cold storage system

    Carr, P.

    1991-10-15

    The invention provides an evaporatively enhanced cold storage system wherein a warm air stream is cooled and the cooled air stream is thereafter passed into contact with a cold storage unit. Moisture is added to the cooled air stream prior to or during contact of the cooled air stream with the cold storage unit to effect enhanced cooling of the cold storage unit due to evaporation of all or a portion of the added moisture. Preferably at least a portion of the added moisture comprises water condensed during the cooling of the warm air stream. 3 figures.

  19. Manipulators

    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.)

  20. In-vessel maintenance remote manipulator system

    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

  1. Improving cold chain systems: Challenges and solutions.

    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.

  2. Physics Based Vision Systems for Robotic Manipulation

    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...

  3. Optical Manipulation System Using a Plurality of Optical Traps

    2006-01-01

    The present invention relates to an optical manipulation system (10) for generation of a plurality of optical traps for manipulation of micro-objects including nano-objects using electromagnetic radiation forces in a micro-object manipulation volume (14), the system comprising a spatially modulat...

  4. Hierarchical control system of advanced robot manipulator

    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)

  5. System Integration for Real-time Mobile Manipulation

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

    2014-01-01

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

  6. Manipulators

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

    2005-01-01

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

  7. Vehicle-manipulator systems modeling for simulation, analysis, and control

    From, Pal Johan; Pettersen, Kristin Ytterstad

    2014-01-01

    Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas.  The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain glob...

  8. Spiral modes in cold cylindrical systems

    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

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

    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

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

    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.

  11. Hybrid Systems: Cold Atoms Coupled to Micro Mechanical Oscillators =

    Montoya Monge, Cris A.

    Micro mechanical oscillators can serve as probes in precision measurements, as transducers to mediate photon-phonon interactions, and when functionalized with magnetic material, as tools to manipulate spins in quantum systems. This dissertation includes two projects where the interactions between cold atoms and mechanical oscillators are studied. In one of the experiments, we have manipulated the Zeeman state of magnetically trapped Rubidium atoms with a magnetic micro cantilever. The results show a spatially localized effect produced by the cantilever that agrees with Landau-Zener theory. In the future, such a scalable system with highly localized interactions and the potential for single-spin sensitivity could be useful for applications in quantum information science or quantum simulation. In a second experiment, work is in progress to couple a sample of optically trapped Rubidium atoms to a levitated nanosphere via an optical lattice. This coupling enables the cooling of the center-of-mass motion of the nanosphere by laser cooling the atoms. In this system, the atoms are trapped in the optical lattice while the sphere is levitated in a separate vacuum chamber by a single-beam optical tweezer. Theoretical analysis of such a system has determined that cooling the center-of-mass motion of the sphere to its quantum ground state is possible, even when starting at room temperature, due to the excellent environmental decoupling achievable in this setup. Nanospheres cooled to the quantum regime can provide new tests of quantum behavior at mesoscopic scales and have novel applications in precision sensing.

  12. Radio frequency acceleration and manipulation of ultra-cold electron bunches

    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

  13. Control system for the Fermilab Master-Slave servo manipulator

    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

  14. The function-manipulating-system SERVUS

    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

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

    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

  16. Order in cold ionic systems: Dynamic effects

    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

  17. Cold Vacuum Drying Instrument Air System Design Description. System 12

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

    2000-01-01

    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 and Instrument Air PandID, and H-1.82161, Cold Vacuum Drying Facility Process Equipment Skid PandID MCO/Cusk Interface. Figure 1-1 shows the physical location of the 1A system in the CVD Facility

  18. An integrated open-cavity system for magnetic bead manipulation.

    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.

  19. Subwavelength image manipulation through oblique and herringbone layered acoustic systems

    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)

  20. Nonlinear Dynamics of Controlled Synchronizations of Manipulator System

    Qingkai Han

    2014-01-01

    Full Text Available The nonlinear dynamics of the manipulator system which is controlled to achieve the synchronization motions is investigated in the paper. Firstly, the control strategies and modeling approaches of the manipulator system are given, in which the synchronization goal is defined by both synchronization errors and its derivatives. The synchronization controllers applied on the manipulator system include neuron synchronization controller, improved OPCL synchronization controller, and MRAC-PD synchronization controller. Then, an improved adaptive synchronized control strategy is proposed in order to estimate online the unknown structure parameters and state variables of the manipulator system and to realize the needed synchronous compensation. Furthermore, a robust adaptive synchronization controller is also researched to guarantee the dynamic stability of the system. Finally, the stability of motion synchronizations of the manipulator system possessing nonlinear component is discussed, together with the effect of control parameters and joint friction and others. Some typical motions such as motion bifurcations and the loss of synchronization of it are obtained and illustrated as periodic, multiperiodic, and/or chaotic motion patterns.

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

    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.

  2. Control of an automated mobile manipulator using artificial immune system

    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.

  3. Cold Climate Structural Fire Danger Rating System?

    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.

  4. Manipulating Scrip Systems: Sybils and Collusion

    Kash, Ian A.; Friedman, Eric J.; Halpern, Joseph Y.

    Game-theoretic analyses of distributed and peer-to-peer systems typically use the Nash equilibrium solution concept, but this explicitly excludes the possibility of strategic behavior involving more than one agent. We examine the effects of two types of strategic behavior involving more than one agent, sybils and collusion, in the context of scrip systems where agents provide each other with service in exchange for scrip. Sybils make an agent more likely to be chosen to provide service, which generally makes it harder for agents without sybils to earn money and decreases social welfare. Surprisingly, in certain circumstances it is possible for sybils to make all agents better off. While collusion is generally bad, in the context of scrip systems it actually tends to make all agents better off, not merely those who collude. These results also provide insight into the effects of allowing agents to advertise and loan money.

  5. Active cooling system for Tokamak in-vessel operation manipulator

    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.

  6. System Integration for Real-Time Mobile Manipulation

    Reza Oftadeh

    2014-03-01

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

  7. Wireless communication for control of manipulation systems

    Belda, Květoslav; Rychnovský, V.; Píša, P.

    2012-01-01

    Roč. 22, č. 1 (2012), s. 29-41 ISSN 1230-2384 Institutional research plan: CEZ:AV0Z10750506 Keywords : distributed mechatronic system * model-based control * multi-level control * odometry * optical sensors * standard IEEE 802.15.4 * ZigBee protocol Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering http://library.utia.cas.cz/separaty/2012/AS/belda-0376476.pdf

  8. Advance of the new MA 23 force reflecting manipulator system

    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

  9. MANAGERIAL ACCOUNTING SYSTEM: UTILITY, PRACTICE, MANIPULATION, NORMALIZATION

    Flavius-Andrei GUINEA

    2017-05-01

    Full Text Available Economic entities accuse current managerial accounting instruments due to their used indicators, their post operativeness, and their lack of necessary adjustments, short-term target, information handling and decisions taken for various reasons, except the efficiency one. In order to manage a more and more complex organization, located in an uncertain environment, managers require a permanent, real-time, information system. There is no longer sufficient the simple retrospective measurement of results, as there should be provided those instruments that support the decision making process throughout the strategic and operational processes. The implementation of a managerial accounting tool will always interact with the human behavioural dimension. In the initial stage, the actors of an organization will initially manifest reactions of difficult acceptance or even rejection. Each of them will adopt that behaviour which ensures the maximization of its own goals, even if these are, or not, convergent with the organizational objectives.

  10. Cold Vacuum Drying facility sanitary sewage collection system design description

    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

  11. Application of identification techniques to remote manipulator system flight data

    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.

  12. CHAMP: A bespoke integrated system for mobile manipulation

    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...

  13. Mechanical Design of a Manipulation System for Unmanned Aerial Vehicles

    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

  14. Expert operator preferences in remote manipulator control systems

    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

  15. Development of manipulator system with good portability and usability

    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.)

  16. Entanglement manipulation via Coulomb interaction in an optomechanical cavity assisted by two-level cold atoms

    Wang, Jing; Tian, Xue-Dong; Liu, Yi-Mou; Cui, Cui-Li; Wu, Jin-Hui

    2018-06-01

    We investigate the stationary entanglement properties in a hybrid system consisting of an optical cavity, a mechanical resonator, a charged object, and an atomic ensemble. Numerical results show that this hybrid system exhibits three kinds of controllable bipartite entanglements in an experimentally accessible parameter regime with the help of the charged object. More importantly, it is viable to enhance on demand each bipartite entanglement at the expense of reducing others by modulating the Coulomb coupling strength. Last but not least, these bipartite entanglements seem more robust against on the environmental temperature for the positive Coulomb interaction.

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

    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

  18. Teleoperation and computer control of a backhoe/manipulator system

    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

  19. Reliability Electrical Power System of Hospital as Cold Standby System

    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.

  20. Thermal and hydraulic analyses of the System 81 cold traps

    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.

  1. Characterization of steady streaming for a particle manipulation system.

    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).

  2. SVM-Based Control System for a Robot Manipulator

    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.

  3. Solar maximum mission panel jettison analysis remote manipulator system

    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.

  4. Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

    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.

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

    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.

  6. Cold Vacuum Drying facility potable water system design description

    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

  7. Manipulator system for remote maintenance of fusion experimental reactor

    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)

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

    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

  9. Failed fuel rod detection system and computerized manipulator during outages

    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)

  10. Performance enhancement of a subcooled cold storage air conditioning system

    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.

  11. Accelerator-based cold neutron sources and their cooling system

    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)

  12. Safe and efficient operation of multistage cold compressor systems

    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

  13. TrustRank: a Cold-Start tolerant recommender system

    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.

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

    (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.

  15. Cold Vacuum Drying (CVD) Electrical System Design Description

    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

  16. Comprehending emergent systems phenomena through direct-manipulation animation

    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

  17. A 3-D Microelectrode System for Dielectrophoretic Manipulation of Microparticles

    Chen, D F; Du, H; Gong, H Q; Li, W H

    2006-01-01

    This paper presents a microfluidic system for manipulation and separation of micron-sized particles based on the combined use of negative dielectrophoresis (DEP) and hydrodynamic forces. A 3-D microelectrode structure (so called paired electrode array) are constructed face to face on the top and bottom sides of the microchannel and driven with highfrequency AC voltage to generate dielectrophoretic gates. Depending on the relative strengths of the two forces, particles such as polystyrene beads or cells carrying by a laminar flow can either penetrate the gate or settle there. This gives rise to certain applications including selectively concentrating particles from the flow, separating particles depending on their sizes or dielectric properties, and automatically positioning particles to selective locations. For this purpose, a microfluidic device consisting of the paired electrode array sitting on the channel has been fabricated using microfabrication techniques. Polystyrene beads were used to study the performance of the device. Experimental results including the concentration and separation of particles are presented

  18. Can we manipulate root system architecture to control soil erosion?

    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.

  19. Novel Techniques for Quantum State Manipulation in Mesoscopic Systems

    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...

  20. A Fast Recommender System for Cold User Using Categorized Items

    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.

  1. Cold Vacuum Drying facility fire protection system design description

    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

  2. A Model Vision of Sorting System Application Using Robotic Manipulator

    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%.

  3. Development of Cold Neutron Depth Profiling System at HANARO

    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

  4. Cold Vacuum Drying facility condensate collection system design description

    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

  5. IRAS constraints on a cold cloud around the solar system

    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

  6. Cold Vacuum Drying facility deionized water system design description

    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

  7. Cold Vacuum Drying (CVD) Electrical System Design Description

    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

  8. Radioactive waste incineration system cold demonstration test

    Hozumi, Masahiro; Takaoku, Yoshinobu; Koyama, Shigeru; Nagae, Madoka; Seike, Yasuhiko; Yamanaka, Yasuhiro; Shibata, Kenji; Manabe, Kyoichi

    1984-12-01

    To demonstrate Waste Incineration System (WIS) which our company has been licensed by Combustion Engineering Inc., USA we installed a demonstration test plant in our Hiratsuka Research Laboratory and started the demonstration test on January 1984. One of the characteristics of this system is to be able to process many kinds of wastes with only one system, and to get high volume reduction factors. In our test plant, we processed paper, cloth, wood, polyethylene sheets as the samples of solid combustible wastes and spent ion exchange resins with incineration and processed condensed liquid wastes with spray drying. We have got good performances and enough Decontamination Factor (DF) data for the dust control equipment. In this paper, we introduce this demonstration test plant and report the test results up to date. (author).

  9. Optimal design of a maintainable cold-standby system

    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.

  10. Optimal design of a maintainable cold-standby system

    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

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

    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.)

  12. Integration of remotely operated manipulator systems for the nuclear industry

    Blight, J.; Cornec, G.

    2003-01-01

    There is no getting away from remotely operated manipulator systems in significant part in dismantling operations, because of the actual radioactive emitting level of installations. However, some main contractors, who have been involved in dismantling projects in the past few years are reluctant to use remotely operated systems because: - equipment characteristics are not suitable for the environment and the work to be performed; - There are some design problems; - Main components do not withstand operation any longer, after some time; - There are deficiencies in the management of quality, for critical equipment problems that degrade the productivity and increase direct and indirect labour cost. As a summary therefore, equipment available on this dismantling market are reputedly unreliable and not 'industrial' (sturdy) enough. However, numerous operations in maintenance in primary loops of nuclear reactors, or in the Offshore sector, are carried out remotely, to the satisfaction of the operators and the investors. In the dismantling sector, a thorough analysis of the difficulties encountered indicates that their origin is mostly due to a lack of methodology - that needs to be addressed -, rather than a technical problem. In that context, CYBERNETIX proposes to be involved in phases upstream and downstream of the equipment supply's. Upstream: Participate in developing/validating the scenarios to be used to optimise the constraints of remote operations/equipment. Downstream: Participate actively in supporting the client on-site, ensuring that equipment are available and maintained by competent and motivated people, and thus, getting experience in order to improve the State-of-the-Art of robotic in that field. Then, the contracting authority and CYBERNETIX jointly define the limits and the content of the involvement of each party, and also define the most appropriate type of 'partnership' between the main contactor and the participating companies, and in order to

  13. Manipulating quantum information on the controllable systems or subspaces

    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 ...

  14. Cold Vacuum Drying facility crane and hoist system design description

    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

  15. Dynamics and Thermodynamics of Many Particle Cold Atom Systems

    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

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

    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.)

  17. Control of free-flying space robot manipulator systems

    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.

  18. Cold Vacuum Drying facility effluent drain system design description

    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

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

    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.

  20. Stability properties of cold blanket systems for current driven modes

    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

  1. Cold Vacuum Drying facility personnel monitoring system design description

    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

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

    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.

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

    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

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

    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.

  5. Promoting cold-start items in recommender systems.

    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.

  6. Promoting Cold-Start Items in Recommender Systems

    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

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

    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

  8. Manipulator systems for nuclear reactor decommissioning which can take end effectors

    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

  9. Control of free-flying space robot manipulator systems

    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.

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

    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

  11. Radioactive waste incineration system cold demonstration test, (2)

    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.

  12. Development of a Control System for PRIDE Remote Servo-manipulator

    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

  13. Development of a Control System for PRIDE Remote Servo-manipulator

    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.

  14. Cold standby repairable system with working vacations and vacation interruption

    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.

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

    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)

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

    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.

  17. Heat pipe based cold energy storage systems for datacenter energy conservation

    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

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

    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...

  19. Optical Manipulation of a Magnon-Photon Hybrid System.

    Braggio, C; Carugno, G; Guarise, M; Ortolan, A; Ruoso, G

    2017-03-10

    We demonstrate an all-optical method for manipulating the magnetization in a 1-mm yttrium-iron-garnet (YIG) sphere placed in a ∼0.17  T uniform magnetic field. A harmonic of the frequency comb delivered by a multi-GHz infrared laser source is tuned to the Larmor frequency of the YIG sphere to drive magnetization oscillations, which in turn give rise to a radiation field used to thoroughly investigate the phenomenon. The radiation damping issue that occurs at high frequency and in the presence of highly magnetizated materials has been overcome by exploiting the magnon-photon strong coupling regime in microwave cavities. Our findings demonstrate an effective technique for ultrafast control of the magnetization vector in optomagnetic materials via polarization rotation and intensity modulation of an incident laser beam. We eventually get a second-order susceptibility value of ∼10^{-7}  cm^{2}/MW for single crystal YIG.

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

    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)

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

    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

  2. Cold atoms as a coolant for levitated optomechanical systems

    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.

  3. Optical manipulation with two beam traps in microfluidic polymer systems

    Khoury Arvelo, Maria; Matteucci, Marco; Sørensen, Kristian Tølbøl

    2015-01-01

    An optical trapping system with two opposing laser beams, also known as the optical stretcher, are naturally constructed inside a microfluidic lab-on-chip system. We present and compare two approaches to combine a simple microfluidic system with either waveguides directly written in the microflui......An optical trapping system with two opposing laser beams, also known as the optical stretcher, are naturally constructed inside a microfluidic lab-on-chip system. We present and compare two approaches to combine a simple microfluidic system with either waveguides directly written...

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

    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.

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

    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.

  6. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok

    2013-01-01

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  7. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2013-10-15

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  8. Fire Hazard Analysis for the Cold Neutron Source System

    Choi, Jung Won; Kim, Young Ki; Wu, Sang Ik; Park, Young Cheol; Kim, Bong Soo; Kang, Mee Jin; Oh, Sung Wook

    2006-04-15

    As the Cold Neutron Source System for its installation in HANARO has been designing, the fire hazard analysis upon the CNS system becomes required under No. 2003-20 of the MOST notice, Technical Standard about the Fire Hazard Analysis. As a moderator, the strongly flammable hydrogen is filled in the hydrogen system of CNS. Against the fire or explosion in the reactor hall, accordingly, the physical damage on the reactor safety system should be evaluated in order to reflect the safety protection precaution in the design of CNS system. For the purpose of fire hazard analysis, the accident scenarios were divided into three: hydrogen leak during the hydrogen charging in the system, hydrogen leak during the normal operation of CNS, explosion of hydrogen buffer tank by the external fire. The analysis results can be summarized as follows. First, there is no physical damage threatening the reactor safety system although all hydrogen gas came out of the system then ignited as a jet fire. Second, since the CNS equipment island (CEI) is located enough away from the reactor, no physical damage caused by the buffer tank explosion is on the reactor in terms of the overpressure except the flying debris so that the light two-hour fireproof panel is installed in an one side of hydrogen buffer tank. Third, there are a few combustibles on the second floor of CEI so that the fire cannot be propagated to other areas in the reactor hall; however, the light two-hour fireproof panel will be built on the second floor against the external or internal fire so as to play the role of a fire protection area.

  9. Fire Hazard Analysis for the Cold Neutron Source System

    Choi, Jung Won; Kim, Young Ki; Wu, Sang Ik; Park, Young Cheol; Kim, Bong Soo; Kang, Mee Jin; Oh, Sung Wook

    2006-04-01

    As the Cold Neutron Source System for its installation in HANARO has been designing, the fire hazard analysis upon the CNS system becomes required under No. 2003-20 of the MOST notice, Technical Standard about the Fire Hazard Analysis. As a moderator, the strongly flammable hydrogen is filled in the hydrogen system of CNS. Against the fire or explosion in the reactor hall, accordingly, the physical damage on the reactor safety system should be evaluated in order to reflect the safety protection precaution in the design of CNS system. For the purpose of fire hazard analysis, the accident scenarios were divided into three: hydrogen leak during the hydrogen charging in the system, hydrogen leak during the normal operation of CNS, explosion of hydrogen buffer tank by the external fire. The analysis results can be summarized as follows. First, there is no physical damage threatening the reactor safety system although all hydrogen gas came out of the system then ignited as a jet fire. Second, since the CNS equipment island (CEI) is located enough away from the reactor, no physical damage caused by the buffer tank explosion is on the reactor in terms of the overpressure except the flying debris so that the light two-hour fireproof panel is installed in an one side of hydrogen buffer tank. Third, there are a few combustibles on the second floor of CEI so that the fire cannot be propagated to other areas in the reactor hall; however, the light two-hour fireproof panel will be built on the second floor against the external or internal fire so as to play the role of a fire protection area

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

    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.

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

    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.)

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

    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.

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

    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)

  14. Intelligent manipulation technique for multi-branch robotic systems

    Chen, Alexander Y. K.; Chen, Eugene Y. S.

    1990-01-01

    New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

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

    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.

  16. Selective tungsten deposition in a batch cold wall CVD system

    Chow, R.; Kang, S.; Harshbarger, W.R.; Susoeff, M.

    1987-01-01

    Selective deposition of tungsten offers many advantages for VLSI technology. The process can be used as a planarization technique for multilevel interconnect technology, it can be used to fill contacts and to provide a barrier layer between Al and Si materials, and the selective W process might be used as a self-aligned technology to provide low resistance layers on source/drain and gate conductors. Recent publications have indicate that cold wall CVD systems provide advantages for development of selective W process. Genus has investigated selective W deposition processing, and we have developed a selective W deposition process for the Genus 8402 multifilm deposition system. This paper describes the Genus 8402 system and the selective W process developed in this reactor. To further develop selective W technology, Genus has signed an agreement with General Electric establishing a joint development program. As a part of this program, the authors characterized the selective W process for encroachment, Si consumption and degrees of selectivity on various dielectrics. The status of this development activity and process characterization is reviewed in this paper

  17. Cold-Climate Solar Domestic Hot Water Systems Analysis

    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.

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

    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)

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

    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

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

    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)

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

    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.

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

    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

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

    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

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

    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.

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

    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

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

    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

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

    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

  8. Physical separations soil washing system cold test results

    McGuire, J.P.

    1993-07-28

    This test summary describes the objectives, methodology, and results of a physical separations soil-washing system setup and shakedown test using uncontaminated soil. The test is being conducted in preparation for a treatability test to be conducted in the North Pond of the 300-FF-1 Operable Unit. It will be used to assess the feasibility of using a physical separations process to reduce the volume of contaminated soils in the 300-FF-1 Operable Unit. The test is described in DOE-RL (1993). The setup test was conducted at an uncontrolled area located approximately 3.2 km northwest of the 300-FF-1 Operable Unit. The material processed was free of contamination. The physical separation equipment to be used in the test was transferred to the US Department of Energy (DOE) by the US Environmental Protection Agency (EPA) Risk Reduction Engineering Laboratory. On May 13, 1993, soil-washing equipment was moved to the cold test location. Design assistance and recommendation for operation was provided by the EPA.

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

    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

  10. Optical manipulation of electron spin in quantum dot systems

    Villas-Boas, Jose; Ulloa, Sergio; Govorov, Alexander

    2006-03-01

    Self-assembled quantum dots (QDs) are of particular interest for fundamental physics because of their similarity with atoms. Coupling two of such dots and addressing them with polarized laser light pulses is perhaps even more interesting. In this paper we use a multi-exciton density matrix formalism to model the spin dynamics of a system with single or double layers of QDs. Our model includes the anisotropic electron-hole exchange in the dots, the presence of wetting layer states, and interdot tunneling [1]. Our results show that it is possible to switch the spin polarization of a single self-assembled quantum dot under elliptically polarized light by increasing the laser intensity. In the nonlinear mechanism described here, intense elliptically polarized light creates an effective exchange channel between the exciton spin states through biexciton states, as we demonstrate by numerical and analytical methods. We further show that the effect persists in realistic ensembles of dots, and we propose alternative ways to detect it. We also extend our study to a double layer of quantum dots, where we find a competition between Rabi frequency and tunneling oscillations. [1] J. M. Villas-Boas, S. E. Ulloa, and A. O. Govorov, Phys. Rev. Lett. 94, 057404 (2005); Phys. Rev. B 69, 125342 (2004).

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

    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:

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

    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)

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

    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

  14. Cold Vacuum Drying Safety Class Instrumentation and Control System Design Description

    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

  15. Comparison of cold and warm vacuum systems for intersecting storage rings

    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.)

  16. Environmentally Benign Lubricant Systems For Cold, Warm And Hot Forging

    Bay, Niels

    2010-01-01

    paper gives an overview of these efforts substituting environmentally hazardous lubricants in cold, warm and hot forging. The paper is an extract of the keynote paper [3] written by the author together with eight co-authors referring to collected papers and other information from more than 30 different...

  17. On the conditions of existence of cold-blanket systems

    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)

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

    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.

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

    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.

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

    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

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

    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

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

    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).

  3. Design of fresh food sensory perceptual system for cold chain logistics

    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...

  4. Control system developments for a range of kinematically redundant hydraulic manipulators

    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)

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

    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...

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

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

    1982-10-01

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

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

    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)

  8. Design of fresh food sensory perceptual system for cold chain logistics

    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.

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

    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)

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

    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.

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

    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

  12. Control of a high precision macro-micro robotic manipulator system

    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)

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

    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.

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

    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

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

    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...

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

    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

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

    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)

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

    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

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

    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)

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

    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

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

    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.

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

    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)

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

    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.

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

    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

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

    Farzin Piltan

    2013-06-01

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

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

    Li Geqiang

    2015-01-01

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

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

    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

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

    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.

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

    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

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

    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.

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

    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.

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

    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.

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

    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.

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

    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.

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

    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.

  16. Cold injuries.

    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.

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

    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

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

    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

  19. Development of a dexterous manipulator system with redundant degrees of freedom

    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

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

    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.

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

    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

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

    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)

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

    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

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

    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

  5. Fuzzy Control of Cold Storage Refrigeration System with Dynamic Coupling Compensation

    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.

  6. An Adaptable Robot Vision System Performing Manipulation Actions With Flexible Objects

    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...

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

    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.

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

    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.

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

    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...

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

    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

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

    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

  12. Cold weather hydrogen generation system and method of operation

    Dreier, Ken Wayne; Kowalski, Michael Thomas; Porter, Stephen Charles; Chow, Oscar Ken; Borland, Nicholas Paul; Goyette, Stephen Arthur

    2010-12-14

    A system for providing hydrogen gas is provided. The system includes a hydrogen generator that produces gas from water. One or more heat generation devices are arranged to provide heating of the enclosure during different modes of operation to prevent freezing of components. A plurality of temperature sensors are arranged and coupled to a controller to selectively activate a heat source if the temperature of the component is less than a predetermined temperature.

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

    Gianni Castelli

    2010-01-01

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

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

    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

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

    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.

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

    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

  17. Retrofitting Forced Air Combi Systems: A Cold Climate Field Assessment

    Schoenbauer, Ben [NorthernSTAR, St. Paul, MN (United States); Bohac, Dave [NorthernSTAR, St. Paul, MN (United States); McAlpine, Jack [NorthernSTAR, St. Paul, MN (United States); Hewett, Martha [NorthernSTAR, St. Paul, MN (United States)

    2017-06-01

    This project analyzed combined condensing water heaters or boilers and hydronic air coils to provide high efficiency domestic hot water (DHW) and forced air space heating. Called "combi" systems, they provided similar space and water heating performance less expensively than installing two condensing appliances. The system's installed costs were cheaper than installing a condensing furnace and either a condensing tankless or condensing storage water heater. However, combi costs must mature and be reduced before they are competitive with a condensing furnace and power vented water heater (energy factor of 0.60). Better insulation and tighter envelopes are reducing space heating loads for new and existing homes. For many homes, decreased space heating loads make it possible for both space and domestic water heating loads to be provided with a single heating plant. These systems can also eliminate safety issues associated with natural draft appliances through the use of one common sealed combustion vent. The combined space and water heating approach was not a new idea. Past systems have used non-condensing heating plants, which limited their usefulness in climates with high heating loads. Previous laboratory work (Schoenbauer et al. 2012a) showed that proper installation was necessary to achieve condensing with high efficiency appliances. Careful consideration was paid to proper system sizing and minimizing the water temperature returning from the air handling unit to facilitate condensing operation.

  18. Retrofitting Forced Air Combi Systems: A Cold Climate Field Assessment

    Schoenbauer, Ben [Univ. of Minnesota, St. Paul, MN (United States). NorthernSTAR Building America Partnership; Bohac, Dave [Univ. of Minnesota, St. Paul, MN (United States). NorthernSTAR Building America Partnership; McAlpine, Jake [Univ. of Minnesota, St. Paul, MN (United States). NorthernSTAR Building America Partnership; Hewett, Martha [Univ. of Minnesota, St. Paul, MN (United States). NorthernSTAR Building America Partnership

    2017-06-23

    This project analyzed combined condensing water heaters or boilers and hydronic air coils to provide high efficiency domestic hot water (DHW) and forced air space heating. Called 'combi' systems, they provided similar space and water heating performance less expensively than installing two condensing appliances. The system's installed costs were cheaper than installing a condensing furnace and either a condensing tankless or condensing storage water heater. However, combi costs must mature and be reduced before they are competitive with a condensing furnace and power vented water heater (energy factor of 0.60). Better insulation and tighter envelopes are reducing space heating loads for new and existing homes. For many homes, decreased space heating loads make it possible for both space and domestic water heating loads to be provided with a single heating plant. These systems can also eliminate safety issues associated with natural draft appliances through the use of one common sealed combustion vent. The combined space and water heating approach was not a new idea. Past systems have used non-condensing heating plants, which limited their usefulness in climates with high heating loads. Previous laboratory work (Schoenbauer et al. 2012a) showed that proper installation was necessary to achieve condensing with high efficiency appliances. Careful consideration was paid to proper system sizing and minimizing the water temperature returning from the air handling unit to facilitate condensing operation.

  19. Measurement system performance during cold checkout runs at the BNFP

    Ehinger, M.H.; Crawford, J.M.

    1978-01-01

    The measurement systems in a complex nuclear fuel plant such as the Barnwell Nuclear Fuel Plant rely on capabilities to remotely measure solution quantities and determine the nuclear material content of these solutions. During recent testing activities using natural uranium, a major objective of the NMC group was to demonstrate these solution measurement capabilities. Installed measurement systems at the BNFP use the most recent innovations in measurement equipment and techniques for remote solution measurement. This paper presents the measurement methods and results of the tests and evaluations. 6 figures

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

    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

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

    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

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

    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)

  3. Method and system for manipulating a digital representation of a three-dimensional object

    2010-01-01

    A method of manipulating a three-dimensional virtual building block model by means of two-dimensional cursor movements, the virtual building block model including a plurality of virtual building blocks each including a number of connection elements for connecting the virtual building block...... with another virtual building block according to a set of connection rules, the method comprising positioning by means of cursor movements in a computer display area representing a two-dimensional projection of said model, a two-dimensional projection of a first virtual building block to be connected...... to the structure, resulting in a two-dimensional position; determining, from the two-dimensional position, a number of three-dimensional candidate positions of the first virtual building block in the three-dimensional coordinate system; selecting one of said candidate positions based on the connection rules...

  4. Evaluation of Commercially Available Cold Chain Shipping Systems

    2015-03-19

    Viability was compared to control samples that remained at 4°C. DNA and RNA were extracted utilizing either the Life Technologies ChargeSwitch...capable ( NFC ) temperature loggers packed adjacent to samples. Of the tested boxes, only the NanoCool system was capable of maintaining a sample...utility. 5.4 Temperature Logging NFC LOG-IC temperature loggers from American Thermal Instruments (ATI) were utilized to track sample

  5. 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

    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

  6. Development of intelligent control system for X-ray streak camera in diagnostic instrument manipulator

    Pei, Chengquan [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Wu, Shengli, E-mail: slwu@mail.xjtu.edu.cn [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Tian, Jinshou [Xi' an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi' an 710119 (China); Liu, Zhen [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Fang, Yuman [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); University of the Chinese Academy of Sciences, Beijing 100039 (China); Gao, Guilong; Liang, Lingliang [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Xi' an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi' an 710119 (China); University of the Chinese Academy of Sciences, Beijing 100039 (China); Wen, Wenlong [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China)

    2015-11-01

    An intelligent control system for an X ray streak camera in a diagnostic instrument manipulator (DIM) is proposed and implemented, which can control time delay, electric focusing, image gain adjustment, switch of sweep voltage, acquiring environment parameters etc. The system consists of 16 A/D converters and 16 D/A converters, a 32-channel general purpose input/output (GPIO) and two sensors. An isolated DC/DC converter with multi-outputs and a single mode fiber were adopted to reduce the interference generated by the common ground among the A/D, D/A and I/O. The software was designed using graphical programming language and can remotely access the corresponding instrument from a website. The entire intelligent control system can acquire the desirable data at a speed of 30 Mb/s and store it for later analysis. The intelligent system was implemented on a streak camera in a DIM and it shows a temporal resolution of 11.25 ps, spatial distortion of less than 10% and dynamic range of 279:1. The intelligent control system has been successfully used in a streak camera to verify the synchronization of multi-channel laser on the Inertial Confinement Fusion Facility.

  7. Development of intelligent control system for X-ray streak camera in diagnostic instrument manipulator

    Pei, Chengquan; Wu, Shengli; Tian, Jinshou; Liu, Zhen; Fang, Yuman; Gao, Guilong; Liang, Lingliang; Wen, Wenlong

    2015-01-01

    An intelligent control system for an X ray streak camera in a diagnostic instrument manipulator (DIM) is proposed and implemented, which can control time delay, electric focusing, image gain adjustment, switch of sweep voltage, acquiring environment parameters etc. The system consists of 16 A/D converters and 16 D/A converters, a 32-channel general purpose input/output (GPIO) and two sensors. An isolated DC/DC converter with multi-outputs and a single mode fiber were adopted to reduce the interference generated by the common ground among the A/D, D/A and I/O. The software was designed using graphical programming language and can remotely access the corresponding instrument from a website. The entire intelligent control system can acquire the desirable data at a speed of 30 Mb/s and store it for later analysis. The intelligent system was implemented on a streak camera in a DIM and it shows a temporal resolution of 11.25 ps, spatial distortion of less than 10% and dynamic range of 279:1. The intelligent control system has been successfully used in a streak camera to verify the synchronization of multi-channel laser on the Inertial Confinement Fusion Facility

  8. Intra-operative 3D imaging system for robot-assisted fracture manipulation.

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

    2015-01-01

    Reduction is a crucial step in the treatment of broken bones. Achieving precise anatomical alignment of bone fragments is essential for a good fast healing process. Percutaneous techniques are associated with faster recovery time and lower infection risk. However, deducing intra-operatively the desired reduction position is quite challenging due to the currently available technology. The 2D nature of this technology (i.e. the image intensifier) doesn't provide enough information to the surgeon regarding the fracture alignment and rotation, which is actually a three-dimensional problem. This paper describes the design and development of a 3D imaging system for the intra-operative virtual reduction of joint fractures. The proposed imaging system is able to receive and segment CT scan data of the fracture, to generate the 3D models of the bone fragments, and display them on a GUI. A commercial optical tracker was included into the system to track the actual pose of the bone fragments in the physical space, and generate the corresponding pose relations in the virtual environment of the imaging system. The surgeon virtually reduces the fracture in the 3D virtual environment, and a robotic manipulator connected to the fracture through an orthopedic pin executes the physical reductions accordingly. The system is here evaluated through fracture reduction experiments, demonstrating a reduction accuracy of 1.04 ± 0.69 mm (translational RMSE) and 0.89 ± 0.71 ° (rotational RMSE).

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

    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.

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

    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

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

    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.

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

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

    2015-01-01

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

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

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

    2014-01-01

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

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

    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.

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

    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.

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

    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.

  17. Effect of sensory substitution on suture-manipulation forces for robotic surgical systems.

    Kitagawa, Masaya; Dokko, Daniell; Okamura, Allison M; Yuh, David D

    2005-01-01

    Direct haptic (force or tactile) feedback is not yet available in commercial robotic surgical systems. Previous work by our group and others suggests that haptic feedback might significantly enhance the execution of surgical tasks requiring fine suture manipulation, specifically those encountered in cardiothoracic surgery. We studied the effects of substituting direct haptic feedback with visual and auditory cues to provide the operating surgeon with a representation of the forces he or she is applying with robotic telemanipulators. Using the robotic da Vinci surgical system (Intuitive Surgical, Inc, Sunnyvale, Calif), we compared applied forces during a standardized surgical knot-tying task under 4 different sensory-substitution scenarios: no feedback, auditory feedback, visual feedback, and combined auditory-visual feedback. The forces applied with these sensory-substitution modes more closely approximate suture tensions achieved under ideal haptic conditions (ie, hand ties) than forces applied without such sensory feedback. The consistency of applied forces during robot-assisted suture tying aided by visual feedback or combined auditory-visual feedback sensory substitution is superior to that achieved with hand ties. Robot-assisted ties aided with auditory feedback revealed levels of consistency that were generally equivalent or superior to those attained with hand ties. Visual feedback and auditory feedback improve the consistency of robotically applied forces. Sensory substitution, in the form of visual feedback, auditory feedback, or both, confers quantifiable advantages in applied force accuracy and consistency during the performance of a simple surgical task.

  18. Dynamics and manipulation of entanglement in coupled harmonic systems with many degrees of freedom

    Plenio, M. B.; Hartley, J.; Eisert, J.

    2004-03-01

    We study the entanglement dynamics of a system consisting of a large number of coupled harmonic oscillators in various configurations and for different types of nearest-neighbour interactions. For a one-dimensional chain, we provide compact analytical solutions and approximations to the dynamical evolution of the entanglement between spatially separated oscillators. Key properties such as the speed of entanglement propagation, the maximum amount of transferred entanglement and the efficiency for the entanglement transfer are computed. For harmonic oscillators coupled by springs, corresponding to a phonon model, we observe a non-monotonic transfer efficiency in the initially prepared amount of entanglement, i.e. an intermediate amount of initial entanglement is transferred with the highest efficiency. In contrast, within the framework of the rotating-wave approximation (as appropriate, e.g. in quantum optical settings) one finds a monotonic behaviour. We also study geometrical configurations that are analogous to quantum optical devices (such as beamsplitters and interferometers) and observe characteristic differences when initially thermal or squeezed states are entering these devices. We show that these devices may be switched on and off by changing the properties of an individual oscillator. They may therefore be used as building blocks of large fixed and pre-fabricated but programmable structures in which quantum information is manipulated through propagation. We discuss briefly possible experimental realizations of systems of interacting harmonic oscillators in which these effects may be confirmed experimentally.

  19. Effect of the manipulation of exercise order in the tri-set training system

    Alex Silva Ribeiro

    2013-07-01

    Full Text Available The aim of this study was to analyze the effect of the manipulation of two different exercise orders using the tn-set system on the motor performance in exercises for the chest. Ten male (25.6 ± 5.7 years, 77.0 ± 5.8 kg, 172.9 ± 5.0 cm, 25.7 ± 1.4 kg/m2 with experience in resistance training underwent two experimental sessions, in which the subjects performed two sequences of exercises for the chest: SEQA (bench press, incline bench press, and peck deck and SEQB (peck deck, incline bench press, and bench press. The load used allowed 8 to 12 repetitions (80% of 1RM in each exercise. A higher number of repetitions (29 ± 2 reps vs. 26 ± 3 reps, P < 0.001 and a greater total overload (resistance used x repetitions performed = 1,942 ± 172 kg vs. 1,728 ± 234 kg, P < 0.001 were observed in SEQB. The results suggest that in the tn-set system the higher number of repetitions and a greater training volume occur when the single-joint exercise is included before multiple-joint exercises.

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

    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.

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

    İbrahim ÜÇGÜL

    2009-01-01

    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 refrigera...

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

    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:

  3. Independent Orbiter Assessment (IOA): Assessment of the remote manipulator system FMEA/CIL

    Tangorra, F.; Grasmeder, R. F.; Montgomery, A. D.

    1988-01-01

    The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were than compared to the NASA FMEA/CIL baseline with proposed Post 51-L updates included. A resolution of each discrepancy from the comparison is provided through additional analysis as required. The results of that comparison for the Orbiter RMS hardware are documented. The IOA product for the RMS analysis consisted of 604 failure mode worksheets that resulted in 458 potential critical items being identified. Comparison was made to the NASA baseline which consisted of 45 FMEAs and 321 CIL items. This comparison produced agreement on all but 154 FMEAs which caused differences in 137 CIL items.

  4. A new method to manipulate broiler chicken growth and metabolism: Response to mixed LED light system

    Yang, Yefeng; Yu, Yonghua; Pan, Jinming; Ying, Yibin; Zhou, Hong

    2016-05-01

    Present study introduced a new method to manipulate broiler chicken growth and metabolism by mixing the growth-advantage LED. We found that the green/blue LED mixed light system (G-B and G × B) have the similar stimulatory effect on chick body weight with single green light and single blue light (G and B), compared with normal artificial light (P = 0.028). Moreover, the percentage of carcass was significantly greater in the mixed light (G × B) when compared with the single light (P = 0.003). Synchronized with body weight, the mixed light (G-B and G × B) had a significant improved influence on the feed conversion of birds compared with normal light (P = 0.002). A significant improvement in feed conversion were found in mixed light (G × B) compared with single LED light (P = 0.037). G group resulted in a greater high-density lipoprotein cholesterol level than B group (P = 0.002), whereas B group resulted in a greater low-density lipoprotein cholesterol level than G group (P = 0.017). The mixed light significantly increased the birds’ glucose level in comparison with the single light (P = 0.003). This study might establish an effective strategy for maximizing growth of chickens by mixed LED technology.

  5. Parasitic manipulation and neuroinflammation: Evidence from the system Microphallus papillorobustus (Trematoda - Gammarus (Crustacea

    Thomas Frederic

    2010-04-01

    Full Text Available Abstract Background Neuropathological consequences of neuroinflammatory processes have been implicated in a wide range of diseases affecting the central nervous system (CNS. Glial cells, the resident immune cells of the CNS, respond to tissue injury by releasing proinflammatory cytokines and free radicals such as nitric oxide. We explored the possibility that neuroimmune responses are involved in parasitic manipulation of host behavior in a trematode-crustacean association. The cerebral larva of the flatworm Microphallus papillorobustus alters responses to environmental stimuli - and thus reflex pathways - in the crustacean Gammarus insensibilis, in a way that enhances predation of the crustacean by birds, definitive hosts of the parasite. Results Immunocytochemical experiments followed by confocal microscopy were performed to study the distribution of glutamine synthetase, a glial cell marker, and nitric oxide synthase in the brain of gammarids. Astrocyte-like glia and their processes were abundant at the surface of the parasites while levels of nitric oxide synthase were elevated at the host-parasite interface in the brain of gammarids harboring mature cerebral larvae and demonstrating altered behavior. Conclusion Taken together these results lend support to the neuroinflammation hypothesis whereby a chronic CNS specific immune response induced by the parasite plays a role in the disruption of neuromodulation, neuronal integrity, and behavior in infected hosts.

  6. Underwater-manipulation system for measuring- and cutting tasks in dismantling decommissioned nuclear facilities. Final report

    Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.

    1995-01-01

    Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de

  7. Costimulatory Pathways: Physiology and Potential Therapeutic Manipulation in Systemic Lupus Erythematosus

    Nien Yee Kow

    2013-01-01

    Full Text Available System lupus erythematosus (SLE is an immune-complex-mediated autoimmune condition with protean immunological and clinical manifestation. While SLE has classically been advocated as a B-cell or T-cell disease, it is unlikely that a particular cell type is more pathologically predominant than the others. Indeed, SLE is characterized by an orchestrated interplay amongst different types of immunopathologically important cells participating in both innate and adaptive immunity including the dendritic cells, macrophages, neutrophils and lymphocytes, as well as traditional nonimmune cells such as endothelial, epithelial, and renal tubular cells. Amongst the antigen-presenting cells and lymphocytes, and between lymphocytes, the costimulatory pathways which involve mutual exchange of information and signalling play an essential role in initiating, perpetuating, and, eventually, attenuating the proinflammatory immune response. In this review, advances in the knowledge of established costimulatory pathways such as CD28/CTLA-4-CD80/86, ICOS-B7RP1, CD70-CD27, OX40-OX40L, and CD137-CD137L as well as their potential roles involved in the pathophysiology of SLE will be discussed. Attempts to target these costimulatory pathways therapeutically will pave more potential treatment avenues for patients with SLE. Preliminary laboratory and clinical evidence of the potential therapeutic value of manipulating these costimulatory pathways in SLE will also be discussed in this review.

  8. Cell Monitoring and Manipulation Systems (CMMSs based on Glass Cell-Culture Chips (GC3s

    Sebastian M. Buehler

    2016-06-01

    Full Text Available We developed different types of glass cell-culture chips (GC3s for culturing cells for microscopic observation in open media-containing troughs or in microfluidic structures. Platinum sensor and manipulation structures were used to monitor physiological parameters and to allocate and permeabilize cells. Electro-thermal micro pumps distributed chemical compounds in the microfluidic systems. The integrated temperature sensors showed a linear, Pt1000-like behavior. Cell adhesion and proliferation were monitored using interdigitated electrode structures (IDESs. The cell-doubling times of primary murine embryonic neuronal cells (PNCs were determined based on the IDES capacitance-peak shifts. The electrical activity of PNC networks was detected using multi-electrode arrays (MEAs. During seeding, the cells were dielectrophoretically allocated to individual MEAs to improve network structures. MEA pads with diameters of 15, 20, 25, and 35 µm were tested. After 3 weeks, the magnitudes of the determined action potentials were highest for pads of 25 µm in diameter and did not differ when the inter-pad distances were 100 or 170 µm. Using 25-µm diameter circular oxygen electrodes, the signal currents in the cell-culture media were found to range from approximately −0.08 nA (0% O2 to −2.35 nA (21% O2. It was observed that 60-nm thick silicon nitride-sensor layers were stable potentiometric pH sensors under cell-culture conditions for periods of days. Their sensitivity between pH 5 and 9 was as high as 45 mV per pH step. We concluded that sensorized GC3s are potential animal replacement systems for purposes such as toxicity pre-screening. For example, the effect of mefloquine, a medication used to treat malaria, on the electrical activity of neuronal cells was determined in this study using a GC3 system.

  9. Cold Stress

    ... 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 ...

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

    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...

  11. 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

    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.

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

    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

  13. A manipulator

    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.)

  14. Concerning the modelling of systems in terms of Quantum Electrodynamics: the special case of 'Cold Fusion'

    Abyaneh, Morteza; Fleischmann, Martin; Del Giudice, Emilio; Vitiello, Giuseppe

    2006-01-01

    A question we are asked repeatedly is: 'what are the causes of the opposition to your belief in the reality of 'Cold Fusion?'. This question is normally asked in the context of the statement that Quantum Mechanics shows that this phenomenon is impossible (a view that we share). Our answer is always based on the statement 'but what about the modelling of such systems in terms of QED?' which is always met by the insistence that Quantum Mechanics shows that Cold Fusion is impossible. We conclude that scientists do not understand QED or, if they have some understanding of this subject, then this must be subject to some major misconceptions. This pointless dialogue (perhaps more correctly described as two monologues conducted in parallel) and the insistence on the primacy of Quantum Mechanics in the modelling of systems in the Natural Sciences is unfortunate because it obscures the outcome of the investigations in the more normal fields of the Natural Sciences (more normal than Cold Fusion). A brief outline of the work which has led to the formulation of the concept of coherence will therefore be given under the aegis of the revolutions in our understanding of the Natural Sciences which has taken place since the latter part of the 19. Century. The main illustration of the way we can demonstrate the applicability of these concepts will be based on the study of nucleation and phase growth. The development of micro-electrode substrates allows us to study the statistics of the formation of the first nucleus; it will be shown that these statistics are strictly in line with concepts developed from QED coherence. We conclude that QED coherence is not just a concept to be confined to sub-atomic physics, cosmology etc. but that it pervades the modelling of the whole of the Natural Sciences including that of 'Cold Fusion'. Some of the major steps which have taken place in the development of this subject area will be illustrated

  15. Manipulator comparative testing program

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

    1986-01-01

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

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

    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

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

    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....

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

    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...

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

    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 ...

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

    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.

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

    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.

  2. CMV immune evasion and manipulation of the immune system with aging.

    Jackson, Sarah E; Redeker, Anke; Arens, Ramon; van Baarle, Debbie; van den Berg, Sara P H; Benedict, Chris A; Čičin-Šain, Luka; Hill, Ann B; Wills, Mark R

    2017-06-01

    Human cytomegalovirus (HCMV) encodes numerous proteins and microRNAs that function to evade the immune response and allow the virus to replicate and disseminate in the face of a competent innate and acquired immune system. The establishment of a latent infection by CMV, which if completely quiescent at the level of viral gene expression would represent an ultimate in immune evasion strategies, is not sufficient for lifelong persistence and dissemination of the virus. CMV needs to reactivate and replicate in a lytic cycle of infection in order to disseminate further, which occurs in the face of a fully primed secondary immune response. Without reactivation, latency itself would be redundant for the virus. It is also becoming clear that latency is not a totally quiescent state, but is characterized by limited viral gene expression. Therefore, the virus also needs immune evasion strategies during latency. An effective immune response to CMV is required or viral replication will cause morbidity and ultimately mortality in the host. There is clearly a complex balance between virus immune evasion and host immune recognition over a lifetime. This poses the important question of whether long-term evasion or manipulation of the immune response driven by CMV is detrimental to health. In this meeting report, three groups used the murine model of CMV (MCMV) to examine if the contribution of the virus to immune senescence is set by the (i) initial viral inoculum, (ii) inflation of T cell responses, (iii) or the balance between functionally distinct effector CD4+ T cells. The work of other groups studying the CMV response in humans is discussed. Their work asks whether the ability to make immune responses to new antigens is compromised by (i) age and HCMV carriage, (ii) long-term exposure to HCMV giving rise to an overall immunosuppressive environment and increased levels of latent virus, or (iii) adapted virus mutants (used as potential vaccines) that have the capacity to

  3. Powered manipulator control arm

    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

  4. Simulation of robot manipulators

    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

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

    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.

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

    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.

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

    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.

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

    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

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

    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.

  10. New lubricant systems for cold and warm forging – advantages and limitations

    Bay, Niels

    2011-01-01

    . The present paper gives an overview of these efforts substituting environmentally hazardous lubricants in cold, warm and hot forging by new, more harmless lubricants. Introduction of these new lubricants, however, has some drawbacks due to lower limits of lubrication leading to risk of pick-up, poor product......The increasing focus on environmental issues and the requirements to establish solutions diminishing the impact on working environment as well as external environment has strongly motivated the efforts to develop new, environmentally friendly tribological systems for metal forming production...

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

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

    2005-01-01

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

  12. Parametric Synthesis of Automatic Control System of Industrial Robot Manipulator in Compliance with Requirements of Robust Quality

    A. A. Nesenchuk

    2004-01-01

    Full Text Available The paper considers an application of a root-locus method for synthesis of dynamic systems with uncertainty that meet the requirements of pre-set quality. This method is used for parametric synthesis of automatic control system of industrial robot manipulator that is used for transportation of engineering products. The synthesis takes place under conditions of substantial changes in inertia moment of robot load. As a result of investigations it is possible to determine range of values of variable parameter that ensures the required quality of control system operation. A system of computer programs has been developed in order to solve the problem.

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

    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.

  14. The direct manipulation shell

    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)

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

    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

  16. Insulated Concrete Form Walls Integrated With Mechanical Systems in a Cold Climate Test House

    Mallay, D. [Home Innovation Research Labs, Upper Marlboro, MD (United States); Wiehagen, J. [Home Innovation Research Labs, Upper Marlboro, MD (United States)

    2014-09-01

    Transitioning from standard light frame to a thermal mass wall system in a high performance home will require a higher level of design integration with the mechanical systems. The much higher mass in the ICF wall influences heat transfer through the wall and affects how the heating and cooling system responds to changing outdoor conditions. This is even more important for efficient, low-load homes with efficient heat pump systems in colder climates where the heating and cooling peak loads are significantly different from standard construction. This report analyzes a range of design features and component performance estimates in an effort to select practical, cost-effective solutions for high performance homes in a cold climate.

  17. Exterior Insulation Implications for Heating and Cooling Systems in Cold Climates

    Herk, Anastasia [IBACOS Inc., Pittsburgh, PA (United States); Poerschke, Andrew [IBACOS Inc., Pittsburgh, PA (United States)

    2015-04-09

    The New York State Energy Research and Development Authority (NYSERDA) is interested in finding cost-effective solutions for deep energy retrofits (DERs) related to exterior wall insulation in a cold climate, with targets of 50% peak load reduction and 50% space conditioning energy savings. The U.S. Department of Energy Building America team, IBACOS, in collaboration with GreenHomes America, Inc. (GHA), was contracted by NYSERDA to research exterior wall insulation solutions. In addition to exterior wall insulation, the strategies included energy upgrades where needed in the attic, mechanical and ventilation systems, basement, band joist, walls, and floors. Under Building America, IBACOS is studying the impact of a “thermal enclosure” DER on the sizing of the space conditioning system and the occupant comfort if the thermal capacity of the heating and cooling system is dramatically downsized without any change in the existing heating and cooling distribution system (e.g., size, tightness and supply outlet configurations).

  18. Exterior Insulation Implications for Heating and Cooling Systems in Cold Climates

    Herk, Anastasia; Poerschke, Andrew

    2015-04-01

    The New York State Energy Research and Development Authority (NYSERDA) is interested in finding cost-effective solutions for deep energy retrofits (DERs) related to exterior wall insulation in a cold climate, with targets of 50% peak load reduction and 50% space conditioning energy savings. The U.S. Department of Energy Building America team, IBACOS, in collaboration with GreenHomes America, Inc. (GHA), was contracted by NYSERDA to research exterior wall insulation solutions. In addition to exterior wall insulation, the strategies included energy upgrades where needed in the attic, mechanical and ventilation systems, basement, band joist, walls, and floors. Under Building America, IBACOS is studying the impact of a “thermal enclosure” DER on the sizing of the space conditioning system and the occupant comfort if the thermal capacity of the heating and cooling system is dramatically downsized without any change in the existing heating and cooling distribution system (e.g., size, tightness and supply outlet configurations).

  19. Cold Vacuum Dryer (CVD) Facility Fire Protection System Design Description (SYS 24)

    SINGH, G.

    2000-10-17

    This system design description (SDD) addresses the Cold Vacuum Drying (CVD) Facility fire protection system (FPS). The primary features of the FPS for the CVD are a fire alarm and detection system, automatic sprinklers, and fire hydrants. The FPS also includes fire extinguishers located throughout the facility and fire hydrants to assist in manual firefighting efforts. In addition, a fire barrier separates the operations support (administrative) area from the process bays and process bay support areas. Administrative controls to limit combustible materials have been established and are a part of the overall fire protection program. The FPS is augmented by assistance from the Hanford Fire Department (HED) and by interface systems including service water, electrical power, drains, instrumentation and controls. This SDD, when used in conjunction with the other elements of the definitive design package, provides a complete picture of the FPS for the CVD Facility.

  20. Experimental Results Obtained with Air Liquide Cold Compression System CERN LHC and SNS Projects

    Delcayre, F; Hamber, F; Hilbert, B; Monneret, E; Toia, J L

    2006-01-01

    Large scale collider facilities will make intensive use of superconducting magnets, operating below 2.0 K. This dictates high‐capacity refrigeration systems operating below 2.0 K. These systems, making use of cryogenic centrifugal compressors in a series arrangement with room temperature screw compressors will be coupled to a refrigerator, providing a certain power at 4.5 K. A first Air Liquide Cold Compression System (CCS) unit was built and delivered to CERN in 2001. Installed at the beginning of 2002, it was commissioned and tested successfully during year 2002. A series of four sets of identical CCS were then tested in 2004. Another set of four cryogenic centrifugal compressors (CCC) has been delivered to Thomas Jefferson National Accelerator Facility (JLAB) for the Spallation Neutron Source (SNS) in 2002. These compressors were tested and commissioned from December 2004 to July 2005. The experimental results obtained with these systems will be presented and discussed: the characteristics of the CCC wil...

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

    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

  2. Stochastic behavior of a cold standby system with maximum repair time

    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.

  3. Powertrain preheating system of tracked hybrid electric vehicle in cold weather

    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.

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

    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

  5. Cooled electronic system with liquid-cooled cold plate and thermal spreader coupled to electronic component

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

    2018-03-27

    Apparatus and method are provided for facilitating cooling of an electronic component. The apparatus includes 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.

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

    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.

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

    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.

  8. Conceptual design of facilities and systems for cold neutron source in HANARO

    Kim, Y. K.; Jung, H. S.; Wu, S. I.; Ahn, S. H.; Park, Y. C.; Cho, Y. G.; Ryu, J. S.; Kim, Y. J.

    2004-05-01

    The systems and facilities for the HANARO cold neutron source consist of hydrogen handling system, vacuum system, gas blanket system, helium refrigeration system and electrical and instrumentation and control system. The overriding safety goal in the system design is to prevent the escape of hydrogen from the system boundary or the ingress of air into the hydrogen boundary. Of primary concern is the release of hydrogen (or intrusion of oxygen) into an area where any subsequent reaction could possibly result in damage to the reactor building or safety systems or components, as well as jeopardize personnel safety. It has been an general rule that all aspects of the system design were based on the demonstrated technology of long standing world-wide. In some cases, other options are also suggested for the flexibility of independent review process. This report hopefully serves as basis for the coming detail design and engineering. This report is mainly concentrated on the conceptual system design performed during the first project year. It includes the key safety design requirements in the beginning, followed by the description of the preliminary system design. At the rear part, building layout and equipment arrangement are briefly introduced for easy understanding of the whole pictures. The design status for the In-Pool Assembly including safety analysis and neutron guide and instruments will be discussed in another report

  9. Specification for movable manipulator system for use in radiochemical engineering cells

    Dixson, G.E.

    1998-01-01

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

  10. A novel textile characterisation approach using an embedded sensor system and segmented textile manipulation

    Fial, Julian; Carosella, Stefan; Langheinz, Mario; Wiest, Patrick; Middendorf, Peter

    2018-05-01

    This paper investigates the application of sensors on carbon fibre textiles for the purpose of textile characterisation and draping process optimisation. The objective is to analyse a textile's condition during the draping operation and actively manipulate boundary conditions in order to create better preform qualities. Various realisations of textile integrated sensors are presented, focusing on the measurement of textile strain. Furthermore, a complex textile characterisation approach is presented where these sensors shall be implemented in.

  11. Advanced photonic methodologies for the 'in vitro' manipulation of cellular systems

    McDougall, Craig

    2011-01-01

    This thesis investigates the application of a variety of optical techniques for the manipulation of single cells and their local micro-environment. The methodologies developed provide enhanced control over a single cell under study affording exquisite spatial and temporal control over biological processes of interest. The work presented within the thesis can be split into three distinct categories. The first of these provides an investigation in light activated “caged” molecula...

  12. In situ Orbit Extraction from Live, High Precision Collisionless Simulations of Systems Formed by Cold Collapse

    Noriega-Mendoza, H.; Aguilar, L. A.

    2018-04-01

    We performed high precision, N-body simulations of the cold collapse of initially spherical, collisionless systems using the GYRFALCON code of Dehnen (2000). The collapses produce very prolate spheroidal configurations. After the collapse, the systems are simulated for 85 and 170 half-mass radius dynamical timescales, during which energy conservation is better than 0.005%. We use this period to extract individual particle orbits directly from the simulations. We then use the TAXON code of Carpintero and Aguilar (1998) to classify 1 to 1.5% of the extracted orbits from our final, relaxed configurations: less than 15% are chaotic orbits, 30% are box orbits and 60% are tube orbits (long and short axis). Our goal has been to prove that direct orbit extraction is feasible, and that there is no need to "freeze" the final N-body system configuration to extract a time-independent potential.

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

    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

  14. Availability-based computer management of a cold thermal storage system

    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

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

    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

  16. Building America Residential System Research Results: Achieving 30% Whole House Energy Savings Level in Cold Climates

    Building Industry Research Alliance (BIRA); Building Science Consortium (BSC); Consortium for Advanced Residential Buildings (CARB); Florida Solar Energy Center (FSEC); IBACOS; National Renewable Energy Laboratory (NREL)

    2006-08-01

    The Building America program conducts the system research required to reduce risks associated with the design and construction of homes that use an average of 30% to 90% less total energy for all residential energy uses than the Building America Research Benchmark, including research on homes that will use zero net energy on annual basis. To measure the program's progress, annual research milestones have been established for five major climate regions in the United States. The system research activities required to reach each milestone take from 3 to 5 years to complete and include research in individual test houses, studies in pre-production prototypes, and research studies with lead builders that provide early examples that the specified energy savings level can be successfully achieved on a production basis. This report summarizes research results for the 30% energy savings level and demonstrates that lead builders can successfully provide 30% homes in Cold Climates on a cost-neutral basis.

  17. HEAT TRANSFER IN EXHAUST SYSTEM OF A COLD START ENGINE AT LOW ENVIRONMENTAL TEMPERATURE

    Snežana D Petković

    2010-01-01

    Full Text Available During the engine cold start, there is a significantly increased emission of harmful engine exhaust gases, particularly at very low environmental temperatures. Therefore, reducing of emission during that period is of great importance for the reduction of entire engine emission. This study was conducted to test the activating speed of the catalyst at low environmental temperatures. The research was conducted by use of mathematical model and developed computer programme for calculation of non-stationary heat transfer in engine exhaust system. During the research, some of constructional parameters of exhaust system were adopted and optimized at environmental temperature of 22 C. The combination of design parameters giving best results at low environmental temperatures was observed. The results showed that the temperature in the environment did not have any significant influence on pre-catalyst light-off time.

  18. Robust Backstepping Control for Cold Rolling Main Drive System with Nonlinear Uncertainties

    Xu Yang

    2013-01-01

    Full Text Available The nonlinear model of main drive system in cold rolling process, which considers the influence with parameter uncertainties such as clearance and variable friction coefficient, as well as external disturbance by roll eccentricity and variation of strip material quality, is built. By transformation, the lower triangular structure form of main drive system is obtained. The backstepping algorithm based on signal compensation is proposed to design a linear time-invariant (LTI robust controller, including a nominal controller and a robust compensator. A comparison with PI controller shows that the controller has better disturbance attenuation performance and tracking behaviors. Meanwhile, according to its LTI characteristic, the robust controller can be realized easily; therefore it is also appropriated to high speed dynamic rolling process.

  19. Compliant Aerial Manipulators

    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...

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

    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

  1. Environmental switching during biofilm development in a cold seep system and functional determinants of species sorting

    Zhang, Weipeng; Tian, Renmao; Yang, Bo; Cao, Huiluo; Cai, Lin; Chen, Lianguo; Zhou, Guowei; Sun, Jingya; Zhang, Xixiang; Al-Suwailem, Abdulaziz M.; Qian, Pei-Yuan

    2015-01-01

    The functional basis for species sorting theory remains elusive, especially for microbial community assembly in deep sea environments. Using artificial surface-based biofilm models, our recent work revealed taxonomic succession during biofilm development in a newly defined cold seep system, the Thuwal cold seeps II, which comprises a brine pool and the adjacent normal bottom water (NBW) to form a metacommunity via the potential immigration of organisms from one patch to another. Here, we designed an experiment to investigate the effects of environmental switching between the brine pool and the NBW on biofilm assembly, which could reflect environmental filtering effects during bacterial immigration to new environments. Analyses of 16S rRNA genes of 71 biofilm samples suggested that the microbial composition of biofilms established in new environments was determined by both the source community and the incubation conditions. Moreover, a comparison of 18 metagenomes provided evidence for biofilm community assembly that was based primarily on functional features rather than taxonomic identities; metal ion resistance and amino acid metabolism were the major species sorting determinants for the succession of biofilm communities. Genome binning and pathway reconstruction of two bacterial species (Marinobacter sp. and Oleispira sp.) further demonstrated metal ion resistance and amino acid metabolism as functional traits conferring the survival of habitat generalists in both the brine pool and NBW. The results of the present study sheds new light on microbial community assembly in special habitats and bridges a gap in species sorting theory.

  2. Conceptual design of a cold methane moderator system for the European Spallation Source (ESS)

    Barnert-Wiemer, H.

    2002-02-01

    As part of the work for the target station of the planned European spallation source (ESS) the Central Department of Technology at the Forschungszentrum Juelich GmbH is also concerned with the moderators, particular attention being given to the development of cold methane moderators. This report discusses the technical feasibility of solid methane moderators. Methods to tailor the neutron output by adding absorption materials (decouplers or poisons) are not considered here, neither are composite moderators. Based on the given target-moderator-reflector assembly of the ESS project a concept for the ESS cold methane moderators has been developed and is being examined at the Forschungszentrum Juelich. According to this moderator concept the moderator is a fixed bed of small spheres, which makes moderator container filling homogeneous and reproducible. Since spheres form a defined packed bed, cooling of the moderator bed by H 2 is reliable. The process of filling the moderator container and of removing the pellets is batchwise to ensure complete removal of the pellets, so that no spent methane pellets accumulate in the system. For removal of the moderator spheres the fixed bed in the moderator container is fluidized with subsequent hydraulic transport of the pellets. The spent methane pellets are separated from the transport fluid and the methane is released over the stack or purified and reused. Depending on the kind and amount of the radioactive isotopes present these may have to be separated and stored. (orig.)

  3. Environmental switching during biofilm development in a cold seep system and functional determinants of species sorting.

    Zhang, Weipeng; Tian, Renmao; Bo, Yang; Cao, Huiluo; Cai, Lin; Chen, Lianguo; Zhou, Guowei; Sun, Jin; Zhang, Xixiang; Al-Suwailem, Abdulaziz; Qian, Pei-Yuan

    2016-05-01

    The functional basis for species sorting theory remains elusive, especially for microbial community assembly in deep-sea environments. Using artificial surface-based biofilm models, our recent work revealed taxonomic succession during biofilm development in a newly defined cold seep system, the Thuwal cold seeps II, which comprises a brine pool and the adjacent normal bottom water (NBW) to form a metacommunity via the potential immigration of organisms from one patch to another. Here, we designed an experiment to investigate the effects of environmental switching between the brine pool and the NBW on biofilm assembly, which could reflect environmental filtering effects during bacterial immigration to new environments. Analyses of 16S rRNA genes of 71 biofilm samples suggested that the microbial composition of biofilms established in new environments was determined by both the source community and the incubation conditions. Moreover, a comparison of 18 metagenomes provided evidence for biofilm community assembly that was based primarily on functional features rather than taxonomic identities; metal ion resistance and amino acid metabolism were the major species sorting determinants for the succession of biofilm communities. Genome binning and pathway reconstruction of two bacterial species (Marinobacter sp. and Oleispira sp.) further demonstrated metal ion resistance and amino acid metabolism as functional traits conferring the survival of habitat generalists in both the brine pool and NBW. The results of this study shed new light on microbial community assembly in special habitats and bridge a gap in species sorting theory. © 2015 John Wiley & Sons Ltd.

  4. Environmental switching during biofilm development in a cold seep system and functional determinants of species sorting

    Zhang, Weipeng

    2015-11-28

    The functional basis for species sorting theory remains elusive, especially for microbial community assembly in deep sea environments. Using artificial surface-based biofilm models, our recent work revealed taxonomic succession during biofilm development in a newly defined cold seep system, the Thuwal cold seeps II, which comprises a brine pool and the adjacent normal bottom water (NBW) to form a metacommunity via the potential immigration of organisms from one patch to another. Here, we designed an experiment to investigate the effects of environmental switching between the brine pool and the NBW on biofilm assembly, which could reflect environmental filtering effects during bacterial immigration to new environments. Analyses of 16S rRNA genes of 71 biofilm samples suggested that the microbial composition of biofilms established in new environments was determined by both the source community and the incubation conditions. Moreover, a comparison of 18 metagenomes provided evidence for biofilm community assembly that was based primarily on functional features rather than taxonomic identities; metal ion resistance and amino acid metabolism were the major species sorting determinants for the succession of biofilm communities. Genome binning and pathway reconstruction of two bacterial species (Marinobacter sp. and Oleispira sp.) further demonstrated metal ion resistance and amino acid metabolism as functional traits conferring the survival of habitat generalists in both the brine pool and NBW. The results of the present study sheds new light on microbial community assembly in special habitats and bridges a gap in species sorting theory.

  5. Water Quality Study on the Hot and Cold Water Supply Systems at Vietnamese Hotels

    Kanako Toyosada

    2017-04-01

    Full Text Available This study was conducted as part of the Joint Crediting Mechanism (JCM of the Japanese Ministry of Economy, Trade and Industry, and the Ministry of the Environment project’s preparation in Vietnam. Samples were taken from hot and cold water supplies from guest rooms’ faucets in 12 hotels in Hanoi city, Vietnam, and 13 hotels in Japan for comparison. A simple water quality measurement and determination of Legionella was carried out. The results showed that residual effective chlorine—which guarantees bactericidal properties—was not detected in tap water supplied in hotel rooms in Vietnam, and nitrite (an indicator of water pollution was detected in 40% of buildings. In the hotels in Japan, the prescribed residual chlorine concentration met the prescribed levels, and nitrite was not detected. Additionally, while there was no Legionella detected in the Japanese cases, it was detected in most of the Vietnamese hotels, which were found to manage the hot water storage tank at low temperatures of 40–50 °C. It was found that there were deficiencies in cold and hot water supply quality, and that there was no effective system in place for building operation maintenance and management.

  6. Design and dynamic behaviour of a cold storage system combined with a solar powered thermoacoustic refrigerator

    Perier-Muzet, Maxime; Bedecarrats, Jean-Pierre; Stouffs, Pascal; Castaing-Lasvignottes, Jean

    2014-01-01

    A heat powered thermoacoustic refrigerator consists in a thermoacoustic engine that produces acoustic work utilizing heat, coupled to a thermoacoustic cooler that converts this acoustic energy into cooling effect. These machines have already proved their capability in laboratory or in space refrigeration. Previous studies have also demonstrated the possibility of using concentrated solar energy as thermal energy sources for low power heat driven thermoacoustic refrigerators. As other solar refrigeration systems, even if the cooling demand generally increases with the intensity of the solar radiation, one of the major difficulties is to insure a frigorific power supply when there is no, or low, solar radiation. The aim of this work is to study a kW scale solar thermoacoustic refrigerator capable to reach temperatures of the industrial refrigeration domain. This refrigerator is combined with a latent cold storage in order to guarantee a sufficient cooling capacity to face to refrigeration loads in spite of the production fluctuations. A description of the studied prototype is done and the model developed to describe the transient behaviour of the main components of this machine is introduced. The results obtained with a simulation of one week with real solar radiations are presented and the behaviour and the energetic performances of the entire system are analysed. Finally the impact of the sizing of the cold storage system is discussed. With the best storage design, the system is capable to supply a cooling power of 400 W at a temperature equal or lower than −20 °C with an average Coefficient Of Performance of the solar thermoacoustic refrigerator equal to 21%

  7. Dynamics of cold helium flow inside a cryoline used for large cryogenic distribution system

    Kumar, Uday; Jadon, Mohit; Choukekar, Ketan; Shukla, Vinit; Patel, Pratik; Kapoor, Himanshu; Shah, Nitin; Muralidhara, Srinivasa; Sarkar, Biswanath

    2015-01-01

    The Cryolines, which by definition transfers cryogens from the source, normally a cryogenic plant, to several systems requiring cooling at cryogenic temperature to the level of 4 K and 80 K. The operations of cryolines are normally assumed to be steady state following a cool down from room temperature to the cryogenic temperature. It is to be noted that in a distributed cryogenic system, especially in a nuclear facility such as ITER having confinement definition due to the regulatory requirements, do also attract the attention in the system design that the release from safety valves cannot be allowed inside a building. Therefore, all safety valves need to be discharged inside a confined space, which is a specific space requiring fulfillment of definition for a cryogenic line. The specificity in such cases is that such cryogenic lines will realize dynamic conditions for each release of safety valves or a combination of safety valves in terms of pressure, temperature and flow, leading to unexpected failures. Such operating scenarios also lead to serious impact on fatigue with a question mark on the reliability. Therefore, one can define such cryolines as Relief Collection Header (RCH) which collects discharged helium and transport it to the appropriate place as defined in the system design. The discharges of cold helium from safety relief discharge ports of equipment can result into significantly unsteady and compressible flow in RCH. The proper design of the RCH has to be supported by detailed dynamic of expected flow phenomena for specific cases. The paper presents the dynamics of cold helium flow inside the typical RCH that has been performed to investigate the variation in flow parameters (pressure, temperature, velocity and density) along the axis of RCH and predictions on its reliability. (author)

  8. Manipulatives Work!

    Moch, Peggy L.

    2001-01-01

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

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

    Fieguth, T.H.

    1989-03-01

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

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

    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.

  11. Exergetic Analysis, Optimization and Comparison of LNG Cold Exergy Recovery Systems for Transportation

    Paweł Dorosz

    2018-01-01

    Full Text Available LNG (Liquefied Natural Gas shares in the global energy market is steadily increasing. One possible application of LNG is as a fuel for transportation. Stricter air pollution regulations and emission controls have made the natural gas a promising alternative to liquid petroleum fuels, especially in the case of heavy transport. However, in most LNG-fueled vehicles, the physical exergy of LNG is destroyed in the regasification process. This paper investigates possible LNG exergy recovery systems for transportation. The analyses focus on “cold energy” recovery systems as the enthalpy of LNG, which may be used as cooling power in air conditioning or refrigeration. Moreover, four exergy recovery systems that use LNG as a low temperature heat sink to produce electric power are analyzed. This includes single-stage and two-stage direct expansion systems, an ORC (Organic Rankine Cycle system, and a combined system (ORC + direct expansion. The optimization of the above-mentioned LNG power cycles and exergy analyses are also discussed, with the identification of exergy loss in all components. The analyzed systems achieved exergetic efficiencies in the range of 20 % to 36 % , which corresponds to a net work in the range of 214 to 380 kJ/kg L N G .

  12. Development of a system for genetic manipulation of the facultative methanotroph Methylocella silvestris BL2.

    Crombie, Andrew; Murrell, J Colin

    2011-01-01

    An understanding of the metabolism and metabolic regulation of the facultative methanotroph Methylocella silvestris BL2 is required to understand its role in methane oxidation in the environment, and methods for genetics manipulation are essential tools in these investigations. In addition, the ability to engineer the metabolic capabilities of M. silvestris may well have useful biotechnological applications. We describe a simple and effective method of genetic manipulation for this organism which relies on the electroporation of a linear DNA fragment to introduce chromosomal gene deletions. In a two-step procedure, the gene of interest is first replaced with an antibiotic-resistance cassette which is subsequently removed, resulting in an unmarked gene deletion. This method is illustrated by the deletion of isocitrate lyase, which abolished growth on one-carbon and severely disabled growth on two-carbon compounds. Subsequent complementation with the wild-type gene and promoter restored growth, demonstrating stable transcription from the broad-host-range plasmid employed. Copyright © 2011 Elsevier Inc. All rights reserved.

  13. Stress on Cold Mass Due to the Supporting System of the CMS Coil in the Vacuum Tank

    Farinon, S

    2000-01-01

    This report contains a verification analysis of the stress on cold mass coming from the supporting system of the CMS coil in the vacuum tank. The need to carry out this analysis is related to the high mechanical requirements for $9 Al-alloy mandrels (218 MPa yield at cryogenic temperature), demanding accurate analysis of the impact of supporting system on cylinder stress.

  14. Reliability Analysis of a Cold Standby System with Imperfect Repair and under Poisson Shocks

    Yutian Chen

    2014-01-01

    Full Text Available This paper considers the reliability analysis of a two-component cold standby system with a repairman who may have vacation. The system may fail due to intrinsic factors like aging or deteriorating, or external factors such as Poisson shocks. The arrival time of the shocks follows a Poisson process with the intensity λ>0. Whenever the magnitude of a shock is larger than the prespecified threshold of the operating component, the operating component will fail. The paper assumes that the intrinsic lifetime and the repair time on the component are an extended Poisson process, the magnitude of the shock and the threshold of the operating component are nonnegative random variables, and the vacation time of the repairman obeys the general continuous probability distribution. By using the vector Markov process theory, the supplementary variable method, Laplace transform, and Tauberian theory, the paper derives a number of reliability indices: system availability, system reliability, the rate of occurrence of the system failure, and the mean time to the first failure of the system. Finally, a numerical example is given to validate the derived indices.

  15. Insulated Concrete Form Walls Integrated With Mechanical Systems in a Cold Climate Test House

    Mallay, D.; Wiehagen, J.

    2014-09-01

    Transitioning from standard light frame to a thermal mass wall system in a high performance home will require a higher level of design integration with the mechanical systems. The much higher mass in the ICF wall influences heat transfer through the wall and affects how the heating and cooling system responds to changing outdoor conditions. This is even more important for efficient, low-load homes with efficient heat pump systems in colder climates where the heating and cooling peak loads are significantly different from standard construction. This report analyzes a range of design features and component performance estimates in an effort to select practical, cost-effective solutions for high performance homes in a cold climate. Of primary interest is the influence of the ICF walls on developing an effective air sealing strategy and selecting an appropriate heating and cooling equipment type and capacity. The domestic water heating system is analyzed for costs and savings to investigate options for higher efficiency electric water heating. A method to ensure mechanical ventilation air flows is examined. The final solution package includes high-R mass walls, very low infiltration rates, multi-stage heat pump heating, solar thermal domestic hot water system, and energy recovery ventilation. This solution package can be used for homes to exceed 2012 International Energy Conservation Code requirements throughout all climate zones and achieves the DOE Challenge Home certification.

  16. The BCS-BEC crossover: From ultra-cold Fermi gases to nuclear systems

    Strinati, Giancarlo Calvanese; Pieri, Pierbiagio; Röpke, Gerd; Schuck, Peter; Urban, Michael

    2018-04-01

    of the theory, especially in the normal phase where they account for precursor pairing effects. After an introduction to present the key concepts of the BCS-BEC crossover, this report discusses the mean-field treatment of the superfluid phase, both for homogeneous and inhomogeneous systems, as well as for symmetric (spin- or isospin-balanced) and asymmetric (spin- or isospin-imbalanced) matter. Pairing fluctuations in the normal phase are then considered, with their manifestations in thermodynamic and dynamic quantities. The last two Sections provide a more specialized discussion of the BCS-BEC crossover in ultra-cold Fermi gases and nuclear matter, respectively. The separate discussion in the two contexts aims at cross communicating to both communities topics and aspects which, albeit arising in one of the two fields, share a strong common interest.

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

    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

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

    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

  19. Alloying system for cold-resisting high-tensile welds of maraging steels

    Yushchenko, K.A.; Pustovit, A.I.; Taver, E.I.; Piskarev, M.N.

    1978-01-01

    Studied was the effect of molybdenum (2.2-5%) and chromium (11.3-13.5%) on the structure and properties of welds in steel of the Cr-Ni-Mo-Co-Ti system at heat strengthened condition (hardening, cold treatment, ageing). The welds were made by argon-arc welding process involving a nonconsumable electrode without additives. The welds were tested at temperatures of 20 and -196 deg C. It is pointed out that the welds with a pure martensite structure at -196 deg C have a low ductility and impact strength. To obtain welds having a satisfactory value of impact strength more than 120 kGf/mm 2 at 20 deg C, it is necessary that the metal contains 20...60 % of residual austenite

  20. MATHEMATICAL MODEL MANIPULATOR ROBOTS

    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.

  1. Automated visual attention manipulation

    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

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

    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.

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

    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.

  4. Currency Manipulation

    Weithing Zhang; Thomas Mertens; Tarek Hassan

    2014-01-01

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

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

    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)

  6. A Novel Application of Thermoelectric Modules in an HVAC System Under Cold Climate Operation

    Okuma, Toru; Radermacher, Reinhard; Hwang, Yunho

    2012-06-01

    A vapor compression cycle (VCC) with integrated thermoelectric (TE) modules to boost the heating capacity of the system in an energy-efficient way, especially for cold climate operation, is suggested in this paper. While a baseline heat pump (HP) cycle absorbs heat from a source through an evaporator, the proposed system utilizes TE modules as an intermediate (or third) stage of an otherwise two-stage vapor compression system with a vapor injection compressor. This increases the overall system efficiency and augments the system capacity through the high coefficient of performance (COP) of the TE for small temperature lift conditions. To demonstrate the concept, a prototype refrigerant-to-solid (TE) heat exchanger, consisting of TE modules and microchannel flat tubes, was designed and fabricated so that the whole system could realize an additional 1 kW of heating capacity compared with the baseline system. The TE heat exchanger was integrated into a residential HP unit that uses R-410A as a refrigerant, and the system was tested in a laboratory under the severe condition of -17.8°C, in order to investigate the capacity improvement and the overall COP. Finally, an application of this technique in an automotive heating, ventilating, and air-conditioning system with HFC134a working fluid has been studied for the purpose of providing supplemental heating for electric vehicles and hybrid electric vehicles by establishing a detailed simulation model of a HP system with the TE heat exchanger. Both the laboratory test and the calculation study show that a VCC with integrated TE modules has both reasonable efficiency and increased heating capacity.

  7. Hydraulic manipulator

    Sinha, A.K.; Srikrishnamurty, G.

    1990-01-01

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

  8. Manipulations of the reproductive system of fishes by means of exogenous chemicals

    Patino, R.

    1997-01-01

    Environmental control of reproductive activity of captive fish is feasible (or potentially feasible) but, with few exceptions, is currently impractical for most species. Therefore, chemical methods of manipulating reproductive activity continue to be widely used in fish production operations worldwide. However, the control of fish reproduction in captivity cannot be exercised without regard to adequate environmental conditions, which can differ markedly for different species. This review provides a synopsis of relevant aspects of fish reproductive physiology and addresses current and promising future chemical methods of sex control, gonadal recrudescence, and spawning. Most research on the control of reproduction in fishes has focused on female physiology because ovarian development and maturation are easily disturbed by environmental stressors. Control of sex ratios by steroid treatment has become a well-established technique for several fish species, but the technique continues to be problematic in some cases. Final gonadal growth and spawning usually can be achieved by implant treatment with gonadotropin-releasing hormone analogs (GnRHa), which in some species have to be applied in combination with dopamine antagonists to enhance responsiveness to GnRHa. However, efforts to accelerate gonadal recrudescence and maturational competence by chemical means have yielded mixed results, reflecting a relative lack of understanding of the basic physiological and biochemic mechanisms controlling these processes. The potential benefits of using reproductive pheromone, to manipulate gonadal development and spawning has been demonstrated in a few species, but further research is needed to determine whether this technique is applicable to fish culture. Because a reliable supply of young fish is critical for the expansion and diversification of fish culture operations, the use of chemicals in combination with adequate environmental conditions to contain gametogenesis and

  9. Stainless steel decontamination manipulators

    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)

  10. Performance of introducing outdoor cold air for cooling a plant production system with artificial light

    Jun eWang

    2016-03-01

    Full Text Available The commercial use of a plant production system with artificial light (PPAL is limited by its high initial construction and operation costs. The electric-energy consumed by heat pumps, applied mainly for cooling, accounts for 15-35% of the total electric-energy used in a PPAL. To reduce the electric-energy consumption, an air exchanger with low capacity (180 W was used for cooling by introducing outdoor cold air. In this experiment, the indoor air temperature in two PPALs (floor area: 6.2 m2 each was maintained at 25ºC and 20ºC during light and dark periods, respectively, for lettuce production. In one PPAL (PPALe, an air exchanger (air flow rate: 250 m3 h-1 was used along with a heat pump (cooling capacity: 3.2 kW to maintain the indoor air temperature at the set-point. The other PPAL (PPALc with only a heat pump (cooling capacity: 3.2 kW was used for reference. Effects of introducing outdoor cold air on energy use efficiency, coefficient of performance (COP, electric-energy consumption for cooling and growth of lettuce were investigated. The results show that: when the air temperature difference between indoor and outdoor ranged from 20.2°C to 30.0°C: 1 the average energy use efficiency of the air exchanger was 2.8 and 3.4 times greater than the COP of the heat pumps in the PPALe and PPALc, respectively; 2 hourly electric-energy consumption in the PPALe reduced by 15.8-73.7% compared with that in the PPALc; 3 daily supply of CO2 in the PPALe reduced from 0.15 kg to 0.04 kg compared with that in the PPALc; 4 no significant difference in lettuce growth was observed in both PPALs. The results indicate that using air exchanger to introduce outdoor cold air should be considered as an effective way to reduce electric-energy consumption for cooling with little effects on plant growth in a PPAL.

  11. Advanced Extended Plate and Beam Wall System in a Cold-Climate House

    Mallay, Dave [Home Innovation Research Labs, Upper Marlboro, MD (United States); Wiehagen, Joseph [Home Innovation Research Labs, Upper Marlboro, MD (United States); Kochkin, Vladimir [Home Innovation Research Labs, Upper Marlboro, MD (United States)

    2016-01-29

    This report presents the design and evaluation of an innovative wall system. This highly insulated (high-R) light-frame wall system for use above grade in residential buildings is referred to as Extended Plate & Beam (EP&B). The EP&B design is the first of its kind to be featured in a new construction test house (NCTH) for the DOE Building America program. The EP&B wall design integrates standard building methods and common building products to construct a high-R wall that minimizes transition risks and costs to builders. The EP&B design combines optimized framing with integrated rigid foam sheathing to increase the wall system's R-value and reduce thermal bridging. The foam sheathing is installed between the wall studs and structural wood sheathing. The exterior wood sheathing is attached directly to a framing extension formed by extended top and bottom plates. The exterior wood sheathing can dry to the exterior and provides bracing, a clear drainage plane and flashing surface for window and door openings, and a nailing surface for siding attachment. With support of the DOE Building America program, Home Innovation Research Labs partnered with Lancaster County Career and Technology Center (LCCTC) to build a NCTH in Lancaster, PA to demonstrate the EP&B wall design in a cold climate (IECC climate zone 5A). The results of the study confirmed the benefits of the systems and the viability of its integration into the house construction process.

  12. Transport calculation of thermal and cold neutrons using NMTC/JAERI-MCNP4A code system

    Iga, Kiminori; Takada, Hiroshi; Nagao, Tadashi.

    1998-01-01

    In order to investigate the applicability of the NMTC/JAERI-MCNP4A code system to the neutronics design study in the neutron science research project of JAERI, transport calculations of thermal and cold neutrons are performed with the code system on a spallation neutron source composed of light water cooled tantalum target with a moderator and a reflector system. The following neutronic characteristics are studied in the calculation : the variation of the intensity of neutrons emitted from a light water moderator or a liquid hydrogen with/without the B 4 C decoupler, which are installed to produce sharp pulse, and that dependent on the position of external source neutrons in the tantalum target. The calculated neutron energy spectra are reproduced well by the semi-empirical formula with the parameter values reliable in physical meanings. It is found to be necessary to employ proper importance sampling technique in the statistics. It is confirmed from this work that the NMTC/JAERI-MCNP4A code system is applicable to the neutronics design study of spallation neutron sources proposed for the neutron science research project. (author)

  13. Experimental Results Obtained with Air Liquide Cold Compression System: CERN LHC and SNS Projects

    Delcayre, F.; Courty, J.-C.; Hamber, F.; Hilbert, B.; Monneret, E.; Toia, J.-L.

    2006-04-01

    Large scale collider facilities will make intensive use of superconducting magnets, operating below 2.0 K. This dictates high-capacity refrigeration systems operating below 2.0 K. These systems, making use of cryogenic centrifugal compressors in a series arrangement with room temperature screw compressors will be coupled to a refrigerator, providing a certain power at 4.5 K. A first Air Liquide Cold Compression System (CCS) unit was built and delivered to CERN in 2001. Installed at the beginning of 2002, it was commissioned and tested successfully during year 2002. A series of four sets of identical CCS were then tested in 2004. Another set of four cryogenic centrifugal compressors (CCC) has been delivered to Thomas Jefferson National Accelerator Facility (JLAB) for the Spallation Neutron Source (SNS) in 2002. These compressors were tested and commissioned from December 2004 to July 2005. The experimental results obtained with these systems will be presented and discussed: the characteristics of the CCC will be detailed. The principles of control for the CCC in series will be detailed.

  14. Transport calculation of thermal and cold neutrons using NMTC/JAERI-MCNP4A code system

    Iga, Kiminori [Kyushu Univ., Fukuoka (Japan); Takada, Hiroshi; Nagao, Tadashi

    1998-01-01

    In order to investigate the applicability of the NMTC/JAERI-MCNP4A code system to the neutronics design study in the neutron science research project of JAERI, transport calculations of thermal and cold neutrons are performed with the code system on a spallation neutron source composed of light water cooled tantalum target with a moderator and a reflector system. The following neutronic characteristics are studied in the calculation : the variation of the intensity of neutrons emitted from a light water moderator or a liquid hydrogen with/without the B{sub 4}C decoupler, which are installed to produce sharp pulse, and that dependent on the position of external source neutrons in the tantalum target. The calculated neutron energy spectra are reproduced well by the semi-empirical formula with the parameter values reliable in physical meanings. It is found to be necessary to employ proper importance sampling technique in the statistics. It is confirmed from this work that the NMTC/JAERI-MCNP4A code system is applicable to the neutronics design study of spallation neutron sources proposed for the neutron science research project. (author)

  15. Manipulation Robustness of Collaborative Filtering

    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.

  16. From laboratory manipulations to Earth system models: scaling calcification impacts of ocean acidification

    J. R. Young

    2009-11-01

    Full Text Available The observed variation in the calcification responses of coccolithophores to changes in carbonate chemistry paints a highly incoherent picture, particularly for the most commonly cultured "species", Emiliania huxleyi. The disparity between magnitude and potentially even sign of the calcification change under simulated end-of-century ocean surface chemical changes (higher pCO2, lower pH and carbonate saturation, raises challenges to quantifying future carbon cycle impacts and feedbacks because it introduces significant uncertainty in parameterizations used for global models. Here we compile the results of coccolithophore carbonate chemistry manipulation experiments and review how ocean carbon cycle models have attempted to bridge the gap from experiments to global impacts. Although we can rule out methodological differences in how carbonate chemistry is altered as introducing an experimental bias, the absence of a consistent calcification response implies that model parameterizations based on small and differing subsets of experimental observations will lead to varying estimates for the global carbon cycle impacts of ocean acidification. We highlight two pertinent observations that might help: (1 the degree of coccolith calcification varies substantially, both between species and within species across different genotypes, and (2 the calcification response across mesocosm and shipboard incubations has so-far been found to be relatively consistent. By analogy to descriptions of plankton growth rate vs. temperature, such as the "Eppley curve", which seek to encapsulate the net community response via progressive assemblage change rather than the response of any single species, we posit that progressive future ocean acidification may drive a transition in dominance from more to less heavily calcified coccolithophores. Assemblage shift may be more important to integrated community calcification response than species

  17. Seasonal shifting of surplus renewable energy in a power system located in a cold region

    Jorge Morel

    2014-10-01

    Full Text Available The Fukushima nuclear disaster in 2011 changed Japan's strategy for reducing CO2 emissions. The government is now placing more emphasis on the development of nonCO2-emitting distributed generation systems such as wind, solar, and tidal power to reduce greenhouse gas emissions and guarantee electricity supply in the case of a natural disaster. This paper proposes a strategy for the exploitation of wind, solar, and tidal resources in a cold region in Japan by utilizing surplus energy from the summer and spring during winter. It also aims to determine the most favorable energy mix of these renewable sources and storage system types. The study is performed by calculating hourly demand and renewable energy supply for the city in one year, which is based on actual data of demand, solar irradiation, wind speeds, and tidal current speeds. The costs of the components of the renewable power plants and storage systems are considered, and different proportions of generation outputs are evaluated with different types of storage systems. According to results, the configuration containing the hydrogen storage system using organic chemical hydride methylcyclohexane (OCHM is the most economical but is still more expensive than one using a conventional generation system. Moreover, we confirm that the cost of CO2 emissions is the key element for leveling the playing field between conventional and renewable generation from an economic perspective. The cost of CO2 emissions to public health as well as those costs related to the interruption of services during a catastrophe must be carefully calculated with other issues from conventional power projects to perform a precise comparative evaluation between both types of generation systems.

  18. Development of In-pile Plug Assembly and Primary Shutter for Cold Neutron Guide System

    Shin, Jin Won; Cho, Yeong Garp; Ryu, Jeong Soo; Lee, Jung Hee [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2008-12-15

    The HANARO, a 30 MW multi-purpose research reactor in Korea, will be equipped with a neutron guide system, in order to transport cold neutrons from the neutron source to the neutron scattering instruments in the neutron guide hall near the reactor building. The neutron guide system of HANARO consists of the in-pile plug assembly with in-pile guides, the primary shutter with in-shutter guides, the neutron guides in the guide shielding room with dedicated secondary shutters, and the neutron guides connected to the instruments in the neutron guide hall. The functions of the in-pile plug assembly are to shield the reactor environment from a nuclear radiation and to support the neutron guides and maintain them precisely oriented. The primary shutter is a mechanical device to be installed just after the in-pile plug assembly, which stops neutron flux on demand. This report describes the mechanical design, fabrication, and installation procedure of the in-pile plug assembly and the primary shutter for the neutron guide system at HANARO. A special tool and procedure for a replacement of in-pile plug and guide cassette is also presented with the interface condition in the reactor hall.

  19. A Study on Electric Vehicle Heat Pump Systems in Cold Climates

    Ziqi Zhang

    2016-10-01

    Full Text Available Electric vehicle heat pumps are drawing more and more attention due to their energy-saving and high efficiency designs. Some problems remain, however, in the usage of the heat pumps in electric vehicles, such as a drainage problem regarding the external heat exchangers while in heat pump mode, and the decrease in heating performance when operated in a cold climate. In this article, an R134a economized vapor injection (EVI heat pump system was built and tested. The drainage problem common amongst external heat exchangers was solved by an optimized 5 mm diameter tube-and-fin heat exchanger, which can meet both the needs of a condenser and evaporator based on simulation and test results. The EVI system was also tested under several ambient temperatures. It was found that the EVI was a benefit to the system heating capacity. Under a −20 °C ambient temperature, an average improvement of 57.7% in heating capacity was achieved with EVI and the maximum capacity was 2097 W, with a coefficient of performance (COP of 1.25. The influences of injection pressure and economizer capacity are also discussed in this article.

  20. 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

    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.

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

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

    1991-01-01

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

  2. System for manipulating radioactive fuel rods within a nuclear fuel assembly

    Tolino, R.W.; King, W.E.; Blickenderfer, J.L.; Roth, C.H. Jr.

    1987-01-01

    A tool is described for manipulating the peripherally located fuel rods of a fuel assembly so that the rods can be visually inspected. The fuel assembly includes top and bottom nozzles, each of which is connected to a support skeleton, as well as grids, and wherein the rods are retained within the grids and confined between the top and bottom nozzles thereof. It consists of: (a) a fixture that is detachably connectable to one of the nozzles of the fuel assembly. The fixture having holes therein, (b) rotating means pivotally mountable within the holes of the fixture for selectively gripping and rotating the rod, and (c) a displacing means mounted on the fixture for reciprocably displacing the rods within the fuel assembly, including a lifting assembly and a push-down assembly for lifting and pushing down a selected one of the rods, respectively, whereby the rods can be selectively rotated, lifted, and pushed down in order to expose portions of the rods which are normally hidden to visual inspection while the nozzles stay connected to the support skeleton and the rods stay confined between the top and bottom nozzles of the fuel assembly

  3. Residential Solar-Based Seasonal Thermal Storage Systems in Cold Climates: Building Envelope and Thermal Storage

    Alexandre Hugo

    2012-10-01

    Full Text Available The reduction of electricity use for heating and domestic hot water in cold climates can be achieved by: (1 reducing the heating loads through the improvement of the thermal performance of house envelopes, and (2 using solar energy through a residential solar-based thermal storage system. First, this paper presents the life cycle energy and cost analysis of a typical one-storey detached house, located in Montreal, Canada. Simulation of annual energy use is performed using the TRNSYS software. Second, several design alternatives with improved thermal resistance for walls, ceiling and windows, increased overall air tightness, and increased window-to-wall ratio of South facing windows are evaluated with respect to the life cycle energy use, life cycle emissions and life cycle cost. The solution that minimizes the energy demand is chosen as a reference house for the study of long-term thermal storage. Third, the computer simulation of a solar heating system with solar thermal collectors and long-term thermal storage capacity is presented. Finally, the life cycle cost and life cycle energy use of the solar combisystem are estimated for flat-plate solar collectors and evacuated tube solar collectors, respectively, for the economic and climatic conditions of this study.

  4. Determination of mercury by multisyringe flow injection system with cold-vapor atomic absorption spectrometry

    Leal, L.O.; Elsholz, O.; Forteza, R.; Cerda, V.

    2006-01-01

    A new software-controlled time-based multisyringe flow injection system for mercury determination by cold-vapor atomic absorption spectrometry is proposed. Precise known volumes of sample, reducing agent (1.1% SnCl 2 in 3% HCl) and carrier (3% HCl) are dispensed into a gas-liquid separation cell with a multisyringe burette coupled with one three-way solenoid valve. An argon flow delivers the reduced mercury to the spectrometer. The optimization of the system was carried out testing reaction coils and gas-liquid separators of different design as well as changing parameters, such as sample and reagents volumes, reagent concentrations and carrier gas flow rate, among others. The analytical curves were obtained within the range 50-5000 ng L -1 . The detection limit (3σ b /S) achieved is 5 ng L -1 . The relative standard deviation (R.S.D.) was 1.4%, evaluated from 16 successive injections of 250 ng L -1 Hg standard solution. The injection and sample throughput per hour were 44 and 11, respectively. This technique was validated by means of solid and water reference materials with good agreement with the certified values and was successfully applied to fish samples

  5. Cold leg injection reflood test results in the SCTF Core-I under constant system pressure

    Adachi, Hiromichi; Iwamura, Takamichi; Sobajima, Makoto; Osakabe, Masahiro; Ohnuki, Akira; Abe, Yutaka; Murao, Yoshio.

    1990-08-01

    The Slab Core Test Facility (SCTF) was constructed to investigate two-dimensional thermal-hydrodynamics in the core and the interaction in fluid behavior between the core and the upper plenum during the last part of blowdown, refill and reflood phases of a postulated loss-of-coolant accident (LOCA) of a pressurized water reactor (PWR). The present report describes the analytical results on the system behavior observed in the SCTF Core-I cold leg injection tests, S1-14 (Run 520), S1-15 (521), S1-16 (522), S1-17 (523), S1-20 (530), S1-21 (531), S1-23 (536) and S1-24 (537), performed under constant system pressure condition during transient. Major discussion items are: (1) steam binding, (2) U-tube oscillations, (3) bypass of ECC water (4) core cooling behavior, (5) effect of vent valve and (6) other parameter effects. These results give us very useful information and suggestion on reflood behavior. (author)

  6. Integrity assessment of the cold leg piping system in a PWR

    Mayfield, M.E.; Leis, B.N.

    1981-01-01

    The purpose of this paper is to examine the integrity of a nuclear piping system, designed in accordance with Section III, in the context of a damage tolerance analysis procedure. Such a procedure directly addresses the defects and cyclic loadings that are responsible for the above noted exceptions. The analysis and results reported here are for a fatigue life analysis of the Cold Leg piping in a PWR. This piping system is particularly important from a safety standpoint since a large break is a possible initiator of a core meltdown accident. The analysis employs LEFM concepts to determine the time between the initial start-up and (1) formation of a leak, (2) detection of the leak, and (3) the final fracture of the piping. Both longitudinal and circumferential defects are considered. The defects are assumed to propagate from the pipe I.D. in a self-similar manner. Inputs to the analysis were derived from information supplied by plant operators and vendors, published data, and 'expert opinions'. The life was computed using a linear damage accumulation. (orig./GL)

  7. Ecology and social system of northern gibbons living in cold seasonal forests.

    Guan, Zhen-Hua; Ma, Chang-Yong; Fei, Han-Lan; Huang, Bei; Ning, Wen-He; Ni, Qing-Yong; Jiang, Xue-Long; Fan, Peng-Fei

    2018-07-18

    Gibbons in China represent the northernmost margin of present day gibbon species distribution (around N25°). Compared to tropical habitats, northern gibbon habitats are characterized by low temperatures and remarkable seasonal variation in fruit abundance. How gibbons adapt to their cold and seasonal habitats and what ecological factors affect their sociality are key questions for understanding their ecology and social system evolution, the elucidation of which will contribute to the conservation of these special populations/species. According to preliminary short-term studies, northern gibbons consume more leaves and use larger home ranges than tropical gibbons. Interestingly, some Nomascus groups consist of more than one adult female. However, these preliminary results are not well understood or incorporated into current socio-ecological theories regarding gibbon species. To better understand northern gibbons, our team has systematically studied three habituated groups of Nomascus concolor, three groups of N. nasutus, and two habituated groups of Hoolock tianxing since 2002. In this paper, we stress the challenges facing gibbons living in northern habitats and summarize their behavioral adaptations to their harsh environments. We also describe the northern gibbon social system and discuss the potential relationships between their ecology and sociality. Finally, we highlight future research questions related to northern gibbons in China.

  8. Ecology and social system of northern gibbons living in cold seasonal forests

    Zhen-Hua Guan

    2018-07-01

    Full Text Available Gibbons in China represent the northernmost margin of present day gibbon species distribution (around N25°. Compared to tropical habitats, northern gibbon habitats are characterized by low temperatures and remarkable seasonal variation in fruit abundance. How gibbons adapt to their cold and seasonal habitats and what ecological factors affect their sociality are key questions for understanding their ecology and social system evolution, the elucidation of which will contribute to the conservation of these special populations/species. According to preliminary short-term studies, northern gibbons consume more leaves and use larger home ranges than tropical gibbons. Interestingly, some Nomascus groups consist of more than one adult female. However, these preliminary results are not well understood or incorporated into current socio-ecological theories regarding gibbon species. To better understand northern gibbons, our team has systematically studied three habituated groups of Nomascus concolor, three groups of N. nasutus, and two habituated groups of Hoolock tianxing since 2002. In this paper, we stress the challenges facing gibbons living in northern habitats and summarize their behavioral adaptations to their harsh environments. We also describe the northern gibbon social system and discuss the potential relationships between their ecology and sociality. Finally, we highlight future research questions related to northern gibbons in China.

  9. Quantum phases of low-dimensional ultra-cold atom systems

    Mathey, Ludwig G.

    2007-06-01

    In this thesis we derive and explore the quantum phases of various types of ultracold atom systems, as well as their experimental signature. The technology of cooling, trapping and manipulating ultracold atoms has advanced in an amazing fashion during the last decade, which has led to the study of many-body effects of atomic ensembles. We first consider atomic mixtures in one dimension, which show a rich structure of phases, using a Luttinger liquid description. We then go on to consider how noise correlations in time-of-flight images of one-dimensional systems can be used to draw conclusions about the many-body state that they're in. Thirdly, we consider the quantum phases of Bose-Fermi mixtures in optical lattices, either square lattices or triangular lattices, using the powerful method of functional renormalization group analysis. Lastly, we study the phases of two-coupled quasi-superfluids in two dimensions, which shows unusual phases, and which could be used to realize the Kibble-Zurek mechanism, i.e. the generation of topological defects by ramping across a phase transition, first proposed in the context of an early universe scenario.

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

    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.

  11. Hydraulic manipulator research at ORNL

    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

  12. Hydraulic manipulator research at ORNL

    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.

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

    Lagerev A.V.

    2018-03-01

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

  14. Criticality Safety Evaluation Report for the Cold Vacuum Drying (CVD) Facility's Process Water Handling System

    KESSLER, S.F.

    2000-01-01

    This report addresses the criticality concerns associated with process water handling in the Cold Vacuum Drying Facility. The controls and limitations on equipment design and operations to control potential criticality occurrences are identified

  15. Criticality safety evaluation report for the cold vacuum drying facility's process water handling system

    NELSON, J.V.

    1999-01-01

    This report addresses the criticality concerns associated with process water handling in the Cold Vacuum Drying Facility. The controls and limitations on equipment design and operations to control potential criticality occurrences are identified

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

    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

  17. Note: Design and implementation of a home-built imaging system with low jitter for cold atom experiments

    Hachtel, A. J.; Gillette, M. C.; Clements, E. R.; Zhong, S.; Weeks, M. R.; Bali, S., E-mail: balis@miamioh.edu [Department of Physics, Miami University, Oxford, Ohio 45056-1866 (United States)

    2016-05-15

    A novel home-built system for imaging cold atom samples is presented using a readily available astronomy camera which has the requisite sensitivity but no timing-control. We integrate the camera with LabVIEW achieving fast, low-jitter imaging with a convenient user-defined interface. We show that our system takes precisely timed millisecond exposures and offers significant improvements in terms of system jitter and readout time over previously reported home-built systems. Our system rivals current commercial “black box” systems in performance and user-friendliness.

  18. Research approach and first results on agglomerate compaction in protoplanetary dust simulation in the Cloud Manipulation System

    Vedernikov, Andrei; Blum, Jurgen; Ingo Von Borstel, Olaf; Schraepler, Rainer; Balapanov, Daniyar; Cecere, Anselmo

    2016-07-01

    Nanometre and micrometre-sized solid particles are ubiquitous in space and on Earth - from galaxies, interstellar space, protoplanetary and debris disks to planetary rings and atmospheres, planetary surfaces, comets, interplanetary space, Earth's atmosphere. Apparently, the most intriguing problem in the picture of the formation of planets is the transition from individual microscopic dust grains to kilometre-sized planetesimals. Revealing the mechanisms of this transition is one of the main tasks of the European Space Agency's project Interaction in Cosmic and Atmospheric Particle Systems (ICAPS). It was found that Brownian motion driven agglomeration could not provide the transition within reasonable time scale. As a result, at this stage top scientific goals shifted towards forced agglomeration and concentration of particles, targeting revealing the onset of compaction, experimental study of the evolution of fractal dimensions, size and mass distribution, occurrence of bouncing. The main tasks comprise 1) development of the rapid agglomeration model 2) development of the experimental facilities creating big fractal-type agglomerates from 10 to 1000 μm from a cloud of micrometre-size grains; 3) experimental realization of the rapid agglomeration in microgravity and ground conditions; and 4) in situ investigation of the morphology, mobility, mechanical and optical properties of the free-floating agglomerates, including investigation of thermophoresis, photophoresis of the agglomerates and of the two-phase flow phenomena. To solve the experimental part of the tasks we developed a Cloud Manipulation System, realized as a breadboard (CMS BB) for long duration microgravity platforms and a simplified laboratory version (CMS LV) mostly oriented on short duration microgravity and ground tests. The new system is based on the use of thermophoresis, most favourable for cloud manipulation without creating additional particle-particle forces in the cloud with a possibility

  19. Earth System Models Underestimate Soil Carbon Diagnostic Times in Dry and Cold Regions.

    Jing, W.; Xia, J.; Zhou, X.; Huang, K.; Huang, Y.; Jian, Z.; Jiang, L.; Xu, X.; Liang, J.; Wang, Y. P.; Luo, Y.

    2017-12-01

    Soils contain the largest organic carbon (C) reservoir in the Earth's surface and strongly modulate the terrestrial feedback to climate change. Large uncertainty exists in current Earth system models (ESMs) in simulating soil organic C (SOC) dynamics, calling for a systematic diagnosis on their performance based on observations. Here, we built a global database of SOC diagnostic time (i.e.,turnover times; τsoil) measured at 320 sites with four different approaches. We found that the estimated τsoil was comparable among approaches of 14C dating () (median with 25 and 75 percentiles), 13C shifts due to vegetation change () and the ratio of stock over flux (), but was shortest from laboratory incubation studies (). The state-of-the-art ESMs underestimated the τsoil in most biomes, even by >10 and >5 folds in cold and dry regions, respectively. Moreover,we identified clear negative dependences of τsoil on temperature and precipitation in both of the observational and modeling results. Compared with Community Land Model (version 4), the incorporation of soil vertical profile (CLM4.5) could substantially extend the τsoil of SOC. Our findings suggest the accuracy of climate-C cycle feedback in current ESMs could be enhanced by an improved understanding of SOC dynamics under the limited hydrothermal conditions.

  20. Energy intake and growth of weanling horses in a cold loose housing system

    E. AUTIO

    2008-12-01

    Full Text Available The demand for information relating to the nutrition of horses in a cold environment is increasing with the popularity of loose housing of horses. This study examined the energy intake and growth of 10 weanling horses from November to March (22 weeks in a loose housing system (paddock and insulated sleeping hall with deep-litter bed. The horses were measured weekly for body condition and body weight, and the feeding was adjusted according to a horse’s body condition. Metabolizable energy (ME intake was compared to Finnish (MTT 2006 and Swedish (SLU 2004 nutrient requirements for 6–12-month-old horses. ME intake (75.5 ± 11.8 MJ d-1, mean ± SD was on average 24.6% above the requirements. The intake varied in a non-linear fashion in the course of the winter: y = 0.086x2 – 0.902x + 71.5, where x is weeks from November to March (p

  1. A survey of commercially available manipulators, end-effectors, and delivery systems for reactor decommissioning activities

    Henley, D.R.; Litka, T.J.

    1996-05-01

    Numerous nuclear facilities owned by the U.S. Department of Energy (DOE) are under consideration for decommissioning. Currently, there are no standardized, automated, remote systems designed to dismantle and thereby reduce the size of activated reactor components and vessels so that they can be packaged and shipped to disposal sites. Existing dismantling systems usually consist of customized, facility-specific tooling that has been developed to dismantle a specific reactor system. Such systems have a number of drawbacks. Generally, current systems cannot be disassembled, moved, and reused. Developing and deploying the tooling for current systems is expensive and time-consuming. In addition, the amount of manual work is significant because long-handled tools must be used; as a result, personnel are exposed to excessive radiation. A standardized, automated, remote system is therefore needed to deliver the tooling necessary to dismantle nuclear facilities at different locations. Because this system would be reusable, it would produce less waste. The system would also save money because of its universal design, and it would be more reliable than current systems

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

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

    2008-01-01

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

  3. Technical water system of the Reactor - Design description, operation regime and manipulation

    Badrljica, R.

    1984-05-01

    Technical water, reactor secondary coolant system is made of four parts: pumping station on the Danube; sedimentation facility in the village Vinca; coolant, heat exchangers and other elements within the RA reactor building; leading outer pipes and the stream Mlaka. All the four parts are connected to form a functional entirety, and each of them connected to cooling heat exchangers forms a partial functional system which enable the whole system to fulfill its fundamental task [sr

  4. A versatile computer based system for data acquisition manipulation and presentation

    Bardsley, D.J.

    1985-12-01

    A data acquisition system based on the Microdata M 1600L data logger and a Digital Equipment Corporation (DEC) VT103 computer system has been set up for use in a wide range of research and development projects in the field of fission detectors and associated technology. The philosophy underlying the system and its important features are described. Operating instructions for the logger are given, and its application to experimental measurements is considered. Observations on whole system performance, and recommendations for improvements are made. (U.K.)

  5. Independent Orbiter Assessment (IOA): Assessment of the EPD and C/remote manipulator system FMEA/CIL

    Robinson, W. W.

    1988-01-01

    The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Electrical Power Distribution and Control (EPD and C)/Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA analysis of the EPD and C/RMS hardware initially generated 345 failure mode worksheets and identified 117 Potential Critical Items (PCIs) before starting the assessment process. These analysis results were compared to the proposed NASA Post 51-L baseline of 132 FMEAs and 66 CIL items.

  6. Study on the effectiveness of Extreme Cold Mist MQL system on turning process of stainless steel AISI 316

    Jamaludin, A. S.; Hosokawa, A.; Furumoto, T.; Koyano, T.; Hashimoto, Y.

    2018-03-01

    Cutting process of difficult-to-cut material such as stainless steel, generates immensely excessive heat, which is one of the major causes related to shortening tool life and lower quality of surface finish. It is proven that application of cutting fluid during the cutting process of difficult-to-cut material is able to improve the cutting performance, but excessive application of cutting fluid leads to another problem such as increasing processing cost and environmental hazardous pollution of workplace. In the study, Extreme Cold Mist system is designed and tested along with various Minimum Quantity Lubrication (MQL) systems on turning process of stainless steel AISI 316. In the study, it is obtained that, Extreme Cold Mist system is able to reduce cutting force up to 60N and improve the surface roughness of the machined surface significantly.

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

    Tashiro Yosuke

    2017-01-01

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

  8. Cold in-place recycling characterization framework for single or multiple component binder systems

    Cox, Benjamin C.

    Cold in-place recycling (CIR) is a pavement rehabilitation technique which has gained momentum in recent years. This momentum is due partly to its economic and sustainability characteristics, which has led to CIR market expansion. When pavement network deterioration is considered alongside increasing material costs, it is not beyond reason to expect demands on CIR to continue to increase. Historically, single component binder (SCB) systems, those with one stabilization binder (or two if the secondary binder dosage is 1% or less), have dominated the CIR market and could be considered the general state of practice. Common stabilization binders are either bituminous or cementitious. Two example SCB systems would be: 1) 3% portland cement, or 2) 3% asphalt emulsion with 1% hydrated lime. While traditional SCB systems have demonstrated positive economic and sustainability impacts, this dissertation focuses on multiple component binder (MCB) systems (bituminous and cementitious combined) which exhibit the potential to provide better overall economics and performance. Use of MCBs has the potential to alleviate SCB issues to some extent (e.g. cracking with cementitious SCBs, rutting with bituminous SCBs). Furthermore, to fairly represent both binders in an MCB system a universal design method which can accommodate multiple binder types is needed. The main objectives of this dissertation are to develop a universal CIR design framework and, using this framework, characterize multiple SCB and MCB systems. Approximately 1500 CIR specimens were tested herein along with approximately 300 asphalt concrete specimens which serve as a reference data set for CIR characterization. A case study of a high-traffic Mississippi CIR project which included cement SCB and emulsion SCB sections is also presented to support laboratory efforts. Individual components needed to comprise a universal design framework, such as curing protocols, were developed. SCB and MCB characterization indicated

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

    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.

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

    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.

  11. Methods and systems using encapsulated tracers and chemicals for reservoir interrogation and manipulation

    Roberts, Jeffery; Aines, Roger D; Duoss, Eric B; Spadaccini, Christopher M

    2014-11-04

    An apparatus, method, and system of reservoir interrogation. A tracer is encapsulating in a receptacle. The receptacle containing the tracer is injected into the reservoir. The tracer is analyzed for reservoir interrogation.

  12. AMPX: a modular system for multigroup cross-section generation and manipulation

    Greene, N.M.; Ford, W.E. III; Petrie, L.M.; Diggs, B.R.; Webster, C.C.; Lucius, J.L.; White, J.E.; Wright, R.Q.; Westfall, R.M.

    1978-01-01

    The AMPX system, developed at the Oak Ridge National Laboratory over the past seven years, is a collection of computer programs in a modular arrangement. Starting with ENDF-formatted nuclear data files, the system includes a full range of features needed to produce and use multigroup neutron, gamma-ray production, and gamma-ray interaction cross-section data. The balance between production and analysis is roughly even; thus, the system serves a wide variety of needs. The modularity is particularly attractive, since it allows the user to choose an arbitrary execution sequence from the approximately 40 to 50 modules available in the system. The modularity also allows selection from different treatments; e.g., the Nordheim method, a full-blown integral transport calculation, the Bondarenko method, or other alternative can be selected for resonance shielding. 2 figures

  13. Evaluation of simplified ventilation system with direct air supply through the facade in a school in a cold climate

    Mysen, M. [Norwegian Building Research Institute, Blindern, Oslo (Norway); Department of Energy and Process Technology, Norwegian University of Science and Technology (NTNU), Trondheim (Norway); Schild, P. G.; Hellstrand, V.; Thunshelle, K. [Norwegian Building Research Institute, Blindern, Oslo (Norway)

    2004-07-01

    Many educational buildings in industrialised countries have poor indoor climate, according to today's knowledge about the impact of indoor climate on well-being and productivity. Budget restrictions and practical limitations such as lack of space for central air handling units and ventilation ducts, have motivated the application of simplified ventilation systems in some schools, such as taking unconditioned supply air directly from the facade. One such school was recently evaluated in Norway. On cold days, thermal comfort in the classroom deteriorated due to cold down draught from the supply outlet. In addition, moist and fertile conditions for microbiological growth were observed in the air supply ductwork. On the other hand the same pupils are more satisfied with the school and have less sick building syndrome (SBS) symptoms during winter than summer. An improved control strategy with a temperature-compensated CO{sub 2} set-point for controlling the air flow is suggested. This could improve thermal comfort and reduce energy use without compromising perceived air quality (PAQ) during cold weather. Furthermore it could improve indoor air quality (IAQ) during warm weather with only a slight increase of energy use. Further evaluation of an improved solution is needed before such a ventilation concept can be recommended in cold climates. (author)

  14. FMS: A Format Manipulation System for Automatic Production of Natural Language Documents, Second Edition. Final Report.

    Silver, Steven S.

    FMS/3 is a system for producing hard copy documentation at high speed from free format text and command input. The system was originally written in assembler language for a 12K IBM 360 model 20 using a high speed 1403 printer with the UCS-TN chain option (upper and lower case). Input was from an IBM 2560 Multi-function Card Machine. The model 20…

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

    Silva, Pedro; Vilar, Luís; Davids, Keith; Araújo, Duarte; Garganta, Júlio

    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 (GPS 15 Hz) from ten U-15 football players performing in three SSCGs varying in player numbers (3v3, 4v4 and 5v5). Key measures of SSCG system behaviours included values of (1) players' dispersion, (2) teams' separateness, (3) coupling strength and time delays between participants' emerging movements, respectively. Results showed that values of participants' dispersion increased, but the teams' separateness remained identical across treatments. Coupling strength and time delay also showed consistent values across SSCGs. These results exemplified how complex adaptive systems, like football teams, can harness inherent degeneracy to maintain similar team spatial-temporal relations with opponents through changes in inter-individual coordination modes (i.e., players' dispersion). The results imply that different team behaviours might emerge at different ratios of field dimension/player numbers. Therefore, sport pedagogists should carefully evaluate the effects of changing RSP in SSCGs as a way of promoting increased or decreased pressure on players.

  16. Motion control of a large gap magnetic suspension system for microrobotic manipulation

    Craig, David; Khamesee, Mir Behrad [Department of Mechanical and Mechatronics Engineering, University of Waterloo, Ontario, N2L 3G1 (Canada)

    2007-06-07

    Magnetic suspension systems have shown a great deal of promise in the field of microrobotics. This paper discusses the performance of a new large gap magnetic suspension system developed by the researchers. The magnetic drive unit consists of six electromagnets attached to a soft iron pole piece and yoke. Levitation of an 11.19 g microrobot prototype is demonstrated for step, ramp and periodic input trajectories using PID control. The working envelope of the microrobot is 30 x 22 x 20 mm{sup 3}, with an RMS error on the order of 18 {mu}m in the vertical direction and 8 {mu}m in the horizontal direction. It is demonstrated that the levitated microrobot is able to track the desired trajectory precisely and that the system has potential application for micromanipulation.

  17. Motion control of a large gap magnetic suspension system for microrobotic manipulation

    Craig, David; Khamesee, Mir Behrad

    2007-01-01

    Magnetic suspension systems have shown a great deal of promise in the field of microrobotics. This paper discusses the performance of a new large gap magnetic suspension system developed by the researchers. The magnetic drive unit consists of six electromagnets attached to a soft iron pole piece and yoke. Levitation of an 11.19 g microrobot prototype is demonstrated for step, ramp and periodic input trajectories using PID control. The working envelope of the microrobot is 30 x 22 x 20 mm 3 , with an RMS error on the order of 18 μm in the vertical direction and 8 μm in the horizontal direction. It is demonstrated that the levitated microrobot is able to track the desired trajectory precisely and that the system has potential application for micromanipulation

  18. Manipulations of the ubiquitin proteasome system and their effects on antigen presentation

    Groothuis, Tom Alphonsus Maria

    2006-01-01

    Surgery is the most effective cancer therapy, followed by radiotherapy. These techniques usually target tumour specific tissue only, unlike most forms of chemotherapy as is best illustrated by the relatively moderate side effects of such treatments. When the immune system could find and destroy

  19. Density evaluation by computerized tomography in plain soils over different manipulation systems

    Pedrotti, Alceu

    1996-08-01

    The objective of this paper is the evaluation of a plain soil density in different culture systems determined by X ray computerized tomography.It was observed a larger variation in densities in soils profiles analysed. The identification of layers is better utilising computerized tomography than others technic

  20. A NEW FORM OF SECURITY COOPERATION AND COLLECTIVECONFLICT MANAGEMENT IN THE POST COLD WARINTERNATIONAL SYSTEM

    Sinem KOCAMAZ

    2011-01-01

    Full Text Available International security environment changed completely after the Cold War.During the Cold War years security challenges wereshaped by competitive powerrelations between Soviet Union and the United States. On the other hand after theend of the Cold War, global security was redefinedand wide range of securitychallenges and threats occurred. After fragmentation of security threats, newthreats emerged such as terrorist attacks, massacres which are made by humansown governments, chronic politic instabilities, environmental degradations etc.Under these circumstances new forms of security cooperation became more vitalin order to cope with these complex challenges. Inthis respect third partiesbecame an actor to manage conflicts, security challenges and crises. Unliketraditional nation-state intervention, regional organizations, international agenciesand non-governmental organizations became more active in conflict managementprocess. In this framework this study will evaluateperformance and theeffectiveness of the main actors in the collectiveconflict management (CCMprocess.

  1. Cold plate

    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.

  2. Exogenous 5-Aminolevulenic Acid Promotes Antioxidative Defence System, Photosynthesis and Growth in Soybean against Cold Stress

    Elahe MANAFI

    2015-12-01

    Full Text Available In the present study, the possibility of enhancing cold stress tolerance of young soybean plants (Glycine max [L.] Merr by exogenous application of 5-aminolevulinic acid (ALA was investigated. ALA was applied at various concentrations (0, 0.3, 0.6 and 0.9 mM by seed priming and foliar application method. After ALA treatment, the plants were subjected to cold stress at 10 ± 0.5 °C for 72 h. Cold stress significantly decreased plant growth, relative water content, chlorophyll, photosynthesis and stomatal conductivity, while it increased electrolyte leakage and proline accumulation. ALA at low concentrations (0.3 mM protected plants against cold stress, enhancing plant height, shoot fresh and dry weight, chlorophyll content, photosynthesis, stomatal conductivity as well as relative water content. Increase of electrolyte leakage was also prevented by 0.6 mM ALA. ALA also enhanced superoxide dismutase and catalase activities at 0.6 mM concentration especially under cold stress conditions. Proline increased with increasing in ALA concentration under both temperature conditions. In most cases, application of ALA by spraying method was better than seed priming method. Results showed that ALA, which is considered as an endogenous plant growth regulator, can be used effectively to protect soybean plants from the damaging effects of cold stress, by enhancing the activity of antioxidative enzymes, protecting cell membrane against reactive oxygen species and finally by promoting chlorophyll synthesis, leading to more intense photosynthesis and more carbon fixation, without any adverse effect on the plant growth.

  3. Environmental systems biology of cold-tolerant phenotype in Saccharomyces species adapted to grow at different temperatures.

    Paget, Caroline Mary; Schwartz, Jean-Marc; Delneri, Daniela

    2014-11-01

    Temperature is one of the leading factors that drive adaptation of organisms and ecosystems. Remarkably, many closely related species share the same habitat because of their different temporal or micro-spatial thermal adaptation. In this study, we seek to find the underlying molecular mechanisms of the cold-tolerant phenotype of closely related yeast species adapted to grow at different temperatures, namely S. kudriavzevii CA111 (cryo-tolerant) and S. cerevisiae 96.2 (thermo-tolerant). Using two different systems approaches, i. thermodynamic-based analysis of a genome-scale metabolic model of S. cerevisiae and ii. large-scale competition experiment of the yeast heterozygote mutant collection, genes and pathways important for the growth at low temperature were identified. In particular, defects in lipid metabolism, oxidoreductase and vitamin pathways affected yeast fitness at cold. Combining the data from both studies, a list of candidate genes was generated and mutants for two predicted cold-favouring genes, GUT2 and ADH3, were created in two natural isolates. Compared with the parental strains, these mutants showed lower fitness at cold temperatures, with S. kudriavzevii displaying the strongest defect. Strikingly, in S. kudriavzevii, these mutations also significantly improve the growth at warm temperatures. In addition, overexpression of ADH3 in S. cerevisiae increased its fitness at cold. These results suggest that temperature-induced redox imbalances could be compensated by increased glycerol accumulation or production of cytosolic acetaldehyde through the deletion of GUT2 or ADH3, respectively. © 2014 The Authors. Molecular Ecology Published by John Wiley & Sons Ltd.

  4. Ligasure Vessel sealing system Tonsillectomy versus Cold Knife Tonsillectomy: A study ofefficy and Adverse effcts

    Farahani F

    2017-06-01

    Full Text Available Introduction: Tonsillectomy is one of the most common procedures performed by otolaryngologists. Intraoperative bleeding is a significant problem, which requires hemostasis and causes prolonged operative time. Several different techniques are used to perform this operation. The Ligasure Vessel Sealing System (LVSST has been widely used in head and neck surgery because of its effectiveness and safety. Methods: This project was conducted at the department of otolaryngology of Besat Hospital, Hamadan, Iran. In this double-blinded clinical trial, 82 subjects, who were candidates for tonsillectomy and qualified in eligible criteria, were randomly assigned to 2 group of 41 subjects. Surgery was performed using Lvsst for one group and cold knife dissection for the other group. Measured outcomes for efficacy and adverse effect were intraoperative blood loss, operation time, post-operative pain in visual analogue scale, and post-operative bleeding for28 days after surgery. The SPSS 16 software was used for data analysis. Results: Method of LVSST was significantly better than CKT in operation time and bleeding on the first day after surgery, yet, postoperative blood loss in the first week after surgery in LVSST group was significantly higher than the CKT group. Severity of sore throat after surgery with Ligasure was higher than CKT the group, however the difference was not significant. Intraoperative bleeding in the LVSST group was significantly lower than that of the CKT group (P = 0.000. Conclusions: The results of this study showed that the prevalence of respiratory symptoms LVSST was better than CKT in intraoperative (not post-operative blood loss and operation time, yet there was no difference regarding postoperative pain. For workers with a history of allergies, this ratio is higher.

  5. Cold-starting portable microenergy system. Autonomous fuel cell system using sodium borohydride as an energy source; Kaltstartfaehiges portables Mikroenergiesystem. Autarkes BZ-System mit Natriumborhydrid als Energietraeger

    Groos, Ulf; Koch, Wolfgang [Fraunhofer-Institut fuer Solare Energiesysteme (ISE), Freiburg im Breisgau (Germany)

    2012-10-15

    A project consortium led by Fraunhofer-Institut fuer Solare Energiesysteme ISE developed an autonomous micro energy system (AMES) with an output of 100 W{sub el} as a charging station for applications in emergency medicine. The system is designed for a wide temperature range of -15 to +50 degC during startup, operation, and shutoff. The cold starting fuel cell system is in accordance with current standards and is suited for serial production. It can be operated with common hydrogen stores, e.g. gas flasks or metal hydrides, or else with a specially developed hydrogen generator based on sodium borohydride. (orig.)

  6. Manipulator and materials handling systems for reactor decommissioning -Cooperation between the university and the plant operator

    Schreck, G.; Bach, F. W.; Haferkamp, H.

    1995-01-01

    Nuclear reactor dismantling requires suitable handling systems for tools and disassembled components, as well as qualified and reliable disassembly and cutting techniques. From the angle of radiation protection, remote-controlled handling techniques and underwater techniques are the methods of choice, the latter particularly in continuation of plant operating conditions, and this all the more the more disassembly work proceeds towards the reactor core. With the experience accumulated for 20 years now by the Institut fuer Werkstoffkunde (materials science) of Hannover University by basic research and application-oriented development work in the field of thermal cutting technology, especially plasma arc cutting techniques, as well as development work in the field of remote-controlled materials handling systems, the institute is the cut-out partner for disassembly tasks in reactor decommissioning. (Orig./DG) [de

  7. Manipulating the sudden death of entanglement in two-qubit atomic systems

    Hussain, Mahmood Irtiza; Tahira, Rabia; Ikram, Manzoor [COMSATS Institute of Information Technology, Islamabad (Pakistan)

    2011-10-15

    We investigate the entanglement dynamics of a general two-qubit system in a noisy environment presenting analytical descriptions of the time evolution of entanglement having some unitary operations after its evolution in dissipative environments. We show that quantum gates (unitary operators) and bath switching can change the subsequent dynamics of entanglement. For this purpose, we consider {sigma}{sub x} and bath switching operations that change the disentanglement time from finite to infinite.

  8. Manipulating the sudden death of entanglement in two-qubit atomic systems

    Hussain, Mahmood Irtiza; Tahira, Rabia; Ikram, Manzoor

    2011-01-01

    We investigate the entanglement dynamics of a general two-qubit system in a noisy environment presenting analytical descriptions of the time evolution of entanglement having some unitary operations after its evolution in dissipative environments. We show that quantum gates (unitary operators) and bath switching can change the subsequent dynamics of entanglement. For this purpose, we consider σ x and bath switching operations that change the disentanglement time from finite to infinite.

  9. Manipulation of Superparamagnetic Beads on Patterned Exchange-Bias Layer Systems for Biosensing Applications.

    Ehresmann, Arno; Koch, Iris; Holzinger, Dennis

    2015-11-13

    A technology platform based on a remotely controlled and stepwise transport of an array arrangement of superparamagnetic beads (SPB) for efficient molecular uptake, delivery and accumulation in the context of highly specific and sensitive analyte molecule detection for the application in lab-on-a-chip devices is presented. The near-surface transport of SPBs is realized via the dynamic transformation of the SPBs' magnetic potential energy landscape above a magnetically stripe patterned Exchange-Bias (EB) thin film layer systems due to the application of sub-mT external magnetic field pulses. In this concept, the SPB velocity is dramatically influenced by the magnitude and gradient of the magnetic field landscape (MFL) above the magnetically stripe patterned EB substrate, the SPB to substrate distance, the magnetic properties of both the SPBs and the EB layer system, respectively, as well as by the properties of the external magnetic field pulses and the surrounding fluid. The focus of this review is laid on the specific MFL design in EB layer systems via light-ion bombardment induced magnetic patterning (IBMP). A numerical approach is introduced for the theoretical description of the MFL in comparison to experimental characterization via scanning Hall probe microscopy. The SPB transport mechanism will be outlined in terms of the dynamic interplay between the EB substrate's MFL and the pulse scheme of the external magnetic field.

  10. Manipulation of Superparamagnetic Beads on Patterned Exchange-Bias Layer Systems for Biosensing Applications

    Arno Ehresmann

    2015-11-01

    Full Text Available A technology platform based on a remotely controlled and stepwise transport of an array arrangement of superparamagnetic beads (SPB for efficient molecular uptake, delivery and accumulation in the context of highly specific and sensitive analyte molecule detection for the application in lab-on-a-chip devices is presented. The near-surface transport of SPBs is realized via the dynamic transformation of the SPBs’ magnetic potential energy landscape above a magnetically stripe patterned Exchange-Bias (EB thin film layer systems due to the application of sub-mT external magnetic field pulses. In this concept, the SPB velocity is dramatically influenced by the magnitude and gradient of the magnetic field landscape (MFL above the magnetically stripe patterned EB substrate, the SPB to substrate distance, the magnetic properties of both the SPBs and the EB layer system, respectively, as well as by the properties of the external magnetic field pulses and the surrounding fluid. The focus of this review is laid on the specific MFL design in EB layer systems via light-ion bombardment induced magnetic patterning (IBMP. A numerical approach is introduced for the theoretical description of the MFL in comparison to experimental characterization via scanning Hall probe microscopy. The SPB transport mechanism will be outlined in terms of the dynamic interplay between the EB substrate’s MFL and the pulse scheme of the external magnetic field.

  11. The Vibrio parahaemolyticus Type III Secretion Systems manipulate host cell MAPK for critical steps in pathogenesis.

    Matlawska-Wasowska, Ksenia

    2010-12-01

    Vibrio parahaemolyticus is a food-borne pathogen causing inflammation of the gastrointestinal epithelium. Pathogenic strains of this bacterium possess two Type III Secretion Systems (TTSS) that deliver effector proteins into host cells. In order to better understand human host cell responses to V. parahaemolyticus, the modulation of Mitogen Activated Protein Kinase (MAPK) activation in epithelial cells by an O3:K6 clinical isolate, RIMD2210633, was investigated. The importance of MAPK activation for the ability of the bacterium to be cytotoxic and to induce secretion of Interleukin-8 (IL-8) was determined.

  12. Use of an automated digital images system for detecting plant status changes in response to climate change manipulations

    Cesaraccio, Carla; Piga, Alessandra; Ventura, Andrea; Arca, Angelo; Duce, Pierpaolo

    2014-05-01

    The importance of phenological research for understanding the consequences of global environmental change on vegetation is highlighted in the most recent IPCC reports. Collecting time series of phenological events appears to be of crucial importance to better understand how vegetation systems respond to climatic regime fluctuations, and, consequently, to develop effective management and adaptation strategies. However, traditional monitoring of phenology is labor intensive and costly and affected to a certain degree of subjective inaccuracy. Other methods used to quantify the seasonal patterns of vegetation development are based on satellite remote sensing (land surface phenology) but they operate at coarse spatial and temporal resolution. To overcome the issues of these methodologies different approaches for vegetation monitoring based on "near-surface" remote sensing have been proposed in recent researches. In particular, the use of digital cameras has become more common for phenological monitoring. Digital images provide spectral information in the red, green, and blue (RGB) wavelengths. Inflection points in seasonal variations of intensities of each color channel can be used to identify phenological events. Canopy green-up phenology can be quantified from the greenness indices. Species-specific dates of leaf emergence can be estimated by RGB image analyses. In this research, an Automated Phenological Observation System (APOS), based on digital image sensors, was used for monitoring the phenological behavior of shrubland species in a Mediterranean site. The system was developed under the INCREASE (an Integrated Network on Climate Change Research) EU-funded research infrastructure project, which is based upon large scale field experiments with non-intrusive climatic manipulations. Monitoring of phenological behavior was conducted continuously since October 2012. The system was set to acquire one panorama per day at noon which included three experimental plots for

  13. Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

    Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

    2017-01-01

    Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

  14. Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

    Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

    2017-01-01

    Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

  15. Oil flooded compression cycle enhancement for two-stage heat pump in cold climate region: System design and theoretical analysis

    Luo, Baojun

    2016-01-01

    Highlights: • COP of proposed system improves up to 17.2% compared with vapor injection cycle. • Discharge temperature of proposed system is largely decreased. • Proposed system is beneficial for refrigerant with high compression heat. • Proposed system has potential for applications in cold climate heat pump. - Abstract: In order to improve the performance of air source heat pump in cold climate region, a combined oil flooded compression with regenerator and vapor injection cycle system is suggested in this paper, which integrates oil flooded compression with regenerator into a conventional vapor injection cycle. A mathematical model is developed and parametric studies on this cycle are conducted to evaluate the benefits of the novel system. The performances of the novel system using R410A and R32 are compared with those of vapor injection cycle system. The improvement of coefficient of performance (COP) can reach up to nearly 9% based on the same isentropic efficiency, while 17.2% based on assumption that there is a 10% rise in isentropic efficiency brought by oil flooded compression cycle. The heating capacity is reduced by 8–18% based on the same volumetric efficiency, while could be less than 10% in a practical system. The discharge temperature is largely decreased and can be below 100 °C at −40 °C T_e and 50 °C T_c condition for R32. The theoretical results demonstrate this novel heat pump has a high potential for improving the performance of air source heat pump in cold climate region.

  16. Environmental hardening of a mobile-manipulator system for nuclear environments

    Jones, S.L.; Cable, T.; Tulenko, J.S.; Toshkov, S.; Sias, F.R. Jr.

    1993-01-01

    This research report discusses the radiation hardening of a commercially available mobile robot, the REMOTEC ANDROS. This hardening effort is culminating in the availability of a megarad hardened mobile platform to access areas in nuclear facilities with extremely high levels of radiation (0.1 to 1 Mrad). These radiation levels may be encountered both during routine repair and monitoring activities and accident situations. The project has completed a phase-I U.S. Department of Energy Small Business Innovative Research contract and is now in a phase-II effort with completion scheduled in early 1995. The research involves the evaluation of the material and electrical components of an ANDROS robot to determine the anticipated radiation hardness of the current production version and evaluation of the components that must be replaced or modified to harden the system to higher radiation levels. The work being reported is based on an evaluation of the complete list of all electronic, electrical, and mechanical parts used in the robot and includes initial experimental radiation evaluations performed at the University of Florida

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

    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%.

  18. A combined system for the generation of an intense cold neutron beam with a medium power research reactor

    Utsuro, M.; Okumura, K.

    1989-01-01

    A system consisting of a very cold moderator and a neutron-accelerating high speed turbine is proposed for the intensification of a cold neutron beam in a medium power research reactor up to the level applicable to inelastic neutron scattering spectrometers. A numerical result for 5 cm thick solid ortho-deuterium at a temperature of about 4 K and a turbine with a blade velocity of about 350 m/s gives an output intensity of monochromatic neutrons of about 10 7 n/cm 2 at an energy of about 3.5 meV with an energy width of about 0.2 meV for a typical case of a 5 MW reactor. (orig.)

  19. Modeling of gas-phase chemistry in the chemical vapor deposition of polysilicon in a cold wall system

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

    1993-06-01

    The relative contribution of gas-phase chemistry to deposition processes is an important issue both from the standpoint of operation and modeling of these processes. In polysilicon deposition from thermally activated silane in a cold wall rapid thermal chemical vapor deposition (RTCVD) system, the relative contribution of gas-phase chemistry to the overall deposition rate was examined by a mass-balance model. Evaluating the process at conditions examined experimentally, the model indicated that gas-phase reactions may be neglected to good accuracy in predicting polysilicon deposition rate. The model also provided estimates of the level of gas-phase generated SiH[sub 2] associated with deposition on the cold-process chamber walls.

  20. Numeric processor and text manipulator for the ''MASTER CONTROL'' data-base-management system

    Kuhn, R.W.

    1976-01-01

    The numeric and text processor of the MASTER CONTROL (MCP) data-base-management system permits the user to define fields and arrays that are functionally dependent on the data retained in a data base. This allows the storage of only the essential and unique information and data, and the calculation of derivable quantities as required. The derived quantity can be expressed as an arithmetic expression, that is, a functional relationship. Functions can be multiply subscripted and can be embedded within other functions at up to 58 levels. They can be stored either semi-permanently in a repertoire of functional relations, or they can be defined interactively from a terminal and used immediately for searching on the derived value. The processor also permits the conversion of literal strings into numbers, and vice versa. In addition, the user can define dictionaries that allow the expansion of keyed sentinels associated with records in the data base into fully descriptive expressions. This option can be used for cost-effective searching and data compaction. The functional definitions are reduced to Polish notation and stored in a disk file from which they are either retrieved on demand and evaluated according to the data of records specified or used in any given MASTER CONTROL command. The language used for the definitions of the numeric processor is essentially FORTRAN; most of the standard functions and over two dozen special functions are thus available. The functional processor provides a powerful technique for the integration of text and data for energy research and for scientific and technological work in general. MASTER CONTROL is operational at the Lawrence Livermore Laboratory (LLL) and at the Los Alamos Scientific Laboratory (LASL). 6 figures, 1 table

  1. Magnetic manipulation of superparamagnetic nanoparticles in a microfluidic system for drug delivery applications

    Agiotis, L.; Theodorakos, I.; Samothrakitis, S.; Papazoglou, S.; Zergioti, I.; Raptis, Y.S.

    2016-01-01

    Magnetic nanoparticles (MNPs), such as superparamagnetic iron oxide nanoparticles (SPIONS), have attracted major interest, due to their small size and unique magnetic properties, for drug delivery applications. In this context, iron oxide nanoparticles of magnetite (Fe 3 O 4 ) (150 nm magnetic core diameter), were used as drug carriers, aiming to form a magnetically controlled nano-platform. The navigation capabilities of the iron oxide nanoparticles in a microfluidic channel were investigated by simulating the magnetic field and the magnetic force applied on the magnetic nanoparticles inside a microfluidic chip. The simulations have been performed using finite element method (ANSY’S software). The optimum setup which intends to simulate the magnetic navigation of the nanoparticles, by the use of MRI-type fields, in the human circulatory system, consists of two parallel permanent magnets to produce a homogeneous magnetic field, in order to ensure the maximum magnetization of the magnetic nanoparticles, an electromagnet for the induction of the magnetic gradients and the creation of the magnetic force and a microfluidic setup so as to simulate the blood flow inside the human blood vessels. The magnetization of the superparamagnetic nanoparticles and the consequent magnetic torque developed by the two permanent magnets, together with the mutual interactions between the magnetized nanoparticles lead to the creation of rhabdoid aggregates in the direction of the homogeneous field. Additionally, the magnetic gradients introduced by the operation of the electromagnet are capable of directing the aggregates, as a whole, to the desired direction. By removing the magnetic fields, the aggregates are disrupted, due to the super paramagnetic nature of the nanoparticles, avoiding thus the formation of undesired thrombosis. - Highlights: • Homogeneous field yields an aggregation of particles along the lines of the field. • Additional electromagnet field rotates the

  2. Magnetic manipulation of superparamagnetic nanoparticles in a microfluidic system for drug delivery applications

    Agiotis, L.; Theodorakos, I.; Samothrakitis, S.; Papazoglou, S.; Zergioti, I.; Raptis, Y.S.

    2016-03-01

    Magnetic nanoparticles (MNPs), such as superparamagnetic iron oxide nanoparticles (SPIONS), have attracted major interest, due to their small size and unique magnetic properties, for drug delivery applications. In this context, iron oxide nanoparticles of magnetite (Fe{sub 3}O{sub 4}) (150 nm magnetic core diameter), were used as drug carriers, aiming to form a magnetically controlled nano-platform. The navigation capabilities of the iron oxide nanoparticles in a microfluidic channel were investigated by simulating the magnetic field and the magnetic force applied on the magnetic nanoparticles inside a microfluidic chip. The simulations have been performed using finite element method (ANSY’S software). The optimum setup which intends to simulate the magnetic navigation of the nanoparticles, by the use of MRI-type fields, in the human circulatory system, consists of two parallel permanent magnets to produce a homogeneous magnetic field, in order to ensure the maximum magnetization of the magnetic nanoparticles, an electromagnet for the induction of the magnetic gradients and the creation of the magnetic force and a microfluidic setup so as to simulate the blood flow inside the human blood vessels. The magnetization of the superparamagnetic nanoparticles and the consequent magnetic torque developed by the two permanent magnets, together with the mutual interactions between the magnetized nanoparticles lead to the creation of rhabdoid aggregates in the direction of the homogeneous field. Additionally, the magnetic gradients introduced by the operation of the electromagnet are capable of directing the aggregates, as a whole, to the desired direction. By removing the magnetic fields, the aggregates are disrupted, due to the super paramagnetic nature of the nanoparticles, avoiding thus the formation of undesired thrombosis. - Highlights: • Homogeneous field yields an aggregation of particles along the lines of the field. • Additional electromagnet field rotates the

  3. A Low-Cost Immersive Virtual Reality System for Teaching Robotic Manipulators Programming

    Vicente Román-Ibáñez

    2018-04-01

    Full Text Available Laboratory tasks are a powerful pedagogical strategy for developing competences in science and engineering degrees, making students understand in a practical way the theoretical topics explained in the classroom. However, performing experiments in real conditions is usually expensive in terms of time, money and energy, as it requires expensive infrastructures that are generally difficult to maintain in good conditions. To overcome this problem, virtual reality has proven to be a powerful tool to achieve sustainability, making it easy to update laboratories without the need to acquire new equipment. Moreover, the ability to introduce practical knowledge into classrooms without leaving them, makes virtual laboratories capable of simulating typical operating environments as well as extreme situations in the operation of different devices. A typical subject in which students can benefit from the use of virtual laboratories is robotics. In this work we will develop an immersive virtual reality (VR pedagogical simulator of industrial robotic arms for engineering students. With the proposed system, students will know the effects of their own designed trajectories on several different robotic arms and cell environments without having to buy all of them and being safe of damaging the cell components. The simulation will be checking for collisions of the elements in the scene and alert the student when they happen. This can be achieved with a robotic simulator, but the integration with immersive VR is intended to help students better understand robotics. Moreover, even having a real robotic arm available for students, with this proposed VR method, all the students have the opportunity to manage and learn his own version of the robotic cell, without waiting times generated by having less robotic arms than students in classroom.

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

    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)

  5. Dexterous Manipulation: Making Remote Manipulators Easy to Use

    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

  6. In-Bore Prostate Transperineal Interventions with an MRI-guided Parallel Manipulator: System Development and Preliminary Evaluation

    Eslami, Sohrab; Shang, Weijian; Li, Gang; Patel, Nirav; Fischer, Gregory S.; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Iordachita, Iulian

    2015-01-01

    Background The robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of the prostate cancer in human. Methods In this paper the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of 4 sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in the clinical trials. Results The manipulator has undergone several experiments to evaluate the repeatability and accuracy of the needle placement which is an essential concern in percutaneous prostate interventions. Conclusion The acquired results endorse the sustainability, precision (about 1 mm in air (in x or y direction) at the needle's reference point) and reliability of the manipulator. PMID:26111458

  7. A Reconfigurable System Approach to the Direct Kinematics of a 5 D.o.f Robotic Manipulator

    Diego F. Sánchez

    2010-01-01

    Full Text Available Hardware acceleration in high performance computer systems has a particular interest for many engineering and scientific applications in which a large number of arithmetic operations and transcendental functions must be computed. In this paper a hardware architecture for computing direct kinematics of robot manipulators with 5 degrees of freedom (5 D.o.f using floating-point arithmetic is presented for 32, 43, and 64 bit-width representations and it is implemented in Field Programmable Gate Arrays (FPGAs. The proposed architecture has been developed using several floating-point libraries for arithmetic and transcendental functions operators, allowing the designer to select (pre-synthesis a suitable bit-width representation according to the accuracy and dynamic range, as well as the area, elapsed time and power consumption requirements of the application. Synthesis results demonstrate the effectiveness and high performance of the implemented cores on commercial FPGAs. Simulation results have been addressed in order to compute the Mean Square Error (MSE, using the Matlab as statistical estimator, validating the correct behavior of the implemented cores. Additionally, the processing time of the hardware architecture was compared with the same formulation implemented in software, using the PowerPC (FPGA embedded processor, demonstrating that the hardware architecture speeds-up by factor of 1298 the software implementation.

  8. Conceptual design of a cold methane moderator system for the European Spallation Source (ESS)

    Barnert-Wiemer, H

    2002-01-01

    As part of the work for the target station of the planned European spallation source (ESS) the Central Department of Technology at the Forschungszentrum Juelich GmbH is also concerned with the moderators, particular attention being given to the development of cold methane moderators. This report discusses the technical feasibility of solid methane moderators. Methods to tailor the neutron output by adding absorption materials (decouplers or poisons) are not considered here, neither are composite moderators. Based on the given target-moderator-reflector assembly of the ESS project a concept for the ESS cold methane moderators has been developed and is being examined at the Forschungszentrum Juelich. According to this moderator concept the moderator is a fixed bed of small spheres, which makes moderator container filling homogeneous and reproducible. Since spheres form a defined packed bed, cooling of the moderator bed by H sub 2 is reliable. The process of filling the moderator container and of removing the pe...

  9. Non-isothermal kinetics of cold crystallization in multicomponent PLA/thermoplastic polyurethane/nanofiller system

    Kratochvíl, Jaroslav; Kelnar, Ivan

    2017-01-01

    Roč. 130, č. 2 (2017), s. 1043-1052 ISSN 1388-6150 R&D Projects: GA ČR(CZ) GA16-03194S Institutional support: RVO:61389013 Keywords : poly(lactic acid) * cold crystallization * thermoplastic polyurethane Subject RIV: JI - Composite Materials OBOR OECD: Composites (including laminates, reinforced plastics, cermets, combined natural and synthetic fibre fabrics Impact factor: 1.953, year: 2016

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

    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

  11. Development of the Science Data System for the International Space Station Cold Atom Lab

    van Harmelen, Chris; Soriano, Melissa A.

    2015-01-01

    Cold Atom Laboratory (CAL) is a facility that will enable scientists to study ultra-cold quantum gases in a microgravity environment on the International Space Station (ISS) beginning in 2016. The primary science data for each experiment consists of two images taken in quick succession. The first image is of the trapped cold atoms and the second image is of the background. The two images are subtracted to obtain optical density. These raw Level 0 atom and background images are processed into the Level 1 optical density data product, and then into the Level 2 data products: atom number, Magneto-Optical Trap (MOT) lifetime, magnetic chip-trap atom lifetime, and condensate fraction. These products can also be used as diagnostics of the instrument health. With experiments being conducted for 8 hours every day, the amount of data being generated poses many technical challenges, such as downlinking and managing the required data volume. A parallel processing design is described, implemented, and benchmarked. In addition to optimizing the data pipeline, accuracy and speed in producing the Level 1 and 2 data products is key. Algorithms for feature recognition are explored, facilitating image cropping and accurate atom number calculations.

  12. Biochemical and molecular characterization of the antioxidative system of Coffea sp. under cold conditions in genotypes with contrasting tolerance.

    Fortunato, Ana S; Lidon, Fernando C; Batista-Santos, Paula; Leitão, António Eduardo; Pais, Isabel P; Ribeiro, Ana I; Ramalho, José Cochicho

    2010-03-15

    Low positive temperature (chilling) is frequently linked to the promotion of oxidative stress conditions, and is of particular importance in the coffee plant due to its severe impact on growth, development, photosynthesis and production. Nevertheless, some acclimation ability has been reported within the Coffea genus, and is possibly related to oxidative stress control. Using an integrated biochemical and molecular approach, the characterization of the antioxidative system of genotypes with different cold acclimation abilities was performed. Experiments were carried out using 1.5-year-old coffee seedlings of Coffea canephora cv. Apoatã, C. arabica cv. Catuaí, C. dewevrei and 2 hybrids, Icatu (C. arabicaxC. canephora) and Piatã (C. dewevreixC. arabica) subjected to a gradual cold treatment and a recovery period. Icatu showed the greatest ability to control oxidative stress, as reflected by the enhancement of several antioxidative components (Cu,Zn-SOD and APX activities; ascorbate, alpha-tocopherol and chlorogenic acids (CGAs) contents) and lower reactive oxygen species contents (H(2)O(2) and OH). Gene expression studies show that GRed, DHAR and class III and IV chitinases might also be involved in the cold acclimation ability of Icatu. Catuaí showed intermediate acclimation ability through the reinforcement of some antioxidative molecules, usually to a lesser extent than that observed in Icatu. On the other hand, C. dewevrei showed the poorest response in terms of antioxidant accumulation, and also showed the greatest increase in OH values. The difference in the triggering of antioxidative traits supports the hypothesis of its importance to cold (and photoinhibition) tolerance in Coffea sp. and could provide a useful probe to identify tolerant genotypes. Copyright 2009 Elsevier GmbH. All rights reserved.

  13. Two-stage absorber systems - Economically viable combined heat and cold generation; Wirtschaftlicher Kraft-Waerme-Kaelte-Verbund

    Biniossek, H. [Giesecke und Devrient, Muenchen (Germany); Schmid, W. [Technische Gebaeudeausruestung, Muenchen (Germany)

    2008-07-01

    This article takes a look at how the possibilities of optimising power, heat and cold generation for the German Giesecke and Devrient company were examined and implemented. The company, which produces banknotes and chip-cards, chose the combination of a Combined Heat and Power (CHP) Unit and a two-stage absorber refrigeration system. The company's old system is briefly described and the reasons for replacing it are discussed. The careful dimensioning of the new system and the search for appropriate equipment are described. Intelligent power flows and a cooling system with two different temperature levels are described. Costs saved and emergency power generation are also looked at, as are the complex demands placed on the control of the system. The system's functioning is briefly described.

  14. Cold Sore

    ... may reduce how often they return. Symptoms A cold sore usually passes through several stages: Tingling and itching. Many people feel an itching, burning or tingling sensation around their lips for a day or so ...

  15. Nuclear materials control technology in the post-cold war world: Radiation-based methods and information management systems

    Tape, J.W.; Eccleston, G.W.; Ensslin, N.; Markin, J.T.

    1993-01-01

    The end of the cold war is providing both opportunities and requirements for improving the control of nuclear materials around the world. The dismantlement of nuclear weapons and the growth of nuclear power, including the use of plutonium in light water reactors and breeder reactor programs, coupled with enhanced proliferation concerns, drive the need for improved nuclear materials control. We describe nuclear materials control and the role of technology in making controls more effective and efficient. The current use and anticipated development in selected radiation-based methods and related information management systems am described briefly

  16. Delocalization of Relativistic Dirac Particles in Disordered One-Dimensional Systems and Its Implementation with Cold Atoms

    Zhu Shiliang; Zhang Danwei; Wang, Z. D.

    2009-01-01

    We study theoretically the localization of relativistic particles in disordered one-dimensional chains. It is found that the relativistic particles tend to delocalization in comparison with the nonrelativistic particles with the same disorder strength. More intriguingly, we reveal that the massless Dirac particles are entirely delocalized for any energy due to the inherent chiral symmetry, leading to a well-known result that particles are always localized in one-dimensional systems for arbitrary weak disorders to break down. Furthermore, we propose a feasible scheme to detect the delocalization feature of the Dirac particles with cold atoms in a light-induced gauge field.

  17. Optimization of waste heat utilization in cold end system of thermal power station based on neural network algorithm

    Du, Zenghui

    2018-04-01

    At present, the flue gas waste heat utilization projects of coal-fired boilers are often limited by low temperature corrosion problems and conventional PID control. The flue gas temperature cannot be reduced to the best efficiency temperature of wet desulphurization, resulting in the failure of heat recovery to be the maximum. Therefore, this paper analyzes, researches and solves the remaining problems of the cold end system of thermal power station, so as to provide solutions and theoretical support for energy saving and emission reduction and upgrading and the improvement of the comprehensive efficiency of the units.

  18. Modeling manipulation in medical education.

    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.

  19. Manipulation of the oxytocin system alters social behavior and attraction in pair-bonding primates, Callithrix penicillata.

    Smith, Adam S; Agmo, Anders; Birnie, Andrew K; French, Jeffrey A

    2010-02-01

    The establishment and maintenance of stable, long-term male-female relationships, or pair-bonds, are marked by high levels of mutual attraction, selective preference for the partner, and high rates of sociosexual behavior. Central oxytocin (OT) affects social preference and partner-directed social behavior in rodents, but the role of this neuropeptide has yet to be studied in heterosexual primate relationships. The present study evaluated whether the OT system plays a role in the dynamics of social behavior and partner preference during the first 3 weeks of cohabitation in male and female marmosets, Callithrix penicillata. OT activity was stimulated by intranasal administration of OT, and inhibited by oral administration of a non-peptide OT-receptor antagonist (L-368,899; Merck). Social behavior throughout the pairing varied as a function of OT treatment. Compared to controls, marmosets initiated huddling with their social partner more often after OT treatments but reduced proximity and huddling after OT antagonist treatments. OT antagonist treatment also eliminated food sharing between partners. During the 24-h preference test, all marmosets interacted more with an opposite-sex stranger than with the partner. By the third-week preference test, marmosets interacted with the partner and stranger equally with the exception that intranasal-OT treatments facilitated initial partner-seeking behavior over initial contact with the stranger. Our findings demonstrate that pharmacological manipulations of OT activity alter partner-directed social behavior during pair interactions, suggesting that central OT may facilitate the process of pair-bond formation and social relationships in marmoset monkeys. Published by Elsevier Inc.

  20. A geometric process repair model for a repairable cold standby system with priority in use and repair

    Zhang Yuanlin; Wang Guanjun

    2009-01-01

    In this paper, a deteriorating cold standby repairable system consisting of two dissimilar components and one repairman is studied. For each component, assume that the successive working times form a decreasing geometric process while the consecutive repair times constitute an increasing geometric process, and component 1 has priority in use and repair. Under these assumptions, we consider a replacement policy N based on the number of repairs of component 1 under which the system is replaced when the number of repairs of component 1 reaches N. Our problem is to determine an optimal policy N* such that the average cost rate (i.e. the long-run average cost per unit time) of the system is minimized. The explicit equation of the average cost rate of the system is derived and the corresponding optimal replacement policy N* can be determined analytically or numerically. Finally, a numerical example with Weibull distribution is given to illustrate some theoretical results in this paper.

  1. Exergoeconomic analysis of glycol cold thermal energy storage systems for building applications. Paper no. IGEC-1-155

    Bakan, K.; Dincer, I.; Rosen, M.A.

    2005-01-01

    An exergoeconomic analysis is reported of glycol cold thermal energy storage (CTES) systems. Exergoeconomics combines thermodynamic analysis (using both the first and second laws of thermodynamics) with principles of economics, mostly cost accounting. Exergy analysis provides more meaningful and useful information than energy analysis about the efficiency and performance of glycol CTES. The main reason is that traditional analyses are based on mass and energy balances and only external losses can be detected, while exergy analysis measures the quality of energy and includes irreversibility's that occur during any process. According to simulation results, the exergy efficiency of the glycol CTES is roughly 75% less than the energy efficiency due to irreversibility's, and the system efficiency is less than the tank efficiency. Irreversibility's for the overall system are higher than for the tank. Also, the reference ambient temperature has an effect on exergy destruction and efficiency. A 5 o C change in ambient temperature causes a 25% change in exergy efficiency. This result implies that cold energy is more efficient at higher ambient temperatures. Heat losses from the tank depend on the ambient temperature; a 5 o C increase in ambient temperature causes a heat loss increase of 6%. (author)

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

    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)

  3. Pose Space Surface Manipulation

    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.

  4. Soundness confirmation through cold test of the system equipment of HTTR

    Ono, Masato; Shinohara, Masanori; Iigaki, Kazuhiko; Tochio, Daisuke; Nakagawa, Shigeaki; Shimazaki, Yosuke

    2014-01-01

    HTTR was established at the Oarai Research and Development Center of Japan Atomic Energy Agency, for the purpose of the establishment and upgrading of high-temperature gas-cooled reactor technology infrastructure. Currently, it performs a safety demonstration test in order to demonstrate the safety inherent in high-temperature gas-cooled reactor. After the Great East Japan Earthquake, it conducted confirmation test for the purpose of soundness survey of facilities and equipment, and it confirmed that the soundness of the equipment was maintained. After two years from the confirmation test, it has not been confirmed whether the function of dynamic equipment and the soundness such as the airtightness of pipes and containers are maintained after receiving the influence of damage or deterioration caused by aftershocks generated during two years or aging. To confirm the soundness of these facilities, operation under cold state was conducted, and the obtained plant data was compared with confirmation test data to evaluate the presence of abnormality. In addition, in order to confirm through cold test the damage due to aftershocks and degradation due to aging, the plant data to compare was supposed to be the confirmation test data, and the evaluation on abnormality of the plant data of machine starting time and normal operation data was performed. (A.O.)

  5. Seismic Failure Mechanism of Reinforced Cold-Formed Steel Shear Wall System Based on Structural Vulnerability Analysis

    Jihong Ye

    2017-02-01

    Full Text Available A series of structural vulnerability analyses are conducted on a reinforced cold-formed steel (RCFS shear wall system and a traditional cold-formed steel (CFS shear wall system subjected to earthquake hazard based on forms in order to investigate their failure mechanisms. The RCFS shear wall adopts rigid beam-column joints and continuous concrete-filled CFS tube end studs rather than coupled-C section end studs that are used in traditional CFS shear walls, to achieve the rigid connections in both beam-column joints and column bases. The results show that: the RCFS and traditional CFS shear wall systems both exhibit the maximum vulnerability index associated with the failure mode in the first story. Therefore, the first story is likely to be a weakness of the CFS shear wall system. Once the wall is damaged, the traditional CFS shear wall system would collapse because the shear wall is the only lateral-resisting component. However, the collapse resistance of the RCFS shear wall system is effectively enhanced by the second defense, which is provided by a framework integrated by rigid beam-column joints and fixed column bases. The predicted collapse mode with maximum vulnerability index that was obtained by structural vulnerability analysis agrees well with the experimental result, and the structural vulnerability method is thereby verified to be reasonable to identify the weaknesses of framed structures and predict their collapse modes. Additionally, the quantitative vulnerability index indicates that the RCFS shear wall system exhibits better robustness compared to the traditional one. Furthermore, the “strong frame weak wallboard” and the “strong column weak beam” are proposed in this study as conceptional designations for the RCFS shear wall systems.

  6. Always one step ahead: How pathogenic bacteria use the type III secretion system to manipulate the intestinal mucosal immune system

    Marchès Olivier

    2011-05-01

    Full Text Available Abstract The intestinal immune system and the epithelium are the first line of defense in the gut. Constantly exposed to microorganisms from the environment, the gut has complex defense mechanisms to prevent infections, as well as regulatory pathways to tolerate commensal bacteria and food antigens. Intestinal pathogens have developed strategies to regulate intestinal immunity and inflammation in order to establish or prolong infection. The organisms that employ a type III secretion system use a molecular syringe to deliver effector proteins into the cytoplasm of host cells. These effectors target the host cell cytoskeleton, cell organelles and signaling pathways. This review addresses the multiple mechanisms by which the type III secretion system targets the intestinal immune response, with a special focus on pathogenic E. coli.

  7. EFFECTS OF AMLODIPIN AND METOPROLOL ON AUTONOMIC SYSTEM IN EMOTIONAL AND COLD TESTS IN HYPERTENSIVE PATIENTS WITH DIFFERENT PSYCHOLOGICAL PROFILE

    M. P. Rubanova

    2006-01-01

    Full Text Available Aim. To asses effects of amlodipin and metoprolol on autonomic system in emotional and cold tests in hypertensive patients with different psychological profile (PP Material and methods. 61 patients with arterial hypertension of II grade were observed. Therapy with amlodipin or metoprolol was prescribed and allowed to reach target blood pressure (BP level in all the patients. Patients were divided into 2 groups: 1-st one – patients with normal PP, 2-nd group – patients with subclinical depression. Patients were examined before and 30 days after therapy. Examination included ambulatory BP monitoring, assessment of autonomic status by variational intervalometry and spectral analysis of heart rate variability (HRV in cold and emotional tests. Depression and anxiety levels were determined with Bek’s and HADS scales.  Results. Treatment with amlodipin  and metoprolol can result in improvement, worsening or unchanging of PP.  In hypertensive patients with subclinical depression improving their PP resulted in autonomic reaction change: sympathetic activity increases and reaction on stress becomes more adequate. If subclinical depression occurred in hypertensive patients because of amlodipin and metoprolol therapy, sympathetic system stress-reaction decreased and parasympathetic influence increased. Conclusion. The study results show necessity of psychometric examination of hypertensive patients in order to reveal subclinical depression and anxiety.  

  8. A quasi-proportional electoral system 'only for honest men'? The hidden potential for manipulating mixed compensatory electoral systems

    Bochsler, Daniel

    2012-01-01

    , and Venezuela, however, demonstrate a particular loophole for such systems: strategic voting, organized by political parties. Large parties can achieve over-representation by encouraging their voters to split their votes. In this way, they outsmart the compensatory mechanism designed to lead to proportional...... results. These disproportional results are particularly controversial, since they are deliberate and strategic. This article takes the 2005 Albanian elections as its main case study, and uses simulations to illustrate its political consequences....

  9. Steganography System with Application to Crypto-Currency Cold Storage and Secure Transfer

    Michael J. Pelosi

    2018-04-01

    Full Text Available In this paper, we introduce and describe a novel approach to adaptive image steganography which is combined with One-Time Pad encryption and demonstrate the software which implements this methodology. Testing using the state-of-the-art steganalysis software tool StegExpose concludes the image hiding is reliably secure and undetectable using reasonably-sized message payloads (≤25% message bits per image pixel; bpp. Payload image file format outputs from the software include PNG, BMP, JP2, JXR, J2K, TIFF, and WEBP. A variety of file output formats is empirically important as most steganalysis programs will only accept PNG, BMP, and possibly JPG, as the file inputs. In this extended reprint, we introduce additional application and discussion regarding cold storage of crypto-currency account and password information, as well as applications for secure transfer in hostile or insecure network circumstances.

  10. Criticality safety evaluation report for the Cold Vacuum Drying Facility's process water handling system

    Roblyer, S.D.

    1998-01-01

    This report addresses the criticality concerns associated with process water handling in the Cold Vacuum Drying Facility (CVDF). The controls and limitations on equipment design and operations to control potential criticality occurrences are identified. The effectiveness of equipment design and operation controls in preventing criticality occurrences during normal and abnormal conditions is evaluated and documented in this report. Spent nuclear fuel (SNF) is removed from existing canisters in both the K East and K West Basins and loaded into a multicanister overpack (MCO) in the K Basin pool. The MCO is housed in a shipping cask surrounded by clean water in the annulus between the exterior of the MCO and the interior of the shipping cask. The fuel consists of spent N Reactor and some single pass reactor fuel. The MCO is transported to the CVDF near the K Basins to remove process water from the MCO interior and from the shipping cask annulus. After the bulk water is removed from the MCO, any remaining free liquid is removed by drawing a vacuum on the MCO's interior. After cold vacuum drying is completed, the MCO is filled with an inert cover gas, the lid is replaced on the shipping cask, and the MCO is transported to the Canister Storage Building. The process water removed from the MCO contains fissionable materials from metallic uranium corrosion. The process water from the MCO is first collected in a geometrically safe process water conditioning receiver tank. The process water in the process water conditioning receiver tank is tested, then filtered, demineralized, and collected in the storage tank. The process water is finally removed from the storage tank and transported from the CVDF by truck

  11. Indicial tensor manipulation on MACSYMA

    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.)

  12. Improving information filtering via network manipulation

    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.

  13. Adaption of the LHC cold mass cooling system to the requirements of the Future Circular Collider (FCC)

    Kotnig, C.; Tavian, L.; Brenn, G.

    2017-12-01

    The cooling of the superconducting magnet cold masses with superfluid helium (He II) is a well-established concept successfully in operation for years in the LHC. Consequently, its application for the cooling of FCC magnets is an obvious option. The 12-kW heat loads distributed over 10-km long sectors not only require an adaption of the magnet bayonet heat exchangers but also present new challenges to the cryogenic plants, the distribution system and the control strategy. This paper recalls the basic LHC cooling concept with superfluid helium and defines the main parameters for the adaption to the FCC requirements. Pressure drop and hydrostatic head are developed in the distribution and pumping systems; their impact on the magnet temperature profile and the corresponding cooling efficiency is presented and compared for different distribution and pumping schemes.

  14. Cold moderators at ORNL

    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.

  15. High-resolution small field-of-view magnetic resonance image acquisition system using a small planar coil and a pneumatic manipulator in an open MRI scanner.

    Miki, Kohei; Masamune, Ken

    2015-10-01

    Low-field open magnetic resonance imaging (MRI) is frequently used for performing image-guided neurosurgical procedures. Intraoperative magnetic resonance (MR) images are useful for tracking brain shifts and verifying residual tumors. However, it is difficult to precisely determine the boundary of the brain tumors and normal brain tissues because the MR image resolution is low, especially when using a low-field open MRI scanner. To overcome this problem, a high-resolution MR image acquisition system was developed and tested. An MR-compatible manipulator with pneumatic actuators containing an MR signal receiver with a small radiofrequency (RF) coil was developed. The manipulator had five degrees of freedom for position and orientation control of the RF coil. An 8-mm planar RF coil with resistance and inductance of 2.04 [Formula: see text] and 1.00 [Formula: see text] was attached to the MR signal receiver at the distal end of the probe. MR images of phantom test devices were acquired using the MR signal receiver and normal head coil for signal-to-noise ratio (SNR) testing. The SNR of MR images acquired using the MR signal receiver was 8.0 times greater than that of MR images acquired using the normal head coil. The RF coil was moved by the manipulator, and local MR images of a phantom with a 2-mm grid were acquired using the MR signal receiver. A wide field-of-view MR image was generated from a montage of local MR images. A small field-of-view RF system with a pneumatic manipulator was integrated in a low-field MRI scanner to allow acquisition of both wide field-of-view and high-resolution MR images. This system is promising for image-guided neurosurgery as it may allow brain tumors to be observed more clearly and removed precisely.

  16. Cold fusion

    Koster, J.

    1989-01-01

    In this contribution the author the phenomenom of so-called cold fusion, inspired by the memorable lecture of Moshe Gai on his own search for this effect. Thus much of what follows was presented by Dr. Gai; the rest is from independent reading. What is referred to as cold fusion is of course the observation of possible products of deuteron-deuteron (d-d) fusion within deuterium-loaded (dentended) electrodes. The debate over the two vanguard cold fusion experiments has raged under far more public attention than usually accorded new scientific phenomena. The clamor commenced with the press conference of M. Fleishmann and S. Pons on March 23, 1989 and the nearly simultaneous wide circulation of a preprint of S. Jones and collaborators. The majority of work attempting to confirm these observations has at the time of this writing yet to appear in published form, but contributions to conferences and electronic mail over computer networks were certainly filled with preliminary results. To keep what follows to a reasonable length the author limit this discussion to the searches for neutron (suggested by ref. 2) or for excessive heat production (suggested by ref. 1), following a synopsis of the hypotheses of cold fusion

  17. Project COLD.

    Kazanjian, Wendy C.

    1982-01-01

    Describes Project COLD (Climate, Ocean, Land, Discovery) a scientific study of the Polar Regions, a collection of 35 modules used within the framework of existing subjects: oceanography, biology, geology, meterology, geography, social science. Includes a partial list of topics and one activity (geodesic dome) from a module. (Author/SK)

  18. Cold fusion

    Seo, Suk Yong; You, Jae Jun

    1996-01-01

    Nearly every technical information is chased in the world. All of them are reviewed and analyzed. Some of them are chosen to study further more to review every related documents. And a probable suggestion about the excitonic process in deuteron absorbed condensed matter is proposed a way to cold fusion. 8 refs. (Author)

  19. Scenarios of Earth system change in western Canada: Conceptual understanding and process insights from the Changing Cold Regions Network

    DeBeer, C. M.; Wheater, H. S.; Pomeroy, J. W.; Stewart, R. E.; Turetsky, M. R.; Baltzer, J. L.; Pietroniro, A.; Marsh, P.; Carey, S.; Howard, A.; Barr, A.; Elshamy, M.

    2017-12-01

    The interior of western Canada has been experiencing rapid, widespread, and severe hydroclimatic change in recent decades, and this is projected to continue in the future. To better assess future hydrological, cryospheric and ecological states and fluxes under future climates, a regional hydroclimate project was formed under the auspices of the Global Energy and Water Exchanges (GEWEX) project of the World Climate Research Programme; the Changing Cold Regions Network (CCRN; www.ccrnetwork.ca) aims to understand, diagnose, and predict interactions among the changing Earth system components at multiple spatial scales over the Mackenzie and Saskatchewan River basins of western Canada. A particular challenge is in applying land surface and hydrological models under future climates, as system changes and cold regions process interactions are not often straightforward, and model structures and parameterizations based on historical observations and understanding of contemporary system functioning may not adequately capture these complexities. To address this and provide guidance and direction to the modelling community, CCRN has drawn insights from a multi-disciplinary perspective on the process controls and system trajectories to develop a set of feasible scenarios of change for the 21st century across the region. This presentation will describe CCRN's efforts towards formalizing these insights and applying them in a large-scale modelling context. This will address what are seen as the most critical processes and key drivers affecting hydrological, cryospheric and ecological change, how these will most likely evolve in the coming decades, and how these are parameterized and incorporated as future scenarios for terrestrial ecology, hydrological functioning, permafrost state, glaciers, agriculture, and water management.

  20. A new technique for dynamic load distribution when two manipulators mutually lift a rigid object. Part 2, Derivation of entire system model and control architecture

    Unseren, M.A.

    1994-04-01

    A rigid body model for the entire system which accounts for the load distribution scheme proposed in Part 1 as well as for the dynamics of the manipulators and the kinematic constraints is derived in the joint space. A technique is presented for expressing the object dynamics in terms of the joint variables of both manipulators which leads to a positive definite and symmetric inertia matrix. The model is then transformed to obtain reduced order equations of motion and a separate set of equations which govern the behavior of the internal contact forces. The control architecture is applied to the model which results in the explicit decoupling of the position and internal contact force-controlled degrees of freedom (DOF).

  1. The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot

    Lee, Chung Oh; Cho, Hyung Seok; Jang, Pyung Hoon; Park, Ki Chul; Hyun, Jang Hwan; Kim, Joo Gon; Park, Young Joon; Hwang, Woong Tae; Jeon, Yong Soo; Lee, Joo Yeon; Ahn, Kyung Mo [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1996-07-01

    In this project the following 4 sub- projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed= by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal fain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3- DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to identify the possibility in a clear form. 33 refs., 3 tabs., 11 figs. (author)

  2. Species sorting during biofilm assembly by artificial substrates deployed in a cold seep system

    Zhang, Wei Peng

    2014-10-17

    Studies focusing on biofilm assembly in deep-sea environments are rarely conducted. To examine the effects of substrate type on microbial community assembly, biofilms were developed on different substrates for different durations at two locations in the Red Sea: in a brine pool and in nearby bottom water (NBW) adjacent to the Thuwal cold seep II. The composition of the microbial communities in 51 biofilms and water samples were revealed by classification of pyrosequenced 16S rRNA gene amplicons. Together with the microscopic characteristics of the biofilms, the results indicate a stronger selection effect by the substrates on the microbial assembly in the brine pool compared with the NBW. Moreover, the selection effect by substrate type was stronger in the early stages compared with the later stages of the biofilm development. These results are consistent with the hypotheses proposed in the framework of species sorting theory, which states that the power of species sorting during microbial community assembly is dictated by habitat conditions, duration and the structure of the source community. Therefore, the results of this study shed light on the control strategy underlying biofilm-associated marine fouling and provide supporting evidence for ecological theories important for understanding the formation of deep-sea biofilms.

  3. Species sorting during biofilm assembly by artificial substrates deployed in a cold seep system

    Zhang, Wei Peng; Wang, Yong; Tian, Ren Mao; Bougouffa, Salim; Yang, Bo; Cao, Hui Luo; Zhang, Gen; Wong, Yue Him; Xu, Wei; Batang, Zenon B.; Al-Suwailem, Abdulaziz M.; Zhang, Xixiang; Qian, Pei-Yuan

    2014-01-01

    Studies focusing on biofilm assembly in deep-sea environments are rarely conducted. To examine the effects of substrate type on microbial community assembly, biofilms were developed on different substrates for different durations at two locations in the Red Sea: in a brine pool and in nearby bottom water (NBW) adjacent to the Thuwal cold seep II. The composition of the microbial communities in 51 biofilms and water samples were revealed by classification of pyrosequenced 16S rRNA gene amplicons. Together with the microscopic characteristics of the biofilms, the results indicate a stronger selection effect by the substrates on the microbial assembly in the brine pool compared with the NBW. Moreover, the selection effect by substrate type was stronger in the early stages compared with the later stages of the biofilm development. These results are consistent with the hypotheses proposed in the framework of species sorting theory, which states that the power of species sorting during microbial community assembly is dictated by habitat conditions, duration and the structure of the source community. Therefore, the results of this study shed light on the control strategy underlying biofilm-associated marine fouling and provide supporting evidence for ecological theories important for understanding the formation of deep-sea biofilms.

  4. Development of an Agrobacterium-mediated transformation system for the cold-adapted fungi Pseudogymnoascus destructans and P. pannorum.

    Zhang, Tao; Ren, Ping; Chaturvedi, Vishnu; Chaturvedi, Sudha

    2015-08-01

    The mechanisms of cold adaptation by fungi remain unknown. This topic is of high interest due to the emergence of white-nose syndrome (WNS), a skin infection of hibernating bats caused by Pseudogymnoascus destructans (Pd). Recent studies indicated that apart from Pd, there is an abundance of other Pseudogymnoascus species in the hibernacula soil. We developed an Agrobacterium tumefaciens-mediated transformation (ATMT) system for Pd and a related fungus Pseudogymnoascus pannorum (Pp) to advance experimental studies. URE1 gene encoding the enzyme urease was used as an easy to screen marker to facilitate molecular genetic analyses. A Uracil-Specific Excision Reagent (USER) Friendly pRF-HU2 vector containing Pd or Pp ure1::hygromycin (HYG) disruption cassette was introduced into A. tumefaciens AGL-1 cells by electroporation and the resulting strains were co-cultivated with conidia of Pd or Pp for various durations and temperatures to optimize the ATMT system. Overall, 680 Pd (0.006%) and 1800 Pp (0.018%) transformants were obtained from plating of 10(7) conidia; their recoveries were strongly correlated with the length of the incubation period (96h for Pd; 72h for Pp) and with temperature (15-18°C for Pd; 25°C for Pp). The homologous recombination in transformants was 3.1% for Pd and 16.7% for Pp. The availability of a standardized ATMT system would allow future molecular genetic analyses of Pd and related cold-adapted fungi. Copyright © 2015. Published by Elsevier Inc.

  5. The influence of atmospheric cold fronts on larval supply and settlement of intertidal invertebrates: Case studies in the Cabo Frio coastal upwelling system (SE Brazil)

    de Azevedo Mazzuco, Ana Carolina; Christofoletti, Ronaldo Adriano; Coutinho, Ricardo; Ciotti, Áurea Maria

    2018-07-01

    Atmospheric fronts such as cold fronts are dynamic mesoscale systems with potential effects on the ecology of marine communities. In this study, larval dynamics in subtropical rocky shore communities were evaluated under the influence of atmospheric frontal systems. The hypothesis is that these systems may promote favorable conditions for larval supply and settlement regardless of taxa or site, and that supply and settlement vary in association with fluctuations of meteorological and oceanographic conditions driven by the fronts. This study was carried out in the Southeastern Brazil littoral region under the influence of coastal upwelling events (Cabo Frio) and subject to weekly atmospheric frontal systems, cold polar fronts. The spatial and temporal variability of larvae and settlers of barnacles and mussels were assessed by collecting daily samples at three sites before, during and after atmospheric cold fronts, and the atmospheric and pelagic conditions were monitored. Contrasts among rates, events and sites were tested using discriminant function analysis, analyses of variance and correlation analysis. Atmospheric frontal systems were considered to influence the sites when wind direction changed to SW-S-SE and persisted for at least a day, and waves from SW-SW-SE increased in height. The results corroborate the hypothesis that cold fronts are important regulators of larval dynamics and intertidal communities on rocky shores of the studied area. Both larval supply and settlement were highly correlated with fluctuations in wind speed and direction. Higher settlement rates of barnacles occurred one-day prior, or on the onset of cold fronts. Mussels species tended to settle during all conditions, but on average, settlement rates were higher during the cold fronts. Some temporal trends were site specific and variability was detected among taxa and larval stages. Our findings suggest that mesoscale oceanographic/atmospheric systems are particularly relevant on the

  6. Adaptive Control Of Remote Manipulator

    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.

  7. Justifying a Set of Basic Characteristics of High Temperature Cold Accumulators in Their Designing for the Ground-Based Systems

    E. S. Khromov

    2015-01-01

    Full Text Available The ground-based systems use a wide variety of heat-emitting equipment. For temperature control of equipment and facilities, the thermal management systems (TMS are included in the ground-based systems. However, in operation, the off-nominal situations with increased heat emission are possible. To avoid overheating of equipment or environment in facilities, where equipment is placed, is possible through completing a set of TMS by high-temperature cold accumulators (CA.When filling CA by thermal accumulating materials (TAM with change in phase at the temperature level exceeding the ambient temperature, CA integration in TMS is simplified and the need to increase the cooling capacity of the sources of its cold is eliminated. Among the known multiple-cycle TAMs with change in phase "melting-solidification" in a set of characteristics, the most promising are crystal hydrates of salts and their systems, as well as paraffin, especially clean. However, advantages and disadvantages of these classes of TAM are different and disable us to develop a generic version of the CA design.The objective of this work is to identify a set of the main characteristics that significantly affect the CA efficiency. To achieve the goal is used a mathematical simulation of heat exchange and phase change processes, using CA with intermediate coolant as an example. Simulation is based on generation and solution of the system of equations of a thermal balance for the coolant circulating through the inner tube of CA container. The system of equations is solved using Excel tools.Varying values of studied characteristics and generalization of results allowed to us define a following set: TAM thermal conductivity, temperature difference in the coolant – TAM system, TAM container dimensions. The results can be applied when developing a CA, as a part of the "TMS-CA heat generation facility" of the ground-based systems with a specified heat absorption capacity at given temperature

  8. Currency Manipulation versus Current Account Manipulation

    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...

  9. Lightning Location System Data from Wind Power Plants Compared to Meteorological Conditions of Warm- and Cold Thunderstorm Events

    Vogel, Stephan; Lopez, Javier; Garolera, Anna Candela

    2016-01-01

    of topography, height above mean sea level (AMSL), and average ground flash density. For three sites, the most severe lightning events have been identified during the warm and cold months whereas the other two locations exhibit severe lightning detections mainly during the warm months. In this work severity......Five years of Lightning Location System (LLS) data from five different wind turbine sites in Europe are analysed. The sites are located in Croatia, Italy, Spain, France and one offshore wind power plant in the North sea. Each location exhibits individual characteristic properties in terms...... of such an episode can vary from tens of minutes to several hours in the case of new storms being continuously developed in the same area. The distance of the charge separating -10◦ C and the ground is usually larger than 3000 meters. This analyse provides information about the different thunderstorm types which...

  10. Electromagnetically induced transparency in a Zeeman-sublevels Λ-system of cold 87Rb atoms in free space

    Jiang Xiaojun; Zhang Haichao; Wang Yuzhu

    2016-01-01

    We report the experimental investigation of electromagnetically induced transparency (EIT) in a Zeeman-sublevels Λ-type system of cold 87 Rb atoms in free space. We use the Zeeman substates of the hyperfine energy states 5 2 S 1/2 , F = 2 and 5 2 P 3/2 , F′ = 2 of 87 Rb D 2 line to form a Λ-type EIT scheme. The EIT signal is obtained by scanning the probe light over 1 MHz in 4 ms with an 80 MHz arbitrary waveform generator. More than 97% transparency and 100 kHz EIT window are observed. This EIT scheme is suited for an application of pulsed coherent storage atom clock (Yan B, et al. 2009 Phys. Rev. A 79 063820). (paper)

  11. A novel behavioral assay for measuring cold sensation in mice.

    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.

  12. A novel behavioral assay for measuring cold sensation in mice.

    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.

  13. A molecular gut content study of Themisto abyssorum (Amphipoda) from Arctic hydrothermal vent and cold seep systems.

    Olsen, Bernt Rydland; Troedsson, Christofer; Hadziavdic, Kenan; Pedersen, Rolf B; Rapp, Hans Tore

    2014-08-01

    The use of DNA as a marker for prey inside the gut of predators has been instrumental in further understanding of known and unknown interactions. Molecular approaches are in particular useful in unavailable environments like the deep sea. Trophic interactions in the deep sea are difficult to observe in situ, correct deep-sea experimental laboratory conditions are difficult to obtain, animals rarely survive the sampling, or the study organisms feed during the sampling due to long hauls. Preliminary studies of vent and seep systems in the Nordic Seas have identified the temperate-cold-water pelagic amphipod Themisto abyssorum as a potentially important predator in these chemosynthetic habitats. However, the prey of this deep-sea predator is poorly known, and we applied denaturing high performance liquid chromatography (DHPLC) to investigate the predator-prey interactions of T. abyssorum in deep-water vent and seep systems. Two deep-water hydrothermally active localities (The Jan Mayen and Loki's Castle vent fields) and one cold seep locality (The Håkon Mosby mud volcano) in the Nordic Seas were sampled, genomic DNA of the stomachs of T. abyssorum was extracted, and 18S rDNA gene was amplified and used to map the stomach content. We found a wide range of organisms including micro-eukaryotes, metazoans and detritus. Themisto abyssorum specimens from Loki's Castle had the highest diversity of prey. The wide range of prey items found suggests that T. abyssorum might be involved in more than one trophic level and should be regarded as an omnivore and not a strict carnivore as have previously been suggested. © 2013 John Wiley & Sons Ltd.

  14. Cold fusion

    Suh, Suk Yong; Sung, Ki Woong; Kang, Joo Sang; Lee, Jong Jik

    1995-02-01

    So called 'cold fusion phenomena' are not confirmed yet. Excess heat generation is very delicate one. Neutron generation is most reliable results, however, the records are erratic and the same results could not be repeated. So there is no reason to exclude the malfunction of testing instruments. The same arguments arise in recording 4 He, 3 He, 3 H, which are not rich in quantity basically. An experiment where plenty of 4 He were recorded is attached in appendix. The problem is that we are trying to search cold fusion which is permitted by nature or not. The famous tunneling effect in quantum mechanics will answer it, however, the most fusion rate is known to be negligible. The focus of this project is on the theme that how to increase that negligible fusion rate. 6 figs, 4 tabs, 1512 refs. (Author)

  15. Cold fusion

    Suh, Suk Yong; Sung, Ki Woong; Kang, Joo Sang; Lee, Jong Jik [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1995-02-01

    So called `cold fusion phenomena` are not confirmed yet. Excess heat generation is very delicate one. Neutron generation is most reliable results, however, the records are erratic and the same results could not be repeated. So there is no reason to exclude the malfunction of testing instruments. The same arguments arise in recording {sup 4}He, {sup 3}He, {sup 3}H, which are not rich in quantity basically. An experiment where plenty of {sup 4}He were recorded is attached in appendix. The problem is that we are trying to search cold fusion which is permitted by nature or not. The famous tunneling effect in quantum mechanics will answer it, however, the most fusion rate is known to be negligible. The focus of this project is on the theme that how to increase that negligible fusion rate. 6 figs, 4 tabs, 1512 refs. (Author).

  16. Interpersonal relationship manipulation at a personal level

    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.

  17. Water-mass dynamics of an Arctic cold-water coral reef: First results from a new ocean observatory system

    Flögel, Sascha; Karstensen, Johannes; Linke, Peter; Pfannkuche, Olaf; Ashastina, Kseniia; Dullo, Christian

    2015-04-01

    Cold-water coral reefs occur at various sites along the European continental margin, like in the Mediterranean Sea, on carbonate mounds West off Ireland, or at shallower depths between 100 and 350 m on the Norwegian shelf. Their occurrence is related to different physical parameters like temperature, salinity, seawater density, dissolved oxygen, and to other environmental parameters such as internal wave activity, nutrient supply, strong currents, which keep sediment input low, etc. Here, we present first results from a long-term observation in one of the nortnermost cold-water coral reefs at 70.5°N - the Stjernsund in northern Norway. The Stjernsund is a 30 km long and up to 3.5 km wide sound connecting the open North Atlantic with a fjord system. A deep-seated SW-NE oriented morainic sill with varying depths (203-236 m) splits the more than 400 m deep sound into two troughs. Living Lophelia pertusa dominated reef complexes occur on the NW slope between 235 and 305 m water depths and on the SE slope between 245 and 280 m. To investigate the dominating physical and biogeochemical boundary conditions a new modular seafloor observatory, MoLab, consisting of five sea-floor observatories and two moorings was deployed for 100 days during the summer of 2012. The various lander systems and moorimgs were equipped with sensors to measure current velocities and directions, temperature, salinity, pressure, pH, turbidity, fluorescence, oxygen concentration and saturation. Results showed that near-bottom salinities, temperature and current velocities are dominated by a semi-diurnal tidal forcing (pronounced M2 constituent), which cause vertical water mass movements of up to 100 m. These influence large parts of the living reef. Closer examination revealed overturning cells on the south-eastern slope of the sill during high tide, when Atlantic Water flows over the sill. The appearance of living cold-water corals is limited to a density envelope of sigma-theta=27.25-27.50 kg/m-3

  18. Modeling and simulation to determine the potential energy savings by implementing cold thermal energy storage system in office buildings

    Rismanchi, B.; Saidur, R.; Masjuki, H.H.; Mahlia, T.M.I.

    2013-01-01

    Highlights: • Simulating the CTES system behavior based on Malaysian climate. • Almost 65% of power is used for cooling for cooling the office buildings, every day. • The baseline shows an acceptable match with real data from the fieldwork. • Overall, the energy used for full load storage is much than the conventional system. • The load levelling storage strategy has 3.7% lower energy demand. - Abstract: In Malaysia, air conditioning (AC) systems are considered as the major energy consumers in office buildings with almost 57% share. During the past decade, cold thermal energy storage (CTES) systems have been widely used for their significant economic benefits. However, there were always doubts about their energy saving possibilities. The main objective of the present work is to develop a computer model to determine the potential energy savings of implementing CTES systems in Malaysia. A case study building has been selected to determine the energy consumption pattern of an office building. In the first step the building baseline model was developed and validated with the recorded data from the fieldwork. Once the simulation results reach an acceptable accuracy, different CTES system configuration was added to the model to predict their energy consumption pattern. It was found that the overall energy used by the full load storage strategy is considerably more than the conventional system. However, by applying the load leveling storage strategy, and considering its benefits to reduce the air handling unit size and reducing the pumping power, the overall energy usage was almost 4% lower than the non-storage system. Although utilizing CTES systems cannot reduce the total energy consumption considerably, but it has several outstanding benefits such as cost saving, bringing balance in the grid system, reducing the overall fuel consumption in the power plants and consequently reducing to total carbon footprint

  19. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    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.

  20. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    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

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

    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)

  2. Vapor Compression Refrigeration System for Cold Storage on Spacecrafts, Phase I

    National Aeronautics and Space Administration — NASA is looking for a high efficiency long term food storage system for space crafts. Previous refrigerator/freezer systems developed for this application such as...

  3. Pilot-scale comparison of two hybrid-passive landfill leachate treatment systems operated in a cold climate.

    Speer, Sean; Champagne, Pascale; Anderson, Bruce

    2012-01-01

    Hybrid-passive landfill leachate treatment systems employ active pretreatment to remove dissolved inorganic constituents and decrease the oxygen demand of the leachate prior to treatment in a passive system. In a 1-year pilot-scale study, two passive treatment systems - a peat and wood shaving biological trickle filter and a sand and gravel constructed wetland - were installed to treat leachate from the Merrick Landfill in North Bay, Ontario, Canada. Leachate was pretreated in a fixed-film aerobic reactor, which provided reductions in COD (26%), and masses of ammonia (21%), Al (69%), Ca (57%), Fe (73%) and Sr (37%). A comparison of the performance of the hybrid-passive treatment systems indicated different extents of heterotrophic nitrification; the peat and wood shaving filter removed 49% of the ammonia and nitrified 29%, while the constructed wetland removed 99% of the ammonia and nitrified 90%. Hybrid-passive landfill leachate treatment was determined to be feasible in cold climates. Copyright © 2011 Elsevier Ltd. All rights reserved.

  4. Cold regions isotope applications

    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

  5. Initial heating in cold cars

    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

  6. Center for Cold Spray Research and Development

    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...

  7. Waterhammer modeling for the Ares I Upper Stage Reaction Control System cold flow development test article

    Williams, Jonathan Hunter

    The Upper Stage Reaction Control System provides in-flight three-axis attitude control for the Ares I Upper Stage. The system design must accommodate rapid thruster firing to maintain proper launch trajectory and thus allow for the possibility to pulse multiple thrusters simultaneously. Rapid thruster valve closure creates an increase in static pressure, known as waterhammer, which propagates throughout the propellant system at pressures exceeding nominal design values. A series of development tests conducted at Marshall Space Flight Center in 2009 were performed using a water-flow test article to better understand fluid characteristics of the Upper Stage Reaction Control System. A subset of the tests examined the waterhammer pressure and frequency response in the flight-representative system and provided data to anchor numerical models. This thesis presents a comparison of waterhammer test results with numerical model and analytical results. An overview of the flight system, test article, modeling and analysis are also provided.

  8. Optimal design and application of a compound cold storage system combining seasonal ice storage and chilled water storage

    Yan, C.; Shi, W.; Li, X.; Zhao, Y.

    2016-01-01

    Seasonal cold storage using natural cold sources for cooling is a sustainable cooling technique. However, this technique suffers from limitations such as large storage space and poor reliability. Combining seasonal storage with short-term storage might be a promising solution while it is not

  9. Description of European Space Agency (ESA) Remote Manipulator (RM) System Breadboard Currently Under Development for Demonstration of Critical Technology Foreseen to be Used in the Mars Sample Receiving Facility (MSRF)

    Vrublevskis, J.; Duncan, S.; Berthoud, L.; Bowman, P.; Hills, R.; McCulloch, Y.; Pisla, D.; Vaida, C.; Gherman, B.; Hofbaur, M.; Dieber, B.; Neythalath, N.; Smith, C.; van Winnendael, M.; Duvet, L.

    2018-04-01

    In order to avoid the use of 'double walled' gloves, a haptic feedback Remote Manipulation (RM) system rather than a gloved isolator is needed inside a Double Walled Isolator (DWI) to handle a sample returned from Mars.

  10. Mob/oriT, a mobilizable site-specific recombination system for unmarked genetic manipulation in Bacillus thuringiensis and Bacillus cereus.

    Wang, Pengxia; Zhu, Yiguang; Zhang, Yuyang; Zhang, Chunyi; Xu, Jianyi; Deng, Yun; Peng, Donghai; Ruan, Lifang; Sun, Ming

    2016-06-10

    Bacillus thuringiensis and Bacillus cereus are two important species in B. cereus group. The intensive study of these strains at the molecular level and construction of genetically modified bacteria requires the development of efficient genetic tools. To insert genes into or delete genes from bacterial chromosomes, marker-less manipulation methods were employed. We present a novel genetic manipulation method for B. thuringiensis and B. cereus strains that does not leave selection markers. Our approach takes advantage of the relaxase Mob02281 encoded by plasmid pBMB0228 from Bacillus thuringiensis. In addition to its mobilization function, this Mob protein can mediate recombination between oriT sites. The Mob02281 mobilization module was associated with a spectinomycin-resistance gene to form a Mob-Spc cassette, which was flanked by the core 24-bp oriT sequences from pBMB0228. A strain in which the wild-type chromosome was replaced with the modified copy containing the Mob-Spc cassette at the target locus was obtained via homologous recombination. Thus, the spectinomycin-resistance gene can be used to screen for Mob-Spc cassette integration mutants. Recombination between the two oriT sequences mediated by Mob02281, encoded by the Mob-Spc cassette, resulted in the excision of the Mob-Spc cassette, producing the desired chromosomal alteration without introducing unwanted selection markers. We used this system to generate an in-frame deletion of a target gene in B. thuringiensis as well as a gene located in an operon of B. cereus. Moreover, we demonstrated that this system can be used to introduce a single gene or an expression cassette of interest in B. thuringiensis. The Mob/oriT recombination system provides an efficient method for unmarked genetic manipulation and for constructing genetically modified bacteria of B. thuringiensis and B. cereus. Our method extends the available genetic tools for B. thuringiensis and B. cereus strains.

  11. Postexercise cold water immersion modulates skeletal muscle PGC-1α mRNA expression in immersed and nonimmersed limbs: evidence of systemic regulation.

    Allan, Robert; Sharples, Adam P; Close, Graeme L; Drust, Barry; Shepherd, Sam O; Dutton, John; Morton, James P; Gregson, Warren

    2017-08-01

    Mechanisms mediating postexercise cold-induced increases in PGC-1α gene expression in human skeletal muscle are yet to be fully elucidated but may involve local cooling effects on AMPK and p38 MAPK-related signaling and/or increased systemic β-adrenergic stimulation. Therefore, we aimed to examine whether postexercise cold water immersion enhancement of PGC-1α mRNA is mediated through local or systemic mechanisms. Ten subjects completed acute cycling (8 × 5 min at ~80% peak power output) followed by seated-rest (CON) or single-leg cold water immersion (CWI; 10 min, 8°C). Muscle biopsies were obtained preexercise, postexercise, and 3 h postexercise from a single limb in the CON condition but from both limbs in CWI [thereby providing tissue from a CWI and nonimmersed limb (NOT)]. Muscle temperature decreased up to 2 h postexercise following CWI (-5°C) in the immersed limb, with lesser changes observed in CON and NOT (-3°C, P cold induction of PGC-1α mRNA. NEW & NOTEWORTHY We report for the first time that postexercise cold water immersion of one limb also enhances PGC-1α expression in a contralateral, nonimmersed limb. We suggest that increased systemic β-adrenergic stimulation, and not localized cooling per se, exerts regulatory effects on local signaling cascades, thereby modulating PGC-1α expression. Therefore, these data have important implications for research designs that adopt contralateral, nonimmersed limbs as a control condition while also increasing our understanding of the potential mechanisms underpinning cold-mediated PGC-1α responses. Copyright © 2017 the American Physiological Society.

  12. Of Scaredy Cats and Cold Fish: The autonomic nervous system and behaviour in young children

    B. Dierckx (Bram)

    2014-01-01

    markdownabstract__Abstract__ The autonomic nervous system regulates the body’s internal functions. The goal of this regulation is to maintain bodily homeostasis in a changing external environment. The autonomic nervous system acts largely independent of volition and controls heart rate,

  13. Positional control of space robot manipulator

    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.

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

    1972-01-01

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

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

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

    1978-01-01

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

  16. Design and testing of a separate-type lighting system using solar energy and cold-cathode fluorescent lamps

    Yang, J.-P.; Hsiao, H.-C.

    2007-01-01

    This paper presents a solar-powered lighting system, using cold-cathode fluorescent-lamps (CCFLs), with its battery-charging circuit and lamp-ignition circuit being separated so that its solar panels can be installed at any distance deemed necessary away from the lighting site in order to receive the maximum solar energy available. This system adopts the maximum-power point tracking (MPPT) method to control the power output of the solar panels and uses the zero-voltage switching (ZVS) DC-DC converter, as the charging circuit, to increase the panels' power generation efficiency and the charging circuit's conversion efficiency. The electronic ballast circuit for the CCFL is constructed with a half-bridge inverter, a resonant inductor, and a Rosen-type piezoelectric transformer, which forms a piezoelectric resonant-type inverter: to simplify the circuitry and to improve the power conversion efficiency, the ballast circuit is designed to directly step up the battery voltage in igniting the lamp. We also establish the transmission-parameter model for the piezoelectric resonant-type inverter to provide the base for the electric-power circuit design. Our experimental results indicate that the proposed system possesses some advantages, such as greater energy efficiency, circuitry simplicity, and so on, and is suitable for night lighting in house yards, parks and advertising panels

  17. Design and testing of a separate-type lighting system using solar energy and cold-cathode fluorescent lamps

    Yang, J.-P. [Department of Electrical Engineering, China Institute of Technology, Taipei, Taiwan 115, Taiwan (China)]. E-mail: april4120@tp.edu.tw; Hsiao, H.-C. [Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan 106, Taiwan (China)]. E-mail: hsiao@mouse.ee.ntust.edu.tw

    2007-01-15

    This paper presents a solar-powered lighting system, using cold-cathode fluorescent-lamps (CCFLs), with its battery-charging circuit and lamp-ignition circuit being separated so that its solar panels can be installed at any distance deemed necessary away from the lighting site in order to receive the maximum solar energy available. This system adopts the maximum-power point tracking (MPPT) method to control the power output of the solar panels and uses the zero-voltage switching (ZVS) DC-DC converter, as the charging circuit, to increase the panels' power generation efficiency and the charging circuit's conversion efficiency. The electronic ballast circuit for the CCFL is constructed with a half-bridge inverter, a resonant inductor, and a Rosen-type piezoelectric transformer, which forms a piezoelectric resonant-type inverter: to simplify the circuitry and to improve the power conversion efficiency, the ballast circuit is designed to directly step up the battery voltage in igniting the lamp. We also establish the transmission-parameter model for the piezoelectric resonant-type inverter to provide the base for the electric-power circuit design. Our experimental results indicate that the proposed system possesses some advantages, such as greater energy efficiency, circuitry simplicity, and so on, and is suitable for night lighting in house yards, parks and advertising panels.

  18. Cold neutron beam studies of parity-violation in the n-α and n-p systems

    Markoff, D.M.

    2001-01-01

    Long wavelength neutrons (λ>1 A) in a cold neutron beam provide a valuable probe to study the strong and weak nuclear forces in hadronic systems, where the description is complicated by the quark structure of the particles. As a consequence of parity-violation (PV) arising from the weak interaction, the low-energy neutron transverse spin-polarization vector rotates as the neutrons transverse a medium. The magnitude of the PV spin-rotation observable in the n-α system provides important new data to determine the strength of the neutron-nucleus weak interaction. Measurement of the spin-rotation in the bare neutron-proton system with a parahydrogen target, will provide important constraints on the weak nucleon-nucleon (NN) interaction including the neutral current contribution, and will increase our understanding of the strong NN interaction. This paper will review the recent spin-rotation measurement in a liquid helium target, and the proposed measurement in a parahydrogen target

  19. Analyzing the loss of coolant accident in PWR nuclear reactors with elevation change in cold leg by RELAP5/MOD3.2 system code

    Kheshtpaz, H.; Alison, C.

    2006-01-01

    As, the Russian designed VVER-1000 reactor of the Bushehr Nuclear Power Plant by taking into account the change from German technology to that of Russian technology, and with the design of elevation change in the cold legs has been developed; therefore safety assessment of these systems for loss of coolant accident in elevation change in the cold legs and comparison results for non change elevation in the cold legs for a typical reactor (normal design of nuclear reactors) is the main important factor to be considered for the safe operation. In this article, the main objective is the simulation of the loss of coolant accident scenario by the RELAP5/MOD3.2 code in two different cases; first, the elevation change in the cold legs, and the second, non change in it. After comparing and analyzing these two code calculations the results have been generalized for a new design feature of Bushehr reactor. The design and simulation of the elevation change in the cold legs process with RELAP5/MOD3.2 code for PWR reactor is performed for the first time in the country, where it is introducing several important results in this respect

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

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

    2016-03-01

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

  1. An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

    Tian Tixian

    2015-04-01

    Full Text Available A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.

  2. The Cold Chain Logistics for Perishable Agricultural Products in China

    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...

  3. Commissioning of the LHC Cryogenic System Subsystems Cold Commissioning in Preparation of Full Sector Tests

    Serio, L; Ferlin, G; Gilbert, N; Gruehagen, Henning; Knoops, S; Parente, C; Sanmartí, M

    2006-01-01

    The cryogenic system for the Large Hadron Collider accelerator is presently in its final phase of installation and commissioning at nominal operating temperatures. The refrigeration capacity for the LHC will be produced using eight large cryogenic plants installed on five technical sites and distributed around the 26.7-km circumference ring located in a deep underground tunnel. The status of the cryogenic system commissioning is presented together with the experience gained in operating and commissioning it.

  4. Technical Analysis of Combined Solar Water Heating Systems for Cold Climate Regions

    Hossein Lotfizadeh; André McDonald; Amit Kumar

    2016-01-01

    Renewable energy resources, which can supplement space and water heating for residential buildings, can have a noticeable impact on natural gas consumption and air pollution. This study considers a technical analysis of a combined solar water heating system with evacuated tube solar collectors for different solar coverage, ranging from 20% to 100% of the total roof area of a typical residential building located in Edmonton, Alberta, Canada. The alternative heating systems were conventional (n...

  5. 3D Laser Scanner for Underwater Manipulation

    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.

  6. 3D Laser Scanner for Underwater Manipulation.

    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.

  7. Waterhammer Modeling for the Ares I Upper Stage Reaction Control System Cold Flow Development Test Article

    Williams, Jonathan H.

    2010-01-01

    The Upper Stage Reaction Control System provides three-axis attitude control for the Ares I launch vehicle during active Upper Stage flight. The system design must accommodate rapid thruster firing to maintain the proper launch trajectory and thus allow for the possibility to pulse multiple thrusters simultaneously. Rapid thruster valve closure creates an increase in static pressure, known as waterhammer, which propagates throughout the propellant system at pressures exceeding nominal design values. A series of development tests conducted in the fall of 2009 at Marshall Space Flight Center were performed using a water-flow test article to better understand fluid performance characteristics of the Upper Stage Reaction Control System. A subset of the tests examined waterhammer along with the subsequent pressure and frequency response in the flight-representative system and provided data to anchor numerical models. This thesis presents a comparison of waterhammer test results with numerical model and analytical results. An overview of the flight system, test article, modeling and analysis are also provided.

  8. Getting Manipulative about Math.

    Scheer, Janet K.; And Others

    1984-01-01

    Math manipulatives that are made from inexpensive, common items help students understand basic mathematics concepts. Learning activities using Cheerios, jellybeans, and clay as teaching materials are suggested. (DF)

  9. Manipulators in teleoperation

    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

  10. Advanced Extended Plate and Beam Wall System in a Cold-Climate House

    Mallay, Dave [Partnership for Home Innovation, Upper Marlboro, MD (United States); Wiehagen, Joseph [Partnership for Home Innovation, Upper Marlboro, MD (United States); Kochkin, Vladimir [Partnership for Home Innovation, Upper Marlboro, MD (United States)

    2016-01-01

    This report presents the design and evaluation of an innovative wall system. This highly insulated (high-R) light-frame wall system for use above grade in residential buildings is referred to as Extended Plate & Beam (EP&B). The EP&B design is the first of its kind to be featured in a new construction test house (NCTH) for the DOE Building America program. The EP&B wall design integrates standard building methods and common building products to construct a high-R wall that minimizes transition risks and costs to builders.

  11. Harmonically trapped cold atom systems: Few-body dynamics and application to many-body thermodynamics

    Daily, Kevin Michael

    Underlying the many-body effects of ultracold atomic gases are the few-body dynamics and interparticle interactions. Moreover, the study of few-body systems on their own has accelerated due to confining few atoms in each well of a deep optical lattice or in a single microtrap. This thesis studies the microscopic properties of few-body systems under external spherically symmetric harmonic confinement and how the few-body properties translate to the many-body system. Bosonic and fermionic few-body systems are considered and the dependence of the energetics and other quantities are investigated as functions of the s-wave scattering length, the mass ratio and the temperature. It is found that the condensate fraction of a weakly-interacting trapped Bose gas depletes quadratically with the s-wave scattering length. The next order term in the depletion depends not only, as might be expected naively, on the s-wave scattering length and the effective range but additionally on a two-body parameter that is not needed to reproduce the energy of weakly-interacting trapped Bose gases. This finding has important implications for effective field theory treatments of the system. Weakly-interacting atomic and molecular two-component Fermi gases with equal masses are described using perturbative approaches. The energy shifts are tabulated and interpreted, and a measure of the molecular condensate fraction is developed. We develop a measure of the molecular condensate fraction using the two-body density matrix and we develop a model of the spherical component of the momentum distribution that agrees well with stochastic variational calculations. We establish the existence of intersystem degeneracies for equal mass two-component Fermi gases with zero-range interactions, where the eigen energies of the spin-imbalanced system are degenerate with a subset of the eigen energies of the more spin-balanced system and the same total number of fermions. For unequal mass two-component Fermi

  12. Development of the ERC cold-cathode ion source for use on the PR-30 ion-implantation system

    Bird, H.M.B.; Flemming, J.P.

    1978-01-01

    The ERC cold-cathode ion source has been in routine production use on several PR-30 systems for the past three years. This source has been further developed to improve target current, lifetime, and stability. The ion-optical lens has been changed from circular to elliptical geometry in order to provide an asymmetric beam for entry into the PR-30 analyzing magnet. This measure, as well as the use of higher extraction voltages, provides higher beam currents on the PR-30 target wafers. Beam steering in the nondispersive direction has been provided to correct the effects of minor machine misalignments, further enhancing target current. The discharge chamber has been modified to increase source lifetime. A new gas-feed control system and a new method of oven temperature control have been devised to provide good source and ion beam stability. The source operates with only occasional attention by unskilled personnel, and has been used principally for boron and arsenic implants. Target currents of 1-mA boron and 4-mA arsenic can be obtained routinely. Lifetimes are of the order of 40--80 h, depending on ion species. The source has also been used to provide 5-mA phosphorus, 4-mA argon, 3-mA helium and neon, and 0.3-mA nickel and palladium ion beams

  13. A Cold Start Context-Aware Recommender System for Tour Planning Using Artificial Neural Network and Case Based Reasoning

    Zahra Bahramian

    2017-01-01

    Full Text Available Nowadays, large amounts of tourism information and services are available over the Web. This makes it difficult for the user to search for some specific information such as selecting a tour in a given city as an ordered set of points of interest. Moreover, the user rarely knows all his needs upfront and his preferences may change during a recommendation process. The user may also have a limited number of initial ratings and most often the recommender system is likely to face the well-known cold start problem. The objective of the research presented in this paper is to introduce a hybrid interactive context-aware tourism recommender system that takes into account user’s feedbacks and additional contextual information. It offers personalized tours to the user based on his preferences thanks to the combination of a case based reasoning framework and an artificial neural network. The proposed method has been tried in the city of Tehran in Iran. The results show that the proposed method outperforms current artificial neural network methods and combinations of case based reasoning with k-nearest neighbor methods in terms of user effort, accuracy, and user satisfaction.

  14. RATIONALE OF THE EVALUATION AND SELECTION OF KINEMATIC AND TRIBOLOGICAL CHARACTERISTICS OF THE SYSTEM «PINION – GEAR RACK» OF COLD-PILGERING MILLS

    T. M. Kadilnikova

    2014-02-01

    Full Text Available Purpose. During operation of cold-pilgering mills rotation of the shafts is carried out by means of pinion gears being in meshing with stationary gear racks, which is accompanied by various tribological defects, that can be avoided during the detailed investigation and justification of selection and evaluation of kinematic and tribological characteristics of the system "pinion - gear rack". Methodology. Runout occurs as a consequence of increased friction and depends on the material hardness of which pinions and toothed racks are manufactured, their thermal treatment, selection of correct lubrication, insufficient oil purity and its untimely change, gears overload and other factors. To assess the runout of tribological pair cogs "pinion - gear rack" of the cold-pilgering mills we will use a system of differential equations of the first order. Using the solution of this system under the given conditions, it is possible to obtain relations for kinematic and tribological parameters. Findings. Relations for the durability, runout, sliding speed, and length of the line of the tribological pair "pinion - gear rack" contact are obtained. They provide high indicators of runout and durability of the system with minimum weight and overall dimensions of the design, which is an important factor to increase efficiency of cold-pilgering mills. Originality. The analysis of the relations, which was obtained to identify durability, wear, sliding speed, and the length of the line of the tribological pair "pinion - gear rack" contact allows you to choose for cold-pilgering mills special pinions with the design parameters, which optimally satisfy the technological conditions of rolling. Practical value. Analytical determination of the slip velocity for tribological pair makes it possible to adjust the technical process of cold-pilgering mills and to make constructive changes in the system of "pinion - gear rack" in order to increase its wear resistance.

  15. Probabilistic approach to manipulator kinematics and dynamics

    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

  16. Cold atoms in a cryogenic environment

    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

  17. Long-reach manipulators for decommissioning

    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)

  18. Antagonism of the melanocortin system reduces cold and mechanical allodynia in mononeuropathic rats

    Gispen, W.H.; Vrinten, D.H.; Groen, G.J.; Adan, R.A.H.

    2000-01-01

    The presence of both pro-opiomelanocortin-derived peptides and melanocortin (MC) receptors in nociception-associated areas in the spinal cord suggests that, at the spinal level, the MC system might be involved in nociceptive transmission. In the present study, we demonstrate that a chronic

  19. An Aquifer Thermal Energy Storage (ATES) System for Continuous and Sustainable Cold Supply in Oman

    Winterleitner, G.; Schütz, F.; Huenges, E.

    2016-12-01

    The aim of the GeoSolCool research programme between the German Research Centre for Geoscience (GFZ) and The Research Council of Oman (TRC) is the development of an innovative and sustainable cooling system in combination with an aquifer thermal energy storage system in northern Oman. An integral part of this project is the design of a subsurface aquifer reservoir system for storage of thermal energy through hot water injection. An accurate characterisation of potential storage horizons is thus essential to ensure optimal efficiency of the cooling system. The study area, 40 km west of Muscat is characterised by a thick Cenozoic mixed carbonate-siliciclastic sedimentary succession, containing at least 3 aquifer horizons. We used a multidisciplinary approach for the initial ATES development phase, including geological fieldwork dovetailed with remote sensing analyses, thin-section analyses, geological modelling and reservoir fluid flow forecasting. First results indicate two potential storage horizons: (1) a Miocene-aged clastic-dominated alluvial fan system and (2) an Eocene carbonate sequence. The alluvial fan system is a more than 300 m thick, coarse clastic (mainly gravels and sandstones) succession of coalesced individual fans. Thin-section analyses showed that hydraulic parameters are favourable for the gravel and sandstone intervals but reservoir architecture is complex due to multiple generations of interconnecting fans with highly heterogeneous facies distributions. The Eocene carbonates were deposited in a carbonate ramp setting, strongly influenced by currents and storm events. Individual facies belts extend over kilometres and thus horizontal reservoir connectivity is expected to be good with minor facies variability. Thin-section analyses showed that especially the fossil-rich sections show good storage qualities. Fluid flow forecasting indicate that both potential horizons have good to very good storage characteristics. However, intense diagenetic

  20. THE NATURE OF DAMPED Lyα SYSTEMS AND THEIR HOSTS IN THE STANDARD COLD DARK MATTER UNIVERSE

    Cen Renyue

    2012-01-01

    Using adaptive mesh refinement cosmological hydrodynamic simulations with a physically motivated supernova feedback prescription, we show that the standard cold dark matter model can account for extant observed properties of damped Lyα systems (DLAs). With detailed examination of DLAs identified for each redshift snapshot through ray tracing through the simulation volumes containing thousands of galaxies, we find the following: (1) While DLA hosts roughly trace the overall population of galaxies at all redshifts, they are always gas-rich and have tendencies of being slightly smaller and bluer. (2) The history of DLA evolution is cosmological in nature and reflects primarily the evolution of the underlying cosmic density, galaxy size, and galaxy interactions. With higher density and more interactions at high redshift the size of DLAs is a larger fraction of their virial radius. (3) The variety of DLAs at high redshift is richer with a large contribution coming from galactic aqueducts, created through close galaxy interactions. The portion of gaseous disks of galaxies where most stars reside makes a relatively small contribution to DLA incidence at z = 3-4. (4) The majority of DLAs arise in halos of mass M h = 10 10 -10 12 M ☉ at z = 1.6-4, as these galaxies dominate the overall population of galaxies then. At z = 3-4, 20%-30% of DLA hosts are Lyman break galaxies (LBGs), 10%-20% are due to galaxies more massive than LBGs, and 50%-70% are from smaller galaxies. (5) Galactic winds play an indispensable role in shaping the kinematic properties of DLAs. Specifically, the high velocity width DLAs are a mixture of those arising in high-mass, high velocity dispersion halos and those arising in smaller mass systems where cold gas clouds are entrained to high velocities by galactic winds. (6) In agreement with observations, we see a weak but noticeable evolution in DLA metallicity. The metallicity distribution centers at [Z/H] = –1.5 to –1 and spans more than three